Storage and retrieval system

Abstract

Embodiments of the present application provide a storage and retrieval system, comprising: a workstation, configured to sort or pick a target article for a picking object; a handling device, configured to move out the target article from the workstation or transfer the target article to the workstation; a vehicle, provided with storage locations; and a placing-and-retrieving device, suspended on a rail on one side of the vehicle, the placing-and-retrieving device comprising: a raising / lowering mechanism movably arranged on the rail and moving on the vehicle along the rail, and a placing-and-retrieving mechanism, arranged on the raising / lowering mechanism, moving along the raising / lowering mechanism, and configured to transfer the target article between the vehicle and a target vehicle or the handling device.

Description

Warehousing system

[0001] This application claims the priority of application number 202323290839.7 filed with the China Patent Office on December 4, 2023; and the priority of application number 202421524908.8 filed with the China Patent Office on June 28, 2024; all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of warehousing and logistics technology, and in particular to a warehousing system. Background Art

[0003] In a warehousing system, a pick-and-place robot is usually provided in an aisle on one side of a carrier, such as a shelf, and an item is placed back on the shelf or taken out of the shelf through a pick-and-place mechanism on the pick-and-place robot. Summary of the Invention

[0004] An embodiment of the present application provides a warehousing system, including: a workstation, configured for a picking object to sort or pick target items; a transport device, configured to move the target items out of the workstation, or transfer the target items to the workstation; a carrier, forming a cargo space; a pick-and-place device, suspended on a track on one side of the carrier, the pick-and-place device including: a lifting mechanism, movably arranged on the track, and moving along the track on the carrier; a pick-and-place mechanism, arranged on the lifting mechanism, and movable along the lifting mechanism, the pick-and-place mechanism being configured to transfer the target items between the carrier and the target carrier or the transport device. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0006] FIG1 is a schematic structural diagram of a storage area provided in one embodiment of the present application;

[0007] FIG2 is a schematic diagram of the structure of a workstation provided by an embodiment of the present application from a first perspective;

[0008] FIG3 is a schematic structural diagram of a workstation provided by an embodiment of the present application from a second viewing angle;

[0009] FIG4 is a schematic structural diagram of a workstation provided by an embodiment of the present application from a third perspective;

[0010] FIG5 is a structural diagram 1 of a track and a lifting mechanism provided in one embodiment of the present application;

[0011] FIG6 is a partial enlarged view of point A in FIG5 ;

[0012] FIG7 is a schematic structural diagram of FIG6 from another perspective;

[0013] FIG8 is a schematic diagram of a partial structure of FIG2;

[0014] FIG9 is a second structural diagram of a track and a lifting mechanism provided in one embodiment of the present application;

[0015] FIG10 is an overall schematic diagram of a lifting mechanism provided in one embodiment of the present application;

[0016] FIG11 is a partial enlarged view of point B in FIG7 ;

[0017] FIG12 is a partial enlarged view of point C in FIG7;

[0018] FIG13 is a schematic structural diagram of FIG11 from another perspective;

[0019] FIG14 is a partial structural diagram of a lifting mechanism provided in one embodiment of the present application;

[0020] FIG15 is a schematic structural diagram of the connecting member in FIG2;

[0021] FIG16 is a schematic structural diagram of a pick-and-place mechanism provided by an embodiment of the present application from a first viewing angle;

[0022] FIG17 is a schematic structural diagram of a pick-and-place mechanism provided by an embodiment of the present application at a second viewing angle;

[0023] FIG18 is a partial structural diagram of another pick-and-place mechanism provided in one embodiment of the present application;

[0024] FIG19 is a schematic structural diagram of a fixing plate provided in one embodiment of the present application;

[0025] FIG20 is a schematic structural diagram of the intersection area of ​​the cross beam and the longitudinal beam in the carrier provided in one embodiment of the present application.

[0026] Explanation of the reference numerals: 10-workstation; 20-storage area; 11-working platform; 12-support frame; 110-shelf; 100-carrier; 200-pick-and-place device; 101-cargo space; 120-crossbeam; 130-longitudinal beam; 140-track; 150-intersection area; 160-third fixing member; 210-lifting mechanism; 220-pick-and-place mechanism; 230-guide wheel; 240-groove; 250-travel assembly; 260-encoder; 270-fixed plate; 280-auxiliary wheel; 141-top; 142-bottom; 143-side; 140a-first track; 140b-second track; 211-stand; 212-drive assembly; 213-longitudinal drive structure; 214-elastic member; 215-fastener; 216-mounting member; 230a-first guide wheel; 230b-second guide wheel; 250a-first walking assembly; 250b-second walking assembly; 261-encoder wheel; 271-middle part; 272-connecting part; 273-second fixing member; 151-connection; 2111-post; 2112-connecting rod; 2121-driving member; 2122-driving wheel; 212a-first driving assembly; 212b-second driving assembly; 260a-first encoder; 260b-second encoder; 272a-first connecting part; 272b-second connecting part; 151a-first connecting part; 151b-first Second connection; 2721-avoidance portion; 2722-reserved space; P-workstation equipment; M-docking area; N-picking area; 340-auxiliary support member; 350-trolley line; 331, 341-support seat; 342-first rolling assembly; 211c-guide rail; 3221-base; 221-bearing assembly; 223-moving assembly; 222-pick-and-place assembly; 3225-driving member; 2131-longitudinal driving member; 2132-longitudinal transmission member; 217-connecting member; 218-second rolling assembly; 3421-third rolling member; 3422-fourth rolling member ;3221a-accommodating space;3221b-guide bar;3222a-conveyor belt;3222b-avoidance space;32231-sliding mechanism;32232-guide mechanism;32241-picking part;32242-fixing part;32321-longitudinal driving wheel;32322-longitudinal driven wheel;32323-longitudinal transmission belt;32341-fifth rolling element;32342-sixth rolling element;3223a-first guide part, 3223b-second guide part;3224a-suction cup structure;3224b-fixing rod;3224c-elastic structure. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. It should be noted that many specific details are set forth in the following description to facilitate a full understanding of this application. However, this application can also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited by the specific implementation methods disclosed below.

[0028] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0029] In this application, unless otherwise expressly specified or limited, the terms "connected," "connected," "fixed," and the like should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two elements or an interaction between two elements. However, the phrase "directly connected" indicates that the two connected entities are not connected through an intermediate structure, but are connected to form a whole through a connecting structure. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0030] In this application, references to "first," "second," and the like are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0031] Figure 1 is a schematic diagram of the structure of a storage area provided in one embodiment of the present application, and Figure 2 is a schematic diagram of the structure of a workstation provided in one embodiment of the present application. Referring to Figures 1 and 2, the present embodiment provides a storage system including a carrier 100 having cargo spaces 101 formed thereon for storing items.

[0032] The storage system of the embodiment of the present application may include a storage area 20 and a workstation 10. Referring to FIG1 , the storage area 20 is used to store items. For example, a plurality of spaced apart carriers 100 may be provided in the storage area 20, each carrier 100 having a plurality of cargo spaces 101 for storing items.

[0033] It should be noted that items may include, but are not limited to, goods, containers containing goods such as containers, packages containing goods, original packaging boxes containing goods, etc. In some examples, the carrier 100 may include, but is not limited to, a shelf 110 and a pallet device. The shelf 110 may be a fixed shelf or a mobile shelf.

[0034] As shown in FIG1 , the shelf 110 may include a crossbeam 120 and a longitudinal beam 130 , wherein a plurality of longitudinal beams 130 enclose a storage area of ​​the shelf 110 , and a plurality of crossbeams 120 are spaced apart in the storage area along the height direction of the longitudinal beams 130 (as shown in the Z direction in FIG1 ), and partitions are fixed to each layer of crossbeams 120 , forming cargo spaces 101 on the partitions. As shown in FIG2 , a plurality of cargo spaces 101 are spaced apart along a first direction of the shelf 110 , i.e., the length direction (as shown in the X direction in FIG1 ). In addition, a plurality of longitudinal beams 130 are spaced apart along the length direction of the shelf 110 to stabilize the crossbeams 120 .

[0035] 2 , the workstation 10 may include a work platform 11, wherein the work platform 11 is configured for a picking subject to sort or pick target items P. Exemplarily, the work surface of the work platform 11 may be adapted to the general height of the picking subject, such as a worker, so that the worker can quickly pick the target items on the work platform 11. For example, the picking workstation 10 may include workstation equipment P, a docking area M, and a picking area N, wherein the picking area N includes the work platform 11, and the picking subject may sort or pick the target items on the work platform 11 in the picking area N. In addition, the picking subject may be a worker, a robotic arm, or a handling robot, etc.

[0036] It should be noted that, in other embodiments, the workstation 10 may also not have the work platform 11. In this case, the workstation 10 is only used as an operating point in the warehouse.

[0037] Picking target items means picking out the target items that meet the order requirements from the various items received by the work platform 11 and placing them on the seeding wall for subsequent delivery. Sorting items can be tallying, that is, target items of the same type can be selected, classified, and then placed on the shelf again, so that multiple target items of the same type can be quickly taken out and seeded during the next delivery. A docking area M is provided on one side of the work platform 100, and the docking area M is configured for the operation of a transport robot. After receiving the order task, the transport robot takes out the target item from the storage system and runs to the docking area M of the picking system. The pick-and-place device 300 of the workstation equipment P transfers the target item in the docking area M to the work platform 100 for the picking object to pick or sort.

[0038] In some examples, the transport robot may transport only the target item from the storage system to the docking area M of the picking system. In this way, the pick-and-place device in the workstation equipment P can directly dock with the transport robot to transfer the target item to the pick-and-place device 300, and finally transfer it to the work platform 11 through the pick-and-place device.

[0039] In other examples, to improve work efficiency, the transport robot can directly transport a movable shelf storing multiple target items from the storage system to the docking area M of the picking system. In this way, the pick-and-place device of the workstation equipment P can take out the target items from the movable shelf and transfer them to the work platform 11 for picking or sorting. It can be understood that the pick-and-place device can move along a first direction, such as the X direction, so that the pick-and-place mechanism of the pick-and-place device can dock with each column of shelves on the docking area M side and each position in the horizontal direction of the work platform 11. In addition, the pick-and-place mechanism of the pick-and-place device or the entire pick-and-place device can move along a second direction, such as the Z direction, so that the pick-and-place mechanism of the pick-and-place device can dock with each layer of shelves on the docking area M side and each position set in the vertical direction of the work platform 11.

[0040] In related art, the pick-and-place device of the workstation device P is integrated into the work platform. For example, a docking window is provided on the work platform, and the pick-and-place device is disposed within the docking window. The pick-and-place device includes a transverse module, a longitudinal module, and a pick-and-place mechanism. The transverse module is connected to the pick-and-place mechanism and is used to drive the pick-and-place mechanism to move in a first direction. The longitudinal module is connected to the pick-and-place mechanism or to the transverse module and is used to drive the pick-and-place mechanism to move in a second direction. Both the transverse module and the longitudinal module are mounted on the sidewalls of the docking window. The pick-and-place mechanism is located within the operating space of the docking window and can move in the first and second directions within the operating space.

[0041] It can be seen that in the above-mentioned workstation equipment P, all parts of the pick-and-place device are installed on the work platform, the overall structure is complex, and the pick-and-place device cannot be disassembled independently. When a part in the pick-and-place device fails, the staff needs to repair it at the workstation equipment P. On the one hand, it will affect the normal operation of the pick-and-place mechanism in other pick-and-place devices or the picking work of the staff, affecting the overall work efficiency. On the other hand, the repaired parts, such as the pick-and-place mechanism, need to be calibrated again. For example, the installation angle of the pick-and-place mechanism in the horizontal and vertical directions needs to be calibrated to ensure that the pick-and-place mechanism can accurately pick up and place the target items. As a whole, the operation process is too long, the production and manufacturing cost is high, the implementation cost is high, and the fault tolerance rate is low. In addition, it will also cause the workstation equipment P to be large in size, occupy a large area, and have insufficient space utilization. For example, the docking window of the workstation equipment P needs to operate the pick-and-place mechanism, so that the storage position cannot be set or a large number of storage positions cannot be set.

[0042] In some examples, a support frame 12 may be provided within the workstation 10. The support frame 12 is located on one side of the work platform 11 and defines a cargo space 101. The support frame 12 is configured to store target items, such as items to be picked, transferred from the storage area 20 by the transport robot, so that an operating object, such as a picking object, can pick the target items to be picked. For example, the transport robot may transfer target items from a shelf 110 in the storage area 20 to the workstation 10 and may first store the items in the cargo space 101 of the support frame 12. This reduces the waiting time of the transport robot, allowing the transport robot to successfully complete unloading and proceed to the next task.

[0043] Alternatively, the support frame 12 is configured to store items or empty containers remaining after processing is completed, so that the handling robot can transfer them to the storage area 20. For example, when the operating object completes picking the target goods in the container, the remaining goods and containers can be stored on the support frame 12 first, thereby reducing the time the operating object waits for the handling robot, so that the operating object can continue to pick other target items. In addition, the time the handling robot waits for the operating object can be reduced, so that the handling robot can successfully complete loading and transport it to the storage area 20 or other workstations 10.

[0044] For example, the support frame 12 may include multiple crossbeams 120 and multiple longitudinal beams 130, wherein each crossbeam 120 may extend along a first direction, such as the X-axis, and multiple crossbeams 120 are spaced apart along a height direction, such as the Z-axis. The longitudinal beams 130 may extend along the Z-axis. By fixing the crossbeams 120 to the longitudinal beams 130, a stable frame structure is formed, and a cargo space 101 is formed above each crossbeam 120 along the Z-axis. It is understood that each cargo space 101 may be formed by multiple (e.g., two) crossbeams 120 spaced apart along a second direction, such as the Y-axis. The second direction is the depth direction of the support frame 12.

[0045] For ease of description, the X-axis direction can be considered the length direction of the support frame 12, the Y-axis direction can be considered the width direction of the support frame 12, and the Z-axis direction can be considered the height direction of the support frame 12. The cargo space 101 formed by the support frame 12 has a high structural stability and does not require additional reinforcement structures, thereby reducing the number of parts in the storage system, lowering costs, and improving assembly efficiency.

[0046] By setting a support frame 12 on one side of the work platform 11, the picking and placing device 200 is set as a whole on one side of the support frame 12, and can move along the support frame 12, so that the modularization of the picking and placing device 200 can be achieved. It is only necessary to assemble the picking and placing device 200 in advance and then assemble it on the support frame 12 to achieve the assembly of the entire picking and placing device 200 and the support frame 12, thereby reducing the assembly difficulty of the picking and placing device 200 and the storage system such as workstation equipment, that is, the quick replacement of the picking and placing device 200 is achieved, thereby reducing the problem of secondary calibration after on-site maintenance, and thus improving the overall work efficiency of the storage system, shortening the operation process as a whole, reducing the production and manufacturing cost, low implementation cost, and high fault tolerance.

[0047] In some examples, the pick-and-place device 200 can be suspended on the rail 140 on one side of the shelf 110 or the support frame 12, that is, the bottom of the pick-and-place device 200 is suspended (that is, the bottom of the pick-and-place device 200 is at a certain distance from the ground). In other examples, a portion of the pick-and-place device 200 can be supported on the rail 140 on one side of the support frame 12, and the bottom of the pick-and-place device 200 can contact the ground. For example, the pick-and-place device 200 can be supported by the ground to reduce the pressure of the pick-and-place device 200 on the rail 140 on one side of the shelf 110 or the support frame 12, thereby improving the assembly and operation stability of the pick-and-place device 200 on the shelf 110 or the support frame 12.

[0048] The embodiment of the present application specifically uses suspension as an example to introduce the coordination structure between the pick-and-place device 200 and the carrier 100.

[0049] In addition, by setting the picking and placing device 200 on one side of the support frame 12, the space of the support frame 12 can be utilized to the maximum extent, and multiple cargo positions 101 can be set on the support frame 12 without being interfered with by the picking and placing device 200, so that the picking and placing device 200 can unload the received target items onto the support frame 12 in time, ensuring that the picking and placing device 200 is in an available state and can receive the target items in time, thereby improving work efficiency.

[0050] The carrier 100 of the embodiment of the present application may include but is not limited to the carrier 100 of the storage area 20, the support frame 12 of the workstation 10, etc.

[0051] The warehousing system of the embodiment of the present application further includes a pick-and-place device 200, which is disposed on a track 140 on one side of the carrier 100 and moves along the track 140, so that the pick-and-place device 200 can stably move along the carrier 100, thereby reaching the target cargo location 101 on the carrier 100 to transfer the target item, thereby transferring the target item from the work platform 11 to the cargo location 101, or removing the target item from the cargo location 101 and transferring it to the work platform 11. The extension direction of the track 140 can be the longitudinal direction of the carrier 100, that is, the first direction X.

[0052] 2 , the pick-and-place device 200 of the present embodiment includes a lifting mechanism 210 and a pick-and-place mechanism 220. The pick-and-place mechanism 220 is configured to pick and place target objects and is disposed on the lifting mechanism 210. The lifting mechanism 210 is movably disposed on a track 140 and moves along the track 140 on the carrier 100 to drive the pick-and-place mechanism 220 to move along the carrier 100, enabling the pick-and-place mechanism 220 to move to positions corresponding to different columns of the carrier 100.

[0053] In some examples, the lifting mechanism 210 includes a longitudinal drive structure 213, and the picking and placing mechanism 220 is movably arranged on the lifting mechanism 210 and is configured to move along the lifting mechanism 210 under the drive of the longitudinal drive structure 213, that is, to move relative to the lifting mechanism 210 in the height direction of the carrier 100 to positions corresponding to different layers of the carrier 100.

[0054] Take the carrier 100 as an example of a shelf in the storage area 20. The pick-and-place mechanism 220 is configured to move to a target cargo location in the cargo location 101 under the drive of the lifting mechanism 210, and take out the target item to be transferred to the work platform 11 by the handling robot;

[0055] For another example, the pick-and-place mechanism 220 is further configured to receive the target item transferred from the work platform 11 , move the target item to the target location driven by the lifting mechanism 210 , and place the target item at the target location.

[0056] In some examples, the warehousing system may further include a transport device (eg, a transport robot) configured to remove the target item from the workstation 10 or transfer the target item to the workstation 10 .

[0057] The pick-and-place mechanism 220 is configured to transfer the target object between the carrier 100 and a target carrier or a transport device.

[0058] Taking the carrier 100 as an example, a shelf 110 in the storage area 20 is formed between two adjacent shelves 110 in the storage area 20, and the pick-and-place device 200 is located on the side of the shelf 110 facing the aisle. A track 140 is provided on the aisle side of the shelf 110, and the track 140 can extend along the length of the shelf 110. The pick-and-place device 200 is suspended on the track 140 and moves along the track 140, so that the pick-and-place device 200 can move to the target storage location 101 of the shelf 110 and pick and place the target item.

[0059] For example, the pick-and-place mechanism 220 of the pick-and-place device 200 can place the target item to be shelved transferred from the shelving workstation 10 (such as the work platform 11) on the target cargo location 101 to complete the shelving work; or take out the target item on the target cargo location 101, for example, the target item can be taken out and transferred to the picking workstation 10 via a handling robot for picking work.

[0060] In some examples, the target carrier may include a movable carrier. For example, the pick-and-place mechanism 220 may be configured to move to the target location in the shelf 110 under the drive of the lifting mechanism 210, remove the target item, and transfer it to a transport device or a movable carrier, so that the transport device can transfer the target item or the movable carrier containing the target item to the workstation 10.

[0061] In some examples, the pick-and-place mechanism 220 is further configured to receive the target item transferred from the workstation 10 by the handling device, and move it to the target location of the shelf 110 under the drive of the lifting mechanism 210, and place the target item at the target location.

[0062] In some examples, the transport robot can directly transfer the target item to the work platform 11 of the picking workstation 10. In some examples, the target item can be first transferred to a movable carrier (e.g., a movable shelf), and then the transport robot moves the movable carrier to the picking workstation 10.

[0063] For example, the movable carrier can be located at the bottom of the carrier 100, such as a shelf, and the pick-and-place device 200 can remove the target item from the target cargo location 101 and transfer it to the movable carrier at the bottom of the shelf. The transport robot can then transport the movable carrier to the workstation 10. For another example, the movable carrier can be located on one side of the carrier 100 (such as next to or opposite to it), and the pick-and-place device 200 can remove the target item from the target cargo location 101 and directly transfer it to the movable carrier, or other transfer equipment can transfer the target item to the movable carrier.

[0064] In some examples, the pick-and-place device 200 can take out the target item from the target cargo location 101 and directly transfer it to the transport robot.

[0065] In some examples, the target carrier can also be a shelf at the bottom of the shelf 110 used to form a cache position. The picking and placing device 200 can first take out the target item on the target cargo position 101 and transfer it to the cache position at the bottom of the shelf 110. The handling robot can dock with the cache position to take out the target item and transfer it to the workstation 10.

[0066] It should be noted that the transport robot used to directly transfer the target object and the transport robot used to transport the movable carrier can be the same type of transport robots or different types of transport robots, and there is no limitation here.

[0067] In addition, the process of the transport robot transferring the target item to be put on the workstation 10 to the target shelf 101 is the reverse process of the above-mentioned process of transferring the target item to the workstation 10, which will not be repeated here.

[0068] 2 , taking the carrier 100 as the support frame 12 of the workstation 10 as an example, a pick-and-place device 200 is disposed on one side of the support frame 12 and is configured to pick up and place target items on at least one of the cargo spaces 101 of the support frame 12 and the work platform 11. For example, a track 140 may be disposed on one side of the support frame 12, and the pick-and-place device 200 is suspended on the track 140 and moves along the track 140 to move to each cargo space 101 of the support frame 12. In this example, the target carrier may include a movable carrier or the work platform 11;

[0069] The pick-and-place device 200 may be configured to transfer the target object between the support frame 12 and the handling device or the movable carrier, and / or the pick-and-place device 200 may be configured to transfer the target object between the support frame 12 and the working platform 11 .

[0070] In some examples, the picking and placing device 200 can be set on the side of the support frame 12 facing the work platform 11. For example, a track 140 is set on the side of the support frame 12 facing the work platform 11, and the picking and placing device 200 is suspended on the track 140. In this way, the picking and placing device 200 is configured to pick up and place items on at least one of the cargo space 101 of the support frame 12 and the work platform 11. For example, the picking and placing device 200 can transfer items between the support frame 12 and the work platform 11.

[0071] For the convenience of description, the pick-up and placement device 200 provided on the side of the support frame 12 facing the work platform 11 can be referred to as a first pick-up and placement device. The first pick-up and placement device is provided on the side of the support frame 12 facing the work platform 11 (i.e., the inner side of the support frame 12), and can pick up and place target items on the cargo position 101, or pick up and place target items on the work platform 11. For example, the first pick-up and placement device can transfer the target item between the cargo position 101 and the work platform 11, or the first pick-up and placement device can move the target item on the support frame 12 from one of the cargo positions 101 to another cargo position 102, or move the target item on the work platform 11. In addition, when the first pick-up and placement device has multiple pick-up and placement mechanisms, the first pick-up and placement device can simultaneously pick up and place target items on the cargo position 101 and the work platform 11, that is, the first pick-up and placement device can perform multiple tasks at the same time, thereby improving the working efficiency of the warehousing system.

[0072] In other examples, the pick-and-place device 200 can be disposed on a side of the support frame 12 facing away from the work platform 11. For example, a track 140 can be disposed on the side of the support frame 12 facing away from the work platform 11, and the pick-and-place device 200 is suspended on the track 140. In this way, the pick-and-place device 200 is configured to pick and place items on the cargo space 101 of the support frame 12, the work platform 11, and at least one of a movable carrier and a transport robot. For example, the pick-and-place device 200 can transfer items between the support frame 12 and the work platform 11, or can transfer items between the support frame 12 and a carrying device (i.e., a transport robot or a movable carrier).

[0073] For the convenience of description, the pick-up and placement device 300 provided on the side of the support frame 12 facing away from the work platform 11 can be referred to as a second pick-up and placement device. The second pick-up and placement device is provided on the side of the support frame 12 facing away from the work platform 11 (i.e., the outside of the support frame 12), and can pick up and place target items on the cargo position 101, or pick up and place target items on the work platform 11, or pick up and place target items on the carrying device. For example, the second pick-up and placement device can move target items on the support frame 12, the work platform 11, or the movable carrier, or the second pick-up and placement device can transfer target items between any two of the cargo position 101 of the support frame 12, the work platform 11, and the carrying device. For example, the second pick-up and placement device can transfer target items between the cargo position 101 and the carrier. In addition, when the second picking and placing device has multiple picking and placing mechanisms, the first picking and placing device can simultaneously pick and place target items on at least two of the cargo location 101, the work platform 11 and the carrier. For example, when there are three picking and placing mechanisms, the three picking and placing mechanisms can simultaneously perform picking and placing actions on the target items on the cargo location 101, the work platform 11 and the carrier respectively, that is, the second picking and placing device can perform multiple tasks at the same time, thereby improving the working efficiency of the warehousing system.

[0074] It should be noted that the second picking and placing device can perform the action of picking and placing the target item on the work platform 11 in the following manner: the picking and placing mechanism of the second picking and placing device can pass through the support frame 12, reach the work platform 11, and dock with the work platform 11, or the picking and placing mechanism of the second picking and placing device can shuttle between the work platform 11 and the support frame 12 to realize the action of transferring the target item between the work platform 11 and the support frame 12.

[0075] It is understood that the warehousing system of the embodiment of the present application can be provided with the pick-and-place device 300 only on the side of the support frame 12 facing the work platform 11, that is, the pick-and-place device 300 is the first pick-and-place device. Alternatively, the pick-and-place device 300 can be provided only on the side of the support frame 12 facing away from the work platform 11, that is, the pick-and-place device 300 is the second pick-and-place device.

[0076] Of course, in some examples, the warehousing system of the embodiment of the present application can be provided with a pick-and-place device 300 on both the side of the support frame 12 facing the work platform 11 and the side facing away from the work platform 11, that is, the pick-and-place device 300 includes a first pick-and-place device and a second pick-and-place device. In this way, the transfer of target items between the carrier and the cargo space 101 can be achieved through the second pick-and-place device, and the second pick-and-place device can also move target items near the outside of the support frame 12. In addition, the transfer of target items between the work platform 11 and the cargo space 101 can be achieved through the first pick-and-place device, and the first pick-and-place device can also move target items near the inside of the support frame 12.

[0077] The following description of the specific structure of the storage system will take the example of the pick-and-place device 300 being arranged on the outer side of the support frame 12 as an example.

[0078] The pick-up and placement device 300 can be arranged on the outside of the support frame 12, wherein the pick-up and placement device 300 is arranged away from the work platform 11 to avoid collision with the picking objects on the side of the work platform 11, such as workers, during operation, thereby causing safety hazards. The pick-up and placement device 300 can pick up and place target items on at least one of the carrier, the cargo space 101 and the work platform 11. For example, the pick-up and placement device 300 can move the target items on the support frame 12, the work platform 11 or the carrying device, or the pick-up and placement device 300 can transfer the target items between any two of the cargo space 101 of the support frame 12, the work platform 11 and the carrying device. For example, the pick-up and placement device 300 can transfer the target items between the cargo space 101 and the carrying device.

[0079] It should be noted that in some examples, the carrying device can be a movable carrier that is transported directly from the storage area 20 to the workstation 10. For example, a transport robot can transport a movable carrier containing target items for multiple orders to the workstation 10, and then the pick-and-place device 200 can transfer the target items on the movable carrier to the support frame 12 for picking or sorting. Alternatively, the pick-and-place device 200 can transfer the target items from the support frame 12 to the movable carrier, which is then transported by the transport robot to the storage area 20 for shelving.

[0080] In some examples, the carrying device can also be a transport robot, which directly docks with the picking and placing device 200 to transfer the target items on the transport robot to the support frame 12 for picking; or transfer the target items on the support frame 12 to the transport robot for shelving.

[0081] For example, the docking area M of the picking workstation 10 is located on one side of the support frame 12. For example, the docking area M is located on the side of the support frame 12 where the pick-up and placement device 200 is set. The docking area M is configured for the carrying equipment to operate and dock. The pick-up and placement device 200 can transfer the target items on the carrying equipment to the support frame 12 or the work platform 11.

[0082] The picking area N is located on the other side of the support frame 12. For example, the picking area N can be located on the side of the support frame 12 where the working platform 11 is set. The picking area N is configured for the picking object to take out the target items from the support frame 12 and sort or pick the target items on the working platform 11.

[0083] For example, the support frame 12 may include a first side and a second side that are opposite to each other along the Y-axis. The work platform 11 is disposed on the first side, and the pick-and-place device 200 may be disposed on the second side. In this way, the docking area M and the picking area N can be isolated by the support frame 12, thereby ensuring the safety of workers. It will be understood that in this example, the pick-and-place device 200 is configured to transfer target objects between the carrier and the support frame 12, or to move target objects on the support frame 12.

[0084] The following describes the working process of the warehousing system of the embodiment of the present application by taking the picking task as an example.

[0085] When an order task instruction is received, the pick-and-place mechanism 220 on the shelf 110 moves to the target storage location in the storage location 101 under the drive of the lifting mechanism 210, takes out the target item, and transfers it to the movable carrier; the handling robot can transport the movable carrier containing the target item to the docking area M of the workstation 10, and the robotic arm of the workstation 10 transfers the target item on the movable carrier to the work platform 11, and then the picking object such as the picking personnel or picking equipment picks the target item; the picked target item can be transferred to the seeding wall for packaging and delivery.

[0086] It is understood that when the workstation 10 includes a support frame 12 and a pick-and-place device 200 disposed on the support frame 12, after the transport robot transports the movable carrier to the docking area M of the workstation 10, the pick-and-place mechanism 220 can be driven by the lifting mechanism 210 to move along the X-axis and Z-axis directions, so that the pick-and-place mechanism 220 ultimately moves to the target position of the movable carrier. The pick-and-place mechanism 220 then removes the target item from the target position and transfers it to the storage location 101 of the support frame 12. Workers in the picking area N can remove the target item from the support frame 12 and transfer it to the work platform 11 for picking. After picking, the target item can be placed on the seed wall.

[0087] It should be noted that when the picking and placing device 12 does not need to be docked with the carrier (such as a movable shelf) in the docking area M, the picking and placing device 200 can move the target items on the support frame 12 so that the target items are concentrated at a height suitable for the work platform 100. For example, the target items can be concentrated on the third-layer cargo space 101, which makes it easier for staff to quickly remove the target items from the support frame 12 to improve picking efficiency.

[0088] In addition, the picking and placing device 200 concentrates the target items on the support frame 12 in one area. For example, when concentrating them on the third floor and the cargo locations 101 below the third floor of the support frame 12, the cargo locations 101 on the fourth floor and above can be vacated to prepare for the orders of the next link, so that the picking and placing device 200 can cache the received target items on the fourth floor and the cargo locations 101 above the fourth floor in the orders of the next link without having to walk too many paths. On the one hand, the caching efficiency of the picking and placing device 200 for the target items is improved, and the power consumption of the picking and placing device 200 is reduced. On the other hand, the target items on the shelves in the docking area M can be quickly and efficiently transferred to the support frame 12, thereby improving the overall picking efficiency.

[0089] Taking the sorting task (i.e., tallying task) as an example, the working process of the warehousing system of the embodiment of the present application is described.

[0090] When a sorting task instruction is received, when an order task instruction is received, the pick-and-place mechanism 220 on the shelf 110 moves to the target cargo position in the cargo position 101 under the drive of the lifting mechanism 210, takes out the target item, and transfers it to the movable carrier; the transport robot can transport the movable carrier containing the target item to the docking area M of the workstation 10, and the pick-and-place mechanism 220 located at the workstation 10 can move along the X-axis and Z-axis directions under the drive of the lifting mechanism 210, so that the pick-and-place mechanism 220 finally moves to the target position of the movable carrier, and then takes out the target item at the target position through the pick-and-place mechanism 220, and transfers it to the cargo position 101 of the support frame 12. The staff in the picking area N can take out the target items on the support frame 12 and transfer them to the work platform 11 to sort the target items. For example, the target items of the same type can be concentrated in the same container, and then the container containing the same type can be placed on the support frame 12. The pick-up and placement device 200 then transfers the container to the movable carrier in the docking area M, so that the target items stored on the movable carrier are all target items of the same type. In this way, in the next picking task, the transport robot can directly transport the shelf corresponding to the target item of the order hit type to the docking area M of the picking system, and the pick-up and placement device 200 can directly move to the target position corresponding to the target item, so that multiple target items of the same type can be taken out at one time, thereby improving the subsequent picking and sowing efficiency.

[0091] Taking the task of putting things on shelves as an example, the working process of the warehousing system in the embodiment of the present application is explained.

[0092] The transport robot transports the target item to be put on the shelf to one side of the shelf 110 in the storage area 20, and can be transferred to the cache position at the bottom of the shelf 110; the pick-and-place mechanism 220 on the shelf 110 moves to the target cache position under the drive of the lifting mechanism 210 and takes out the target item; the pick-and-place mechanism 220 carries the target item and moves along one side of the shelf 110 under the drive of the lifting mechanism 210 until it reaches the target cargo position 101 in motion, transfers the target item to the target cargo position 101, and completes the shelving action.

[0093] By suspending the pick-and-place device 200 on one side of the carrier, the embodiment of the present application can save ground space occupied by the pick-and-place device 200, provide a suitable operating path for other handling equipment, and reduce the ground flatness requirements of the pick-and-place device 200. For example, suspending the pick-and-place device 200 on the side of a shelf in the storage area 20 can save space on the aisle floor, increase the travel routes of the handling robot, and improve the handling robot's efficiency in picking up and delivering goods.

[0094] In addition, by setting a support frame 12 on one side of the working platform 11, a pick-up and placement device 200 for loading and unloading target items is set on one side of the supporting frame 12, and the lifting mechanism 210 of the pick-up and placement device 200 is detachably set on the supporting frame 12. On the one hand, the walking component 250 on the lifting mechanism 210 moves on the supporting frame 12, so that the pick-up and placement device 200 can move along the supporting frame 12, so that the pick-up and placement device 200 can dock and transfer target items with different cargo positions 101 of the supporting frame 12 or the working platform 11. On the other hand, the pick-up and placement device 200 is set on the supporting frame 12. On one side of the support frame 12, the modularization of the pick-up and placement device 200 can be realized. It is only necessary to assemble the pick-up and placement device 200 in advance and then hang it on the support frame 12 through the walking component 250 of the lifting mechanism 210 to realize the assembly of the entire pick-up and placement device 200 and the support frame 12, thereby reducing the assembly difficulty of the pick-up and placement device 200 and the entire storage system, that is, realizing the rapid replacement of the pick-up and placement device 200, thereby reducing the problem of secondary calibration after on-site maintenance, and thus improving the overall work efficiency of the storage system, shortening the overall operation process, reducing the production and manufacturing cost, low implementation cost, and high fault tolerance.

[0095] In addition, by arranging the pick-and-place device 200 on one side of the support frame 12, the space of the support frame 12 can be utilized to the maximum extent, and multiple cargo locations 101 can be set on the support frame 12. For example, the cargo location 101 can be set at the top of the support frame 12 without being interfered with by the pick-and-place device 200. Compared with the pick-and-place mechanism 322 of the pick-and-place device 200 in the related art that can only move in the docking window of the work platform 11 and cannot move to the top of the work platform 11, the pick-and-place device 200 in the embodiment of the present application is arranged on one side of the support frame 12, so that the pick-and-place device 200, such as the pick-and-place mechanism 322, can be moved to the top of the support frame 12 to dock and transfer the target items with the cargo location 101 at the top of the support frame 12, thereby improving the space utilization of the support frame 12 and the entire storage system, such as the workstation, so that the pick-and-place device 200 can unload the received target items onto the support frame 12 in a timely manner, ensuring that the pick-and-place device 200 is in an available state and can promptly and quickly receive items in the docking area M, thereby improving the docking efficiency and picking efficiency. Figure 3 is a schematic diagram of the structure of a workstation provided by an embodiment of the present application from a second perspective, and Figure 4 is a schematic diagram of the structure of a workstation provided by an embodiment of the present application from a third perspective. Referring to Figures 3 and 4, in some examples, the lifting mechanism 210 includes a drive assembly 212 and a stand 211. The stand 211 has a height direction parallel to the height direction of the carrier 100; the pick-and-place mechanism 220 is disposed on the stand 211 and is configured to move along the height direction of the stand 211.

[0096] The drive assembly 212 is disposed on the stand 211 and engages with the track 140. The drive assembly 212 is configured to move along the track 140 to drive the stand 211 to move on the carrier 100. In some examples, the track 140 can be directly provided on the crossbeam 120 of the carrier 100, such as the shelf 110, and the drive assembly 212 moves along the track 140. This can save parts in the production of the storage system, such as the shelf 110, and improve the production efficiency of the storage system.

[0097] As shown in Figure 3, in some other examples, an additional structural member can be set on the shelf 110, and a track 140 is formed on the structural member. The structural member is fixedly connected to the beam 120 of the shelf 110 to improve the structural stability of the track 140, so that the track 140 can stably carry the pick-up and placement device 200, ensuring that the pick-up and placement device 200 moves stably along the track 140.

[0098] 1 , in some examples, a pick-and-place mechanism 220 is movably mounted on a stand 211 and is movable relative to the stand 211 in the height direction Z of the carrier 100, enabling the pick-and-place mechanism 220 to move to cargo locations 101 on different levels of the carrier 100. Thus, the pick-and-place mechanism 220 can move in both the length and height directions of the carrier 100 to reach a target cargo location 101. The pick-and-place mechanism 220 is configured to dock with the cargo location 101 to retrieve or return a target item.

[0099] For example, the pick-and-place mechanism 220 may be slidably mounted on the stand 211. Referring to FIG3 , the longitudinal drive structure 213 of the lifting mechanism 210 is connected to the pick-and-place mechanism 220. The longitudinal drive structure 213 is configured to drive the pick-and-place mechanism 220 to move along the height direction of the stand 211, thereby enabling the pick-and-place mechanism 220 to dock and transfer target items to target locations on each layer of the carrier 100.

[0100] The longitudinal drive structure 213 can be disposed on the stand 211 or on the pick-and-place mechanism 220. This embodiment of the present application does not impose any restrictions on this, as long as the longitudinal drive structure 213 can drive the pick-and-place mechanism 220 to move along the stand 211. By forming the lifting mechanism 210 and the pick-and-place mechanism into a modular structure, the pick-and-place device 200 can be quickly replaced.

[0101] It should be noted that there can be one or more pick-and-place mechanisms 220. When there are multiple pick-and-place mechanisms 220, the multiple pick-and-place mechanisms 220 can be arranged sequentially along the height direction of the stand 211, or can be arranged sequentially along a first direction, such as the X-axis direction. For example, a base can be provided on the stand 211, and multiple pick-and-place mechanisms 220 arranged along the X-axis can be placed on the base to stabilize the pick-and-place mechanisms 220. In this way, multiple pick-and-place mechanisms 220 can simultaneously transfer target items from carriers 100, such as shelves, in the docking area M, thereby improving unloading efficiency. In addition, one pick-and-place mechanism 220 can transfer a target item from the shelf to a transport robot, while another pick-and-place mechanism 220 can simultaneously transfer a target item from the transport robot to the shelf, or move a target item on the shelf. In other words, each pick-and-place mechanism 220 can perform multiple different tasks simultaneously, thereby improving the operating efficiency of the entire warehouse system. In some examples, the stand 211 can be a single-level stand, i.e., the height of the stand 211 is fixed and does not change.

[0102] In some examples, the stand 211 is a multi-stage stand. For example, the stand 211 includes a fixed stand and a lifting stand. The fixed stand is connected to the drive assembly 212 and moves along the track 140. The lifting stand can move relative to the fixed stand. The pick-and-place mechanism 220 is disposed on the lifting stand so that when the lifting stand is raised or lowered along the fixed stand, it can drive the pick-and-place mechanism 220 to move in the height direction of the carrier 100. In addition, the pick-and-place mechanism 220 can be movably disposed on the lifting stand to move along the lifting stand, thereby enabling the pick-and-place mechanism 220 to move in the height direction of the carrier 100.

[0103] The setting of the multi-level stand allows the overall height of the stand 211 to be adjusted according to the actual height of the carrier 100. For example, by raising and lowering the lifting stand on the fixed stand, the overall height of the stand 211 can be adjusted to accommodate carriers 100 of different heights, so that the pick-and-place mechanism 220 can be docked with carriers 100 of different heights. It should be noted that in the embodiment of the present application, the pick-and-place mechanism 220 can transport the target item by various methods such as adsorption, pulling, hooking, and clamping. For example, the pick-and-place mechanism 220 can be a suction cup structure that can be adsorbed on the side wall of the target item by negative pressure adsorption or magnetic adsorption; the pick-and-place mechanism 220 can also be a structure such as a fork, a robotic arm, etc. that can realize the pulling-type transport of the target item, or it can be a hooking mechanism that can hook the front edge of the target item. The embodiment of the present application does not limit the structure of the pick-and-place member.

[0104] Figure 5 is a structural schematic diagram of the track and lifting mechanism provided in an embodiment of the present application. Figure 6 is a partial enlarged view of point A in Figure 5. Figure 7 is a structural schematic diagram from another perspective of Figure 6. Figure 8 is a partial structural schematic diagram of Figure 2. Figure 9 is a structural schematic diagram of the track and lifting mechanism provided in an embodiment of the present application. Figure 10 is an overall schematic diagram of the lifting mechanism provided in an embodiment of the present application. Figure 11 is a partial enlarged view of point B in Figure 7. Figure 12 is a partial enlarged view of point C in Figure 7. Figure 13 is a structural schematic diagram from another perspective of Figure 11.

[0105] 5 , 8 and 13 , in some examples, the drive assembly 212 may include a drive member 2121 and a drive wheel 2122 , wherein the drive member 2121 is connected to the stand 211 , the drive wheel 2122 is connected to the drive member 2121 , and the drive wheel 2122 is configured to run along the track 140 under the drive of the drive member 2121 .

[0106] Exemplarily, the driving member 2121 can be a motor such as a stepping motor, a driving cylinder, a synchronous pulley structure, a gear rack structure, etc. The driving shaft of the driving wheel 2122 is fixed to the output shaft of the motor. During the rotation process, the output shaft of the motor drives the driving wheel 2122 to roll along the track 140 to drive the stand 211 to move.

[0107] As shown in Figure 8, in order to achieve continuous power supply to the driving member 2121, in some examples, the pick-up and placement device 200 may also include a busbar 350, and the busbar 350 may include a conductor and a current receiver, wherein the conductor may be a copper body wrapped in a protective cover, and the end of the conductor is connected to the power supply, and the current receiver is in electrical contact with the conductor, so that the electrical signal on the conductor can be transmitted to the current receiver.

[0108] During the setting, the conductor of the busbar 350 is set on the track 140, and the current collector of the busbar 350 is set on the driving member 2121 and electrically connected to the driving member 2121. The current collector is configured to contact the conductor when the driving member 2121 drives the driving wheel 2122 to move along the track 140, so that the current collector can continue to receive electricity during the movement along the track 140 driven by the driving member 2121, so as to provide electrical energy to the driving member 2121 and ensure the normal operation of the driving member 2121.

[0109] The provision of busbar 350 reduces the number of cables and the load on the pick-and-place device 200, thereby reducing the impact of the cables on the life of the pick-and-place device 200 and ensuring stable operation of the pick-and-place device. Furthermore, the reduced number of cables eliminates the need for drag chains, thus ensuring the structural stability of the pick-and-place device 300.

[0110] During installation, the conductor can be fixed to the inner surface of the track 140 or the outer surface of the track 140. There is no limitation here, as long as the current collector set on the driving member 2121 can continuously contact the conductor.

[0111] 8 , in some examples, the track 140 may include a bottom surface and side surfaces surrounding the outer periphery of the bottom surface. For example, there may be two side surfaces that are oppositely disposed, and the bottom surface and the side surfaces enclose a movable space for the track 140 .

[0112] The track 140 has a track opening 1401 opposite to the bottom surface. The driving wheel 2122 can be located in the movable space of the track 140 , and the driving member 2121 can pass through the track opening 1401 and connect with the driving wheel 2122 to drive the driving wheel 2122 to move.

[0113] In some examples, the track opening 1401 faces upward, that is, the track opening 1401 faces away from the ground of the picking system. The bottom surface can be parallel to the ground, and the two side surfaces are arranged opposite each other along the Y-axis, for example, both perpendicular to the ground. The driving wheel 2122 can roll along the bottom surface within the track 140, that is, the bottom surface serves to support the driving wheel 2122. Part of the driving wheel 2122 is exposed outside the track 140 through the track opening 1401 to connect with the driving member 311.

[0114] When the pick-and-place device 200 needs to be disassembled, the staff only needs to lift the pick-and-place device 200 so that the driving wheel 2122 is separated from the track 140 through the track opening 1401, and the pick-and-place device 200 can be disassembled. When the pick-and-place device 200 needs to be assembled, the staff only needs to lift the pick-and-place device 200 so that the driving wheel 2122 is inserted into the track 140 through the track opening 1401, and the pick-and-place device 200 can be assembled. The entire assembly and disassembly process is convenient and quick.

[0115] In some examples, the track opening 1401 of the track 140 may also face sideways, i.e., toward the Y-axis direction. In this way, the bottom surface is arranged perpendicular to the ground, and the two side surfaces may be opposite to each other along the Z-axis direction. For example, the two side surfaces may be arranged parallel to the ground, and the driving wheel 2122 may roll along the upper and lower side surfaces within the track 140. It will be understood that in this example, a stop wall may be provided at the track opening 1401 to prevent the driving wheel 2122 from derailing from the track opening 1401 along the Y-axis direction. Thus, in this example, when it is necessary to disassemble the pick-and-place device 200, it is necessary to move the pick-and-place device 200 to the end of the track 140 and detach the track 140 from the end opening of the track 140 to achieve disassembly of the pick-and-place device 200.

[0116] In some examples, the track opening 1401 of the track 140 may also face downward, that is, the bottom surface of the track 140 faces the ground, and the drive wheel 2122 can roll along the bottom surface within the track 140. A portion of the drive wheel 2122 is exposed outside the track 140 through the track opening 1401 to connect with the drive member 311. It will be understood that in this example, the drive wheel 2122 does not serve to suspend the pick-and-place device 200 on the track 140.

[0117] 7 and 11 , in some examples, the drive wheel 2122 in the drive assembly 212 can be located on the side 143 of the track 140. It will be appreciated that the side 143 of the track 140 is the outer side of the track 140 and faces the thickness direction of the track 140. For example, the drive wheel 2122 can be located on the side of the track 140 facing away from the vehicle 100, with the rolling surface of the drive wheel 2122 in contact with the side 143 of the track 140, so that the rolling surface of the drive wheel 2122 rolls along the side 143 of the track 140. In this way, when the stand 211 bounces up and down, the rolling surface of the drive wheel 2122 can be prevented from separating from the track 140 and idling, thereby ensuring that the drive wheel 2122 drives the gantry to operate stably along the track 140.

[0118] In some examples, in order to ensure that the rolling surface of the driving wheel 2122 is stably in contact with the side 143 of the track 140, the storage system may further include an elastic member 214, which is arranged on the stand 211. The elastic member 214 abuts against the driving wheel 2122 and applies an elastic force toward the track 140 to the driving wheel 2122. Through the elastic force of the elastic member 214, the rolling surface of the driving wheel 2122 is stably pressed against the side surface 143 of the track 140.

[0119] In some examples, the elastic member 214 may be disposed on a side of the driving wheel 2122 away from the track 140 , and one end (e.g., the first end) of the elastic member 214 is fixed to the stand 211 , and the other end (e.g., the second end) of the elastic member 214 abuts against the rolling surface of the driving wheel 2122 .

[0120] In this example, the elastic member 214 is in a compressed state, and the elastic member 214 has an elastic force toward the driving wheel 2122. In this way, the second end of the elastic member 214 can squeeze the driving wheel 2122 under the action of the elastic force, so that the driving wheel 2122 obtains a certain positive pressure, so that the rolling surface of the driving wheel 2122 can contact the side 143 of the track 140 more stably, thereby ensuring that the driving wheel 2122 and the side 143 of the track 140 have sufficient friction to drive the entire pick-up and placement device 200 to move, and avoid the driving wheel 2122 from idling.

[0121] It should be noted that the elastic force direction of the elastic member 214 is the direction from the first end to the second end of the elastic member 214. In addition, when the second end of the elastic member 214 abuts against the rolling surface of the driving wheel 2122 facing away from the track 140, it will not affect the normal rotation of the driving wheel 2122.

[0122] In some examples, the elastic member 214 can be disposed on the end face side of the driving wheel 2122. For example, the first end of the elastic member 214 is fixed to the stand 211, and the second end of the elastic member 214 abuts against any position on the end face of the driving wheel 2122, exerting an elastic force on the driving wheel 2122 toward the track 140. It will be understood that in this example, the elastic member 214 is obliquely disposed on the end face side of the driving wheel 2122, and the elastic force direction of the elastic member 214 forms an angle with the side surface 143 of the track 140, so that the positive pressure exerted by the elastic member 214 on the driving wheel 2122 is a component of the elastic force of the elastic member 214, which provides the driving wheel 2122 with a positive pressure applied to the side surface 143 of the track 140.

[0123] It should be noted that the end faces of the driving wheel 2122 refer to the end faces of the driving wheel 2122 that are opposite to each other along the thickness direction.

[0124] In some examples, one end of the elastic member 214 can be directly fixed to the stand 211 to simplify the structural arrangement of the pick-and-place device 200 .

[0125] In some examples, the storage system may further include a fastener 215, which is disposed on the stand 211 and extends toward the track 140. The elastic member 214 is sleeved on the fastener 215 and configured to squeeze the drive wheel 2122 under the action of the fastener 215. For example, the fastener 215 may be a screw, bolt, rivet, or other structure that is removably fixed to the stand 211. For example, a mounting member 216 may be fixed to the stand 211. The mounting member 216 has a mounting hole, such as a threaded hole, that cooperates with the fastener 215. The fastener 215 is inserted into the mounting member 216 to achieve a removable connection with the stand 211.

[0126] The elastic member 214 is sleeved on the fastener 215, and under the cooperation of the end cover of the fastener 215 or the threaded surface of the fastener 215 and the elastic member 214, the fastener 215 is continuously screwed into the elastic member 214, and the elastic member 214 is continuously tightened, so that the second end of the elastic member 214 squeezes the driving wheel 2122.

[0127] The provision of fastener 215 allows elastic member 214 to be stably assembled on stand 211, thereby ensuring that elastic member 214 stably applies elastic force to drive wheel 2122. Furthermore, elastic member 214 is detachably mounted on stand 211, allowing for timely replacement of elastic member 214 as needed, such as replacing a damaged elastic member 214 with a good one or selecting an elastic member 214 with a different elastic force.

[0128] For example, the elastic member 214 may be a butterfly spring, which may be one or more. The butterfly spring is sleeved on the fastener 215 and is constrained by the end cap of the fastener 215 so that the butterfly spring stably abuts against the rolling surface of the driving wheel 2122 facing away from the track 140.

[0129] In some examples, the pressure of the drive wheel 2122 on the track 140 can be adjusted by increasing or decreasing the number of butterfly springs to ensure that the wear levels of the rolling surface of the drive wheel 2122, the butterfly springs, and the side surface 143 of the track 140 are within an appropriate range.

[0130] Furthermore, the elastic member 214 is secured to the stand 211 via a fastener 215. This allows the pressure exerted by the elastic member 214 on the drive wheel 2122 to be adjusted by adjusting the degree to which the fastener 215 is screwed into the elastic member 214. This allows the wear levels of the rolling surface of the drive wheel 2122, the disc spring, and the side surface 143 of the track 140 to be adjusted to a suitable range. During a single operation, the pressure exerted by the fastener 215 and the elastic member 214 on the drive wheel 2122 remains constant, thereby ensuring a constant frictional force between the rolling surface of the drive wheel 2122 and the side surface 143 of the track 140. This ensures the stability of the movement of the entire pick-and-place device 200 along the track 140, driven by the drive wheel 2122.

[0131] 7 and 8 , the pick-up and placement device 200 of the embodiment of the present application further includes a guide wheel 230, which is connected to the lifting mechanism 210. For example, the guide wheel 230 is connected to the stand 211 of the lifting mechanism 210 and is arranged to roll on the track 140. The guide wheel 230 is configured to move along the extension direction of the track 140 under the drive of the lifting mechanism 210, to prevent the lifting mechanism 210 from moving left and right along a direction intersecting with the extension direction of the track 140, for example, a direction perpendicular to the extension direction of the track 140. For example, it prevents the drive component 212 from driving the stand 211 to move left and right along a direction perpendicular to the extension direction of the track 140, thereby ensuring the stability of the pick-up and placement device 200 on the track 140 and maintaining a stable position of the pick-up and placement mechanism 220 on the pick-up and placement device 200 relative to the cargo position 101.

[0132] 11 and 12 , in some examples, the guide wheel 230 may be disposed at the top 141 or bottom 142 of the track 140 and may roll centered along the center of the track 140 , so that the drive assembly 212 drives the stand 211 to roll centered along the track 140 .

[0133] It should be noted that the lifting mechanism 210 moving left and right along the track 140 means that the lifting mechanism 210 moves along the thickness direction of the track 140. The thickness direction of the track 140 is parallel to the placement direction of the placement mechanism 220, as shown in the Y direction in FIG2 .

[0134] 7 and 8 , it can be understood that the guide wheel 230 and the drive assembly 212 together form a walking assembly 250 of the pick-and-place device 200 , which moves along the track 140 on the carrier 100 to drive the entire pick-and-place device 200 to move along the carrier 100 .

[0135] 8 , the guide wheel 230 is embedded in the track 140 and moves along the track 140 along with the driving wheel 2122. For example, one end of the guide wheel 230 is fixed to the stand 211, and the other end can be slidably mounted on the track 140 to stably suspend the stand 211 in the track 140.

[0136] For example, the driving wheel 2122 can roll along the first inner surface 1402 of the track 140 , and the guide wheel 230 can contact along the second inner surface 1403 of the track 140 , and the first inner surface 1402 and the second inner surface 1403 face different directions.

[0137] It should be noted that one of the first inner surface 1402 and the second inner surface 1403 is the bottom surface of the track 140, and the other may be a side surface of the track 140. For example, when the track opening 1401 faces upward, the first inner surface 1402 is the bottom surface of the track 140, and the driving wheel 2122 rolls along the first inner surface 1402 of the track 140, that is, the driving wheel 2122 rolls along the bottom surface of the track 140. The second inner surface 1403 is the side surface of the track 140. For example, there are two second inner surfaces 1403, and the two second inner surfaces 1403 are arranged opposite each other along the Y-axis, and the guide wheel 230 rolls along the two second inner surfaces 1403. It will be understood that in this example, the rolling axis of the guide wheel 230 extends along the Z-direction, and the rolling axis of the driving wheel 2122 extends along the pick-and-place direction of the pick-and-place mechanism 220. In this way, the driving wheel 2122 and the guide wheel 230 roll along different surfaces respectively, so that the driving wheel 2122 and the guide wheel 230 constrain each other, improving or avoiding the situation where the driving wheel 2122 shakes left and right in a direction perpendicular to the track 140 when the driving wheel 2122 is driven by the driving member 2121 to move quickly along the track 140.

[0138] In some examples, the guide wheel 230 and the drive wheel 2122 may be respectively arranged on different sides of the track 140 in the height direction. For example, the drive wheel 2122 is arranged at the bottom of the track 140, and the guide wheel 230 is arranged at the top of the track 140. For another example, the drive wheel 2122 is arranged at the top of the track 140, and the guide wheel 230 is arranged at the bottom of the track 140.

[0139] According to tests, the walking assembly 250 can drive the entire pick-and-place device 200 to move on the carrier 100 at a speed of more than 2 m / s.

[0140] During installation, the guide wheel 230 can be fixed to the stand 211 via the support base 331. The guide wheel 230 can be movably arranged on the support base 331. For example, it can be fixed to the support base 331 via a connecting shaft, so that the guide wheel 230 is stably connected to the stand 211.

[0141] Z As shown in Figure 11, in the embodiment of the present application, the extension direction of the rolling axis of the guide wheel 230 is parallel to the pick-and-place direction of the pick-and-place mechanism 220, that is, the extension direction of the rolling axis of the guide wheel 230 is parallel to the thickness direction of the track 140, as shown in the Y direction in Figures 11 and 12, so that the rolling surface of the guide wheel 230 rolls along the top 141 or bottom 142 of the track 140.

[0142] The picking and placing direction of the picking and placing mechanism 220 is the direction in which the picking and placing mechanism 220 extends from the stand 211 to the cargo position 101, or retracts from the cargo position 101 to the stand 211, which can be specifically shown in the Y direction in Figure 2.

[0143] It can be understood that in this example, the thickness direction of the guide wheel 230 is consistent with the thickness direction of the track 140, so that the width dimension of the track 140 can be reduced to reduce the distance between the pick-up and placement mechanism 220 on the stand 211 and the carrier 100, thereby reducing the pick-up and placement distance of the pick-up and placement mechanism 220, thereby improving the pick-up and placement accuracy and efficiency of the pick-up and placement mechanism 220.

[0144] In addition, when the thickness of the track 140 is reduced, the height of the track 140 can be increased to improve the bearing capacity of the track 140 for the pick-and-place device 200. The height direction of the track 140 is parallel to the height direction of the carrier 100, as shown in the Z direction in FIG.

[0145] In some examples, the height of the track 140 can be greater than its thickness. For example, the height of the track 140 can be between 60 mm and 70 mm, and the thickness of the track 140 can be between 10 mm and 20 mm. It is understood that the longitudinal cross-sectional bending coefficient of the track 140 is proportional to the cube of the height of the track 140. Thus, while the track 140 is thinner, its height can be increased to meet the load-bearing capacity in the height direction, ensuring that the pick-and-place device 200 can be stably supported and suspended on the track 140 and can move stably along the track 140.

[0146] For example, the height of the track 140 may be 60 mm, 62 mm, 64 mm, 67 mm, or 70 mm, etc. The thickness of the track 140 may be 10 mm, 12 mm, 14 mm, 17 mm, or 20 mm, etc.

[0147] 11 and 12 , in some examples, when the rolling axis of the guide wheel 230 is consistent with the thickness direction of the track 140 , in order to achieve the limiting effect of the guide wheel 230 along the width direction of the track 140 , a groove 240 is formed on one of the rolling surface of the guide wheel 230 and the track 140 , and the other of the rolling surface of the guide wheel 230 and the track 140 is embedded in the groove 240 and contacts the side walls of the groove 240 opposite to each other along the width direction of the track 140 so that the other moves along the groove 240 relative to one of them.

[0148] For example, a groove 240 (such as the above-mentioned track groove) can be provided on the track 140, and the guide wheel 230 can be embedded in the groove 240, and the rolling surface of the guide wheel 230 contacts the inner surface of the bottom wall of the track 140 and rolls along the inner surface of the bottom wall. The two end faces of the guide wheel 230 contact one of the two side walls, that is, the guide wheel 230 is clearance-fitted with the two side walls, so that the guide wheel 230 can both run along the groove 240 and be confined between the two side walls without offset.

[0149] 11 and 12 , for another example, a groove 240 may be provided on the rolling surface of the guide wheel 230, and the top 141 or the bottom 142 of the track 140 may be embedded in the groove 240, so that the rolling surface of the guide wheel 230 extends along the track 140 into the surface of the groove 240 and runs. The groove 240 cooperates with the two side walls of the track 140 opposite to the top 141 or the bottom 142 of the track 140 to achieve a limiting effect on the guide wheel 230 along the thickness direction of the track 140.

[0150] The groove 240 is formed on the rolling surface of the guide wheel 230, and the end of the track 140 (the top 141 or the bottom 142) is embedded in the groove 240. On the one hand, the guide wheel 230 can roll along the end surface of the track 140. The two side walls of the end of the track 140 limit the guide wheel 230, so that the guide wheel 230 does not deviate in the thickness direction of the track 140, thereby ensuring that the lifting mechanism 210 moves stably along the extension direction of the track 140 without left and right deviation. On the other hand, the end of the track 140 is embedded in the groove 240, so that the thickness of the track 140 can be further reduced, thereby further shortening the distance between the pick-up and placement mechanism 220 and the carrier 100, so that the pick-up and placement efficiency and pick-up and placement accuracy of the pick-up and placement mechanism 220 are improved.

[0151] In some examples, the cross-sectional shape of the groove 240 may include, but is not limited to, a square, a V-shape, an arc, or other suitable shapes. For example, the rolling surface of the guide wheel 230 is formed with a groove 240, and the cross-sectional shape of the groove 240 may be a square, a V-shape, an arc, or other suitable shapes. Accordingly, the shape of the end portion of the track 140 matches the shape of the groove 240, so that the end sidewalls of the track 140 serve to limit the guide wheel 230.

[0152] 11 and 12 , taking the V-shaped cross-sectional shape of the groove 240 as an example, the rolling surface of the guide wheel 230 is provided with a V-shaped groove along the circumferential direction. For example, the guide wheel 230 is a V-shaped wheel, and the V-shaped recessed portion on the rolling surface of the guide wheel 230 is configured as the groove 240 , i.e., the V-shaped groove.

[0153] Accordingly, the top 141 or bottom of the track 140 is formed into a V-shaped structure. For example, the two side walls of the top 141 of the track 140 are configured as inclined surfaces 141a, and the distance between the two inclined surfaces 141a gradually decreases from the middle to the end of the track 140. When the top 141 of the track 140 extends into the V-shaped groove, the two inclined surfaces 141a of the track 140 contact the groove walls of the V-shaped groove. In this way, the guide wheel 230 rolls along the two inclined surfaces 141a of the track 140, and the deviation in the width direction of the track 140 is limited. In addition, the provision of the V-shaped groove can reduce the contact area between the rolling surface of the guide wheel 230 and the track 140, thereby reducing the frictional resistance between the guide wheel 230 and the track 140, and ensuring smooth operation of the guide wheel 230 along the track 140.

[0154] It should be noted that the two inclined surfaces 141 a at the top of the track 140 are opposite and inclined along the thickness direction of the track 140 .

[0155] In some examples, the carrier 100 may be provided with a track 140, and the frame 211 of the lifting mechanism 210 is guided and engaged on the track 140 via a traveling assembly 250, and moves along the track 140. For example, a track 140 may be provided on the top crossbeam 120 of the carrier 100, and the traveling assembly 250 may be one, the traveling assembly 250 being provided at the top or first portion of the frame 211, with the distance between the first portion and the top of the frame 211 being smaller than the distance between the first portion and the bottom of the frame 211, thereby allowing the frame 211 to stably move along the carrier 100 via the traveling assembly 250.

[0156] For example, the driving assembly 212 in the walking assembly 250 rolls along the surface of the track 140 to drive the stand 211 to move along one side of the carrier 100, and the guide wheel 230 is guided and matched with the top 141 or bottom 142 of the track 140 to limit the left and right movement of the stand 211 in the thickness direction of the track 140.

[0157] In some examples, the distance between the first portion and the device body, such as the top of the stand 211, is less than or equal to one-third of the overall height of the stand 211. For example, at least one set of walking components 250 can be set at a suitable position such as 1 / 3, 1 / 4, or 1 / 5 of the stand 211.

[0158] It should be noted that the device body refers to other structures of the pick-and-place device 200 except the traveling component 250 .

[0159] By arranging at least one group of walking components 250 near the top of the stand 211, on the one hand, the center of gravity of at least one position where the pick-up and placement device 200 is connected to the carrier 100 can be ensured to be close to the top of the pick-up and placement device 200, thereby improving the suspension stability of the pick-up and placement device 200 on the carrier 100. On the other hand, the weight of the pick-up and placement device 300 will not be completely loaded on the walking components 250 near the top, thereby ensuring the structural stability of the walking components 250. For example, the walking components 250 are a group, and one group of walking components 250 is arranged near the top of the device body, thereby avoiding deformation of the walking components 250 due to excessive load caused by the weight of the device body when the walking components 250 are located near the bottom of the device body, thereby allowing the pick-up and placement device 200 to move stably along the carrier 100 through the walking components 250.

[0160] FIG14 is a partial structural diagram of a lifting mechanism provided in an embodiment of the present application. Referring to FIG1 , FIG9 , FIG10 , and FIG14 , in some examples, the carrier 100 may be provided with multiple tracks 140 , and the frame 211 of the lifting mechanism 210 may include multiple travel assemblies 250 spaced apart along the height direction Z. The multiple travel assemblies 250 are arranged corresponding to the tracks 140 . For example, multiple drive assemblies 212 are provided along the height direction of the frame 211 , and each drive assembly 212 is guided and engaged with the track 140 via a guide wheel 230 , so that the frame 211 can respectively run along the corresponding track 140 via the multiple drive assemblies 212 and the guide wheel 230 .

[0161] For example, the carrier 100 may have two rails 140, namely a first rail 140a and a second rail 140b, wherein the first rail 140a is located above the second rail 140b. For example, the first rail 140a, i.e., the upper rail 140, may be located at the top of the carrier 100, and the second rail 140b, i.e., the lower rail 140, may be located in the middle or at the bottom of the carrier 100.

[0162] As shown in Figure 14, in some examples, the multiple walking components 250 include a first walking component 250a and a second walking component 250b, and accordingly, the multiple driving components 212 include a first driving component 212a and a second driving component 212b, and the multiple guide wheels 230 include a first guide wheel 230a and a second guide wheel 230b.

[0163] The first travel assembly 250a is disposed at the first portion of the frame 211 and drives the entire pick-and-place device 200 to move along the first track 140a. The distance between the first portion and the top of the frame 211 is smaller than the distance between the first portion and the bottom of the frame 211.

[0164] Among them, the first part is the part of the first walking component 250a used to connect with the stand 211.

[0165] For example, the driving wheel 2122 of the first driving assembly 212a is driven by the driving member 2121 to move along the first track 140a, thereby driving the first portion of the stand 211 to move along the first track 140a. The first guide wheel 230a is rollably mounted on the first track 140a and moves along the extension direction of the first track 140a, allowing the stand 211 and the pick-and-place mechanism 220 to operate stably along the first track 140a in the longitudinal direction of the carrier 100.

[0166] The second travel assembly 250b is disposed at the second portion of the frame 211. The distance between the second portion and the bottom of the frame 211 is smaller than the distance between the second portion and the top of the frame 211. The second travel assembly 250b drives the entire pick-and-place device 200 along the second track 140b. The second portion is the portion of the second travel assembly 250b that is connected to the frame 211.

[0167] The second portion may be the middle or bottom of the stand 211 , or may be the portion where the second position of the stand 211 is located.

[0168] For example, the distance between the second portion and the device body, such as the bottom of the stand 211 , is less than or equal to one third of the overall height of the stand 211 . In this way, the pick-and-place device 200 can be stably placed on the carrier 100 .

[0169] For example, the drive wheel 2122 in the second drive assembly 212b is driven by the driver 2121 to move along the second track 140b, thereby driving the second portion of the stand 211 to move along the second track 140b. The second guide wheel 230b is rollably mounted on the second track 140b and moves along the extension direction of the second track 140b, allowing the stand 211 and the pick-and-place mechanism 220 to operate stably along the second track 140b in the longitudinal direction of the carrier 100.

[0170] It should be noted that in the above example, since the picking and placing device 200 is an independent integral structure relative to the carrier 100, it can be directly detachably mounted on the track 140 of the carrier 100 through the driving wheel 2122 or the guide wheel 230 of the walking component 250 to realize the assembly between the picking and placing device 200 and the carrier 100.

[0171] In some examples, the first travel assembly 250a may be one or more, that is, the travel assembly 250 that cooperates with the first track 140a may be one or more. Correspondingly, the second travel assembly 250b may be one or more, that is, the travel assembly 250 that cooperates with the second track 140b may be one or more.

[0172] In some examples, the stand 211 is a column 2111 extending along the height direction Z, and the pick-up and placement mechanism 220 is movably set on the column 2111. Then, there is one walking component 250 that cooperates with one of the tracks 140, and one walking component 250 is set on the column 2111 Z to drive the column 2111 to move along the carrier 100.

[0173] The column 2111 is driven by the walking component 250, such as the driving component 212, to move along the X-axis direction on the carrier 100, and the pick-and-place mechanism 220 is driven by the longitudinal driving structure 213 to move along the Z-axis direction, thereby realizing the docking and transfer of target items between the pick-and-place device 200 and the cargo positions 101 on each layer and column of the carrier 100. In addition, a column 2111 also simplifies the structure of the pick-and-place device 200, making it easier to dismantle and assemble the pick-and-place device 200 from the carrier 100.

[0174] For example, there is one first traveling assembly 250a, which is connected to the first portion of the column 2111. The first traveling assembly 250a drives the first portion of the column 2111 to move along the first track 140a.

[0175] For another example, there is one second traveling assembly 250b, which is connected to the second portion of the column 2111. The second traveling assembly 250b drives the second portion of the column 2111 to move along the second track 140b.

[0176] 6 and 7 , in some examples, the stand 211 may include a connecting rod 2112 and two columns 2111 extending along a height direction Z, and the connecting rod 2112 is connected between the two columns 2111 .

[0177] In some examples, the connecting rod 2112 can be connected to any position along the height direction of the column 2111, for example, the connecting rod 2112 can be connected to any position between the bottom and the top of the column 2111; or the connecting rod 2112 can be connected to the top of the column 2111, so that the frame 211 forms a portal structure. In this way, the first traveling assembly 250a and the second traveling assembly 250b can each include one or two.

[0178] For example, two columns 2111 are spaced apart along the X-axis direction, and the pick-and-place mechanism 220 is movably arranged between the two columns 2111, thereby improving the structural stability of the pick-and-place mechanism 220 on the columns 2111 and ensuring that the pick-and-place mechanism 220 can move stably up and down along the columns 2111. For the convenience of description, the two columns 2111 are respectively the first column 211a and the second column 211b.

[0179] For example, the first walking component 250a can be one, and the first walking component 250a can be set on any column 2111 of the frame 211. The first walking component 250a drives the first part of the entire frame 211 to move along the first track 140a through one column 2111.

[0180] Correspondingly, the second walking assembly 250b can be one, and the second walking assembly 250b can be set on any column 2111 of the frame 211. The second walking assembly 250b drives the second part of the entire frame 211 to move along the second track 140b through one column 2111.

[0181] For example, a travel assembly 250 is provided on one of the columns 2111 , and the travel assembly 250 is configured to drive one of the columns 2111 to move along the vehicle 100 , thereby driving the other column 2111 to move. The travel assembly 250 includes a drive assembly 212 and a guide wheel 230 .

[0182] For example, the first column 211a can be mounted on the track 140 via the travel assembly 250, so that the travel assembly 250 drives the first column 211a to move along the track 140. The second column 211b can move along the X-axis driven by the first column 211a.

[0183] Since the pick-and-place mechanism 220 is disposed between the first column 211a and the second column 211b, the first column 211a can indirectly drive the second column 211b to move via the pick-and-place mechanism 220. In some examples, a connecting rod 2112 can be connected between the first column 211a and the second column 211b. In this way, the first column 211a, the second column 211b, and the connecting rod 2112 form a support structure of the pick-and-place device 200 to support the pick-and-place mechanism 220. In addition, one column 2111 can drive the other column 2111 to move via the connecting rod 2112. For example, when the first column 211a is provided with a driving assembly 212 and the second column 211b is not provided with a driving assembly 212, the first column 211a moves along the track 140 under the drive of the driving assembly 212, and can drive the second column 211b to move along the carrier 100 via the connecting rod 2112. The connecting rod 2112 also makes the structural and dimensional stability between the two columns 2111 higher.

[0184] In this example, the first column 211a can be coupled to the track 140 via the drive assembly 212. For example, the first column 211a can be mounted on the track 140 via the drive assembly 212, so that the travel assembly 250 drives the first column 211a to move along the track 140. The second column 211b can be coupled to the track 140 via the auxiliary support member 340. For example, the auxiliary support member 340 can be mounted on the track 140, and the second column 211b is configured to drive the auxiliary support member 340 along the track 140 when the first column 211a moves. In other words, the travel assembly 250 drives the first column 211a to move along the track 140, and the second column 211b moves along the vehicle 100 driven by the first column 211a. The auxiliary support member 340 is connected to the second column 211b, so that the second column 211b drives the auxiliary support member 340 along the track 140 during its movement.

[0185] By cooperating both columns 2111 with the carrier 100, the assembly stability between the picking and placing device 200 and the carrier 100 is improved. In addition, a walking component 250, namely a drive component 212 and a guide wheel 230, is set on only one column 2111. The walking component 250 drives one column 2111 to move, so that the entire lifting mechanism 210 moves along the carrier 100, saving the number of walking components 250, such as the drive component 212, reducing the power consumption of the entire storage system, and thus saving operating costs.

[0186] 8 , in some examples, the auxiliary support member 340 may include:

[0187] The support base 341 and the first rolling assembly 342 , the support base 341 is connected to the second column 211 b , the first rolling assembly 342 is movably connected to the support base 341 , and is rollingly disposed on the track 140 of the carrier 100 .

[0188] For example, by setting the auxiliary support member 340 to include a first rolling component 342, the friction between the auxiliary support member 340 and the inner surface of the track 140 is rolling friction, thereby reducing the friction between the auxiliary support member 340 and the inner surface of the track 140 and ensuring that the auxiliary support member 340 moves smoothly along the track 140.

[0189] For example, the first rolling assembly 342 may include a rolling member such as a roller, which is fixed to the support seat 341 via a connecting shaft, and the roller rolls along the bottom surface of the track 140 .

[0190] In some examples, the first rolling assembly 342 may include a third rolling member 3421 and a fourth rolling member 3422. The third rolling member 3421 rolls along the first inner surface 1402 of the track 140, and the fourth rolling member 3422 contacts the second inner surface 1403 of the track 140, where the first inner surface 1402 and the second inner surface 1403 face different directions.

[0191] For example, when the track opening 1401 is facing upward, the first inner surface 1402 is the bottom surface of the track 140, and the third rolling member 3421 rolls along the first inner surface 1402 of the track 140, that is, the third rolling member 3421 rolls along the bottom surface of the track 140, and the second inner surface 1403 is the side surface of the track 140. For example, there are two second inner surfaces 1403, and the two second inner surfaces 1403 are arranged opposite to each other along the Y-axis direction, and the fourth rolling member 3422 rolls along the two second inner surfaces 1403.

[0192] The third rolling element 3421 and the fourth rolling element 3422 roll along different surfaces, constraining them to each other. This ensures that the first rolling assembly 342 does not wobble left or right in a direction perpendicular to the track 140 while the first rolling assembly 342 is rapidly traveling along the track 140. The third rolling element 3421 can be a third roller, a bearing, or a ball bearing, for example. For example, the third rolling element 3421 is a third roller movably mounted on the support base 341 via a connecting shaft. Similarly, the fourth rolling element 3422 can be a fourth roller, a bearing, or a ball bearing, for example. For example, the fourth rolling element 3422 is a fourth roller movably mounted on the support base 341 via a connecting shaft. Exemplarily, the third and fourth rollers are spaced apart along the extension direction of the track 140, and the axes of the third and fourth rollers, such as the extension direction of the connecting shaft, intersect. The axis of the third roller extends along the Y-axis, and the axis of the fourth roller extends along the Z-axis.

[0193] In some examples, when both the first traveling assembly 250 a and the second traveling assembly 250 b are one, the first traveling assembly 250 a and the second traveling assembly 250 b can be arranged on the same column 2111 or on different columns 2111 .

[0194] In some examples, each column 2111 may be provided with a travel assembly 250. The two columns 2111 are driven by the corresponding travel assembly 250 to move along the vehicle 100. Each travel assembly 250 may be assembled in the same manner with the vehicle 100. For example, a travel assembly 250 may be provided on the first column 211a to drive the first column 211a to move along the track 140 on the vehicle 100. A travel assembly 250 may be provided on the second column 211b to drive the second column 211b to move along the track 140 on the vehicle 100. By controlling the two travel assemblies to operate synchronously, the two columns 2111 can be ensured to move synchronously along the X-axis.

[0195] Exemplarily, there can be two first walking assemblies 250a, and the two first walking assemblies 250a can be respectively arranged on the two columns 2111 of the frame 211, that is, one of the first walking assemblies 250a is arranged on the first part of one of the columns 2111, and the other first walking assembly 250a is arranged on the first part of the other column 2111. The two first walking assemblies 250a drive the first parts of the two columns 2111 at the same time to drive the first part of the entire frame 211 to move along the first track 140a.

[0196] For another example, there can be two second walking assemblies 250b, and the two second walking assemblies 250b can be respectively arranged on the two columns 2111 of the frame 211, that is, one of the second walking assemblies 250b is arranged on the second part of one of the columns 2111, and the other second walking assembly 250b is arranged on the second part of the other column 2111. The two second walking assemblies 250b drive the second parts of the two columns 2111 at the same time to drive the second part of the entire frame 211 to move along the second track 140b.

[0197] In some examples, the driving wheel 2122 in at least one driving assembly 212 can be located at the top 141 or the bottom 142 of the track 140, and the rolling surface of the driving wheel 2122 rolls along the top surface or the bottom surface of the track 140. It is understood that when the driving wheel 2122 is located at the top 141 of the track 140, the driving wheel 2122 also serves to suspend the stand 211 on the track 140.

[0198] For example, the drive wheels 2122 in the first drive assembly 212a and the second drive assembly 212b may be located at the top 141 or the bottom 142 of the track 140, wherein the drive wheels 2122 in the first drive assembly 212a and the second drive assembly 212b may be located at the same or different positions on the track 140. For example, the drive wheels 2122 in the first drive assembly 212a may be located at the top 141 of the first track 140a, and the drive wheels 2122 in the second drive assembly 212b may be located at the top 141 or the bottom 142 of the second track 140b.

[0199] Of course, in some examples, the drive wheels 2122 of one of the first drive assembly 212a and the second drive assembly 212b are located at the top 141 or bottom 142 of the corresponding track 140, and the drive wheels 2122 of the other of the first drive assembly 212a and the second drive assembly 212b are located at other locations (such as the side 143 described below) of the corresponding track 140. For example, the drive wheels 2122 of the first drive assembly 212a are located at the top 141 or bottom 142 of the first track 140a, and the drive wheels 2122 of the second drive assembly 212b are located at other locations (such as the side 143 described below) of the second track 140b.

[0200] In some examples, the drive wheels 2122 in the first drive assembly 212a and the second drive assembly 212b may be located on the side 143 of the track 140 .

[0201] Of course, in some examples, the drive wheels 2122 of one of the first drive assembly 212a and the second drive assembly 212b are located on the side 143 of the corresponding track 140, while the drive wheels 2122 of the other of the first drive assembly 212a and the second drive assembly 212b are located elsewhere on the corresponding track 140 (such as the top 141 or bottom 142 described above). For example, the drive wheels 2122 of the first drive assembly 212a are located on the side 143 of the first track 140a, while the drive wheels 2122 of the second drive assembly 212b are located on the top 141 or bottom 142 of the second track 140b. For another example, the drive wheels 2122 of the first drive assembly 212a are located on the top 141 or bottom 142 of the first track 140a, while the drive wheels 2122 of the second drive assembly 212b are located on the side 143 of the second track 140b.

[0202] In some examples, the pick-and-place device 200 is suspended on the track 140 via a traveling assembly 250 , so that the pick-and-place device 200 can move stably along the carrier 100 .

[0203] For example, when there is one traveling assembly 250 , the traveling assembly 250 is suspended on the track 140 .

[0204] For another example, when the traveling assembly 250 includes a first traveling assembly 250 a and a second traveling assembly 250 b , at least one of the first traveling assembly 250 a and the second traveling assembly 250 b may be suspended on the corresponding rail 140 .

[0205] Exemplarily, the first traveling assembly 250 a and the second traveling assembly 250 b are both suspended on the track 140 .

[0206] Alternatively, the first traveling assembly 250a is suspended on the first rail 140a, and the second traveling assembly 250b is arranged on the side 143 of the second rail 140b to move along the side 143 of the second rail 140b; or, the second traveling assembly 250b is suspended on the second rail 140b, and the first traveling assembly 250a is arranged on the side 143 of the first rail 140a to move along the side 143 of the first rail 140a.

[0207] It should be noted that the walking component 250 is suspended on the track 140. The driving wheel 2122 in the walking component 250 can be set at the top 141 of the track 140 so that the driving wheel 2122 is suspended on the track 140, or the guide wheel 230 in the walking component 250 can be set at the top 141 of the track 140 so that the guide wheel 230 is suspended on the track 140.

[0208] 11 and 12 , in some examples, when the driving wheels 2122 of the first driving component 212a and the second driving component 212b are both disposed on the side 143 of the track 140 and roll along the side 143 of the track 140 , at least one of the first guide wheel 230a and the second guide wheel 230b is suspended from the top 141 of the corresponding track 140 , so that at least one walking component 250 is suspended on the corresponding track 140 through the guide wheel 230 , thereby causing the picking and placing device 200 to be suspended on the carrier 100 through at least one walking component 250 .

[0209] In some examples, the first guide wheel 230 a and the second guide wheel 230 b are both suspended from the top 141 of the corresponding track 140 .

[0210] For example, the first guide wheel 230a is suspended from the top 141 of the first rail 140a. Specifically, the top 141 of the first rail 140a may be embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the top 141 of the first rail 140a, or the first guide wheel 230a is embedded in the groove 240 of the first rail 140a, and the rolling surface of the first guide wheel 230a moves along the inner bottom wall of the groove 240. The second guide wheel 230b is suspended from the top 141 of the second rail 140b. Specifically, the top 141 of the second rail 140b may be embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the top 141 of the second rail 140b, or the second guide wheel 230b is embedded in the groove 240 of the second rail 140b, and the rolling surface of the second guide wheel 230b moves along the inner bottom wall of the groove 240.

[0211] In some examples, one of the first guide wheel 230a and the second guide wheel 230b is located at the top 141 of the corresponding track 140, and the other of the first guide wheel 230a and the second guide wheel 230b is located at the bottom 142 of the corresponding track 140. In this way, when either the first walking component 250a or the second walking component 250b jumps up and down, the guide wheel 230 in one of the walking components 250 can move stably along the track 140 without causing the entire walking component 250 and the picking and placing device 200 to deviate from the track 140.

[0212] In some examples, the first guide wheel 230a is disposed on the bottom 142 of the first track 140a. For example, the bottom 142 of the first track 140a may be embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the bottom 142 of the first track 140a. The second guide wheel 230b is disposed on the top 141 of the second track 140b. For example, the top 141 of the second track 140b may be embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the top 141 of the second track 140b.

[0213] Thus, when any one of the travel assemblies 250 drives the entire pick-and-place device 200 to jump upward, the second guide wheel 230b moves upward and disengages from the second track 140b, and the first guide wheel 230a moves upward and more stably contacts the bottom 142 of the first track 140a, thereby stably rolling along the bottom 142 of the first track 140a. When any one of the travel assemblies 250 drives the entire pick-and-place device 200 to jump downward, the first guide wheel 230a moves downward and disengages from the first track 140a, and the second guide wheel 230b moves downward and more stably contacts the top 141 of the second track 140b, thereby stably rolling along the top 141 of the second track 140b.

[0214] In some examples, the first guide wheel 230a is disposed on the top 141 of the first track 140a. For example, the top 141 of the first track 140a may be embedded in the groove 240 of the rolling surface of the first guide wheel 230a, so that the first guide wheel 230a rolls along the top 141 of the first track 140a. The second guide wheel 230b is disposed on the bottom 142 of the second track 140b. For example, the bottom 142 of the second track 140b may be embedded in the groove 240 of the rolling surface of the second guide wheel 230b, so that the second guide wheel 230b rolls along the bottom 142 of the second track 140b.

[0215] In this way, when any walking component 250 drives the entire picking and placing device 200 to jump upward, the first guide wheel 230a will move upward and disengage from the first track 140a, and the second guide wheel 230b will move upward and more stably contact the bottom 142 of the second track 140b to roll stably along the bottom 142 of the second track 140b.

[0216] When any walking component 250 drives the entire pick-and-place device 200 to jump downward, the second guide wheel 230b will move downward and disengage from the second track 140b, and the first guide wheel 230a will move downward and more stably contact the top 141 of the first track 140a to roll stably along the top 141 of the first track 140a.

[0217] By setting the first guide wheel 230a at the top 141 of the first track 140a and the second guide wheel 230b at the bottom 142 of the second track 140b, all tracks 140 are clamped between the first guide wheel 230a and the second guide wheel 230b. On the one hand, it can ensure that when the walking component 250 and the entire pick-up and placement device 200 jump up and down, the entire pick-up and placement device 200 will not deviate from the track 140, so that one of the guide wheels 230 will move stably along the corresponding track 140, thereby improving the stability of the pick-up and placement device 200 moving along the track 140. On the other hand, the first guide wheel 230a located above the stand 211 is arranged at the top 141 of the first track 140a, so that the top of the lifting mechanism 210 or the first part near the top is suspended on the first track 140a, and the structure below the first part of the lifting mechanism 210 can be vertically set on one side of the carrier 100 by gravity. Compared with the bottom of the lifting mechanism 210 or the second part near the bottom hanging on the second track 140b, the assembly stability of the lifting mechanism 210 on one side of the carrier 100 is improved, thereby ensuring that the pick-up and placement mechanism 220 on the lifting mechanism 210 can stably retrieve and return the target items.

[0218] 6 and 7 , in some examples, when the first guide wheel 230a is located at the top 141 of the first track 140a and the second guide wheel 230b is located at the bottom 142 of the second track 140b, an auxiliary wheel 280 may be provided below the first track 140a. The auxiliary wheel 280 is connected to the stand 211 and is configured to roll along the bottom 142 of the first track 140a when the second guide wheel 230b is disengaged from the second track 140b, so that the first guide wheel 230a and the auxiliary wheel 280 roll stably along the upper and lower surfaces of the first track 140a.

[0219] It should be noted that the auxiliary wheel 280 may not contact the first track 140a when the second guide wheel 230b has not separated from the second track 140b, that is, there is a gap between it and the bottom 142 of the first track 140a, so as to avoid that when the second guide wheel 230b and the auxiliary wheel 280 both move along the corresponding track 140, when the pick-up and placement device 200 jumps up and down, either the second guide wheel 230b or the auxiliary wheel 280 may be stuck on the corresponding track 140 and unable to move.

[0220] For example, when the first and second rails 140a, 140b are not parallel, resulting in a smaller gap between the first and second rails 140a, the second guide wheel 230b may disengage from the second rail 140b while the first guide wheel 230a is moving along the top 141 of the first rail 140a. When the second guide wheel 230b disengages from the second rail 140b, the second portion of the stand 211 cannot stably move along the second rail 140b, resulting in a delay in the movement of the second portion of the stand 211 relative to the first portion, causing the entire stand 211 to tilt left and right along the direction of the rail 140. This causes the auxiliary wheel 280 and the first guide wheel 230a to tilt upward. As the auxiliary wheel 280 tilts upward, it contacts the bottom 142 of the first rail 140a and moves along the bottom 142 of the first rail 140a. This ensures that the stand 211 can at least stably move along the first rail 140a under the action of the auxiliary wheel 280.

[0221] Furthermore, when the second guide wheel 230b is disengaged from the second track 140b, the auxiliary wheel 280 moves along the bottom 142 of the first track 140a. This prevents the first guide wheel 230a from moving upward and disengaging from the top 141 of the first track 140a, thereby improving the stability of the first guide wheel 230a on the first track 140a. The first guide wheel 230a and the auxiliary wheel 280 roll along the upper and lower surfaces of the first track 140a, respectively, increasing the contact area between the lifting mechanism 210 and the first track 140a. This ensures stable movement of the lifting mechanism 210 along the first track 140a when the second guide wheel 230b is disengaged from the second track 140b.

[0222] In some examples, an auxiliary wheel 280 may be connected to one of the columns 2111 and an auxiliary wheel 280 may be connected to the other column 2111 so that the two columns 2111 can move stably along the track 140 under the action of the corresponding guide wheels 230 and auxiliary wheels 280.

[0223] In some examples, any column 2111 may be provided with one or more auxiliary wheels 280. When the second guide wheel 230b is disengaged from the second track 140b, the one or more auxiliary wheels 280 roll along the bottom 142 of the first track 140a. When multiple auxiliary wheels 280 are provided, the number of auxiliary wheels 280 may be two or more, and the number may be adjusted based on the actual weight of the pick-and-place device 200.

[0224] In some examples, a warehousing system may include a first motion sensor, a second motion sensor, and a control mechanism.

[0225] The first displacement sensor is configured to detect a first movement stroke of the first part and generate a first detection signal;

[0226] The second displacement sensor is configured to detect a second movement stroke of the second part and generate a second detection signal.

[0227] The control mechanism is configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; and is also configured to adjust the output power of at least one of the first drive component 212a and the second drive component 212b when the first movement stroke is different from the second movement stroke, so as to keep the first movement stroke and the second movement stroke consistent, so that the stand 211 will not tilt, thereby ensuring the structural stability of the stand 211, and also ensuring that the pick-and-place mechanism 220 will not tilt, thereby ensuring the position stability of the pick-and-place mechanism 220 relative to the cargo position 101 on the carrier 100.

[0228] In some examples, before the stand 211 moves in the first direction, the first portion may have a first initial coordinate position. In some examples, along the first direction, either the first side end or the second side end of the track 140, which are opposite to each other along the extension direction, may serve as an origin coordinate. For example, in some examples, the movement of the lifting mechanism 210 from the first side end to the second side end is used as a specific example. The first side end may serve as the origin coordinate for the movement of the lifting mechanism 210 in the first direction.

[0229] In some examples, the first initial coordinate position may be an origin coordinate position. In some examples, the control mechanism may determine the first current position coordinate of the first part based on the first detection signal.

[0230] In some examples, after determining the first current position coordinates of the first part, the control mechanism can determine the first movement stroke based on the first current position coordinates and the first initial position coordinates. In some examples, the lifting mechanism 210 can start moving in the first direction at any position between the first side end and the second side end.

[0231] In some examples, the first initial position coordinates may be the position coordinates of the first part when it begins to move in the first direction. That is, the first initial position coordinates may be the position coordinates of any position between the first side end and the second side end relative to the origin coordinates. In some examples, the control mechanism may determine the first motion stroke based on the first current position coordinates and the first initial position coordinates. In some examples, before the stand 211 moves in the first direction, the second part may have a second initial coordinate position.

[0232] In some examples, along the first direction, either the first side end or the second side end can be an origin coordinate. For example, in some examples, the movement of the lifting mechanism 210 from the first side end to the second side end is used as a specific example. The first side end can be used as the origin coordinate for the movement of the lifting mechanism 210 along the first direction.

[0233] In some examples, the second initial coordinate position may be an origin coordinate position.

[0234] In some examples, the control mechanism may determine the second current position coordinates of the second part based on the second detection signal.

[0235] In some examples, after determining the second current position coordinates of the second part, the control mechanism may determine the second movement stroke based on the second current position coordinates and the second initial position coordinates.

[0236] In some examples, the lifting mechanism 210 can start to move along the first direction at any position between the first side end and the second side end.

[0237] In some examples, the second initial position coordinates may be the position coordinates when the second part starts to move along the first direction. In other words, the second initial position coordinates may be the position coordinates of any position between the first side end and the second side end relative to the origin coordinates.

[0238] In some examples, the control mechanism may determine the second motion range based on the second current position coordinates and the second initial position coordinates.

[0239] In some examples, at least one of the first displacement sensor and the second displacement sensor may include, but is not limited to, a Hall sensor, an ultrasonic sensor, a lidar sensor, and the like.

[0240] Taking the Hall sensor as an example, a plurality of magnetic parts can be arranged at intervals on the first track 140a along the extension direction of the first track 140a. The Hall sensor, for example, the first Hall sensor is arranged on the first part of the stand 211. During the movement of the first part of the stand 211 along the first track 140a, the first Hall sensor can sense the corresponding magnetic parts, thereby generating a first detection signal to determine the first current position coordinates of the first part, and then determine the first movement stroke of the first part based on the first initial position coordinates.

[0241] Accordingly, a plurality of magnetic parts can be arranged at intervals on the second track 140b along the extension direction of the second track 140b, and a Hall sensor, such as a second Hall sensor, can be arranged on the second part of the stand 211. During the movement of the second part of the stand 211 along the second track 140b, the second Hall sensor can sense the corresponding magnetic parts, thereby generating a second detection signal to determine the second current position coordinates of the second part, and then determine the second movement range of the second part based on the second initial position coordinates.

[0242] Referring to Figures 11 to 13, in some examples, at least one of the first displacement sensor and the second displacement sensor can be an encoder 260, which is connected to the corresponding first part or second part, and the encoder 260 is configured to generate a first detection signal or a second detection signal during the movement of the first part or the second part along the track 140.

[0243] 11 , in some examples, the first displacement sensor may include a first encoder 260a . The first encoder 260a may be connected to the first portion and generate a first detection signal when the first portion moves along the first track 140a driven by the first traveling assembly 250a.

[0244] 12 , in some examples, the second displacement sensor may include a second encoder 260b connected to the second portion, and generating a second detection signal when the second portion moves along the track 140 driven by the second traveling assembly 250b.

[0245] In some examples, the encoder 260 may be a rotary encoder having an encoder wheel 261. The storage system may further include a power supply, wherein the encoder wheel 261 cooperates with the power supply, and the power supply is configured to drive the encoder wheel 261 to rotate when the first portion or the second portion moves along the corresponding track 140, thereby generating a first detection signal or a second detection signal. It will be understood that when the first portion or the second portion moves along the corresponding track 140, the power supply simultaneously drives the encoder wheel 261 to rotate, so that the angular displacement of the encoder wheel 261 is converted into the first detection signal or the second detection signal to represent the motion range of the first portion or the second portion.

[0246] For example, the first encoder 260a is a rotary encoder. When the first part moves along the first track 140a driven by the first walking component 250a, the power provider can drive the encoder wheel 261 of the first encoder 260a to rotate synchronously, so that the first encoder 260a generates a first detection signal, which is used to characterize the movement stroke of the first part along the track 140.

[0247] For example, the second encoder 260b is a rotary encoder. When the second part moves along the second track 140b driven by the second walking component 250b, the power provider can drive the encoder wheel 261 of the second encoder 260b to rotate synchronously, so that the second encoder 260b generates a second detection signal, which is used to characterize the movement stroke of the second part along the track 140.

[0248] In some examples, the power providing member may be the track 140. For example, the rolling surface of the encoder wheel 261 contacts the surface of the track 140. When the first portion or the second portion moves along the track 140, the friction between the rolling surface of the encoder wheel 261 and the track 140 drives the encoder wheel 261 to rotate.

[0249] For example, when the first portion moves along the first track 140a, the friction between the rolling surface of the encoder wheel 261 of the first encoder 260a and the first track 140a drives the encoder wheel 261 to rotate, thereby causing the first encoder 260a to generate a first detection signal. For another example, when the second portion moves along the second track 140b, the friction between the rolling surface of the encoder wheel 261 of the second encoder 260b and the second track 140b drives the encoder wheel 261 to rotate, thereby causing the second encoder 260b to generate a second detection signal.

[0250] In some examples, the power supply may include a rack disposed on the track 140, and the encoder wheel 261 may be a gear structure that meshes with the rack. When the first or second portion of the stand 211 moves along the corresponding track 140, the encoder wheel 261 meshes with the rack, causing the rack to rotate the encoder wheel 261, thereby generating a first detection signal. For example, a rack may be disposed on the first track 140a, and the encoder wheel 261 of the first encoder 260a may be a gear structure that meshes with the rack on the first track 140a. When the first portion moves along the first track 140a, the rack causes the encoder wheel 261 of the first encoder 260a to rotate, thereby generating a first detection signal. For another example, a rack can be set on the second track 140b, and the encoder wheel 261 of the second encoder 260b is a gear structure and is engaged with the rack on the second track 140b. During the movement of the second part along the second track 140b, the rack drives the encoder wheel 261 of the second encoder 260b to rotate, thereby generating a second detection signal.

[0251] In some examples, the power supply may include a chain. The encoder wheel 261 of the encoder 260, such as the first encoder 260a, may be a gear or a chainring. The gear or chainring may engage with the chain. When the first or second portion of the stand 211 moves along the corresponding track 140, the gear or chainring may rotate under the action of the chain, thereby generating the first detection signal or the second detection signal.

[0252] In some examples, the power supply may include a synchronous belt or a timing belt. The encoder wheel 261 of the encoder 260, such as the first encoder 260a, is configured as a gear. The gear may engage with the synchronous belt or the timing belt. When the first portion or the second portion of the stand 211 moves along the corresponding track 140, the gear may rotate driven by the synchronous belt or the timing belt, thereby generating the first detection signal or the second detection signal.

[0253] In some examples, the encoder wheel 261 may be located on the side of the track 140, with the rolling surface of the encoder wheel 261 cooperating with the side surface 143 of the track 140 to roll along the side surface 143 of the track 140. In this way, the encoder wheel 261 does not need to occupy space in the thickness direction of the track 140, so that the size of the track 140 can be reduced during installation, thereby further shortening the pick-and-place distance between the pick-and-place mechanism 220 and the carrier 100.

[0254] For example, the encoder wheel 261 may be located on the side of the track 140 , and when the rolling surface of the encoder wheel 261 is an arc surface, the rolling surface of the encoder wheel 261 contacts the side surface 143 of the track 140 , so as to roll along the side surface 143 of the track 140 under the action of the friction force with the track 140 .

[0255] To ensure that the rolling surface of the encoder wheel 261 is in more stable contact with the side surface 143 of the track 140, an elastic member 214, such as a second elastic member 214, can be provided on the stand 211. This elastic member 214 can abut against the encoder wheel 261 and exert an elastic force on the encoder wheel 261 toward the track 140. It is understood that the specific coordination between the second elastic member 214 and the encoder wheel 261 can refer to the coordination between the first elastic member 214 and the drive wheel 2122 described above, and will not be further described here. For another example, the rolling surface of the encoder wheel 261 can be a gear surface that meshes with a rack on the side surface 143 of the track 140. This allows the rack to drive the encoder wheel 261 to roll as the stand 211 moves along the track 140.

[0256] In some examples, the encoder wheel 261 is located on the first surface of the track 140, and the rolling surface of the encoder wheel 261 contacts the first surface of the track 140 to roll along the first surface of the track 140. The corresponding guide wheel 230 on the track 140 is located on the second surface of the track 140. One of the first surface and the second surface is the top 141 of the track 140, and the other of the first surface and the second surface is the bottom 142 of the track 140. In other words, the encoder wheel 261 and the guide wheel 230 are respectively located on different surfaces of the corresponding track 140, thereby providing suitable space for the assembly of the encoder wheel 261 and the guide wheel 230 and avoiding interference between the encoder wheel 261 and the guide wheel 230.

[0257] For example, the encoder wheel 261 is located at the top 141 of the track 140, and the rolling surface of the encoder wheel 261 can roll under the friction force of the top 141 of the track 140. The guide wheel 230 is located at the bottom 142 of the track 140, and the guide wheel 230 can roll along the bottom 142 of the track 140. For example, the encoder wheel 261 of the first encoder 260a is located at the top 141 of the first track 140a, and the rolling surface of the encoder wheel 261 can roll under the friction force of the top 141 of the first track 140a. The first guide wheel 230a is located at the bottom 142 of the first track 140a, and the first guide wheel 230a can roll along the bottom 142 of the first track 140a.

[0258] In some examples, the extension direction of the rolling axis of the encoder wheel 261 may be parallel to the pick-and-place direction of the pick-and-place mechanism 220 , so as to reduce the size occupied by the encoder wheel 261 in the thickness direction of the track 140 .

[0259] In which, the cooperation between the rolling surface of the encoder wheel 261 and the top 141 or bottom 142 of the track 140 does not require a limiting structure such as a groove 240. For example, the arc rolling surface of the encoder wheel 261 can directly contact the top 141 or bottom 142 of the planar structure of the track 140.

[0260] In some examples, the manner in which the rolling surface of the encoder wheel 261 cooperates with the track 140 may be similar to the manner in which the guide wheel 230 cooperates with the track 140 , for example, and will not be further described herein.

[0261] In some examples, the encoder 260 may be a draw wire encoder, and the power provider may include a draw wire (also referred to as a draw rope in some examples).

[0262] In some examples, the wire of the wire encoder can be connected to the first side end of the track 140. When the first portion or the second portion moves along the track 140 toward the second side end, the wire can be pulled out, so that the wire encoder generates a detection signal.

[0263] For example, the first encoder 260a is a wire encoder, and the wire of the wire encoder can be connected to the first side end of the first track 140a. When the first part moves along the first track 140a to the second side end, the wire can be pulled out, so that the wire encoder generates a first detection signal.

[0264] For example, the second encoder 260b is a wire encoder, and the wire of the wire encoder can be connected to the first side end of the second track 140b. When the second part moves toward the second side end along the second track 140b, the wire can be pulled out, thereby making the wire encoder generate the second detection signal.

[0265] In some examples, the wire of the wire encoder can be connected to the second side end. When the first portion or the second portion moves along the track 140 toward the second side end, the wire can be retracted, thereby causing the wire encoder to generate a detection signal.

[0266] For example, the first encoder 260a is a wire encoder, and the wire of the wire encoder can be connected to the second side end of the first track 140a. When the first part moves along the first track 140a to the second side end, the wire can be retracted, thereby causing the wire encoder to generate a first detection signal.

[0267] For example, the second encoder 260b is a wire encoder, and the wire of the wire encoder can be connected to the second side end of the second track 140b. When the second part moves toward the second side end along the second track 140b, the wire can be retracted, thereby making the wire encoder generate the second detection signal.

[0268] 1 to 3 , in some examples, the top of the stand 211 (for example, the top of each stand 211) can extend from the beam 120 at the top of the carrier 100, and the pick-and-place mechanism 220 can move to the top of the stand 211. In this way, the pick-and-place mechanism 220 can move along the stand 211 to the corresponding position on the top of the carrier 100, and dock and transfer the target items with the cargo location 101 at the top of the carrier 100. In this way, the space on the top of the carrier 100 can be fully utilized and used as the cargo location 101 for storing the target items, thereby increasing the storage density of the picking system and even the warehousing system, and improving the operating efficiency of the workstation.

[0269] Similarly, the bottom end of the stand 211 (for example, the bottom end of each stand 211) can be lower than the beam 120 at the bottom of the carrier 100, and the pick-up and placement mechanism 220 can move to the bottom end of the stand 211. In this way, the pick-up and placement mechanism 220 can move along the stand 211 to the corresponding position at the bottom of the carrier 100, and dock and transfer the target items with the cargo position 101 at the bottom of the carrier 100. In this way, the space at the bottom of the carrier 100 can be fully utilized and used as the cargo position 101 for storing the target items, thereby increasing the storage density of the warehousing system, such as a workstation, and improving the operating efficiency of the warehousing system, such as a workstation.

[0270] That is to say, the embodiment of the present application only needs to adjust the overall height of the stand 211 to fully utilize the various spaces along the height direction of the carrier 100, thereby greatly improving the space utilization of the carrier 100 and even the entire storage system, thereby appropriately reducing the overall size of the storage system to save the occupied space size in the entire storage system and increase the storage density of the storage system.

[0271] In one implementation, the longitudinal drive structure 213 may include a longitudinal drive member 2131 and a longitudinal transmission member 2132. The longitudinal drive member 2131 is connected to the longitudinal transmission member 2132 to drive the longitudinal transmission member 2132 to move, and the picking and placing mechanism 220 is connected to the longitudinal transmission member 2132 to move under the drive of the longitudinal transmission member 2132.

[0272] The longitudinal transmission member 2132 can be a pulley structure. For example, the longitudinal transmission member 2132 includes: a longitudinal driving wheel 32321 and a longitudinal driven wheel 32322 arranged at intervals along the height direction of the stand 211. The longitudinal driving member 2131 is connected to the longitudinal driving wheel 32321 to drive the longitudinal driving wheel 32321 to rotate; the longitudinal transmission member 2132 can also include a longitudinal transmission belt 32323, which is mounted on the longitudinal driving wheel 32321 and the longitudinal driven wheel 32322. The longitudinal transmission belt 32323 and the longitudinal driven wheel 32322 move under the drive of the longitudinal driving wheel 32321, and the picking and placing mechanism 220 is connected to the longitudinal transmission belt 32323 to move under the movement of the longitudinal transmission belt 32323.

[0273] Exemplarily, the driving wheel and the driven wheel in the pulley structure can be sprockets, and accordingly, the longitudinal transmission belt 32323 can be a chain belt, which is engaged with the sprocket gear. Of course, the driving wheel and the driven wheel in the pulley structure can be pulleys, and accordingly, the longitudinal transmission belt 32323 can be a belt, which transmits power through friction between the belt and the pulley.

[0274] By configuring the longitudinal transmission member 2132 as a pulley structure, the pick-and-place mechanism 220 is flexibly connected to the longitudinal drive structure 213 , thereby enabling the longitudinal drive structure 213 to drive the pick-and-place mechanism 220 to operate flexibly.

[0275] When setting up, the longitudinal drive structure 213 can be set up as two groups, wherein the longitudinal transmission member 2132 of one group of longitudinal drive structures 213 is set on one of the vertical frames 211, such as the first column 211a, and is connected to the side wall of the pick-and-place mechanism 220 close to the first column 211a. The longitudinal transmission member 2132 of the other group of longitudinal drive structures 213 is set on the other vertical frame 211, such as the second column 211b, and is connected to the side wall of the pick-and-place mechanism 220 close to the second column 211b. In this way, the longitudinal drive members 2131 of the two longitudinal drive structures 213 respectively drive the corresponding longitudinal transmission member 2132 to move, thereby driving the pick-and-place mechanism 220 to move up and down along the height direction of the vertical frame 211 through the two side walls of the pick-and-place mechanism 220. The setting of the two longitudinal drive structures 213 makes the movement of the pick-and-place mechanism 220 along the height direction of the vertical frame 211 more stable and controllable. In other examples, the longitudinal drive structure 213 can be a group. For example, when there are two vertical frames 211, the longitudinal drive structure 213 can be set on any one of the vertical frames 211 to drive the pick-and-place mechanism 220 to move along the height direction of the vertical frames 211. In addition, when the longitudinal transmission member 2132 of the longitudinal drive structure 213 is a pulley structure, the pick-and-place mechanism 220 is flexibly connected to the longitudinal drive structure 213, thereby improving the synchronization of the two longitudinal drive structures 213 driving the pick-and-place mechanism 220, so that the pick-and-place mechanism 220 remains in a horizontal state when moving up and down without tilting, thereby ensuring the stable operation of the pick-and-place mechanism 220.

[0276] In some examples, the longitudinal transmission member 2132 can also be a gear rack matching structure. For example, the gear is connected to the longitudinal driving member 2131 to rotate under the drive of the longitudinal driving member 2131, and the rack is engaged with the gear to move up and down during the rotation of the gear. The pick-up and placement mechanism 220 can be connected to the rack to move up and down under the drive of the rack. The embodiment of the present application does not limit the structure of the longitudinal transmission member 2132. Among them, the longitudinal driving member 2131 can be a driving motor, a hydraulic cylinder, etc. When the longitudinal driving member 2131 is set, it can be set at the end of the stand 211 to save space in the middle area of ​​the stand 211 and provide sufficient space for the movement of the pick-up and placement mechanism 220. For example, the longitudinal driving member 2131 can be set at the top of the stand 211. For example, the two longitudinal drive members 2131 can be disposed on the transverse connecting member 217 disposed between the top ends of the two vertical frames 211. This prevents the longitudinal drive members 2131 from occupying the space at the bottom of the vertical frames 211, allowing the pick-and-place mechanism 220 to be lowered to the very bottom of the vertical frames 211 to dock with the cargo space 101 at the bottom of the carrier 100, thereby achieving reasonable utilization of the space at the bottom of the carrier 100. Of course, in other examples, the longitudinal drive members 2131 can be disposed at the bottom ends of the vertical frames 211, and the embodiments of the present application do not limit the specific location of the longitudinal drive members 2131.

[0277] FIG15 is a schematic diagram of the structure of the connecting member in FIG2. Referring to FIG8 and FIG15, in some examples, when the pick-and-place mechanism 220 is specifically connected to the longitudinal drive structure 213, a connecting member 217 can be fixed to the side wall of the pick-and-place mechanism 220. The connecting member 217 is connected to the longitudinal drive structure 213, such as the longitudinal transmission member 2132. That is, the pick-and-place mechanism 220 is connected to the longitudinal drive structure 213 via the connecting member 217, thereby improving the connection stability between the pick-and-place mechanism 220 and the longitudinal drive structure 213.

[0278] In addition, the pick-and-place device 200 may further include a second rolling assembly 218, which is connected to the pick-and-place mechanism 220. The vertical frame 211 is provided with a guide rail 211c, and the second rolling assembly 218 is rolled within the guide rail 211c. The guide rail 211c may be directly formed on the vertical frame 211, or a second guide rail may be fixed to the vertical frame 211, and the guide rail 211c may be formed on the second guide rail. The embodiment of the present application does not specifically limit the configuration of the guide rail 211c.

[0279] The cooperation between the second rolling assembly 218 and the guide rail 211c guides the up and down movement of the pick-and-place mechanism 220, preventing the pick-and-place mechanism 220 from moving in a direction deviating from the Z-axis. In addition, the provision of the second rolling assembly 218 enables the contact friction between the pick-and-place mechanism 220 and the stand 211 to be rolling friction, thereby reducing the frictional resistance between the pick-and-place mechanism 220 and the stand 211 and ensuring the stable operation of the pick-and-place mechanism 220 along the guide rail 211c on the stand 211. In a specific configuration, the second rolling assembly 218 can be provided on the connecting member 217 to reduce the number of parts and improve the connection stability of the second roller assembly on the pick-and-place mechanism 220. The connecting member 217 can be a plate-shaped member, the side of which facing away from the pick-and-place mechanism 220 can be slidably provided on the stand 211 to further provide a guiding function.

[0280] For example, the guide rail 211c may include a bottom surface and side surfaces surrounding the bottom surface. For example, the side surfaces may be two, the two side surfaces being disposed opposite each other, and the bottom surface and the side surfaces enclose a movable space for the guide rail 211c. The guide rail 211c has a guide rail opening, which is opposite to the bottom surface. The second rolling assembly 218 can extend into the guide rail 211c through the guide rail opening to roll along the bottom surface or side surface of the guide rail 211c.

[0281] In some examples, the guide rail opening faces one side of the pick-up and placement mechanism 220, that is, the guide rail opening faces the space between the two stands 211 along the X-axis direction. In this way, the bottom surface can be perpendicular to the ground, for example, facing the pick-up and placement mechanism 220, and the two side surfaces are arranged opposite to each other along the Y-axis direction, for example, both are perpendicular to the ground.

[0282] In some examples, the second rolling assembly 218 may include a fifth rolling member 32341 and a sixth rolling member 32342; the fifth rolling member 32341 rolls along the third inner surface of the guide rail 211c, and the sixth rolling member 32342 contacts along the fourth inner surface of the guide rail 211c, and the third inner surface and the fourth inner surface are oriented in different directions.

[0283] It should be noted that one of the third inner surface and the fourth inner surface is the bottom surface of the guide rail 211c, and the other can be a side surface of the guide rail 211c. For example, when the track opening faces the pick-and-place mechanism 220, the third inner surface is the bottom surface of the guide rail 211c, and the fifth rolling member 32341 rolls along the third inner surface of the guide rail 211c, that is, the fifth rolling member 32341 rolls along the bottom surface of the guide rail 211c. The fourth inner surface is the side surface of the guide rail 211c. For example, there are two fourth inner surfaces, and the two fourth inner surfaces are arranged opposite each other along the Y-axis direction, and the sixth rolling member 32342 rolls along the two fourth inner surfaces.

[0284] The fifth rolling element 32341 and the sixth rolling element 32342 roll along different surfaces, respectively, constraining the fifth rolling element 32341 and the sixth rolling element 32342. This ensures that the second rolling assembly 218 does not wobble left or right in a direction perpendicular to the guide rail 211c during rapid travel along the guide rail 211c. The fifth rolling element 32341 may be a fifth roller, a bearing, or a ball bearing, for example. For example, the fifth rolling element 32341 is a fifth roller movably mounted on a mounting seat on the connector 217 via a connecting shaft. Similarly, the sixth rolling element 32342 may be a sixth roller, a bearing, or a ball bearing, for example. For example, the sixth rolling element 32342 is a sixth roller movably mounted on the connector 217 via a connecting shaft. Exemplarily, the fifth roller and the sixth roller are spaced apart along the extension direction of the guide rail 211c, and the axes of the fifth roller and the sixth roller intersect, for example, along the extension direction of the connecting shaft. The axis of the fifth roller extends along the Y-axis, and the axis of the sixth roller extends along the X-axis. Referring to FIG. 15 , in the second rolling assembly 218, there may be two sixth rolling members 32342, which are disposed at the upper and lower ends of the connecting member 217, respectively. The fifth rolling member 32341 is located between the two sixth rolling members 32342, thereby allowing the upper and lower ends of the connecting member 217 to stably move along the guide rail 211c via the two sixth rolling members 32342.

[0285] As shown in Figure 8, in some examples, there may be two guide rails 211c, and the two guide rails 211c may be arranged at intervals along the Y-axis direction. Accordingly, there may be two groups of second rolling components 218, and the two groups of second rolling components 218 are rollingly arranged in the corresponding guide rails 211c. For example, one group of second rolling components 218 is rollingly arranged in one of the guide rails 211c, and the other group of second rolling components 218 is rollingly arranged in the other guide rail 211c. In this way, the assembly stability of the connecting member 217 and the stand 211 can be improved, and the limiting effect of the connecting member 217 in the Y-axis direction can be better, thereby ensuring that the pick-up and placement mechanism 220 runs smoothly on the stand 211 through the connecting member 217 and the second rolling component 218.

[0286] The carrier 100 of the embodiment of the present application has at least one, and each carrier 100 is provided with at least two pick-and-place devices 200 on one side. For example, a certain number of pick-and-place devices 200 can be installed according to actual operation requirements. In this way, different pick-and-place devices 200 can independently perform different pick-and-place tasks. For example, one of the pick-and-place devices 200 performs the task of taking out the target item from the shelf of the docking area M and transferring it to the carrier 100. At the same time, another pick-and-place device 200 performs the task of taking out the target item from the carrier 100 and transferring it to the shelf of the docking area M. Another pick-and-place device 200 performs the task of moving the target item from the carrier 100.

[0287] The provision of multiple pick-and-place devices 200 can improve the working efficiency of the entire storage system.

[0288] In addition, when one of the pick-and-place devices 200 fails, the pick-and-place device 200 can be removed from the carrier 100 and repaired at other workstations. The other pick-and-place devices 200 on the carrier 100 can operate normally. Compared with the related technology where staff need to perform repairs at the work platform 11 and stop the operation of other pick-and-place mechanisms 220, the overall work efficiency of the warehousing system is improved.

[0289] In some examples, there can be one or more carriers 100 (not shown in the figure). When there are multiple carriers 100, the multiple carriers 100 can be arranged in sequence along the travel direction (e.g., the X-axis direction) of the pick-and-place device 200. It is understood that the carriers 100 and the work platforms 11 can correspond one to one, that is, each side of the carrier 100 has a work platform 11. Of course, the carriers 100 and the work platforms 11 can be one to many, for example, multiple work platforms 11 can be set on one side of a carrier 100, and the carriers 100 and the work platforms 11 can be many to one, for example, multiple carriers 100 can correspond to one side of a work platform 11. The number of carriers 100 can be adjusted according to actual needs.

[0290] During setup, the tracks 140 on at least two carriers 100 can be connected, and at least two carriers 100 can share the pick-and-place device 200. For example, the pick-and-place device 200 can run along the track 140 between multiple carriers 100 to achieve docking with each carrier 100.

[0291] For example, there may be one track 140 located at the same height of the carrier 100 , and one track 140 may be fixed on multiple carriers 100 , so that the same pick-and-place device 200 can move along the track 140 on multiple carriers 100 .

[0292] By using a plurality of carriers 100 to share the pick-and-place device 200, on the one hand, the number of the pick-and-place devices 200 can be saved, thereby saving the manufacturing cost of a storage system such as a workstation. On the other hand, the spatial size of the storage system can be saved to provide a greater storage density for the workstation. From another perspective, the occupied size of the workstation can also be reduced to provide a larger storage space for other areas such as the storage area of ​​the storage system.

[0293] In some examples, two adjacent carriers 100 may share the pick-and-place device 200 .

[0294] For example, in the storage area 20 , two racks 110 on both sides of the lane share a pick-and-place device 200 .

[0295] In some examples, for two adjacent shelves 110, a track may be set on the shelf 110 on one side of the aisle, and the picking and placing device 200 is suspended on the shelf 110 on one side through the track 140 and is configured to pick and place target items on the shelves 110 on both sides of the aisle.

[0296] In some examples, tracks 140 may be provided on the shelves 110 on opposite sides of the aisle, and the picking and placing device 200 is configured to move along the tracks 140 on both sides of the aisle to pick and place target items on the shelves 110 on both sides of the aisle.

[0297] In some examples, the pick-and-place mechanism 220 of the pick-and-place device 200 can be centrally arranged in the aisle so that the distance between the pick-and-place mechanism 220 and the shelves on both sides of the aisle is equal. In this way, the docking distance between the pick-and-place mechanism 220 and the cargo locations on both sides can be equal, thereby facilitating the control of the docking process between the pick-and-place mechanism 220 and the cargo locations on both sides and also making the docking accuracy higher.

[0298] FIG16 is a schematic diagram of the structure of the pick-and-place mechanism provided in an embodiment of the present application from a first perspective, and FIG17 is a schematic diagram of the structure of the pick-and-place mechanism provided in an embodiment of the present application from a second perspective. Referring to FIG8 , FIG16 and FIG17 , the pick-and-place mechanism 220 of the embodiment of the present application includes a carrying assembly 221, a pick-and-place assembly 222 and a motion assembly 223. The carrying assembly 221 is configured to carry a target item. The pick-and-place assembly 222 is configured to remove a target item from a first target position and load it onto the carrying assembly 221, or to unload a target item from the carrying assembly 221 and place it at a second target position.

[0299] In the embodiment of the present application, one of the first target location and the second target location may be the target cargo location 101 on the carrier 100, and the other of the first target location and the second target location may be a transport robot or a movable carrier located on one side of the carrier 100. In addition, the first target location and the second target location may be the same location or different locations.

[0300] The motion component 223 is configured to drive the pick-and-place component 222 to move in the first motion trajectory and the second motion trajectory;

[0301] In the first motion trajectory, the motion component 223 is configured to drive the pick-and-place component 222 to move along the object picking direction (e.g., the Y-axis direction) to load and unload the target object;

[0302] In the second motion trajectory, the motion component 223 is configured to drive the pick-and-place component 222 to move upward away from the carrying component 221 , or move downward away from the carrying component 221 , so that the pick-and-place component 222 deviates from the picking direction.

[0303] It should be noted that the picking direction of the pick-and-place component 222 includes two opposite directions, one of which is the positive direction of the picking direction, such as the positive direction of the Y-axis direction, and the other is the opposite direction of the picking direction, such as the opposite direction of the Y-axis direction.

[0304] 8 and 17 , the pick-and-place mechanism 220 may further include a base 3221 , on which the pick-and-place assembly 222 , the motion assembly 223 , and the supporting assembly 221 are all located. The longitudinal drive structure 213 may be connected to the base 3221 to drive the entire pick-and-place mechanism 220 to move up and down along the Z-axis direction.

[0305] A receiving space 3221 a for receiving a target object is formed above the carrying component 221 (the receiving space 3221 a refers to the minimum space capable of placing the target object).

[0306] The pick-and-place assembly 222 may further include a drive component 3225. This drive component 3225 drives the motion component 223 to move within the first motion trajectory, thereby driving the pick-and-place assembly 222 to move within the accommodating space 3221a of the carrier assembly 221. Through reciprocating motions such as extension and retraction, the pick-and-place assembly 222 loads a target object at a first target location onto the carrier assembly 221, or unloads the target object from the carrier assembly 221 and places it at a second target location. It will be understood that the direction of the first motion trajectory is the object-picking direction of the pick-and-place assembly 222, which may be a third direction, such as the Y-axis.

[0307] When the driving component 3225 drives the moving component 223 to move within the second motion trajectory, the moving component 223 is configured to drive the pick-and-place component 222 to leave the accommodating space 3221a of the carrying component 221, so that the target item can enter the accommodating space 3221a of the carrying component 221 and be carried on the carrying component 221, and at the same time drive the pick-and-place component 222 to deviate from the first motion trajectory, so that the target item at the first target position can enter the carrying component 221 from one end opening of the carrying component 221 and then move smoothly to the other end of the carrying component 221.

[0308] 8 , as a first implementation, when the motion component 223 moves within the second motion trajectory, it can drive the pick-and-place component 222 to move upwards in the accommodation space 3221a, for example, it can move upwards along the Z-axis to deviate from the direction of taking objects, thereby leaving the accommodation space 3221a. Of course, in other examples, when the motion component 223 moves within the second motion trajectory, it can drive the pick-and-place component 222 to move downwards in the accommodation space 3221a, for example, it can move downwards along the Z-axis to deviate from the direction of taking objects, thereby leaving the accommodation space 3221a. For example, an avoidance space 3222b can be formed on the carrying component 221, and the pick-and-place component 222, driven by the motion component 223, moves through the avoidance space 3222b to the bottom of the carrying component 221, thereby providing a movement space for the target object to move on the carrying component 221.

[0309] As shown in Figure 4 , in this example, the motion assembly 223 may include a guide mechanism 32232 and a sliding mechanism 32231. The guide mechanism 32232 includes a first guide portion 3223a and a second guide portion 3223b that are interconnected. The first guide portion 3223a and the second guide portion 3223b respectively define a first motion trajectory and a second motion trajectory of the motion assembly 223. Specifically, the sliding mechanism 32231 moves along the extending directions of the first guide portion 3223a and the second guide portion 3223b and can move along the first guide portion 3223a until it mates with the second guide portion 3223b.

[0310] For example, the sliding mechanism 32231 cooperates with the guide mechanism 32232, and the sliding mechanism 32231 is configured to move along the first guide portion 3223a and the second guide portion 3223b. The pick-and-place assembly 222 is connected to the sliding mechanism 32231. When the sliding mechanism 32231 moves along the first guide portion 3223a and the second guide portion 3223b, it drives the pick-and-place assembly 222 to move along the first motion trajectory and the second motion trajectory.

[0311] In one specific embodiment, the first guide portion 3223a can extend linearly in the horizontal direction, and the second guide portion 3223b is located in a different direction from the first guide portion 3223a. The sliding mechanism 32231 is configured such that, as it moves along the first guide portion 3223a, the pick-and-place assembly 222 moves linearly within the accommodating space 3221a of the carrier assembly 221. When the sliding mechanism 32231 moves along the first guide portion 3223a, it can drive the pick-and-place assembly 222 to load the object to be picked up and placed onto the carrier assembly 221 along the horizontal direction. Furthermore, the sliding mechanism 32231 is configured such that, after moving along the first guide portion 3223a to the second guide portion 3223b, the pick-and-place assembly 222 gradually moves away from the accommodating space 3221a until the pick-and-place assembly 222 is located outside the accommodating space 3221a of the carrier assembly 221. 4 and 7 , when set, the first guide portion 3223a and the second guide portion 3223b may both be strip grooves provided on the guide plate, and at least a portion of the sliding mechanism 32231 is slidably provided in the strip grooves to achieve movement along the first motion trajectory and the second motion trajectory.

[0312] 7 , in order to move the target item from one end of the pick-and-place mechanism 220 to the other end, in some examples, the carrying assembly 221 is configured to transport the object to be picked up and placed, and the two ends of the carrying assembly 221 can be respectively denoted as a first open end a and a second open end b. The carrying assembly 221 can transport the target item between its first open end a and the second open end b, thereby achieving the function of transferring the target item from the first target position to the second target position via the pick-and-place mechanism 220. For example, the carrying assembly 221 can include a conveyor belt 3222a and a transmission roller that drives the conveying movement. The surface of the conveyor belt 3222a is formed as a bearing surface for carrying the target item. The transmission roller drives the conveyor belt 3222a to move during the rotation process, so that the conveyor belt 3222a transports the target item.

[0313] For example, two conveyor belts 3222a may be provided, and the two conveyor belts 3222a may be spaced apart along the X-axis and located on the same horizontal plane. The pick-and-place assembly 222 and the motion assembly 223 may be disposed between the two conveyor belts 3222a. The two conveyor belts 3222a move synchronously to transport the target object at the same time.

[0314] For another example, the carrying assembly 221 may include multiple transmission rollers spaced apart along the picking direction, and the surfaces of the transmission rollers form a carrying surface. Through the rotation of the multiple transmission rollers, the target object located on the surface of the transmission rollers moves along the picking direction.

[0315] FIG18 is a partial structural diagram of another pick-and-place mechanism provided by an embodiment of the present application. As a second implementation method, the motion component 223 is at least configured to drive the pick-and-place component 222 to rotate. For example, the motion component 223 can drive the pick-and-place component 222 to rotate upward perpendicularly to the supporting component 221 along the f direction, so that the pick-and-place component 222 switches between the pick-and-place position and the avoidance position. It should be noted that the pick-and-place position is a position where the extension direction of the pick-and-place component 222 is the direction of picking up objects, that is, the picking end of the pick-and-place component 222 faces the first opening end a or the second opening end b. It can be understood that when the pick-and-place component 222 is in the pick-and-place position, it can be stretched back and forth along the direction of picking up objects to achieve the picking and placing of the target object.

[0316] In this example, the motion assembly 223 may include a rotating assembly and a mounting base. The rotating assembly is connected to the pick-and-place assembly 222 and is disposed on the mounting base. The mounting base is fixed to the driving component 3225. The driving component 3225 can drive the mounting base to reciprocate horizontally along the object-retrieving direction, so that the mounting base drives the pick-and-place assembly 222 to reciprocate along the object-retrieving direction (Y-axis direction), thereby achieving the object-retrieving and placing. The rotating assembly can drive the pick-and-place assembly 222 to rotate, for example, in the direction f, so that the pick-and-place assembly 222 rotates between a pick-and-place position and a avoidance position.

[0317] The avoidance position is a position other than the pick-up position that deviates from the picking direction. When the pick-up component 222 is in the avoidance position, the picking end of the pick-up component 222 deviates from the picking direction, so that the target object can move from the first opening end a to the second opening end b.

[0318] Among them, when the pick-and-place component 222 is in the avoidance position, the angle between the pick-and-place component 222 and the direction of picking up objects can be greater than 0 degrees. The pick-and-place component 222 is configured to rotate between the pick-and-place position and the avoidance position. Exemplarily, when the pick-and-place component 222 is in the avoidance position, the extension direction of the pick-and-place component 222 can be perpendicular to the bearing surface, that is, the angle between the pick-and-place component 222 and the direction of picking up objects is 90 degrees. As another example, when the pick-and-place component 222 is in the avoidance position, the angle between the pick-and-place component 222 and the direction of picking up objects can be 45 degrees. The embodiments of the present application do not specifically limit this. As shown in Figure 18, for example, when the pick-and-place component 222 needs to take out the target item on the movable carrier on one side of the shelf, the pick-and-place component 222 rotates to the pick-and-place position (the picking end faces the target position), and then the motion component 223 drives the pick-and-place component 222 to move along the positive direction of the picking direction (as shown in the Y-axis direction in Figure 18) and approaches the target item. Then, the pick-and-place component 222 engages with the target item, and then the motion component 223 drives the target item to move in the opposite direction of the picking direction (as shown in the opposite direction of the Y-axis in Figure 18) to transport the target item to the carrying component 221. Finally, the pick-and-place component 222 disengages from the target item and rotates from the pick-and-place position to the avoidance position to quickly increase the distance from the target item. At the same time, the driving component 3225 drives the pick-and-place component 222 to synchronously retract in the opposite direction of the picking direction (as shown in the opposite direction of Y in Figure 18) and move upward at the same time to avoid the movement path of the target item on the carrying component 221.

[0319] In another embodiment, the pick-and-place component 222 stops at an avoidance position perpendicular to the load-bearing surface, and the state at the avoidance position is determined as the avoidance state. Then, when picking up objects again in the same direction or reverse direction, the pick-and-place component 222 only needs to rotate 90 degrees to achieve turning. This is not only more efficient and more convenient to implement, but also compared with rotation in other directions, there will be no problem of occupying the space in the width direction (i.e., the X-axis direction in Figure 18), which is conducive to structural compactness and rotation stability.

[0320] In addition, in other possible embodiments, the pick-and-place component 222 can also be rotated at any angle, or can be rotated in different directions such as forward, backward, up, and down, and the position at this time is determined as the pause position, that is, the pick-and-place component 222 is in an avoidance state. The embodiments of the present application do not make specific limitations on this.

[0321] In some examples, to switch between the pick-and-place position and the avoidance position, the pick-and-place assembly 222 may rotate or translate horizontally. The horizontal direction refers to any direction in the plane containing the X and Y directions. The embodiments of this application do not specifically limit the movement method of the pick-and-place assembly 222 to achieve avoidance, as long as the pick-and-place assembly 222 can avoid the target object's motion path.

[0322] To enable the pick-and-place mechanism 220 to load and unload target items on different sides, in some examples, a single pick-and-place assembly 222 can be configured to switch between a first position and a second position, where both the first position and the second position are pick-and-place positions. For example, the motion assembly 223 drives the pick-and-place assembly 222 to rotate to switch between the first position and the second position. When the pick-and-place assembly 222 rotates to the first position, it engages with the target item on the corresponding side in the positive direction of the pick-and-place direction. When the pick-and-place assembly 222 rotates to the second position, it engages with the target item on the corresponding side in the negative direction of the pick-and-place direction.

[0323] 17 and 18 , for example, when the pick-and-place component 222 needs to take out the first target item from the movable carrier and transfer the first target item to the target cargo position 101 of the carrier 100, the pick-and-place component 222 rotates to the first position (the object-picking end faces the first target position), and then the motion component 223 drives the pick-and-place component 222 to move in the positive direction of the object-picking direction (as shown in the Y direction in FIG. 18 ), and extends the second open end b of the carrying component 221; after approaching the first target item, the pick-and-place component 222 engages with the first target item, and then the motion component 223 drives the second open end b of the carrying component 221. A target object moves in the opposite direction of the object-picking direction to transport the first target object to the carrier assembly 221. Finally, the pick-and-place assembly 222 disengages from the first target object and rotates from the first position to the avoidance position to quickly increase the distance from the first target object. At the same time, the motion assembly 223 drives the pick-and-place assembly 222 to synchronously retreat in the opposite direction of the object-picking direction (refer to the opposite direction of Y in Figure 18) and move upward at the same time to avoid the movement path of the first target object on the carrier assembly 221, so that the target object moves to the first opening end a of the carrier assembly 221 under the drive of the carrier assembly 221.

[0324] When the target item reaches the first opening end a of the carrying component 221, the pick-and-place component 222 rotates from the avoidance position to the second position (the picking end faces the second target position) and engages with the first target item, and then the motion component 223 drives the pick-and-place component 222 to move along the picking direction (as shown in the opposite direction of Y in Figure 17) to approach the target cargo position 101 of the carrier 100; when the first target item reaches the target cargo position 101, the pick-and-place component 222 engages and disengages with the first target item, so that the first target item is placed on the target cargo position 101; then the motion component 223 drives the first target item to move along the Y direction to be retracted into the carrying component 221.

[0325] 17 and 18, when the pick-and-place assembly 222 needs to take out the second target item on the carrier 100, the pick-and-place assembly 222 can be rotated from the avoidance position to the second position (the object-picking end faces the second target position), for example, on the right side of FIG17 and on the left side of FIG18, and then the motion assembly 223 drives the pick-and-place assembly 222 to descend, and moves in the opposite direction of the object-picking direction (refer to the opposite direction of the Y axis in FIG18) and approaches the second target item, and then the pick-and-place assembly 222 engages with the second target item, and then the motion assembly 223 drives the pick-and-place assembly 222 to move in the opposite direction of the object-picking direction (refer to the opposite direction of the Y axis in FIG18) and approaches the second target item. The moving assembly 223 drives the pick-and-place assembly 222 to move along the positive direction of the object-picking direction (refer to the Y-axis direction in FIG. 18 ) to transport the second target object to the carrying assembly 221. Finally, the pick-and-place assembly 222 disengages from the second target object and rotates from the second position to the avoidance position to quickly increase the distance from the second target object. At the same time, the moving assembly 223 drives the pick-and-place assembly 222 to synchronously withdraw along the positive direction of the object-picking direction and move upward at the same time to avoid the movement path of the second target object on the carrying assembly 221. The rotation direction of the pick-and-place assembly 222 driven by the moving assembly 223 can be perpendicular to the direction of the carrying assembly 221, so that it does not occupy the space in the width direction (X-axis direction) of the pick-and-place mechanism 220. The pick-and-place assembly 222 can realize two-way picking by rotating, so that the pick-and-place mechanism 220 does not need to rotate as a whole, which has high operating efficiency and good structural stability.

[0326] It should be noted that the carrier 100 or movable carrier can be a single-depth carrier or a multi-depth carrier. In a single-depth carrier, the cargo spaces are all located close to the aisle. A multi-depth carrier has multiple rows of cargo spaces arranged along the depth direction of the carrier 100, i.e., the Y direction. One row of cargo spaces is close to the aisle, while the remaining rows are located away from the aisle, i.e., located within the interior area of ​​the carrier 100. For ease of description, the cargo spaces close to the aisle are referred to as outer depth spaces, and the cargo spaces away from the aisle are referred to as inner depth spaces.

[0327] Taking the single-depth carrier 100 as an example, when the pick-and-place device 200 is retrieving a case, the pick-and-place assembly 222, driven by the motion assembly 223, extends directly to the target location and engages with the target item. It then retracts, moving the target item to the carrier assembly 221. When returning a case, the pick-and-place assembly 222 in the pick-and-place device 200, driven by the motion assembly 223, extends directly to the target location, carrying the target item, and places the target item there.

[0328] Taking a double-deep carrier 100 as an example, the double-deep carrier 100 includes two rows of cargo locations arranged along the depth direction of the carrier 100, i.e., the Y direction. One row of cargo locations is close to the aisle side, and the other row of cargo locations is away from the aisle side, i.e., located inside the carrier 100. It is understood that when the target cargo location is an outer-deep location, or the target cargo location is an inner-deep location, and the outer-deep location on one side of the target cargo location is vacant, the retrieval and return process of the retrieval device 200 is the same as that of a single-deep carrier, and will not be further described here.

[0329] When the target cargo location is an inner deep location, and there are items in the outer deep location on one side of the target cargo location, the pick-and-place device 200 needs to first transfer the items in the outer deep location to another location, and then dock with the target cargo location to complete the box retrieval and return. For example, when the pick-and-place device 200 is in the process of retrieving a box, the pick-and-place component 222 can first extend to the outer deep location outside the target cargo location and transfer the items in the outer deep location to another location. Then, the pick-and-place component moves to the target cargo location and engages with the target item to remove the target item. For example, after the target item is transferred to the carrying component 221, the pick-and-place component 222 or other pick-and-place mechanism 220 used to remove the item can return the item transferred to another location to its original position.

[0330] For another example, when the pick-and-place device 200 is returning a box, the other pick-and-place mechanism 220 of the pick-and-place device 200 or another pick-and-place device 200 can first transfer the items in the outer deep position to another position, and then the pick-and-place mechanism 220 with the target item can transfer the target item to the target position. After the return operation is completed, the items transferred to other positions can be returned to their original positions by the pick-and-place mechanism 220 that transferred the target item, another pick-and-place mechanism of the pick-and-place device 200, or another pick-and-place device 200.

[0331] It should be noted that items located in the outer deep position can be transferred to other empty cargo positions or bottom cache positions of the hit vehicle, or transferred to other vehicles (such as vehicle 100 on the other side of the aisle or a movable vehicle on one side of vehicle 100), or transferred to the temporary storage position of the pick-and-place device 200 (if any). The embodiment of the present application does not limit the temporary storage position of the items.

[0332] As shown in FIG16 , in some other examples, there can be two pick-and-place components 222, wherein the object-picking end of one pick-and-place component 222 faces the positive direction of the third direction (refer to the Y direction in FIG16 ), and the object-picking end of the other pick-and-place component 222 faces the opposite direction of the third direction (refer to the opposite direction of Y in FIG16 ). The object-picking ends of the two pick-and-place components 222 are arranged opposite to each other along the third direction. The two pick-and-place components 222 can be arranged collinearly along the third direction, or can be arranged spaced apart along the X-axis direction. This embodiment of the present application does not specifically limit this. In this way, the two pick-and-place components 222 can be responsible for the corresponding object-picking work respectively, thereby eliminating the need for repeated rotation and reversing, further improving work efficiency.

[0333] As shown in Figures 16 and 18, in some examples, the pick-and-place assembly 222 may include a pick-up portion 32241 and a fixing portion 32242. The pick-up portion 32241 is connected to the motion assembly 223 via the fixing portion 32242. The pick-up portion 32241 includes a suction cup structure 3224a and a fixing rod 3224b. The suction cup structure 3224a is configured to absorb a target object and carry the target object in motion. One end of the fixing rod 3224b is connected to the fixing portion 32242, and the other end of the fixing rod 3224b is connected to the suction cup structure 3224a. A channel is formed in the fixing rod 3224b, and the other end of the channel can be connected to an air source device via a vacuum tube. Thus, when the air source device is in operation, the air source device reduces the pressure in the channel and the inner cavity of the suction cup structure 3224a via the vacuum tube, thereby reducing the external atmospheric pressure and causing the target object to be pressed and adsorbed on the suction cup structure 3224a.

[0334] In some possible examples, the air source device can specifically be an air source device that can rotate forward and reverse. For example, when the air source device rotates forward, the inner cavity of the channel and the suction cup structure 3224a is sucked through the vacuum tube to reduce the inner cavity pressure of the suction cup structure 3224a, thereby facilitating the adsorption of the target object; when the air source device reverses, the air source device inflates the inner cavity of the channel and the suction cup structure 3224a through the vacuum tube, thereby releasing the suction force of the suction cup structure 3224a on the target object, thereby facilitating the removal of the target object from the suction cup structure 3224a.

[0335] For example, one end of the fixing rod 3224b may be movably connected to the fixing portion 32242, and the fixing rod 3224b may be movable relative to the fixing portion 32242 along a third direction, such as the Y-axis direction. The object-retrieving portion 32241 may further include an elastic structure 3224c, which is sleeved on the fixing rod 3224b, and whose ends may be fixed to the fixing rod 3224b and the fixing portion 32242, respectively. When the suction cup structure 3224a engages with the target object on the corresponding side, the elastic structure 3224c may be extended. When the suction cup structure 3224a disengages from the target object on the corresponding side, the suction cup structure 3224a and the fixing rod 3224b are configured to move relative to the fixing portion 32242 in a direction away from the target object due to the elastic force of the elastic structure 3224c. The elastic structure 3224c may be a spring. In this way, the elastic force of the elastic structure 3224c can enable the suction cup structure 3224a to quickly disengage from the target object, and can also enable rapid expansion and contraction between the fixing rod 3224b and the fixing part 32242, thereby further increasing the distance between the picking part 32241 and the target object, and improving the speed at which the picking part 32241 avoids the target object path.

[0336] FIG19 is a schematic diagram of the structure of a fixing plate provided in an embodiment of the present application, and FIG20 is a schematic diagram of the structure of the intersection area of ​​the crossbeam and longitudinal beam in a carrier provided in an embodiment of the present application. Referring to FIG19 and FIG20 , in some examples, the storage system may further include a fixing plate 270, through which the track 140 is fixed to the carrier 100. In some examples, the fixing plate 270 includes a middle portion 271 and a connecting portion 272 connected to the end of the middle portion 271. The middle portion 271 is connected to the track 140, and the connecting portion 272 is connected to the carrier 100. For example, the middle portion 271 has two ends arranged opposite to each other in the height direction, one connecting portion 272, such as the first connecting portion 272a, is connected to one end of the middle portion 271 in the length direction, and the other connecting portion 272, such as the second connecting portion 272b, is connected to the other end of the middle portion 271 in the length direction. In this way, the two connecting portions 272 can be fixed to the crossbeam 120 of the carrier 100, and the middle portion 271 is fixed to the track 140.

[0337] Due to the limited height of the track 140, the first fixing member 273 between the middle portion 271 and the track 140 will be relatively limited. By providing connecting portions 272 on both sides of the middle portion 271, the connecting portions 272 are connected to the carrier 100. The size of the connecting portion 272 can be made larger, so that the second fixing member between the connecting portion 272 and the carrier 100 can be larger than the force-bearing area of ​​the first fixing member 273, thereby ensuring that the track 140 is stably fixed on the carrier 100.

[0338] In some examples, the first fixing member 273 and the second fixing member may be fixing members such as screws, bolts, or rivets, and the second fixing member may be a structure with a larger radial dimension than the first fixing member 273, so that the track 140 is fixed to the carrier 100 through the fixing plate 270 and the larger second fixing member. In addition, the provision of the fixing plate 270 can replace the shear force of the screws that directly fix the track 140 to the carrier 100, allowing the first fixing member 273 to stably secure the middle portion 271 of the fixing plate 270 to the track 140 and the connecting portion 272 of the fixing plate 270 to the carrier 100, thereby preventing the first fixing member 273 and the second fixing member from loosening. In some examples, the fixing plate 270 may be a sheet metal structure.

[0339] In some examples, the connecting portion 272 of the fixing plate 270 can be fixed to the longitudinal beam 130 of the carrier 100 via a second fixing member to increase the mating area between the connecting portion 272 and the carrier 100, allowing the second fixing member to be larger in size to secure the connecting portion 272 to the carrier 100. Furthermore, fixing the connecting portion 272 to the longitudinal beam 130 prevents the connecting portion 272 from extending vertically above and below the crossbeam 120 and thereby obstructing the exit of the cargo space 101.

[0340] In some examples, the middle portion 271 of the fixing plate 270 is located at the intersection region 150 of the cross beam 120 and the longitudinal beam 130 of the vehicle 100 and is connected to the cross beam 120 , and a portion of the connecting portion 272 is located at the connection 151 between the cross beam 120 and the longitudinal beam 130 in the intersection region 150 , and the connecting portion 272 spans the connection 151 and is connected to the longitudinal beam 130 .

[0341] 12 and 19 , at least a portion of the connection portion 272 may protrude away from the connection 150a, thereby providing a reserved space 2722 between the connection portion 272 and the connection 151. The reserved space 2722 is used to accommodate fixing members, such as the third fixing members 160, at the connection 151. For example, the crossbeam 120 and the longitudinal beam 130 of the vehicle 100 are intersectingly disposed. In the intersection region 150, the crossbeam 120 is fixed to the longitudinal beam 130 via a plurality of third fixing members 160. In the intersection area 150, there are two locations where the third fixing member 160 is set, namely the connection points 151 connecting the crossbeam 120 and the longitudinal beam 130. One of the connections 151, such as the first connection 151a, is located near the top of the crossbeam 120, that is, the crossbeam 120 near the top is connected through one or more third fixing members 160, and the other connection 151, such as the second connection 151b, is located near the bottom of the crossbeam 120, that is, the crossbeam 120 near the bottom is connected through one or more third fixing members 160.

[0342] In some examples, the third fixing member 160 may include, but is not limited to, screws, bolts, rivets, and other structural members. In some examples, the middle portion 271 of the fixing plate 270 is located between the first connection 151a and the second connection 151b of the crossbeam 120. That is, the projection of the middle portion 271 of the fixing plate 270 on the vehicle 100 is located between the first connection 151a and the second connection 151b. The connecting portion 272 of the fixing plate 270 extends along the height direction of the middle portion 271 and crosses the connection 151 to connect to the longitudinal beam 130 on one side of the connection 151. For example, the connecting portion 272 above the middle portion 271 crosses the first connection 151a and connects to the longitudinal beam 130 above the first connection 151a. The connecting portion 272 below the middle portion 271 may cross the second connection 151b and connect to the longitudinal beam 130 below the second connection 151b. It is understood that a portion of the connection portion 272, such as the relief portion 2721, is located at the connection 151. That is, the orthographic projection of the relief portion 2721 of the connection portion 272 on the carrier 100 is located at the connection 151. Since the third fixing member 160 is disposed at the connection 151, the relief portion 2721 of the connection portion 272 can be protruded away from the connection 151 to form a reserved space 2722 between the relief portion 2721 of the connection portion 272 and the connection 151, thereby providing a clearance for the third fixing member 160. For example, the relief portion 2721 of the first connection portion 272a can be protruded away from the first connection 151a to provide clearance for the third fixing member 160 at the first connection 151a. The relief portion 2721 of the second connection portion 272b can be protruded away from the second connection 151b to provide clearance for the third fixing member 160 at the second connection 151b.

[0343] In some examples, a pick-and-place device 200 may be suspended on one side of each carrier 100, i.e., one pick-and-place device 200 is configured to pick up and place items on one of the carriers 100. For example, in a storage area 20, multiple carriers 100, such as shelves 110, are arranged at intervals, and a pick-and-place device 200 is suspended on the side of each shelf 110 facing the aisle. The pick-and-place device 200 only docks with the shelf 110 on one side of the pick-and-place device 200 to retrieve and return items from the shelf 110 on that side.

[0344] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A storage system, comprising: A workstation (10) configured for a picking subject to sort or pick target items; a handling device configured to remove the target object from the workstation (10) or to transfer the target object to the workstation (10); A carrier (100) is formed with a cargo space (101); A pick-and-place device (200) is arranged on a track (140) on one side of the carrier (100), and the pick-and-place device (200) comprises: A lifting mechanism (210) is movably disposed on the track (140) and moves along the track (140) on the carrier (100); A pick-and-place mechanism (220) is disposed on the lifting mechanism (210) and is movable along the lifting mechanism (210); The pick-and-place mechanism (220) is configured to transfer the target object between the carrier (100) and a target carrier or the transport device.

2. The warehousing system according to claim 1, further comprising a warehousing area (20), wherein the carrier (100) comprises a shelf (110) located in the warehousing area (20); and the target carrier comprises a movable carrier; The pick-and-place mechanism (220) is configured to move to a target cargo position in the shelf (110) under the drive of the lifting mechanism (210), take out a target item, and transfer it to the transport device or the movable carrier, so as to transfer the target item or the movable carrier carrying the target item to the workstation (10) through the transport device; The pick-and-place mechanism (220) is also configured to receive the target item transferred from the workstation (10) by the transport device, and to move to the target cargo position of the shelf (110) under the drive of the lifting mechanism (210), and to place the target item at the target cargo position.

3. The storage system according to claim 1, wherein: The carrier (100) comprises a support frame (12) arranged in the workstation (10); the workstation (10) further comprises a work platform (12), and the work platform (12) is located on one side of the support frame (12); the target carrier comprises a movable carrier or the work platform (12); The pick-and-place device (200) is configured to transfer the target object between the support frame (12) and the transport device or the movable carrier, and / or the pick-and-place device (200) is configured to transfer the target object between the support frame (12) and the working platform (12).

4. The storage system according to any one of claims 1 to 3, wherein: The lifting mechanism (210) comprises: A stand (211); the pick-and-place mechanism (220) is movably arranged on the stand (211); A longitudinal driving structure (213) connected to the pick-and-place mechanism (220), the longitudinal driving structure (213) being configured to drive the pick-and-place mechanism (220) to move along the height direction of the stand (211); A driving assembly (212) is disposed on the stand (211), and the driving assembly (212) is configured to move along the track (140) to drive the stand (211) to move on the carrier (100).

5. The storage system according to claim 4, wherein: The drive assembly (212) comprises: A driving member (2121) connected to the stand (211); A driving wheel (2122) is connected to the driving member (2121), and the driving wheel (2122) is configured to move along the track (140) under the drive of the driving member (2121) to drive the stand (211) to move along the carrier (100).

6. The storage system according to claim 5, wherein: The track (140) has a track opening, the driving wheel (2122) is located in the track (140), and the driving member (2121) passes through the track opening and is connected to the driving wheel (2122).

7. The storage system according to claim 5, wherein: There is at least one driving component (212), and the driving wheel (2122) in at least one of the driving components (212) is located on the side surface (143) of the track (140), and the rolling surface of the driving wheel (2122) is in contact with the side surface (143) of the track (140) so as to roll along the side surface (143) of the track (140) under the drive of the driving member (2121).

8. The storage system according to claim 7, wherein: The storage system also includes: An elastic member (214) is arranged on the stand (211); the elastic member (214) abuts against the driving wheel (2122) and applies an elastic force toward the track (140) to the driving wheel (2122).

9. The storage system according to claim 5, further comprising: The guide wheel (230) is connected to the lifting mechanism (210) and is rollingly arranged on the track (140). The guide wheel (230) is configured to move along the extension direction of the track (140) under the drive of the lifting mechanism (210).

10. The storage system according to claim 9, wherein: The guide wheel (230) is embedded in the track (140); the driving wheel (2122) is located in the track (140) and rolls along the first inner surface of the track (140); the guide wheel (230) contacts the second inner surface of the track (140); the first inner surface and the second inner surface are oriented in different directions.

11. The storage system according to claim 9, wherein: A groove (240) is formed on one of the rolling surface of the guide wheel (230) and the track (140), and the other of the rolling surface of the guide wheel (230) and the track (140) is embedded in the groove (240) so that the other moves along the groove (240) relative to the one; Wherein, the extension direction of the rolling axis of the guide wheel (230) is parallel to the pick-and-place direction of the pick-and-place mechanism (220), and the driving wheel (2122) is located on the side (143) of the track (140).

12. The storage system according to claim 11, wherein: The guide wheel (230) is a V-shaped wheel, and the V-shaped recessed portion on the rolling surface of the guide wheel (230) is configured as the groove (240).

13. The storage system according to claim 11, wherein: The height of the track (140) is greater than the thickness of the track (140), wherein the thickness direction of the track (140) is parallel to the pick-and-place direction of the pick-and-place mechanism (220), and the height direction of the track (140) is parallel to the height direction of the carrier (100).

14. The storage system according to claim 9, wherein: A plurality of tracks (140) are formed on one side of the carrier (100), the plurality of tracks (140) are arranged at intervals along the height direction of the carrier (100), and the plurality of tracks (140) include a first track (140a) and a second track (140b), wherein the first track (140a) is located above the second track (140b); The stand (211) is provided with a plurality of drive assemblies (212) spaced apart along a height direction, and the plurality of drive assemblies (212) include a first drive assembly (212a) and a second drive assembly (212b); The first driving component (212a) is disposed at a first portion of the stand (211) and is configured to drive the first portion to move along the first track (140a); the second driving component (212b) is disposed at a second portion of the stand (211) and is configured to drive the second portion to move along the second track (140b).

15. The storage system according to claim 14, wherein: The distance between the first portion and the top of the stand (211) is smaller than the distance between the first portion and the bottom of the stand (211); The distance between the second portion and the bottom of the stand (211) is smaller than the distance between the second portion and the top of the stand (211).

16. The storage system according to claim 14, wherein: The guide wheel (230) comprises a first guide wheel (230a) and a second guide wheel (230b); the first guide wheel (230a) is rollably disposed on the first track (140a); and the second guide wheel (230b) is rollably disposed on the second track (140b).

17. The storage system according to claim 14, further comprising: A first displacement sensor is configured to detect a first movement stroke of the first part and generate a first detection signal; a second displacement sensor, configured to detect a second movement stroke of the second part and generate a second detection signal; The control mechanism is configured to determine whether the first movement stroke is consistent with the second movement stroke based on the first detection signal and the second detection signal; and is also configured to adjust the output power of at least one of the first drive component (212a) and the second drive component (212b) when the first movement stroke is different from the second movement stroke, so that the first movement stroke and the second movement stroke remain consistent.

18. The storage system according to claim 17, wherein: At least one of the first displacement sensor and the second displacement sensor is an encoder (260), and the encoder (260) is connected to the corresponding first part or second part, and the encoder (260) is configured to generate the first detection signal or the second detection signal during the movement of the first part or the second part along the track (140).

19. The storage system according to claim 5, further comprising a busbar (350); The conductor of the busbar (350) is arranged on the track (140), the current collector of the busbar (350) is arranged on the driving member (2121) and is electrically connected to the driving member (2121), and the current collector is configured to contact the conductor when the driving member (2121) drives the driving wheel (2122) to move along the track (140).

20. The storage system according to claim 4, wherein: The stand (211) comprises at least one column (2111), the column (2111) extending along the height direction of the carrier (100), and the driving component (212) is arranged on at least one of the columns (2111) to drive the column (2111) to move along the carrier (100); The longitudinal driving structure (213) is configured to drive the pick-and-place mechanism (220) to move along the height direction of the column (2111).

21. The storage system according to claim 20, wherein: There are two upright posts (2111), the two upright posts (2111) are arranged at an interval, and the pick-and-place mechanism (220) is movably arranged between the two upright posts (2111); The driving assembly (212) is disposed on each of the columns (2111), and the two columns (2111) move along the carrier (100) under the drive of the corresponding driving assembly (212); Alternatively, the driving assembly (212) is disposed on one of the columns (2111), and the driving assembly (212) is configured to drive one of the columns (2111) to move along the carrier (100) to drive the other column (2111) to move.

22. The storage system according to claim 21, wherein: The two columns (2111) are respectively a first column (211a) and a second column (211b); the first column (211a) cooperates with the track (140) of the carrier (100) through a driving assembly (212); the second column (211b) cooperates with the track (140) through an auxiliary support member (340); the second column (211b) is configured to move under the drive of the first column (211a) to drive the auxiliary support member (340) to move along the track (140).

23. The storage system according to claim 21, wherein: The stand (211) further comprises a connecting rod (2112), wherein the connecting rod (2112) is connected between the two columns (2111).

24. The storage system according to claim 4, wherein: The longitudinal driving structure (213) is arranged on the stand (211) and includes a longitudinal driving member (2131) and a longitudinal transmission member (2132). The longitudinal driving member (2131) is connected to the longitudinal transmission member (2132) to drive the longitudinal transmission member (2132) to move, and the picking and placing mechanism (220) is connected to the longitudinal transmission member (2132) to move under the drive of the longitudinal transmission member (2132).

25. The storage system according to claim 4, wherein: The lifting mechanism (210) further comprises: A connecting member (217), wherein the pick-and-place mechanism (220) is connected to the longitudinal driving structure (213) via the connecting member (217); The second rolling component (218) is connected to the pick-and-place mechanism (220); a guide rail (211c) is provided on the stand (211); and the second rolling component (218) is rollingly disposed in the guide rail (211c).

26. The storage system according to any one of claims 1 to 3, wherein: The pick-and-place mechanism (220) comprises: A carrying assembly (221), configured to carry a target object; a pick-and-place component (222), the pick-and-place component (222) being configured to take out a target object from a first target position and load it onto the carrying component (221), or being configured to unload the target object from the carrying component (221) and place it at a second target position; A motion component (223), wherein the motion component (223) is configured to drive the pick-and-place component (222) to move in a first motion trajectory and a second motion trajectory; In the first motion track, the motion component (223) is configured to drive the pick-and-place component (222) to move along a pick-up direction to load and unload a target object; In the second motion trajectory, the motion component (223) is configured to drive the pick-and-place component (222) to deviate from the object picking direction.

27. The storage system according to claim 26, wherein: In the second motion track, the motion component (223) is configured to drive the pick-and-place component (222) to move obliquely upward or obliquely downward to move away from the carrying component (221); Alternatively, within the second motion trajectory, the motion component (223) is at least configured to drive the pick-and-place component (222) to rotate, so that the pick-and-place component (222) switches between a pick-and-place position and an avoidance position.

28. The storage system according to any one of claims 1 to 3, wherein: The carrier (100) has at least one, and one side of each of the carriers (100) is provided with one or more of the pick-and-place devices (200).

29. The storage system according to any one of claims 1 to 3, further comprising: A fixing plate (270), the fixing plate (270) comprising a middle portion (271) and a connecting portion (272) connected to an end of the middle portion (271), the middle portion (271) being connected to the track (140), and the connecting portion (272) being connected to the carrier (100).

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