Goods transfer apparatus, goods pick-and-place assembly, control method and apparatus, and storage medium

Abstract

The present application relates to the technical field of logistics and warehousing. Disclosed are a goods pick-and-place assembly and a control method therefor, a goods transfer apparatus, a control device for the goods pick-and-place assembly, and a computer-readable storage medium. The goods pick-and-place assembly comprises: a carrying platform and a connecting member, wherein the connecting member is arranged on the carrying platform; the carrying platform is configured to allow goods containers to enter and exit from both ends in a first horizontal direction; the connecting member is configured to slide relative to the carrying platform and rotate relative to the carrying platform; the connecting member can rotate to a first position and a second position; when the connecting member is located at the first position, the connecting member can be connected to the goods containers to pull the goods containers to the carrying platform or push the goods containers out of the carrying platform in the first horizontal direction; and when the connecting member is located at the second position, the connecting member can provide clearance for the passage of the goods containers on the carrying platform and can slide from one end of the carrying platform to the other end in the first horizontal direction. In this way, while realizing goods pick-and-place in multiple directions, the present application reduces the fork production cost and ensures the operation reliability.

Description

Cargo transfer equipment, cargo pick-up and release components, control method, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 29, 2024, with application number 202410130193.6 and application name “Cargo transfer equipment, cargo picking and releasing components and control methods, equipment and storage media”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of logistics and warehousing technology, and specifically to a cargo pick-up and placement component and a control method thereof, cargo transfer equipment, a cargo pick-up and placement component control device, and a computer-readable storage medium. Background Art

[0003] As the requirements for operational efficiency in logistics systems increase, the degree of automation is also increasing. In each link of cargo transshipment, cargo needs to be picked up and placed on each platform. Currently, forks are mostly used to pick up and place cargo containers.

[0004] Existing forks are limited by the structural characteristics of the telescopic mechanism on them and can only automatically pick up and place cargo containers in a single direction. If you want to pick up and place cargo containers in different directions, you need to adjust the direction of the forks or the equipment on which the forks are located. In order to achieve the adjustment of the forks or the equipment on which the forks are located, a complex motion mechanism needs to be set up, which not only increases the cost but also reduces the reliability of the fork operation. Summary of the Invention

[0005] In view of the above problems, the present application provides a cargo pick-up and placement component and its control method, cargo transfer equipment, cargo pick-up and placement component control equipment and computer-readable storage medium, which can reduce the production cost of forks and ensure operational reliability while realizing multi-directional cargo pick-up and placement.

[0006] According to one aspect of the present application, a cargo picking and placing component is provided, comprising: a carrying platform and a docking piece, the docking piece is arranged on the carrying platform, the carrying platform is configured so that cargo containers can be taken in and out at both ends along the first horizontal direction, the docking piece is configured to slide relative to the carrying platform along the first horizontal direction, and rotate relative to the carrying platform along an axis parallel to the second horizontal direction; there is an angle between the first horizontal direction and the second horizontal direction; the docking piece can be rotated to a first position and a second position; when the docking piece is configured to be in the first position, the docking piece faces the first horizontal direction; when the docking piece is configured to be in the second position, the docking piece faces the direction away from the carrying space on the carrying platform; when the docking piece is in the first position, it can dock with the cargo container to pull the cargo container to the carrying platform along the first horizontal direction or push it out from the carrying platform; when the docking piece is in the second position, it can avoid the cargo container on the carrying platform and slide from one end to the other end of the carrying platform along the first horizontal direction.

[0007] According to another aspect of the present application, a method for controlling a cargo picking and placing assembly is provided. The cargo picking and placing assembly includes a carrying platform and a docking piece, and the docking piece is arranged on the carrying platform. The carrying platform is configured so that cargo containers can enter and exit at both ends along a first horizontal direction, and the docking member is configured to slide relative to the carrying platform along the first horizontal direction and rotate relative to the carrying platform along an axis parallel to a second horizontal direction; an angle is formed between the first horizontal direction and the second horizontal direction; the docking member is rotatable to a first position and a second position; when the docking member is in the first position, the docking member faces the first horizontal direction; when the docking member is in the second position, the docking member faces away from the carrying space on the carrying platform; the first horizontal direction includes a first direction and a second direction that are opposite; the method includes: when the pick-up and place assembly reaches the pick-up position, adjusting the docking member to the first position and docking with the cargo container located outside the carrying platform; after docking is completed, moving the docking member along the first direction to transfer the cargo container to the carrying platform; after the cargo container is transferred to the carrying platform, adjusting the docking member to the second position and moving the docking member along the second direction to move the docking member from one end of the cargo container to the other end; when the pick-up and place assembly reaches the delivery position, adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the carrying platform.

[0008] According to another aspect of the present application, there is provided a cargo transfer device, comprising a device body and the above-mentioned cargo picking and placing assembly, wherein the cargo picking and placing assembly is arranged on the device body.

[0009] According to another aspect of the present application, a cargo pick-up and placement component control device is provided, comprising a memory and at least one processor; the memory stores computer-executable instructions; and the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the above-mentioned cargo pick-up and placement component control method.

[0010] According to another aspect of the present application, a computer-readable storage medium is provided, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above-mentioned method for controlling the picking and placing components is implemented.

[0011] The pick-and-place assembly provided in the embodiment of the present application is configured to have a support platform with openings at both ends, and to have a docking member that rotates and slides relative to the support platform, and that can cross over the cargo containers on the support platform. This not only allows for pick-and-place operations from either end of the support platform without having to rotate the support platform, but also allows for picking up a cargo container from one end of the support platform and then pushing it out from the other end. Furthermore, if the support platform has sufficient area, multiple cargo containers can be picked up from one end and placed on the support platform, thereby achieving a variety of pick-and-place operations to meet different operational scenarios. Furthermore, since there is no need to rotate the support platform when picking up and placing cargo from both ends, the space utilization rate of the storage system in which the pick-and-place assembly is located can be improved. Furthermore, since the docking member only requires a simple rotational pair and a linear motion pair to achieve the corresponding action, the cost is low and the operation is stable and reliable.

[0012] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0014] FIG1 is a schematic structural diagram of a warehousing system provided by an embodiment of the present invention;

[0015] FIG2 is a schematic structural diagram of a cargo pick-up and placement assembly provided in a first embodiment of the present invention;

[0016] FIG3 is a schematic structural diagram of a cargo pick-up and placement assembly carrying a cargo container provided by the first embodiment of the present invention;

[0017] FIG4 is a schematic structural diagram of a cargo container from one perspective according to an embodiment of the present invention;

[0018] FIG5 is a structural schematic diagram of a cargo container provided by an embodiment of the present invention from another perspective;

[0019] FIG6 a is a schematic structural diagram of a cargo pick-up and release assembly when pulling a cargo container from one end, provided by the first embodiment of the present invention;

[0020] FIG6b is a structural schematic diagram of the cargo pick-up and release assembly after the cargo container is pulled to the loading platform based on FIG6a;

[0021] FIG6c is a structural schematic diagram of the cargo pick-up and release assembly when the docking piece crosses over the cargo container based on FIG6b;

[0022] FIG6d is a structural schematic diagram of the cargo pick-up and release assembly after the docking piece reaches the other end of the cargo container and abuts against the cargo container based on FIG6c;

[0023] FIG6e is a structural schematic diagram of the cargo pick-up and release assembly after the docking member pushes the cargo container a first preset distance based on FIG6d;

[0024] FIG6f is a structural schematic diagram of the pick-up and place assembly after the docking member retreats a second preset distance and rotates 180° based on FIG6e;

[0025] FIG6g is a structural diagram of the cargo pick-up and release assembly after the docking member pushes the cargo container out from the other end based on FIG6f;

[0026] FIG6h is a schematic structural diagram of the cargo pick-up and release assembly after the docking piece is separated from the cargo container based on FIG6g;

[0027] FIG7a is a front perspective structural diagram of the cargo pick-up and placement assembly when the docking piece provided by the second embodiment of the present invention is docked with the cargo container;

[0028] FIG7 b is a front structural schematic diagram of the cargo pick-up and release assembly when the docking piece is separated from the cargo container according to the second embodiment of the present invention;

[0029] FIG8a is a side perspective structural diagram of the cargo pick-up and placement assembly provided by the second embodiment of the present invention when the docking piece is docked with the external cargo container;

[0030] FIG8b is a side perspective structural diagram of the cargo pick-up and placement assembly after the docking piece pulls the cargo container to the loading platform based on FIG8a;

[0031] FIG8c is a side perspective structural diagram of the cargo pick-up and release assembly after the docking piece crosses over the cargo container and abuts against the cargo container at the rear, based on FIG8b;

[0032] FIG8d is a side perspective structural diagram of the cargo pick-up and release assembly after the docking member pushes the cargo container forward a first preset distance based on FIG8c;

[0033] FIG8e is a side perspective structural diagram of the pick-up and place assembly after the docking member retreats a second preset distance and rotates 180° based on FIG8d;

[0034] FIG8f is a side perspective structural diagram of the cargo pick-up and release assembly after the docking member pushes the cargo container forward based on FIG8e;

[0035] FIG9a is a front perspective structural diagram of the cargo pick-up and placement assembly when the docking piece provided by the third embodiment of the present invention is docked with the cargo container;

[0036] FIG9 b is a front structural schematic diagram of the cargo pick-up and placement assembly when the docking piece is separated from the cargo container according to the third embodiment of the present invention;

[0037] FIG10a is a front perspective structural diagram of the cargo pick-up and placement assembly when the docking piece provided by the fourth embodiment of the present invention is docked with the cargo container;

[0038] FIG10 b is a front structural schematic diagram of the cargo pick-up and release assembly when the docking piece is separated from the cargo container according to the fourth embodiment of the present invention;

[0039] FIG11a is a front structural schematic diagram of the cargo pick-up and placement assembly when the docking piece is separated from the cargo container according to the fifth embodiment of the present invention;

[0040] FIG11 b is a front perspective structural diagram of the cargo pick-up and placement assembly when the docking piece provided by the fifth embodiment of the present invention is docked with the cargo container;

[0041] FIG11c is a side perspective structural diagram of the cargo pick-up and placement assembly when the docking piece is docked with the cargo container according to the fifth embodiment of the present invention;

[0042] FIG12a is a front structural schematic diagram of the cargo pick-up and placement assembly when the docking piece is separated from the cargo container according to the sixth embodiment of the present invention;

[0043] FIG12b is a front perspective structural diagram of the cargo pick-up and placement assembly when the docking piece is docked with the cargo container according to the sixth embodiment of the present invention;

[0044] FIG12c is a side perspective structural diagram of the cargo pick-up and placement assembly when the docking piece is docked with the cargo container according to the sixth embodiment of the present invention;

[0045] FIG13 is a schematic structural diagram of a docking member in a cargo pick-up and delivery assembly according to an embodiment of the present invention;

[0046] FIG14 is a structural diagram of a cargo pick-up and placement assembly carrying a cargo container provided by a seventh embodiment of the present invention;

[0047] FIG15 is a schematic structural diagram of a cargo transfer device provided in an embodiment of the present invention;

[0048] FIG16 is a flow chart of a method for controlling a pickup and delivery component according to an embodiment of the present invention;

[0049] FIG17a is a structural diagram of a cargo pick-up and release assembly when pulling a cargo container from one end, provided by an eighth embodiment of the present invention;

[0050] FIG17b is a structural schematic diagram of the cargo pick-up and release assembly after the cargo container is pulled to the loading platform based on FIG17a;

[0051] FIG17c is a structural diagram of the cargo pick-up and placement assembly when the docking piece crosses over the cargo container based on FIG17b;

[0052] FIG17d is a structural schematic diagram of the cargo pick-up and release assembly after the docking piece reaches the other end of the cargo container and abuts against the cargo container based on FIG17c;

[0053] FIG17e is a schematic structural diagram of the cargo pick-up and release assembly after the docking member pushes the cargo container out from the other end based on FIG17d;

[0054] FIG18a shows a schematic structural diagram of a cargo pick-up and release assembly when pulling a cargo container from one end, provided by a ninth embodiment of the present invention;

[0055] FIG18b is a structural schematic diagram of the cargo pick-up and release assembly after the cargo container is pulled to the loading platform based on FIG18a;

[0056] FIG18c is a schematic structural diagram of the cargo pick-up and release assembly after the docking member is rotated to the second position based on FIG18b;

[0057] FIG18d is a schematic structural diagram of the cargo pick-up and placement assembly after the docking piece crosses over the cargo container to reach the other end based on FIG18c;

[0058] FIG18e is a schematic structural diagram of the cargo pick-up and placement assembly after the docking member is rotated to the second sub-position and docked with the cargo container based on FIG18d;

[0059] FIG18f is a schematic structural diagram of the cargo pick-up and release assembly after the cargo container is moved out of the loading platform based on FIG18e.

[0060] The reference numerals in the specific embodiments are as follows: 100, pick-up and place assembly; 110, carrying platform; 1101, recess; 111, side wall; 112, slide rail; 120, docking member; 1201, connecting member; 121, rotating connection portion; 1211, first end; 1212, second end; 122, bridging portion; 1221, protrusion; 123, docking portion; 1231, first plate; 1232, second plate; 1233, third plate; 130, sliding seat; 140, driving mechanism; 141, first driving member; 142, driving wheel; 143, driven wheel; 144, flexible transmission member; 151, second driving member; 160, conveying mechanism; 200, cargo container; 210, mating portion; 300, shelf; 310, storage space; 400, Lane; 500, Cargo transfer equipment; 510, Equipment body; 1000, Warehousing system. DETAILED DESCRIPTION

[0061] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0063] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0064] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0065] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0066] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0067] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0068] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0069] In a warehousing system, the picking and placing of goods is an indispensable step in each link. The fork is a component widely used in warehousing systems on robots and other equipment for automated picking and placing of goods. It is generally composed of a load-bearing platform and a telescopic arm retractably connected to the load-bearing platform. The end of the telescopic arm is provided with a rotatable push-pull rod. After the telescopic arm is extended, the push-pull rod rotates to the rear of the goods, and then the telescopic arm retracts to pull the goods onto the load-bearing platform through the push-pull rod. When placing the goods, the goods are pushed out from the load-bearing platform through the push plate at the rear end of the telescopic arm or the push plate slidingly set on the rear end of the load-bearing platform.

[0070] Due to the working characteristics of the fork, it can only pick up and place goods in a single direction. In order to achieve picking up and placing goods in different directions, the fork can be rotatably set on the equipment on which it is located, or the equipment on which the fork is located can be rotatably set as a whole, so that the direction of the fork picking up and placing goods can be changed by rotating the equipment as a whole or rotating the fork relative to the equipment on which it is located. To achieve this, it is inevitable to design a corresponding motion mechanism. Since the fork needs to carry goods, the motion mechanism for achieving its rotation is generally complex in structure. The equipment on which the fork is located is the main structure for installing and supporting the fork, and in order to achieve rotation, a complex motion mechanism is also required. These reasons will lead to increased costs and complex structures, which in turn cause the reliability of the fork to decrease. At the same time, the area for picking up and placing goods in the storage system also needs to reserve space for the fork to turn, which also leads to a decrease in the space utilization rate of the storage system.

[0071] Based on this, the present application employs a loading platform with both ends for loading and unloading, and connects a slidable and rotatable docking member to the loading platform. By utilizing the docking member to flip its orientation and dock with the cargo container, loading and unloading operations can be performed at either end of the loading platform without rotating the loading platform. The loading and unloading components do not need to be rotated, which is beneficial for improving the space utilization of the storage system. At the same time, the docking member has a relatively lightweight structure, requiring only a simple rotation mechanism and a linear motion mechanism to achieve flipping and sliding, which is low in cost and stable and reliable in operation. Furthermore, when there is a cargo container on the loading platform, the docking member can also reach from one end of the cargo container to the other end. Therefore, not only can the cargo container be pulled from one end of the loading platform and then pushed out from the other end of the loading platform, but multiple cargo containers can also be pulled sequentially from one end to the loading platform, realizing flexible loading and unloading or large-scale loading and unloading of cargo containers.

[0072] According to one aspect of an embodiment of the present application, a cargo picking and placing component is provided, which includes but is not limited to various cargo transfer equipment such as multi-bin handling robots, single-bin handling robots, jacking handling robots, climbing shelf robots, loading and unloading equipment installed on shelves, stackers, etc. used in the logistics warehousing field.

[0073] Please refer to Figures 1 to 3 for details. Figure 1 illustrates an application scenario of a pickup and placement assembly provided by an embodiment of the present application. Figure 2 illustrates the three-dimensional structure of the pickup and placement assembly from one perspective. Figure 3 illustrates the three-dimensional structure of the pickup and placement assembly after it has pulled a cargo container. As shown in the figures, the pickup and placement assembly 100 includes a carrier 110 and a docking member 120. The docking member 120 is disposed on the carrier 110. The carrier 110 is configured to allow cargo containers to enter and exit at both ends along a first horizontal direction (indicated by the double arrow X in the figures). The docking member 120 is configured to slide relative to the carrier 110 along the first horizontal direction and to rotate relative to the carrier 110 along an axis parallel to a second horizontal direction (indicated by the double arrow Y in the figures). The first horizontal direction and the second horizontal direction form an angle between them. In the illustrated embodiment, the angle is 90°. In other embodiments, the angle may be any angle greater than 0° and less than 180°.

[0074] The docking member 120 can be rotated to a first position (as shown in FIG. 2 ) and a second position (as shown in FIG. 3 ). When the docking member 120 is in the first position, it faces a first horizontal direction; when the docking member 120 is in the second position, it faces away from the carrying space on the platform 110 , where the carrying space refers to the space on the platform 110 for placing the cargo container 200.

[0075] It should be noted that the orientation of the docking member 120 refers to the direction in which the component on the docking member 120 used for docking with the cargo container 200 faces relative to the overall structure of the docking member 120. For example, in the case of the docking member 120 shown in Figures 2 and 3 as a hook structure, as shown in Figure 2 , when the docking member 120 is in the first position, the component on the docking member 120 used for docking with the cargo container 200 is the docking portion 123 shown in the figure. Compared to the docking member 120 as a whole, the docking portion 123 faces one of the two directions included in the first horizontal direction, namely, the direction toward the upper right corner as shown by the double-headed arrow A. Of course, when the docking member 120 is in the first position, its orientation may also be the other direction in the first horizontal direction, namely, the direction toward the lower left corner as shown by the double-headed arrow A. In this regard, it should be pointed out that when the docking member 120 is in the first position and faces the first horizontal direction, it does not mean that the direction of the docking member 120 must be completely the same as the first horizontal direction. The direction of the docking member 120 can also be roughly the same as the first horizontal direction and form a certain angle with the first horizontal direction. Of course, the angle should not be too large and should be based on ensuring that the docking member 120 can form a reliable docking with the cargo container 200.

[0076] Taking the docking piece 120 as an example of a hook structure, as shown in Figure 3, when the docking piece 120 is in the second position, the docking piece 120 is facing upward, and the space on the supporting platform 110 for placing the cargo container 200 is located below the docking piece 120, so the docking piece 120 is facing away from the supporting space on the supporting platform 110.

[0077] Based on this, when the docking member 120 is in the first position, it can dock with the cargo container 200 to pull the cargo container 200 along the first horizontal direction to the loading platform 110 or push it out from the loading platform 110. When the docking member 120 is in the second position, it can avoid the cargo container 200 on the loading platform 110 and slide from one end of the loading platform 110 to the other end along the first horizontal direction.

[0078] The sliding connection between the docking member 120 and the supporting platform 110 can be achieved by means of friction fit between the slider and the slide rail, rolling fit between the pulley and the pulley, etc. The rotational connection between the docking member 120 and the supporting platform 110 can be achieved by means of hole-axis fit, hinges, etc. For example, the sliding and rotational fit between the docking member 120 and the supporting platform 110 can be simultaneously formed by a slide and an axis structure that is clamped to the slide and can rotate relative to the slide. Their specific implementation methods are not limited here.

[0079] Specifically, as shown in Figure 2, the sliding stroke of the docking piece 120 can reach both ends of the supporting platform 110 along the direction indicated by the double arrow X, and when the docking piece 120 slides to either end, the docking piece 120 is flipped outward to the first position, and the part that docks with the cargo container 200 protrudes from the supporting platform 110 to ensure normal docking with the cargo container 200.

[0080] Please refer to Figures 2 and 3. The docking piece 120 can adopt a hook structure, and at least one end of the cargo container 200 can be provided with a mating portion 210 for engaging with the docking piece 120. When the docking piece 120 is in the first position, the hook structure is engaged with the mating portion 210 to pull the cargo container 200 to the supporting platform.

[0081] Specifically, the mating portion 210 can be a groove with an upper opening. Accordingly, the docking member 120 can have hooks on both its upper and lower sides, as shown in FIG2 , one hook bending upward and the other bending downward. By flipping the docking member 120, the downward-bending hook can be hooked to the cargo container on the corresponding side, thereby allowing the external cargo container 200 to be pulled onto the loading platform 110 at both ends. Conversely, the mating portion 210 can also be a groove with an upper opening, with the upper hook engaging with the groove each time. It should be noted that in some embodiments, the docking member 120 may have only one hook. For example, when the mating portion 210 has an upper-opening groove, the docking member 120 has one downward-bending hook. When the mating portion 210 has a lower-opening groove, the docking member 120 has one upward-bending hook.

[0082] In some embodiments, the mating portion 210 can also be a through hole that is open at the top and bottom as shown in Figures 4 and 5, or it can be two grooves, one of which is open upward and the other is open downward. Based on this, the docking piece 120 can have only a hook facing in one direction, and the hook is downwardly inserted into the mating portion 210 with an opening above the cargo container 200 at one end, and is upwardly inserted into the mating portion 210 with an opening below the cargo container 200 at the other end.

[0083] For any of the above embodiments, the mating portion 210 may be formed of a baffle, a block, or similar structure in addition to a groove, as long as the pulling force of the docking member 120 can act thereon to pull the cargo container 200 .

[0084] In addition, the docking member 120 may also adopt a suction cup, which absorbs the surface of the cargo container 200 through the suction cup to achieve pulling of the cargo container 200.

[0085] As for the method of docking the docking piece 120 with the cargo container 200 and pushing it out of the supporting platform 110, the docking piece 120 can be engaged with the matching portion 210 on the cargo container 200 and then exerting a thrust on the cargo container 200 by pushing the matching portion 210, or it can directly abut against the outer surface of the cargo container 200 to push the cargo container 200 to move.

[0086] In the scenario shown in Figure 1, the picking and placing component 100 is applied to a robot that works in the aisle between adjacent shelves 300 and performs picking and placing operations on the storage space 310 of the shelf 300. It can be understood that Figure 1 is only an exemplary scenario provided by this application. Of course, the picking and placing component 100 can also be applied to loading and unloading equipment set on the shelf, etc.

[0087] For ease of understanding, the following provides a workflow for the pick-up and delivery components:

[0088] Please refer to Figures 6a to 6h in sequence. First, as shown in Figure 6a, when the docking member 120 slides to the left end of the carrier 110 and rotates to the first position, it docks with the cargo container 200 outside the left end of the carrier 110. Then, the cargo container 200 is pulled to the right and pulled onto the carrier 110, presenting the state shown in Figure 6b.

[0089] Based on the state shown in FIG6 b , the docking member 120 rotates to the second position and separates from the cargo container 200 , then moves to the left across the cargo container 200 (the state shown in FIG6 c ) and reaches the left end, and then the docking member 120 rotates to the first position again, presenting the state shown in FIG6 d .

[0090] In the state shown in Figure 6d, the docking member 120 slides to the right by a predetermined distance, and at the same time pushes the cargo container 200 to slide by a predetermined distance to present the state shown in Figure 6e. Then, the docking member 120 can slide to the left by a predetermined distance and rotate approximately 180° clockwise or counterclockwise to present the state shown in Figure 6f. Then, in this state, the cargo container 200 is pushed to the right of the carrier platform 110 to present the state shown in Figure 6g. Thereafter, the docking member 120 moves and / or rotates again and separates from the cargo container 200 to present the state shown in Figure 6h. At this time, the work of pulling the cargo container 200 from the left end of the carrier platform 110 and pushing it out from the right end is completed.

[0091] It should be noted that the operating process shown in Figures 6d to 6f illustrates a method for fully ejecting the cargo container 200 when the sliding travel of the docking member 120 along the first horizontal direction (the left-right direction in the figure, i.e., the direction indicated by the double arrow X in Figure 2 ) is limited. In other embodiments, when the sliding travel of the docking member 120 along the first horizontal direction is sufficient, the docking member 120, after assuming the position shown in Figure 6c and straddling the cargo container 200, can directly rotate to the position shown in Figure 6f and eject the cargo container 200.

[0092] The above describes the process of pulling a cargo container 200 from one end of the platform 110 and pushing it toward the other end of the platform 110. In addition, the cargo pick-up and placement assembly 100 provided in this application can also pull or push multiple cargo containers 200 from both ends. Specifically, when the size of the platform 110 along the first horizontal direction is sufficient to accommodate two or more cargo containers 200, the docking member 120 can first pull a cargo container 200 from one end onto the platform 110, then step over the cargo container 200 on the platform 110, and then pull another cargo container 200 from this end onto the platform 110, thereby enabling the removal of more cargo containers 200. Conversely, a larger number of cargo containers 200 can be placed.

[0093] In the specific embodiment provided in the above figure, the docking member 120 is slidably and rotatably connected to both sides of the supporting platform 110 along the second horizontal direction (the direction indicated by the double arrow Y in Figure 2). In some other embodiments, the docking member 120 can also be arranged only on one side of the supporting platform 110 along the second horizontal direction.

[0094] In addition to the above embodiments, as shown in Figures 7a and 7b, which illustrate the front perspective structure of the pick-up and place assembly in the first and second positions, if structural conditions permit, the docking member 120 can also be positioned on top of the carrier 110. The specific workflow is illustrated in the side perspective structures of Figures 8a to 8f. First, as shown in Figure 8a, the docking member 120 slides to the rightmost end and rotates clockwise to the first position. After docking with the cargo container 200 outside the right end of the carrier 110 and pulling it onto the carrier 110, the docking member 120 rotates counterclockwise to the second position and separates from the cargo container 200, resulting in the state shown in Figure 8b. Next, the docking member 120 slides rightward, passes the cargo container 200, and then rotates clockwise again to the first position, abutting the back of the cargo container 200, resulting in the state shown in Figure 8c. Next, after the docking member 120 and the cargo container 200 move together to the left by a predetermined distance, the docking member 120 slides to the right by a predetermined distance and rotates approximately 180° clockwise or counterclockwise, resulting in the state shown in Figure 8e. Finally, based on the state shown in Figure 8e, the docking member 120 slides to the left and pushes the cargo container 200 out from the other end.

[0095] Similarly, based on the embodiment shown in Figures 7a and 7b, only one side of the docking member 120 may be connected to the support platform 110, as shown in the front perspective structure of Figures 9a and 9b. In the embodiment shown in Figures 7a and 7b, a recess 1101 is provided on the top of the support platform 110 to provide space for the rotation of the docking member 120. In contrast, as shown in Figures 10a and 10b, the top of the support platform 110 can also be set high enough to allow for a higher connecting member 1201, and the docking member 120 can be rotatably connected to the bottom end of the connecting member 1201, so that a space is formed on the top of the docking member 120 for normal rotation.

[0096] Similarly, as shown in the front perspective configuration of Figures 11a and 11b and the side perspective configuration of Figure 11c, the docking member 120 can also be disposed on the bottom of the carrier 110, with the mating portion 210 having a groove located at the bottom of one end of the cargo container 200. The operating principle is the same as that of the embodiment shown in Figures 7a and 7b, and will not be further described here. Furthermore, as shown in the front perspective configuration of Figures 12a and 12b and the side perspective configuration of Figure 12c, the docking member 120 can also be disposed on the side wall of the carrier 110 in a manner different from that of the embodiment shown in Figure 2. In this case, the mating portion 210 having a groove is also located on the side wall of the cargo container 200, and the operating principle is the same as that of the embodiment shown in Figures 7a and 7b.

[0097] In summary, the cargo pick-up and placement assembly 100 provided in the embodiment of the present application, by configuring the platform 110 to be open at both ends and configuring the docking member 120 to rotate and slide relative to the platform 110 and to be able to straddle the cargo containers 200 on the platform 110, not only allows cargo to be picked up and placed from either end of the platform 110 without rotating the platform 110, but also allows cargo containers 200 to be picked up from one end of the platform 110 and then pushed out from the other end. Furthermore, if the platform 110 has sufficient area, multiple cargo containers 200 can be picked up from one end and placed on the platform 110, thereby achieving a variety of cargo pick-up and placement operations to meet different operational scenarios. Furthermore, since the platform 110 does not need to be rotated when picking up and placing cargo from both ends, the space utilization rate of the storage system in which the cargo pick-up and placement assembly 100 is located can be improved. Furthermore, since the docking member 120 only requires simple rotational and linear motion joints to achieve the corresponding movements, the cost is low and the operation is stable and reliable.

[0098] Regarding the specific structure of the docking member 120, this application proposes an embodiment. Please refer to Figures 2 and 3 again. As shown in the figures, the support platform 110 has a sidewall 111 on at least one side along the second horizontal direction (the direction indicated by the double arrow Y in the figures), and the second horizontal direction is perpendicular to the first horizontal direction. The docking member 120 includes a rotating connection portion 121, a bridging portion 122, and a docking portion 123. The first end 1211 of the rotating connection portion 121 is slidably connected to the inner side of the sidewall 111, that is, the side facing the support space, and the first end 1211 of the rotating connection portion 121 is rotatably connected to the sidewall 111 along an axis parallel to the second horizontal direction. The bridge portion 122 is disposed at the second end 1212 of the rotating connection portion 121, and the docking portion 123 is disposed on the side of the bridge portion 122 facing away from the rotating connection portion 121. The rotating connection portion 121 has a first predetermined length, specifically a straight plate, connecting rod, or column of a certain length. This allows the bridge portion 122 to be disposed at the second end 1212 of the rotating connection portion 121 and to be rotated toward the top of the support platform 110, providing a certain distance of accommodation space to avoid the cargo container 200. Preferably, the bridge portion 122 is disposed perpendicular to the second end 1212 of the rotating connection portion 121. Furthermore, the rotating connection portion 121 and the bridge portion 122 can be integrally formed or fixedly connected. The docking portion 123 is configured to dock with the cargo container 200 when the rotating connection portion 121 rotates to the first position (as shown in FIG. 2 ). The bridging portion 122 and the docking portion 123 are used to slide along the first horizontal direction from one end of the supporting platform 110 through the top of the cargo container 200 on the supporting platform 110 and reach the other end thereof when the rotating connecting portion 121 rotates to the second position (the position shown in FIG. 3 ).

[0099] Specifically, the side wall 111 can be integrally formed with the support platform 110, for example, by bending a sheet metal part, thereby simplifying the production process and improving efficiency. The first end 1211 of the rotating connection portion 121 can be rotatably connected to the side wall 111 by means of a shaft-hole fit, a hinge, or the like, while the sliding connection can be achieved by means of a slide rail, a raised slide groove, or the like.

[0100] As shown in Figure 2, two side walls 111 can be set, and rotating connection parts 121 can be set relatively on the two side walls 111, so that the two rotating connection parts 121 are symmetrically arranged relative to the axis parallel to the second horizontal direction, and the bridge part 122 is set between the two rotating connection parts 121 to improve the overall stability of the docking member 120. Of course, only one side wall 111 and one rotating connection part 121 can be set, or two side walls 111 can be set, but the rotating connection part 121 is only set on one of the side walls. The specific working principle is the same as the embodiments shown in Figures 2 and 3, and will not be repeated here.

[0101] In actual operation scenarios, the top of the carrying platform 110 generally has a large space or an open structure. In order to prevent the cost increase caused by the need to re-open the mold design of the carrying platform 110, this embodiment adopts the method of allowing the docking piece 120 to cross over the top of the cargo container 200 to achieve the docking piece 120 from one end of the cargo container 200 on the carrying platform 110 to reach the other end. Compared with the method of allowing the docking piece 120 to pass through the cargo container 200 on the carrying platform 110 from the side or bottom, the method of passing through the top does not require space to be reserved at the bottom or side of the carrying platform 110 for the docking piece 120 to move, and has no requirements on the structural shape of the carrying platform 110, which is conducive to simplifying the structure of the carrying platform 110 and reducing the overall cost of the cargo picking and placing component 100.

[0102] In order to ensure stability when picking up and placing the cargo container 200, the present application further proposes an embodiment. Please refer to Figure 2 again for details. As shown in the figure, the supporting platform 110 has side walls 111 on both sides along the second horizontal direction (the direction indicated by the double arrow Y in the figure), and there are two rotating connection parts 121 that are respectively slidably and rotatably connected to the side walls 111 on both sides, and the bridge part 122 bridges between the two rotating connection parts 121.

[0103] By providing rotating connection parts 121 on both side walls 111 and bridging the two rotating connection parts 121 , both ends of the bridging part 122 can be supported, ensuring stability and reliability when pulling and pushing the cargo container 200 .

[0104] Regarding the structure of the docking portion 123, the present application proposes an implementation method. Please refer to Figure 3 again for details. As shown in the figure, the docking portion 123 is a two-way hook, so that the docking member 120 can dock with the cargo container 200 on the corresponding side when it faces the two sides of the supporting platform 110 respectively.

[0105] The use of a hook to dock with a hook or groove on the cargo container 200 makes the docking portion 123 simple in structure and can effectively reduce the docking operation space required to be reserved between the cargo containers 200, thereby improving the storage density of the storage system.

[0106] Specifically, the first position includes a first sub-position and a second sub-position, and the docking member 120 faces opposite directions when in the first sub-position and the second sub-position, that is, when in the first sub-position, the docking member 120 faces one end of the loading platform 110, and when in the second sub-position, faces the other end of the loading platform 110. Furthermore, when the docking member 120 is in the first sub-position and located at one end of the loading platform 110 for the cargo container 200 to enter and exit (as shown in FIG. 6 a ), or when in the second sub-position and located at the other end of the loading platform 110 for the cargo container 200 to enter and exit (as shown in FIG. 6 g ), the docking portion 123 can engage with the mating portion 210 of the cargo container 200 outside the loading platform 110, thereby pulling the cargo container 200 onto the loading platform 110.

[0107] Regarding the specific structure of the bidirectional hook, this application proposes an embodiment. For details, please refer again to Figure 13, which illustrates the structure of the docking member. As shown in the figure, the docking portion 123 includes a first plate 1231, a second plate 1232, and a third plate 1233. One end of the first plate 1231 is connected to the bridging portion 122, while the second and third plates 1232, 1233 are connected to the other end of the first plate 1231. The second and third plates 1232, 1233 are both arranged at an angle to the first plate 1231 and extend in opposite directions.

[0108] In the specific embodiment shown in FIG13 , the first plate 1231 is parallel to the horizontal plane of the first horizontal direction when in the first position, and one end of the first plate 1231 along the first horizontal direction is connected to the bridge portion 122 or is integrally formed with the bridge portion 122. The second plate 1232 and the third plate 1233 are both arranged perpendicular to the first plate 1231, and the second plate 1232 and the third plate 1233 are respectively arranged on either side of the end of the first plate 1231 facing away from the bridge portion 122. In other embodiments, the second plate 1232 and / or the third plate 1233 may not be arranged perpendicular to the first plate 1231, for example, the second plate 1232 and / or the third plate 1233 may be arranged at an acute angle or an obtuse angle to the first plate 1231.

[0109] Specifically, the second plate 1232 is configured to engage or hook with the mating portion 210 of the cargo container 200 outside the loading platform 110 when the docking member 120 is in the first sub-position and located at one end of the loading platform 110 through which the cargo container 200 enters and exits (as shown in FIG6 a ). The third plate 1233 is configured to engage or hook with the mating portion 210 of the cargo container 200 outside the loading platform 110 when the docking member 120 is in the second sub-position and located at the other end of the loading platform 110 through which the cargo container enters and exits (as shown in FIG6 g ). It should be noted that in some embodiments, the third plate 1233 may engage or hook with the mating portion 210 of the cargo container 200 in the position shown in FIG6 a , and the second plate 1232 may engage or hook with the mating portion 210 of the cargo container 200 in the position shown in FIG6 g .

[0110] The docking portion 123 utilizes a bidirectional hook formed by a first plate 1231, a second plate 1232, and a third plate 1233 to reliably engage with the mating portion 210, thereby allowing the cargo container 200 to be pulled or placed on either end of the platform 110. Alternatively, the docking portion 123 may utilize two separate hooks arranged in a mirrored manner to form a bidirectional hook.

[0111] To ensure that cargo containers can be pulled in or out easily and effortlessly, this application also proposes an embodiment. See Figure 14 for details, which illustrates another structure of a loading and unloading assembly. As shown in the figure, a conveyor mechanism 160 is provided on the carrier platform 110 along a first horizontal direction (indicated by the double-headed arrow X in the figure). The docking member 120 is used to pull the cargo container 200 onto the conveyor mechanism 160, which then drives the cargo container 200 along the first horizontal direction.

[0112] Specifically, the conveying mechanism 160 can be a synchronous belt conveying mechanism as shown in FIG14 , or a roller conveying mechanism. Furthermore, the conveying plane of the conveying mechanism 160 is arranged higher than the bottom surface of the carrying platform 110 to ensure that when the cargo container 200 is pulled onto the conveying mechanism 160 and moves therewith, it does not generate friction with the bottom surface of the carrying platform 110, thereby ensuring that the cargo container 200 can be moved easily and effortlessly.

[0113] After the docking member 120 pulls at least part of the cargo container 200 outside the loading platform 110 to the loading platform 110, the conveying mechanism 160 can drive the cargo container 200 from the bottom alone to move the cargo container 200 to the middle of the loading platform 110, or the docking member 120 and the conveying mechanism 160 can jointly drive the cargo container 200 to move the cargo container 200 to the middle of the loading platform 110 or output it from the other end of the loading platform 110.

[0114] Considering that when solely using the docking member 120 to pull or push the cargo container 200, if the cargo container 200 is heavy, it will generate significant friction with the bottom surface of the carrying platform 110, which will make the docking member 120 pulling or pushing the cargo container 200 laborious and slow. Based on this, in this embodiment, a conveying mechanism 160 is provided on the carrying platform 110. The conveying mechanism 160 cooperates with the docking member 120 to pull or push the cargo container 200, achieving the effect of easily and labor-saving when driving the cargo container 200, ensuring stable and reliable operation.

[0115] In order to improve the structural stability of the docking member 120, the present application further proposes an implementation method. Please refer to Figure 13 again for details. As shown in the figure, a protrusion 1221 is provided on the side of the bridging portion 122 away from the rotating connection portion 121, and one end of the first plate body 1231 is connected to the protrusion 1221.

[0116] Taking into account that when the second plate 1232 or the third plate 1233 is clamped or hooked with the cargo container 200 and pushes and pulls the cargo container 200, the force transmitted to the bridge portion 122 via the first plate 1231 is relatively large, in order to prevent the bridge portion 122 from being deformed by the force and affecting normal operation, in this embodiment, a protrusion 1221 is provided on the bridge portion 122 to enhance its structural strength. After the first plate 1231 is connected to the protrusion 1221, it can be ensured that the bridge portion 122 can stably withstand the force transmitted by the first plate 1231, thereby ensuring the stability of the bridge portion 122 structure and further ensuring the normal operation of the docking member 120.

[0117] Regarding the sliding connection structure between the docking member 120 and the supporting platform 110, the present application proposes an embodiment. Please refer to Figure 2 again for details. As shown in the figure, a slide rail 112 is provided on the supporting platform 110 along the first horizontal direction. The picking and placing assembly 100 also includes a sliding seat 130. The sliding seat 130 slides with the slide rail 112, and the docking member 120 is rotatably connected to the sliding seat 130.

[0118] Specifically, the sliding seat 130 may be a slider slidably connected to the slide rail 112, and the docking member 120 may be rotatably connected to the sliding seat 130 by means of a hole-shaft fit, a hinge, etc. The sliding seat 130 and the slide rail 112 are slidably fitted, and the docking member 120 is rotatably connected to the sliding seat 130, so that the straightness of the sliding of the docking member 120 relative to the support platform 110 can be ensured.

[0119] To achieve automated movement of the docking parts, the present application further proposes an embodiment. For details, please refer to FIG. 2 again. As shown in the figure, a driving mechanism 140 is provided on the carrier 110. The sliding seat 130 is connected to the driving mechanism 140. The driving mechanism 140 is used to drive the sliding seat 130 to slide along a first horizontal direction relative to the carrier 110. Specifically, the driving mechanism 140 can be a belt pulley, a sprocket chain, a screw module, a telescopic rod, or other driving mechanism, which is not limited here.

[0120] Regarding the specific structure of the drive mechanism, this application proposes an embodiment. Please refer to Figure 2 again for details. As shown in the figure, the drive mechanism 140 includes a first drive member 141, a driving wheel 142, a driven wheel 143, and a flexible transmission member 144. The driving wheel 142 and the driven wheel 143 are rotatably disposed at opposite ends of the support platform 110 along the first horizontal direction. The first drive member 141 is fixed to the support platform 110, and the output shaft of the first drive member 141 is fixedly connected to the driving wheel 142. The flexible transmission member 144 is connected between the driving wheel 142 and the driven wheel 143. The sliding seat 130 is fixedly connected to the flexible transmission member 144. The first drive member 141 is used to drive the driving wheel 142 to rotate, thereby driving the flexible transmission member 144 to move, so that the sliding seat 130 slides relative to the support platform 110 along the first horizontal direction with the flexible transmission member 144.

[0121] Specifically, the flexible transmission member 144 may be a synchronous belt, a chain, a steel rope, etc. The use of a flexible transmission member for transmission can ensure transmission efficiency, thereby increasing the sliding speed of the docking member 120 relative to the supporting platform 110 .

[0122] In order to realize the automatic flipping of the docking member, the present application also proposes an implementation method. Please refer to Figure 2 for details. As shown in the figure, a second driving member 151 is fixedly provided on the sliding seat 130. The second driving member 151 is configured to be fixedly connected to the flexible transmission member 144. The output shaft of the second driving member 151 is connected to the docking member 120 for driving the docking member 120 to rotate.

[0123] After the second driving member 151 is fixedly mounted on the sliding seat 130, the second driving member 151 drives the docking member 120 to rotate, thereby achieving automatic rotation of the docking member 120. Furthermore, the automatic rotation of the docking member 120, combined with the automatic sliding of the docking member 120 in the above embodiment, can enable the pick-and-place assembly 100 to achieve fully automated pick-and-place operations, meeting multiple operating modes and also facilitating improved operating efficiency.

[0124] According to another aspect of the present invention, a cargo transfer device is provided. Specifically, see Figure 15 , which illustrates the structure of the cargo transfer device. As shown in the figure, the cargo transfer device 500 includes a device body 510 and the cargo pick-up and placement assembly 100 of any of the above embodiments.

[0125] The cargo transfer equipment 500 provided in the embodiment of the present application adopts the cargo pick-up and release component 100 in any of the above embodiments, and can not only realize the cargo transfer from any end to the other end without turning the cargo pick-up and release component 100, but also can realize the transfer of multiple cargo containers 200 after picking up multiple cargo containers 200 from one end in sequence, and then pushing multiple cargo containers 200 out in sequence from the other end, thereby meeting different operation scenarios.

[0126] In order to carry out cargo transfer operations at different heights, the present application further proposes an implementation method. Please refer to Figure 15 again for details. As shown in the figure, the cargo picking and placing component 100 can be raised and lowered along the vertical direction (the direction indicated by the double arrow Z in the figure) and connected to the equipment body 510.

[0127] Furthermore, in some embodiments, the pick-up and placement assembly 100 can be rotatably connected to the device body along a vertical axis (an axis parallel to the double-headed arrow Z in FIG. 15 ). By arranging the pick-up and placement assembly 100 to be rotatable along the vertical axis, cargo transfer can be achieved in both the front-to-back direction and the left-to-right direction by rotating the pick-up and placement assembly 100 while the device body 510 remains stationary.

[0128] According to another aspect of the embodiments of the present application, a warehousing system is further provided. For details, please refer again to FIG. 1 . As shown in the figure, the warehousing system 1000 includes shelves 300 and a cargo transfer device 500 according to any of the above embodiments. The cargo transfer device can move independently or on a track, and can move along a track provided at the bottom or top of an aisle, or along a track provided on the shelves 300. The shelves 300 are used to place cargo containers 200. The cargo transfer device 500 is used to pick up and place cargo containers 200 on at least one of the two adjacent shelves 300 when located in an aisle 400 between the two adjacent shelves 300.

[0129] It should be noted that the cargo transfer equipment 500 can only pick up and place goods on one shelf 300, or it can transfer the cargo container 200 on one shelf 300 to another shelf 300 when it is located in the aisle 400 between two adjacent shelves 300. During the transfer process, the cargo transfer equipment 500 and the cargo picking and placing components 100 thereon do not need to move at all, which can ensure the efficiency of the operation.

[0130] According to another aspect of an embodiment of the present application, a method for controlling a cargo pick-up and placement assembly is provided. Referring again to Figures 2 and 3 , as shown in the figures, the cargo pick-up and placement assembly 100 includes a platform 110 and a docking member 120. The docking member 120 is disposed on the platform 110. The platform 110 is configured so that cargo containers can enter and exit at both ends along a first horizontal direction (indicated by the double arrow X in the figures). The docking member 120 is configured to slide relative to the platform 110 along the first horizontal direction and to rotate relative to the platform along an axis parallel to a second horizontal direction (indicated by the double arrow Y in the figures). The first horizontal direction and the second horizontal direction define an angle. The docking member 120 is rotatable between a first position and a second position. When the docking member 120 is configured in the first position, the docking member 120 faces the first horizontal direction. When the docking member 120 is configured in the second position, the docking member 120 faces away from the carrying space on the platform 110. The first horizontal direction includes opposite first directions (directions indicated by arrows X1 in FIG. 6 a and FIG. 17 a ) and second directions (directions indicated by arrows X2 in FIG. 6 a and FIG. 17 a ).

[0131] Please refer to Figure 16 and Figures 17a to 17e. Figure 16 shows the process of the control method of the pick-up and place component, and Figures 17a to 17e show the structure of the pick-up and place component at each step. As shown in the figure, the control method of the pick-up and place component includes the following steps:

[0132] Step 10: When the pick-up / placement assembly 100 reaches the pickup position, the docking member 120 is adjusted to the first position and docks with the cargo container outside the platform 110. The state of the pick-up / placement assembly after docking in this step is shown in FIG17a.

[0133] Step 30: After the docking is completed, the docking member 120 is moved along the first direction to transfer the cargo container 200 to the loading platform 110. The state of the cargo pick-up and placement assembly 100 after the transfer is completed in this step is shown in FIG17b.

[0134] Step 50: After the cargo container 200 is transferred to the loading platform 110, the docking member 120 is adjusted to the second position and moved along the second direction, thereby moving the docking member 120 from one end of the cargo container 200 to the other end. The state of the loading and unloading assembly 100 corresponding to this step when the docking member 120 passes the cargo container 200 is shown in Figure 17c, and the state of the docking member 120 after moving to the other end of the cargo container 200 is shown in Figure 17d.

[0135] Step 70: When the pick-up / placement assembly 100 reaches the placement position, it adjusts the docking member 120 to the first position and moves the docking member 120 in the first direction to transfer the cargo container 200 off the loading platform 110. The state of the pick-up / placement assembly 100 after the cargo container 200 has been transferred off the loading platform 110 in this step is shown in Figure 17e.

[0136] Furthermore, in some embodiments, the first position includes a first sub-position (shown in FIG. 17a ) and a second sub-position (shown in FIG. 17d ). The docking member 120 is oriented toward the second orientation in the first sub-position and the first orientation in the second sub-position, respectively. In step 10, the docking member 120 is adjusted to the first sub-position, and in step 70, the docking member 120 is adjusted to the second sub-position. Using the methods shown in FIG. 17a through FIG. 17e , the external cargo container 200 can be pulled from one end onto the carrier 110 and then fully pushed out from the other end.

[0137] It can be understood that, in addition to the above method, the first position may also include only the position shown in Figure 17a. After the step corresponding to the state shown in Figure 17c, the docking member 120 may also be rotated again to the state shown in Figure 17a, and the cargo container 200 may be pushed out from the other end through its back side.

[0138] In combination with Figures 17a to 17e and the above-mentioned operation mode of pulling the cargo container 200 from one end and pushing it out from the other end, it can be seen that after the docking piece 120 pulls the cargo container 200 in the first sub-position and slides to the maximum stroke on the right side as shown in Figure 17b, in order to allow the docking piece 120 to cross over the cargo container 200 and rotate to the second sub-position so that it can abut against the cargo container 200, as shown in Figure 17d, it is necessary to ensure that the distance D1 between the maximum sliding stroke on the left side of the docking piece 120 and the left side of the cargo container 200 is greater than or equal to the dimension D2 along the first horizontal direction when the docking piece 120 rotates to the second sub-position. This inevitably requires that the dimension of the supporting platform 110 along the first horizontal direction be set larger, resulting in the need to reserve a larger space in the storage system to arrange the picking and placing component 100, affecting the space utilization of the storage system.

[0139] Based on the above issues, in order to fully reduce the size of the cargo pick-up and placement assembly 100 along the first horizontal direction while enabling an operation mode of pulling the cargo container 200 from one end and pushing it out from the other end, the present application further proposes an embodiment. Furthermore, the first position includes a first sub-position and a second sub-position, and the docking member 120 faces the second orientation and the first orientation in the first sub-position and the second sub-position, respectively. Referring again to Figures 6a to 6h, the above-mentioned step 70 includes the following steps:

[0140] Step 71: Adjust the docking member 120 to a first sub-position (see the state shown in FIG6 d ), and move the docking member 120 and the cargo container 200 along a first direction by a first preset distance L1 (see the state shown in FIG6 e ).

[0141] Step 73: Then, move the docking member 120 along the second direction by a second preset distance L2, and adjust the docking member 120 to the second sub-position (refer to the state shown in FIG. 6 f ).

[0142] Step 75: Move the docking member 120 along the first direction to transfer the cargo container 200 out of the loading platform 110 (refer to the states shown in FIG. 6 g and FIG. 6 h ).

[0143] It should be noted that the sizes of the first preset distance L1 and the second preset distance L2 can be adjusted as needed, as long as the above-mentioned operation process can be normally implemented.

[0144] Through the above method, under the premise of ensuring that the cargo container 200 can be completely pushed out from the other end, the sliding stroke required by the docking member 120 along the first horizontal direction is effectively shortened, thereby reducing the size of the supporting platform 110 along the first horizontal direction, and improving the space utilization of the storage system where the cargo picking and placing component 100 is located.

[0145] In order to fully reduce the size of the cargo pick-up and placement assembly 100 along the first horizontal direction while enabling an operation mode of pulling the cargo container 200 from one end and pushing it out from the other end, the present application further proposes an embodiment, specifically referring to Figures 18a to 18f. As shown in the figures, a conveying mechanism 160 is provided on the carrying platform 110 along the first horizontal direction (the direction indicated by the double arrow X in the figures). The above-mentioned step 30 includes the following steps:

[0146] Step 32 : After the docking is completed (refer to the state shown in FIG. 18 a ), the docking member 120 is moved along the first direction to transfer at least part of the cargo container 200 to the conveying mechanism 160 .

[0147] Step 34: The docking member 120 and the conveying mechanism 160 jointly drive the cargo container 200 to move along the first direction, so as to completely transfer the cargo container 200 to the carrying platform 110 (refer to the state shown in FIG. 18 b ).

[0148] The state of the subsequent step 50 is the same as described above with reference to Figures 18c and 18d, and will not be repeated here.

[0149] Furthermore, in some embodiments, the first position includes a first sub-position and a second sub-position, and the docking member 120 is oriented toward the second orientation in the first sub-position and the first orientation in the second sub-position, respectively. A conveying mechanism 160 is provided on the carrier 110 along a first horizontal direction (the direction indicated by the double arrow X in the figure). Step 70 includes the following steps:

[0150] Step 72: The conveying mechanism 160 drives the cargo container 200 to move a third preset distance along the first direction and adjusts the docking member 120 to the second sub-position (refer to the state shown in FIG. 18 e ).

[0151] Step 74: The docking member 120 drives the cargo container 200 to move in the first direction to transfer the cargo container 200 out of the loading platform 110 (see the state shown in FIG18f ). It should be noted that when the conveying mechanism 160 contacts the cargo container 200, the conveying mechanism 160 can assist the docking member 120 in driving the cargo container 200 to move.

[0152] The principle of reducing the size of the cargo picking and placing component 100 along the first horizontal direction in this embodiment is basically the same as the principle of the embodiment shown in Figures 6a to 6h, with the difference being that: in the embodiment shown in Figures 6a to 6h, after the cargo container 200 is just pulled to the supporting platform 110 along the first direction, the docking member 120 crosses the cargo container 200 along the second direction and first abuts against the cargo container 200 with its back side and pushes it along the first direction for a distance, and then abuts against the cargo container 200 with its front side to completely push out the cargo container 200. In this embodiment, the characteristic of the conveying mechanism 160 that can drive the cargo container 200 to move is utilized. After the cargo container 200 is just pulled to the supporting platform 110 along the first direction, the conveying mechanism 160 drives the cargo container 200 to move a certain distance along the first direction, so that the docking member 120 can directly abut the cargo container 200 from the front after crossing the cargo container 200 along the second direction, and then the docking member 120 and the conveying mechanism 160 jointly drive the cargo container 200 to completely move out of the supporting platform 110 along the first direction.

[0153] In addition to reducing the size of the cargo pick-up and placement assembly 100 along the first horizontal direction, this embodiment can also make driving the cargo container 200 easy and labor-saving by cooperating with the conveying mechanism 160 and the docking member 120 to drive the cargo container 200 to move, thereby ensuring the stability of the operation.

[0154] It should also be noted that the control method for the pick-up and placement component provided in this embodiment can be applied to any pick-up and placement component in the embodiments of this application, as long as it includes the necessary structure to implement the control method for the pick-up and placement component provided in this embodiment.

[0155] According to another aspect of an embodiment of the present application, a cargo pick-up and placement component control device is also provided, comprising a memory and at least one processor; the memory stores computer-executable instructions; and the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the cargo pick-up and placement component control method of any one of the above-mentioned embodiments.

[0156] According to another aspect of the present application, a computer-readable storage medium is also provided, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method for controlling the picking and placing components of any of the above-mentioned embodiments is implemented.

[0157] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may modify the technical solutions described in the above embodiments or replace some or all of the technical features therein with equivalents. Such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments of this application. In particular, the various technical features described in the various embodiments may be combined in any manner as long as there are no structural conflicts.

Claims

1. A cargo pick-up and delivery component, characterized in that: include: A carrying platform and a docking member, wherein the docking member is disposed on the carrying platform, the carrying platform is configured so that cargo containers can enter and exit at both ends along a first horizontal direction, the docking member is configured to slide relative to the carrying platform along the first horizontal direction and to rotate relative to the carrying platform along an axis parallel to a second horizontal direction; an angle is formed between the first horizontal direction and the second horizontal direction; The docking member can be rotated to a first position and a second position; The docking member is configured to face the first horizontal direction when the docking member is in the first position; When the docking member is configured to be in the second position, the docking member faces away from the carrying space on the carrying platform; When the docking member is in the first position, it can dock with the cargo container to pull the cargo container to the carrying platform or push it out from the carrying platform along the first horizontal direction; When the docking member is in the second position, it can avoid the cargo container on the carrying platform and slide from one end to the other end of the carrying platform along the first horizontal direction.

2. The cargo pick-up and placement assembly according to claim 1, characterized in that: The supporting platform has a side wall on at least one side along the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; The docking member includes a rotating connection portion, a bridging portion, and a docking portion, wherein a first end of the rotating connection portion is slidably connected to the inner side of the side wall and is rotatably connected to the side wall along an axis parallel to the second horizontal direction, the bridging portion is provided on a second end of the rotating connection portion, and the docking portion is provided on a side of the bridging portion facing away from the rotating connection portion; The docking portion is used to dock with the matching portion of the cargo container when the rotating connecting portion rotates to the first position; The bridging portion and the docking portion are configured to slide along the first horizontal direction and pass through the top of the cargo container on the loading platform from one end of the loading platform to the other end when the rotating connection portion rotates to the second position.

3. The cargo pick-up and release assembly according to claim 2, characterized in that: The rotating connection portion has a first preset length, and the bridging portion is vertically arranged on the rotating connection portion.

4. The cargo pick-up and placement assembly according to claim 2, characterized in that: The supporting platform has side walls on both sides along the second horizontal direction. There are two rotating connection parts that are oppositely arranged on the side walls on both sides. The bridging part spans between the two rotating connection parts.

5. The cargo pick-up and placement assembly according to claim 1, characterized in that: The docking member includes a hook or a suction cup, so that the docking member can dock with the cargo containers on the corresponding sides when facing the two sides of the carrying platform respectively.

6. The cargo pick-up and placement assembly according to claim 2, characterized in that: The docking portion is a bidirectional hook, and the docking portion includes a first plate body, a second plate body and a third plate body; One end of the first plate is connected to the bridging portion, the second plate and the third plate are connected to the other end of the first plate, the second plate and the third plate are both arranged at an angle to the first plate and extend in opposite directions.

7. The cargo pick-up and placement assembly according to claim 6, characterized in that: A protrusion is provided on a side of the bridging portion away from the rotating connection portion, and one end of the first plate is connected to the protrusion.

8. The cargo pick-up and release assembly according to any one of claims 1 to 7, characterized in that: A conveying mechanism is provided on the carrying platform along the first horizontal direction, and the conveying mechanism is used to drive the cargo container to move along the first horizontal direction.

9. The cargo pick-up and placement assembly according to claim 8, characterized in that: The conveying mechanism includes a synchronous belt conveying mechanism and / or a roller conveying mechanism.

10. The cargo pick-up and release assembly according to any one of claims 1 to 7, characterized in that: A slide rail is provided on the supporting platform along the first horizontal direction, and the cargo picking and placing assembly further comprises a sliding seat, the sliding seat is slidably matched with the slide rail, and the docking member is rotatably connected to the sliding seat.

11. The cargo pick-up and placement assembly according to claim 10, characterized in that: The carrying platform is provided with a driving mechanism, the sliding seat is connected to the driving mechanism, and the driving mechanism is used to drive the sliding seat to slide relative to the carrying platform along the first horizontal direction.

12. The cargo pick-up and placement assembly according to claim 11, characterized in that: The driving mechanism includes a first driving member, a driving wheel, a driven wheel and a flexible transmission member; The driving wheel and the driven wheel are rotatably disposed at opposite ends of the supporting platform along the first horizontal direction, the first driving member is fixed to the supporting platform, and the output shaft of the first driving member is fixedly connected to the driving wheel, the flexible transmission member is connected between the driving wheel and the driven wheel, and the sliding seat is fixedly connected to the flexible transmission member; The first driving member is used to drive the driving wheel to rotate, thereby driving the flexible transmission member to move, so that the sliding seat slides along the first horizontal direction relative to the supporting platform along with the flexible transmission member; A second driving member is fixedly provided on the sliding seat. The second driving member is configured to be fixedly connected to the flexible transmission member. The output shaft of the second driving member is connected to the docking member for driving the docking member to rotate.

13. A method for controlling a pick-up and release component, characterized in that: The cargo pick-up and placement assembly includes a carrying platform and a docking member, wherein the docking member is disposed on the carrying platform, and the carrying platform is configured such that cargo containers can enter and exit at both ends along a first horizontal direction, and the docking member is configured to slide relative to the carrying platform along the first horizontal direction and rotate relative to the carrying platform along an axis parallel to a second horizontal direction; There is an included angle between the first horizontal direction and the second horizontal direction; the docking member is rotatable to a first position and a second position; when the docking member is in the first position, the docking member faces the first horizontal direction; When the docking member is configured to be in the second position, the docking member faces away from the carrying space on the carrying platform; The first horizontal direction includes a first direction and a second direction that are opposite to each other; The method comprises: When the cargo pick-up and placement assembly reaches the cargo pick-up position, the docking member is adjusted to the first position and docked with the cargo container located outside the carrying platform; After the docking is completed, moving the docking member along the first direction to transfer the cargo container to the carrying platform; After the cargo container is transferred to the loading platform, adjusting the docking member to the second position, and moving the docking member along the second direction so that the docking member moves from one end of the cargo container to the other end; When the cargo picking and placing assembly reaches the cargo placing position, the docking piece is adjusted to the first position and moved along the first direction to transfer the cargo container out of the carrying platform.

14. The method for controlling a pick-up and place-out component according to claim 13, wherein: The first position includes a first sub-position and a second sub-position, and the docking member faces the second direction and the first direction respectively when in the first sub-position and the second sub-position; When the cargo pick-up and placement assembly reaches the cargo pick-up position, the docking member is adjusted to the first position and docked with the cargo container located outside the carrying platform, including: When the cargo pick-up and placement assembly reaches the cargo pick-up position, the docking member is adjusted to the first sub-position and docked with the cargo container located outside the carrying platform; When the cargo pick-up and placement assembly reaches the cargo placement position, the docking member is adjusted to the first position and moved along the first direction to transfer the cargo container out of the loading platform, including: When the cargo picking and placing assembly reaches the cargo placing position, the docking piece is adjusted to the second sub-position and the docking piece is moved along the first direction to transfer the cargo container out of the carrying platform.

15. The method for controlling a pick-up and place-out component according to claim 13, wherein: The first position includes a first sub-position and a second sub-position, and the docking member faces the second direction and the first direction respectively when in the first sub-position and the second sub-position; The step of adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the loading platform includes: Adjusting the docking member to the first sub-position and moving the docking member and the cargo container along the first direction by a first preset distance; Then, the docking member is moved along the second direction by a second preset distance, and the docking member is adjusted to the second sub-position; The docking member is moved along the first direction to transfer the cargo container out of the carrying platform.

16. The method for controlling a pick-up and place-out component according to claim 13, wherein: A conveying mechanism is provided on the carrying platform along the first horizontal direction; After the docking is completed, moving the docking member along the first direction to transfer the cargo container to the carrying platform includes: After the docking is completed, moving the docking member along the first direction to transfer at least part of the cargo container to the conveying mechanism; The cargo container is driven to move along the first direction by the docking member and the conveying mechanism, so as to completely transfer the cargo container to the carrying platform.

17. The method for controlling a pick-up and place-out component according to claim 13, wherein: The first position includes a first sub-position and a second sub-position, and the docking member is oriented toward the second direction and the first direction respectively in the first sub-position and the second sub-position; a conveying mechanism is provided on the supporting platform along the first horizontal direction; The step of adjusting the docking member to the first position and moving the docking member along the first direction to transfer the cargo container out of the loading platform includes: The cargo container is driven by the conveying mechanism to move a third preset distance along the first direction, and the docking member is adjusted to the second sub-position; The cargo container is driven to move along the first direction by the docking member to transfer the cargo container out of the carrying platform.

18. A cargo transfer equipment, characterized in that: It comprises an equipment body and a cargo picking and placing component according to any one of claims 1 to 12, wherein the cargo picking and placing component is arranged on the equipment body.

19. A control device for picking up and releasing goods, characterized in that: include: memory and at least one processor; The memory stores computer-executable instructions; the at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the cargo picking and placing component control method according to any one of claims 13 to 17.

20. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the processor executes the computer-executable instructions, the method for controlling the picking and placing components according to any one of claims 13 to 17 is implemented.

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