Pick-and-place device and method, and warehousing apparatus

Abstract

A pick-and-place device and method, and a warehousing apparatus. In the pick-and-place device, a second end of a first connecting rod (310) can move relative to a carrying mechanism (100) so as to drive a picking member (200) to move from an avoidance position to a picking position by means of a first end, and the first connecting rod (310) can move in a first direction relative to the carrying mechanism (100) so as to drive the picking member (200) to move in the first direction, such that the picking member (200) gradually approaches a storage position and is engaged with a target item. After the picking member (200) is engaged with the target item, the first connecting rod (310) can move in the first direction so as to drive the picking member (200) to transfer the target item from the storage position to a specified position in a passage space. After the target item reaches the specified position in the passage space, the picking member (200) can be disengaged from the target item, and the second end can move relative to the carrying mechanism (100) so as to drive the picking member (200) to move from the picking position to the avoidance position by means of the first end. According to the pick-and-place device and method, and the warehousing apparatus, the target item on the carrying mechanism can be avoided, such that the moving flexibility and the pick-and-place efficiency of the target item are improved, and thus the transfer efficiency of a warehousing system is improved.

Description

A taking and placing device, method and storage equipment

[0001] The present application claims priority to the Chinese patent application No. 202421182936.6, filed on May 27, 2024, to the Chinese patent application No. 202510428459.X, filed on April 7, 2025, to the Chinese patent application No. 202421123153.0, filed on May 21, 2024, to the Chinese patent application No. 202520175816.1, filed on January 27, 2025, all of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of storage, in particular to a taking and placing device, method and storage equipment. BACKGROUND

[0003] With the development of storage technology, the application of automatic storage system has been more and more widely. In order to improve the efficiency of taking and transferring the target objects stored in the storage system, a taking and placing device can be used to take and place the target objects stored in the storage position. The taking and placing device usually includes a carrying structure and a taking structure, so as to take and place the target objects by the taking structure, and carry the target objects taken and placed by the taking structure by the carrying structure, and then transfer the target objects to the target position. When transferring the target objects, the carrying structure can drive the target objects to move on the carrying structure. SUMMARY

[0004] In order to solve the above problems, the present application provides a taking and placing device, method and storage equipment, which can avoid the target objects on the carrying mechanism, and also facilitate the miniaturization design of the taking and placing device, so as to improve the utilization rate of the storage space.

[0005] To achieve the above object, in a first aspect, the embodiments of the present application provide a taking and placing device, comprising: a carrying mechanism having a passing space, the passing space being configured to pass target objects; the passing space having an inlet and an outlet, the inlet and the outlet being configured to be docked with a storage position when the target objects are transferred from the storage position to the passing space; a taking object provided on the carrying mechanism; a first connecting rod configured to be movable relative to the carrying mechanism in a first direction to drive the taking object to cooperate with the target objects located in the storage position or to drive the taking object to transfer the target objects from the storage position to a specified position in the passing space; the first connecting rod having a first end and a second end, the first end being connected with the taking object, and the second end being configured to be movably provided on the carrying mechanism to drive the taking object to move between a taking position and an avoiding position, the taking object being able to cooperate with the target objects when located in the taking position, and the taking object being able to avoid the target objects when located in the avoiding position; the second end being configured to move relative to the carrying mechanism to drive the taking object to move from the avoiding position to the taking position before the target objects are transferred from the storage position to the passing space; and the second end being configured to move relative to the carrying mechanism to drive the taking object to move from the taking position to the avoiding position when the taking object drives the target objects to move to the specified position in the passing space.

[0006] To achieve the above object, in a second aspect, the embodiments of the present application provide a taking and placing method applied to the taking and placing device provided in the first aspect, the taking and placing method comprising: before the target objects are transferred from the storage position to the passing space, the inlet and the outlet being docked with the storage position under the control of a control instruction; under the control of the control instruction, the second end moving relative to the carrying mechanism to drive the taking object to move to a taking position of the taking object; under the control of the control instruction, the first connecting rod moving relative to the carrying mechanism in the first direction to drive the taking object to cooperate with the target objects located in the storage position; under the control of the control instruction, the first connecting rod moving relative to the carrying mechanism in the first direction to drive the taking object to transfer the target objects from the storage position to the specified position in the passing space; and under the control of the control instruction, the second end moving relative to the carrying mechanism to drive the taking object to move from the taking position to the avoiding position to avoid the target objects moving in the passing space.

[0007] To achieve the above object, in a third aspect, the embodiments of the present application provide an object transferring device, comprising: a moving device and the taking and placing device provided in the first aspect; the moving device being configured to drive the taking and placing device to move to a storage position; and the taking and placing device being movably provided on the moving device.

[0008] To achieve the above object, in a fourth aspect, the embodiments of the present application provide a warehousing device, comprising: a picking work station; a goods shelf; and the object transferring device provided in the third aspect, the object transferring device being capable of moving relative to the goods shelf to take or transfer target objects. BRIEF DESCRIPTION OF DRAWINGS

[0009] Fig. 1 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0010] Fig. 2 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0011] Fig. 3 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0012] Fig. 4 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0013] Fig. 5 is a schematic diagram of an interface between an import / export location and a storage location according to an embodiment of the present application;

[0014] Fig. 6 is a schematic diagram of a switching process between a passing space and an avoiding location according to an embodiment of the present application;

[0015] Fig. 7 is a schematic diagram of a cooperation between a bearing mechanism, an object, and a first link according to an embodiment of the present application;

[0016] Fig. 8 is a schematic diagram of a cooperation between a rotating driving assembly, a first link, and an object according to an embodiment of the present application;

[0017] Fig. 9 is a side view of a pick-and-place device according to an embodiment of the present application;

[0018] Fig. 10 is a side view of a pick-and-place device according to an embodiment of the present application;

[0019] Fig. 11 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0020] Fig. 12 is a schematic diagram of a cooperation between a first link, a second link, and an object according to an embodiment of the present application;

[0021] Fig. 13 is a structural schematic diagram of a pick-and-place device according to an embodiment of the present application;

[0022] Fig. 14 is a schematic diagram of a guide with a non-circular radial cross-section according to an embodiment of the present application;

[0023] Fig. 15 is a schematic diagram of a guide with a circular radial cross-section according to an embodiment of the present application;

[0024] Fig. 16 is a schematic diagram of a cooperation between an object, a first link, a second link, a third link, a fourth link, and a sliding block according to an embodiment of the present application;

[0025] Figure 17 is a schematic diagram of the motion process of the object picking up, the first connecting rod and the transmission structure of another picking and placing device provided in the embodiment of this application;

[0026] Figure 18 is a partial structural schematic diagram of another picking and placing device provided in an embodiment of this application;

[0027] Figure 19 is a side view of another picking and placing device provided in an embodiment of this application;

[0028] Figure 20 is a side view of the cooperation of a connecting block, a sliding block, a first guide member, and a second guide member in a pick-and-place device provided in an embodiment of this application;

[0029] Figure 21 is a cross-sectional view along line AA in Figure 20;

[0030] Figure 22 is a cross-sectional view along line BB in Figure 20;

[0031] Figure 23 is a bottom view of the connection block, sliding block, first guide member and second guide member cooperating in a picking and placing device provided in an embodiment of this application;

[0032] Figure 24 is a structural schematic diagram of another picking and placing device provided in an embodiment of this application from another perspective;

[0033] Figure 25 is a partial structural schematic diagram of another picking and placing device provided in an embodiment of this application;

[0034] Figure 26 is a schematic diagram of another partial structure of a different pick-and-place device according to an embodiment of this application;

[0035] Figure 27 is a simplified structural diagram of an article transfer device provided in an embodiment of this application;

[0036] Figure 28 is a simplified structural diagram of another article transfer device provided in an embodiment of this application;

[0037] Figure 29 is a structural schematic diagram of a storage equipment provided in an embodiment of this application.

[0038] Illustration mark: 10 - taking and placing device; 100 - carrying mechanism; 101 - passing space; 1011 - inlet and outlet; 101a - first inlet and outlet; 101b - second inlet and outlet; 110 - third driving assembly; 111 - third driving piece; 112 - third driving wheel; 113 - third idler; 114 - third transmission piece; 1141 - first sub-transmission piece; 1142 - second sub-transmission piece; 115 - steering wheel; 116 - tension wheel; 117 - transmission shaft; 120 - base; 130 - support seat; 131 - through opening; 200 - taken object; 210 - fixed block; 220 - first sub-taken object; 221 - first taken end; 230 - second sub-taken object; 231 - second taken end; 310 - first connecting rod; a - first rod body; b - second rod body; 320 - second connecting rod; 330 - third connecting rod; 340 - fourth connecting rod; 410 - first gear; 420 - second gear; 430 - first driving assembly; 431 - first driving piece; 432 - first driving wheel; 433 - second fixed seat; 4331 - transmission rack; 510 - connecting block; 511 - shaft hole; 5111 - first shaft hole; 5112 - second shaft hole; 520 - second driving assembly; 521 - second driving piece; 5211 - engaging piece; 5212 - gear; 522 - second transmission piece; 523 - second driving wheel; 524 - second driven wheel; 600 - rotating driving assembly; 610 - rotating driving piece; 700 - transmission structure; 710 - sliding block; 711 - first sub-sliding block; 712 - second sub-sliding block; d - first sliding part; e - second sliding part; 720 - guide piece; c - limiting part; 721 - first guide piece; 722 - second guide piece; 723 - guide protrusion; 730 - first fixed seat; 800 - identification assembly; 810 - identification unit; L1 - first distance; L2 - second distance; 20 - carrying robot; 21 - chassis; 22 - gantry; 30 - transfer robot; 31 - movement mechanism; 32 - track; 40 - storage equipment; 41 - picking station; 42 - shelf. DETAILED DESCRIPTION

[0039] With the development of automatic storage technology, in order to improve the taking and placing efficiency of target objects stored in the storage system, a carrying robot or a taking and placing robot can be used to take and place the target objects. The carrying robot or the taking and placing robot can be provided with a taking and placing device to take or place the target objects by using the taking and placing device.

[0040] Currently, the taking and placing device usually has a bearing structure and a taking structure. The taking structure can take the target object stored in the storage position to the bearing structure, or the taking structure can place the target object on the bearing structure in the storage position. In order to facilitate the correspondence between the taking structure and the bearing structure, the taking structure can be arranged on the bearing structure to facilitate the transfer of the target object between the bearing structure and the storage position. At the same time, the bearing structure can not only bear the target object, but also drive the target object to move to transfer the target object from the bearing structure to the target position (such as another storage position or another bearing structure).

[0041] In order to solve the above problems, the embodiment of the application provides a taking and placing device (also called a grabbing device) which can avoid the target object on the bearing mechanism, thereby improving the flexibility of the target object movement, improving the taking and placing efficiency of the target object, and further improving the transfer efficiency of the warehouse system.

[0042] FIG. 1 is a structural schematic diagram of a taking and placing device according to an embodiment of the application from one perspective. FIG. 2 is a structural schematic diagram of a taking and placing device according to an embodiment of the application from another perspective. FIG. 3 is a structural schematic diagram of another taking and placing device according to an embodiment of the application from one perspective. FIG. 4 is a structural schematic diagram of still another taking and placing device according to an embodiment of the application from one perspective.

[0043] It should be noted that, in order to facilitate the description of the taking and placing device, in the embodiments of the application, the direction in which the y-axis is located is the first direction. The second direction is arranged at an angle with the first direction, that is, the second direction is different from the first direction. The included angle between the first direction and the second direction can be 45°, 60°, 75° or 90°, and in the embodiments of the application, the included angle between the first direction and the second direction is taken as 90°, and the second direction can be the direction in which the z-axis is located. The third direction is arranged at an angle with the first direction, and in the embodiments of the application, the included angle between the first direction and the third direction is taken as 90°, and the third direction can be the direction in which the x-axis is located.

[0044] In combination with FIGS. 1 to 4, in some embodiments, the taking and placing device 10 includes a bearing mechanism 100, a taking object (also called a grabbing piece) 200 and a first connecting rod (also called a connecting piece) 310.

[0045] The bearing mechanism 100 has a through space (also called a conveying channel) 101, which can be used for the target object to pass through. The through space 101 has an inlet and outlet (also called a taking and placing opening) 1011, so that the target object can enter or leave the through space 101 through the inlet and outlet 1011. When the target object is transferred from the storage position to the through space 101, the inlet and outlet 1011 can be docked with the storage position.

[0046] In some embodiments, the target item can include, but is not limited to, a cargo, a container (e.g., a tote) loaded with the cargo, a pallet, a package with the cargo, a primary packaging box with the cargo, etc.

[0047] In some embodiments, the storage location for storing the target item can be a storage space, which can include a storage space on a shelf, an operator station on a picking station, a buffer space, etc. The shelf can be a fixed shelf or a movable shelf, which is not limited in the embodiments of the present application.

[0048] It should be noted that the storage location can be any location in the warehouse system where the target item can be placed, which is not limited in the embodiments of the present application.

[0049] In some examples, when the storage location is a storage space on a shelf, the taking and placing device 10 can be docked with the shelf. Then, the taking and placing device 10 can transfer the target item on the shelf to an operator station on a picking station or a buffer space, or the taking and placing device 10 can transfer the target item on the shelf to a buffer space corresponding to another taking and placing device 10.

[0050] In some examples, when the storage location is an operator station on a picking station or a buffer space, the taking and placing device 10 can be docked with the picking station. Then, the taking and placing device 10 can transfer the target item on the picking station to a shelf. In some examples, when the storage location is a buffer space of another taking and placing device 10, the taking and placing device 10 can be docked with the other taking and placing device 10. Then, the taking and placing device 10 can transfer the target item on the other taking and placing device 10 to a shelf, or the taking and placing device 10 can transfer the target item on the other taking and placing device 10 to a picking station.

[0051] It should be noted that the transfer of the target item by the taking and placing device 10 can be between a shelf and a shelf, between a shelf and a picking station, between a shelf and another taking and placing device 10, and between a taking and placing device 10 and another taking and placing device 10, which is not limited in the embodiments of the present application.

[0052] In some embodiments, when the target item is transferred, the inlet and outlet 1011 of the carrying mechanism 100 can be docked with the storage location.

[0053] FIG. 5 is a schematic diagram of the docking of the inlet and outlet with the storage location according to an embodiment of the present application. P in FIG. 5 is the storage location.

[0054] In some embodiments, as shown in (a) of FIG. 5, the docking between the inlet / outlet 1011 and the storage location can be a direct docking. Alternatively, as shown in (b) and (c) of FIG. 5, the docking between the inlet / outlet 1011 and the storage location can be an indirect docking. In this case, the docking between the inlet / outlet 1011 and the storage location can be through a connecting plate. In addition, as shown in (a) of FIG. 5, the height of the inlet / outlet 1011 can be the same as the height of the storage location. Alternatively, as shown in (b) of FIG. 5, the height of the bottom of the inlet / outlet 1011 can be higher than the height of the storage location. Alternatively, as shown in (c) of FIG. 5, the height of the bottom of the inlet / outlet 1011 can be lower than the height of the storage location.

[0055] It should be noted that the specific docking form and relative position relationship between the inlet / outlet 1011 and the storage location are not limited in the embodiments of the present application.

[0056] Referring to FIGS. 1-4, in some embodiments, the inlet / outlet 1011 of the passing space 101 can be two, including a first inlet / outlet 101a and a second inlet / outlet 101b. In some examples, the target object can enter the passing space 101 from the first inlet / outlet 101a and exit the passing space 101 from the second inlet / outlet 101b. In other examples, the target object can enter the passing space 101 from the second inlet / outlet 101b and exit the passing space 101 from the first inlet / outlet 101a. In this way, the target object can enter the passing space 101 from one of the first inlet / outlet 101a and the second inlet / outlet 101b and exit the passing space 101 from the other of the first inlet / outlet 101a and the second inlet / outlet 101b; when transferring the target object, the carrying mechanism 100 does not need to be rotated and turned, which can save the avoidance space required for the rotation and turning of the carrying mechanism 100, and can improve the utilization rate of the storage space.

[0057] In some examples, the target object can enter the passing space 101 from the first inlet / outlet 101a. When the target object needs to exit the passing space 101, the target object can exit the passing space 101 from the first inlet / outlet 101a. In other examples, the target object can enter the passing space 101 from the second inlet / outlet 101b. When the target object needs to exit the passing space 101, the target object can exit the passing space 101 from the second inlet / outlet 101b. In this way, the target object can enter the passing space 101 from one of the first inlet / outlet 101a and the second inlet / outlet 101b and exit the passing space 101 from the other of the first inlet / outlet 101a and the second inlet / outlet 101b; when transferring the target object, the carrying mechanism 100 does not need to be rotated and turned, which can save the avoidance space required for the rotation and turning of the carrying mechanism 100, and can improve the utilization rate of the storage space.

[0058] In the embodiments of the present application, when the import and export 1011 includes the first import and export 101a and the second import and export 101b, the target objects can enter or exit the passing space 101 from the two import and export 1011, so as to improve the flexibility of the movement of the target objects. In addition, the target objects can enter or exit the passing space 101 from the first import and export 101a or the second import and export 101b, and the occupancy rate of the storage space by the carrying mechanism 100 can also be reduced. For example, one carrying mechanism 100 can be arranged between two opposite shelves, and the target objects on the two shelves can enter or exit the passing space 101 from the first import and export 101a and the second import and export 101b respectively. In this way, one carrying mechanism 100 can be used to realize the taking and placing of the target objects on the two opposite shelves, so that two carrying mechanisms 100 do not need to be arranged between the two shelves, thereby facilitating the increase of the arrangement density of the shelves and the utilization rate of the storage space.

[0059] For example, the first import and export 101a and the second import and export 101b can be arranged along the first direction. The space between the first import and export 101a and the second import and export 101b can be the passing space 101. The target objects can move in the passing space 101 along the first direction.

[0060] In some embodiments, the carrying mechanism 100 can include a third driving assembly (also referred to as a conveying assembly) 110, which can drive the target objects along the first direction to move in the passing space 101, thereby providing power for the movement of the target objects.

[0061] In some embodiments, the taking device 200 is arranged on the carrying mechanism 100.

[0062] In some examples, the first connecting rod 310 can move relative to the carrying mechanism 100 along the first direction, and the taking device 200 can be movably arranged on the carrying mechanism 100 by the first connecting rod 310. It should be noted that the first direction provided by the embodiments of the present application is a straight line direction, and in other embodiments, the first direction can also be a curved direction. In addition, when the passing space has multiple import and export 1011, the first direction can be the direction between two different import and export 1011, for example, the first direction can be the direction in which the first import and export 101a points to the second import and export 101b, and the embodiments of the present application do not limit the first direction.

[0063] In some examples, when the first connecting rod 310 moves relative to the carrying mechanism 100 along the first direction, the first connecting rod 310 can drive the taking device 200 to cooperate with the target objects located at the storage position from the import and export 1011. In this way, the first connecting rod 310 can drive the taking device 200 to gradually approach the target objects and cooperate with the target objects at the import and export 1011.

[0064] For example, the object taking device 200 can include at least one of a suction cup, a clamping fork, a hook, a poking finger, and a magnetic structure.

[0065] As shown in FIGS. 1-3, in some embodiments, the cooperation between the object taking device 200 and the target object can be that the object taking device 200 is connected to the target object by negative pressure through the suction cup.

[0066] As shown in FIG. 4, alternatively, the cooperation between the object taking device 200 and the target object can be that the object taking device 200 hooks the side edge, top edge, bottom edge, protrusion on the container, or handle of the target object, and can also hook the groove, protrusion, or handle on the bottom surface of the target object. Alternatively, the cooperation between the object taking device 200 and the target object can be that the object taking device 200 clamps the target object from both sides, inserts from below, or hooks from above. Alternatively, the cooperation between the object taking device 200 and the target object can be that the object taking device 200 contacts the target object by the poking finger. Alternatively, the cooperation between the object taking device 200 and the target object can be that the object taking device 200 is connected to the target object by magnetic attraction through the magnetic structure. It should be noted that the cooperation between the object taking device 200 and the target object is not limited in the embodiments of the present application.

[0067] In some examples, when the first connecting rod 310 moves relative to the carrying mechanism 100 in the first direction, the first connecting rod 310 can drive the object taking device 200 to move the target object from the storage position to a specified position in the passing space 101. In this way, the object taking device 200 can move the target object in the storage position to the passing space 101. The specified position in the passing space 101 can be a middle position of the passing space 101, an edge position of the passing space 101, and the like, which is not limited in the embodiments of the present application.

[0068] In some embodiments, the first connecting rod 310 includes a first end and a second end, the first end is connected to the object taking device 200, and the second end is movably arranged on the carrying mechanism 100, so as to drive the object taking device 200 to move between the object taking position and the avoiding position. When the object taking device 200 is in the object taking position, the object taking device 200 can cooperate with the target object; when the object taking device 200 is in the avoiding position, the object taking device 200 can avoid the target object.

[0069] It should be noted that the connection between the first connecting rod 310 and the object taking device 200, and the connection between the first connecting rod 310 and the carrying mechanism 100 can be direct connection or indirect connection. The indirect connection includes connection through other structures, which is not limited in the embodiments of the present application. The connection between components can be referred to hereinafter, and will not be described again.

[0070] In this way, the taking object 200 can be located at the avoiding position when the target object is not taken or placed. When the target object is transferred from the storage position to the passing space 101, the second end can move relative to the carrying mechanism 100 to drive the taking object 200 located at the avoiding position to the taking position by the first end, so as to facilitate the taking object 200 to cooperate with the target object. Meanwhile, when the target object moves in the passing space 101, the second end can rotate relative to the carrying mechanism 100 to drive the taking object 200 located at the taking position to the avoiding position by the first end, so as to avoid the target object in the passing space 101.

[0071] FIG. 6 is a schematic diagram of a process of switching the taking object between the passing space and the avoiding position according to an embodiment of the present application.

[0072] As shown in (a) of FIG. 6, the avoiding position can be located above the passing space 101 (above in the direction of the z-axis in FIG. 6), and the second end can move to the above of the passing space 101 relative to the carrying mechanism 100 to drive the taking object 200 to move to the avoiding position above the passing space 101. In other embodiments, the avoiding position can be located above the passing space 101 or a position close to the above in the space range where the passing space 101 is located. It can be understood that the above of the passing space 101 does not specifically refer to the space position outside the passing space 101.

[0073] In some embodiments, as shown in (a) of FIG. 6, when the target object moves in the passing space 101, the second end can rotate relative to the carrying mechanism 100 to the above of the passing space 101 to drive the taking object 200 to move to the avoiding position above the passing space 101. Alternatively, in other examples, when the target object moves in the passing space 101, the second end can translate (such as ascend) relative to the carrying mechanism 100 to the above of the passing space 101 to drive the taking object 200 to move to the avoiding position above the passing space 101.

[0074] For example, the first connecting rod 310 shown in (a) of FIG. 6 can be a bent rod structure.

[0075] In some examples, the first connecting rod 310 can include two first rod bodies a and a second rod body b. The two first rod bodies a are bent and connected to the two ends of the second rod body b. The end of the first rod body a away from the second rod body b is the second end, and the second rod body b is provided with the first end. The first end can be located at any position (such as the middle position) of the second rod body b, and the taking object 200 is connected to the first end. It can be understood that in other examples, the first rod body a can also be one. When the taking object 200 is located at the taking position, the second rod body b will block the first rod body a.

[0076] Exemplarily, when the taking object 200 is located at the taking position, the first rod body a and the second rod body b can be in the horizontal plane; when the taking object 200 is located at the avoiding position, the first rod body a and the second rod body b can be in the vertical plane. It can be understood that the correspondence between the taking position and the horizontal plane and the correspondence between the avoiding position and the vertical plane are limited to the relative state of the carrying mechanism 100 and the target object shown in (a) of FIG. 6, and if the relative state of the carrying mechanism 100 and the target object changes, the above-mentioned correspondence can also change. In the embodiments of the present application, the correspondence between the taking position and the horizontal plane and the correspondence between the avoiding position and the vertical plane are only used as an example for illustration, and are not specifically limited.

[0077] It should be noted that when the first connecting rod 310 is a bent rod, the first end and the second end can be two ends of the extension direction of the first rod body a. When the second end is on the first rod body a, the distance between any position on the second rod body b and the first end of the first rod body a in the extension direction of the first rod body a is the same, and at this time, the first end can be located at any position on the second rod body b.

[0078] In the embodiments of the present application, the first connecting rod 310 is arranged in a bent rod structure, which can facilitate the cooperation of the taking object 200 and the target object, and can also facilitate the taking object 200 to be driven to pass above the through space 101, thereby facilitating the avoiding of the target object.

[0079] As shown in (b) of FIG. 6, the avoiding position can be located at the side of the through space 101, and the second end can be moved to the side of the through space relative to the carrying mechanism 100 to drive the taking object 200 to move to the avoiding position at the side of the through space 101. In other embodiments, the avoiding position can be located at the side of the through space 101 or can be located at one side within the space range where the through space 101 is located. It can be understood that the side of the through space 101 does not specifically refer to the space position outside the through space 101.

[0080] In some embodiments, as shown in (b) of FIG. 6, when the target object moves in the through space 101, the second end can be rotated to the side of the through space 101 relative to the carrying mechanism 100 to drive the taking object 200 to move to the avoiding position at the side of the through space 101. Alternatively, in other examples, when the target object moves in the through space 101, the second end can be translated (such as moving to the side) to the side of the through space 101 relative to the carrying mechanism 100 to drive the taking object 200 to move to the avoiding position at the side of the through space 101.

[0081] Exemplarily, the first connecting rod 310 shown in (b) of FIG. 6 can be a single rod structure.

[0082] In some examples, when the taking member 200 is located at the taking position, the first connecting rod 310 can extend along a horizontal direction (e.g., the direction of the x-axis in FIG. 6) with the first end facing the target object; when the taking member 200 is located at the avoiding position, the first connecting rod 310 can rotate to extend along a vertical direction (e.g., the direction of the z-axis in FIG. 6) or rotate to a state where the first connecting rod 310 extends along the horizontal direction with the first end away from the target object. In addition, the first connecting rod 310 can also rotate to a range M shown in (b) of FIG. 6, in which case the extension direction of the first connecting rod 310 is not limited to the horizontal direction and the vertical direction.

[0083] It can be understood that the correspondence between the taking position and the horizontal direction and the correspondence between the avoiding position and the vertical direction are limited to the relative state of the carrying mechanism 100 and the target object shown in (b) of FIG. 6. If the relative state of the carrying mechanism 100 and the target object changes, the above-mentioned correspondence can also change. In the embodiments of the present application, the correspondence between the taking position and the horizontal direction and the correspondence between the avoiding position and the vertical direction are only used as examples for illustration and are not specifically limited.

[0084] In some examples, the side of the through space can be any one of the six sides of the outer periphery of the through space. In some embodiments, the side of the through space 101 can be the side of the through space 101 along the direction of the x-axis in FIG. 1, in which case the avoiding position can be located on one side of the entrance and exit 1011. Alternatively, the side of the through space 101 can be the side of the through space 101 along the direction of the y-axis in FIG. 1, in which case the avoiding position can be located at the position shown in (b) of FIG. 6. In the embodiments of the present application, the side of the through space 101 is not limited.

[0085] As shown in (c) of FIG. 6, the avoiding position can be located below the through space 101 (below along the direction of the z-axis in FIG. 6), and the second end can move relative to the carrying mechanism 100 to the below of the through space 101 to drive the taking member 200 to move to the avoiding position below the through space 101. In other embodiments, the avoiding position can be located below the through space 101 or can be a position close to the below within the space range where the through space 101 is located. It can be understood that the below of the through space 101 does not specifically refer to the space position outside the through space 101.

[0086] In some embodiments, as shown in (c) of FIG. 6, when the target object moves in the passing space 101, the second end can be rotated relative to the carrying mechanism 100 to the lower side of the passing space 101 to drive the taking object 200 to move to the avoiding position below the passing space 101. Alternatively, in other examples, when the target object moves in the passing space 101, the second end can be translated (downwardly) relative to the carrying mechanism 100 to the lower side of the passing space 101 to drive the taking object 200 to move to the avoiding position below the passing space 101.

[0087] For example, the first connecting rod 310 shown in (c) of FIG. 6 can be a single rod structure.

[0088] In some examples, when the taking object 200 is in the taking position, the first connecting rod 310 can extend in the vertical direction (along the direction of the z-axis in FIG. 6) with the first end facing the target object; when the taking object 200 is in the avoiding position, the first connecting rod 310 can be rotated to extend in the vertical direction (along the direction of the z-axis in FIG. 6) with the first end away from the target object. In addition, the first connecting rod 310 can also be rotated to the N range shown in (c) of FIG. 6, at which time the extension direction of the first connecting rod 310 is not limited to the vertical direction.

[0089] It can be understood that the correspondence between the taking position, the avoiding position and the extension direction of the first connecting rod 310 is limited to the relative state of the carrying mechanism 100 and the target object shown in (c) of FIG. 6, and if the relative state of the carrying mechanism 100 and the target object changes, the above-mentioned correspondence can also change. In the embodiments of the present application, the correspondence between the taking position, the avoiding position and the extension direction of the first connecting rod 310 is only used as an example for illustration, and is not specifically limited.

[0090] For example, as shown in FIGS. 1 and 2, if the avoiding position is below the passing space 101. At this time, the second end of the first connecting rod 310 is movable relative to the carrying mechanism 100: it can be understood that the second end of the first connecting rod 310 is rotated relative to the carrying mechanism 100 to drive the taking object 200 to move between the taking position and the avoiding position.

[0091] It can be understood that in the taking and placing device 10 shown in FIGS. 1 and 2, the second end of the first connecting rod 310 is movable relative to the carrying mechanism 100: it can also be understood that the second end of the first connecting rod 310 is downwardly translated relative to the carrying mechanism 100 to drive the taking object 200 to move between the taking position and the avoiding position.

[0092] As an example, as shown in FIG. 3, if the avoiding position is located below the passing space 101, the second end of the first connecting rod 310 is movable relative to the carrying mechanism 100: it can be understood that the second end of the first connecting rod 310 is translated relative to the carrying mechanism 100 to drive the taken object 200 to move between the taking position and the avoiding position.

[0093] It can be understood that, in the taking and placing device 10 shown in FIG. 3, the second end of the first connecting rod 310 is movable relative to the carrying mechanism 100: it can also be understood that the second end of the first connecting rod 310 is rotated relative to the carrying mechanism 100 to drive the taken object 200 to move between the taking position and the avoiding position.

[0094] As an example, as shown in FIG. 4, if the avoiding position is located on the side of the passing space 101, the second end of the first connecting rod 310 is movable relative to the carrying mechanism 100: it can be understood that the second end of the first connecting rod 310 is rotated relative to the carrying mechanism 100 to drive the taken object 200 to move between the taking position and the avoiding position.

[0095] FIG. 7 is a schematic diagram of the cooperation structure of the carrying mechanism, the taken object and the first connecting rod according to an embodiment of the present application.

[0096] In the taking and placing device 10 shown in FIG. 4 and (a) of FIG. 7, in some embodiments, the second end of the first connecting rod 310 can be rotated relative to the carrying mechanism 100 along the rotation axis i1 to make the taken object 200 extend upward relative to the carrying mechanism 100 to extend downward to realize the movement of the taken object 200 between the taking position and the avoiding position. In the taking and placing device 10 shown in FIG. 4 and (b) of FIG. 7, alternatively, the second end of the first connecting rod 310 can be rotated relative to the carrying mechanism 100 along the rotation axis i2 to make the taken object 200 turn from one side to the other side along the y-axis direction relative to the carrying mechanism 100 to realize the movement of the taken object 200 between the taking position and the avoiding position. In the taking and placing device 10 shown in FIG. 4 and (c) of FIG. 7, alternatively, the second end of the first connecting rod 310 can be rotated relative to the carrying mechanism 100 along the rotation axis i3 to make the taken object 200 turn from one side to the other side along the y-axis direction relative to the carrying mechanism 100 to realize the movement of the taken object 200 between the taking position and the avoiding position.

[0097] For example, the second end of the first connecting rod 310 can rotate relative to the bearing mechanism 100 along the rotation axis i3 by an angle in the range of 90°-180°, for example, by 90° to reach the position shown by the dashed line in (c) of FIG. 7, or by 180° to reach the position shown by the solid line in (c) of FIG. 7. It can be understood that in other embodiments, the second end of the first connecting rod 310 can rotate relative to the bearing mechanism 100 along the rotation axis i3 by an angle of 90°, 120°, 145°, 180°, etc., which is not limited in the embodiments of the present application.

[0098] It can be understood that in the pick-and-place device 10 shown in FIG. 4, if the avoidance position is located on the side of the through space 101, the second end of the first connecting rod 310 moves relative to the bearing mechanism 100: it can also be understood that the second end of the first connecting rod 310 translates relative to the bearing mechanism 100 to drive the picked object 200 to move between the picking position and the avoidance position.

[0099] It should be noted that the form in which the first connecting rod 310 drives the picked object 200 to move between the avoidance position and the picking position can be adjusted according to the relative position between the picking position and the avoidance position and the specific connection mode of the first connecting rod 310 and the bearing mechanism 100, which is not limited in the embodiments of the present application.

[0100] It can be understood that the movement process of the picked object 200 shown in FIG. 7 can be the process of moving from the picking position to the avoidance position, or the process of moving from the avoidance position to the picking position, which is not limited in the embodiments of the present application. In addition, the rotation angle of the picked object 200 shown in FIG. 7 is 180°, and in other embodiments, the rotation angle of the picked object 200 can be any angle in the range of 0-180°, such as 30°, 45°, 60°, 75°, 90°, 135°, 150°, etc., which is not limited in the embodiments of the present application.

[0101] In the taking and placing device 10 provided by the embodiments of the present application, the carrying mechanism 100 has a passing space 101 through which the target object can pass, and the inlet and outlet 1011 of the passing space 101 can be connected with the storage position of the target object. When the target object is taken, the second end of the first connecting rod 310 can move relative to the carrying mechanism 100 to drive the taking device 200 to move from the avoiding position to the taking position through the first end, and the first connecting rod 310 can move relative to the carrying structure along the first direction to drive the taking device 200 to move along the first direction, so that the taking device 200 gradually approaches the storage position and cooperates with the target object. After the taking device 200 cooperates with the target object, the first connecting rod 310 can move along the first direction to drive the taking device 200 to transfer the target object from the storage position to the specified position of the passing space 101. When the target object reaches the specified position of the passing space 101, the taking device 200 can be separated from the target object, and the second end can move relative to the carrying mechanism 100 to drive the taking device 200 to move from the taking position to the avoiding position through the first end. At this time, the third driving assembly 110 of the carrying mechanism 100 can drive the target object to move in the passing space 101, and the taking device 200 will not hinder the movement of the target object in the passing space 101. In this way, the target object can leave the carrying mechanism 100 from any side of the passing space 101, so as to improve the flexibility of the taking and placing device 10 in the taking process.

[0102] It should be noted that the process of placing the target object in the storage position by the taking and placing device 10 is similar to the process of taking the target object, which can be referred to the above description, and will not be repeated here.

[0103] In addition, the process of the first connecting rod 310 driving the taking device 200 to approach the target object and the process of the first connecting rod 310 driving the taking device 200 from the avoiding position to the taking position can be performed simultaneously, which can effectively improve the taking efficiency. Alternatively, in other embodiments, the two processes can be performed in sequence to avoid interference. It can be understood that the specific execution order of the above two processes is not limited in the embodiments of the present application.

[0104] It should be noted that in some examples of the embodiments of the present application, a certain end of a certain component is referred to, for example, the "first end" and the "second end" of the first connecting rod 310, which are not specifically referred to the end points of the first connecting rod 310, but are intended to emphasize that the "first end" and the "second end" are not the same position of the first connecting rod 310.

[0105] In some examples, the "first end" and the "second end" can be the end portions of the first link 310. In some examples, the "first end" and the "second end" can be the middle portions of the first link 310 having a preset distance from the end portions. The specific positions of the "first end" and the "second end" are not limited in some examples of the embodiments. It can be understood that the "third end" and the "fourth end" appearing in subsequent examples of the embodiments are not particularly referred to the end points of a certain component, but can be referred to the "first end" and the "second end".

[0106] Referring back to FIGS. 1-4, in some embodiments, the carrying mechanism 100 can include a base (also referred to as a frame) 120. For example, the base 120 can support the third driving assembly 110. The first inlet / outlet 101a and the second inlet / outlet 101b can be on opposite sides of the base 120 along the first direction. The third driving assembly 110 can be disposed on the base 120. In some examples, as shown in FIGS. 1, 2, and 4, the base 120 can include a bottom plate, and a support structure can be disposed on the bottom plate to support the third driving assembly 110. Alternatively, the third driving assembly 110 can be directly disposed on the bottom plate.

[0107] It should be noted that, as shown in FIG. 3, in other embodiments, the base 120 can also be a frame structure, and the third driving assembly 110 can be disposed on the frame structure. In the embodiments, the specific structure of the base 120 and the connection mode of the base 120 and the third driving assembly 110 are not limited.

[0108] Referring back to FIGS. 1-4, in some examples, the third driving assembly 110 can include a third driving member 111 (not shown in FIGS. 3 and 4). The third driving member 111 can be disposed on the base 120.

[0109] In some examples, the third driving member 111 can include an electric motor. For example, the third driving member 111 can be a servo motor, a synchronous motor, a stepper motor, or the like. In some examples, the third driving member 111 can rotate in a forward direction. When the third driving member 111 rotates in the forward direction, the target object can be driven to move in the first sub-direction within the passing space 101. In this way, the target object can enter the passing space 101 from the first inlet and outlet 101a or exit the passing space 101 from the second inlet and outlet 101b. In some examples, the third driving member 111 can rotate in a reverse direction. When the third driving member 111 rotates in the reverse direction, the target object can be driven to move in the first sub-direction within the passing space 101. In this way, the target object can enter the passing space 101 from the second inlet and outlet 101b or exit the passing space 101 from the first inlet and outlet 101a. The first sub-direction and the second sub-direction are two opposite directions on the straight line where the first direction is located. The third driving member 111 can change the moving direction of the target object within the passing space 101 by switching between the forward rotation and the reverse rotation, so as to enable the target object to enter or exit the passing space 101 from the preset inlet and outlet 1011.

[0110] In some examples, the third driving assembly 110 can include a third driving wheel 112. The third driving wheel 112 can be arranged on the base 120. The third driving wheel 112 can be in transmission connection with the output shaft of the third driving member 111, so that the third driving member 111 can drive the third driving wheel 112 to rotate.

[0111] In some embodiments, the third driving wheel 112 can be located at the first inlet and outlet 101a. Alternatively, the third driving wheel 112 can be located at the second inlet and outlet 101b. The position of the third driving wheel 112 is not limited in the embodiments of the present application.

[0112] In some examples, the third driving assembly 110 can include a third idler wheel 113 and a third transmission member 114. The third idler wheel 113 can be arranged on the base 120. In the first direction, the third idler wheel 113 can be arranged at intervals with the third driving wheel 112. In this way, the third transmission member 114 can be sleeved on the third driving wheel 112 and the third idler wheel 113.

[0113] In some examples, when the third driving wheel 112 rotates, the third transmission member 114 and the third idler wheel 113 can be driven to rotate. The third transmission member 114 can be used to support the target object. In this way, the third transmission member 114 can move in the first direction under the driving of the third driving wheel 112, so as to drive the target object to move in the first direction within the passing space 101, thereby providing power for the movement of the target object.

[0114] For example, the passing space 101 can be located above the third transmission member 114.

[0115] In some embodiments, the target object can enter the passing space 101 from the first inlet 101a, then move to the second inlet 101b under the driving of the third transmission member 114, and exit the passing space 101 from the second inlet 101b. Alternatively, the target object can enter the passing space 101 from the second inlet 101b, then move to the first inlet 101a under the driving of the third transmission member 114, and exit the passing space 101 from the first inlet 101a. Alternatively, the target object can enter the passing space 101 from the first inlet 101a, and enter the passing space 101 completely under the driving of the third transmission member 114. After the third transmission member 114 drives the target object to the designated position, the third driving wheel 112 can change the direction, so that the third transmission member 114 can drive the target object to exit the passing space 101 from the first inlet 101a. Alternatively, the target object can enter the passing space 101 from the second inlet 101b, and enter the passing space 101 completely under the driving of the third transmission member 114. After the third transmission member 114 drives the target object to the designated position, the third driving wheel 112 can change the direction, so that the third transmission member 114 can drive the target object to exit the passing space 101 from the second inlet 101b.

[0116] For example, the third transmission member 114 can include at least one of a synchronous belt, a belt, and a chain. When the third transmission member 114 is a synchronous belt, the third driving wheel 112 and the third idler wheel 113 can be synchronous gears. When the third transmission member 114 is a belt, the third driving wheel 112 and the third idler wheel 113 can be synchronous pulleys. When the third transmission member 114 is a chain, the third driving wheel 112 and the third idler wheel 113 can be synchronous sprockets. In embodiments of the present application, the specific structure of the third driving wheel 112, the third idler wheel 113, and the third transmission member 114 is not limited.

[0117] In some embodiments, the third transmission member 114 can be a ring-shaped meshing member belt, and the third driving wheel 112 and the third idler wheel 113 can be gears matched with the ring-shaped meshing member belt. By configuring the third transmission member 114 as a ring-shaped meshing member belt, and configuring the third driving wheel 112 as a gear matched with the ring-shaped meshing member belt, when the third driving wheel 112 drives the third transmission member 114 to move, the friction between the third driving wheel 112 and the third transmission member 114 is large, which facilitates the installation of the third transmission member 114, reduces the power consumption of the third driving member 111, and improves the operation efficiency and stability of the whole pick-and-place device 10.

[0118] As shown in FIGS. 1-4, in some examples, the taking and placing device 10 can include a support seat 130, which can be disposed on the base 120. If the avoiding position is located below the passing space 101, the support seat 130 and the base 120 can have a preset distance therebetween. The preset distance between the support seat 130 and the base 120 can provide space for the avoiding position.

[0119] As shown in FIGS. 1 and 2, in some examples, the third driving member 111 can be disposed on the base 120. The third idler wheel 113 can be disposed on the support seat 130.

[0120] In some examples, the base 120 can be provided with a steering wheel 115. The steering wheel 115 can be disposed on the support seat 130. The steering wheel 115 can be arranged with the third driving wheel 112 along the second direction. At this time, the third transmission member 114 can be sleeved on the two third driving wheels 112 and the third idler wheel 113. In this way, the power of the third driving member 111 on the base 120 can be transmitted to the support seat 130, facilitating the movement of the target object above the support seat 130.

[0121] In some examples, in order to facilitate the movement of the taking object 200 between the taking position and the avoiding position, the support seat 130 can be provided with a through opening 131.

[0122] For example, in order to facilitate the switching of the taking object 200 between the avoiding position and the taking position, a movable channel needs to be provided for the taking object 200. The number of third driving wheels 112 can be two groups, and the two groups of third driving wheels 112 can be spaced apart along the third direction, so that the through opening 131 is located between the two groups of third driving wheels 112. At the same time, the two groups of third driving wheels 112 are located on the two sides of the taking object 200, so that the taking object 200 can move between the two groups of third driving wheels 112.

[0123] In some examples, the first connecting rod 310 can extend into the through opening 131 and be movable in the through opening 131. In some examples, in order to facilitate the movement of the target object in the passing space 101, the transmission surface of the third transmission member 114 can be located above the support seat 130. In some examples, the number of third idler wheels 113 and third transmission members 114 can be adapted to the number of third driving wheels 112.

[0124] In combination with FIGS. 1-4, for example, the third transmission member 114 can include a first sub-transmission member 1141. Along the second direction, the first sub-transmission member 1141 can be located on one side of the support seat 130.

[0125] In some examples, the third transmission member 114 can further include a second sub-transmission member 1142. In the third direction, the second sub-transmission member 1142 can be arranged spaced apart from the first sub-transmission member 1141. The second sub-transmission member 1142 can be located on the other side of the support base 130. In some examples, the object 200 can be arranged in the gap between the first sub-transmission member 1141 and the second sub-transmission member 1142.

[0126] In some examples, when the target object needs to be transferred, the object 200 can be moved from the gap between the first sub-transmission member 1141 and the second sub-transmission member 1142 to the object taking position. After the object 200 cooperates with the target object in the object taking position, the object 200 can be moved in the first direction to transfer the target object to the passing space 101. In the passing space 101, the third driving member 111 drives the first sub-transmission member 1141 and the second sub-transmission member 1142 to rotate, and the first sub-transmission member 1141 and the second sub-transmission member 1142 drive the target object to move in the first direction. At this time, the second end of the first connecting rod 310 can rotate relative to the carrying mechanism 100, so that the object 200 moves from the object taking position to the avoiding position until the top of the object 200 is lower than the height of the support surface of the first sub-transmission member 1141 and the second sub-transmission member 1142. When the object 200 is in the avoiding position, the target object can pass through the first sub-transmission member 1141 and the second sub-transmission member 1142 from the passing space 101.

[0127] As shown in FIG. 3, in some examples, the third driving assembly further includes a tensioning wheel 116, which is arranged between the third driving wheel 112 and the third idler wheel 113, and the tensioning wheel 116 abuts against the third transmission member 114. In the second direction, the height of the tensioning wheel 116 is less than or equal to the height of the top surface of the third transmission member 114. By arranging the tensioning wheel 116, the third driving wheel 112 and the third transmission member 114 are further compressed, so that the friction between the third driving wheel 112 and the third transmission member 114 is larger, the third transmission member 114 is less likely to slip relative to the third driving wheel 112, and the movement accuracy of the third transmission member 114 when conveying the target object is higher. At the same time, since the tensioning wheel 116 is arranged between the third driving wheel 112 and the third idler wheel 113 in the present application, the tensioning wheel 116 does not occupy space in the first direction, so that the size of the entire third driving assembly 110 is relatively compact, which can further improve the storage density and reduce the storage cost. Moreover, in the second direction, the height of the tensioning wheel 116 is less than or equal to the height of the top surface of the third transmission member 114, so that when the third transmission member 114 conveys the target object, the tensioning wheel 116 does not interfere with the movement of the target object during the conveying process.

[0128] It should be noted that when the third transmission member 114 is a closed loop belt structure, the tensioning wheel 116 can also be arranged inside the third transmission member 114 of the loop structure and abut against the inner surface of the lower third transmission member 114, thereby reducing the impact on the upper third transmission member 114 when conveying the target object. In this case, the tensioning wheel 116 is arranged as a gear structure, thereby reducing the friction of the tensioning wheel 116 and making the movement of the third transmission member 114 more smooth.

[0129] When the third transmission member 114 is a closed loop belt structure, the tensioning wheel 116 can also be arranged outside the third transmission member 114 of the loop structure and abut against the outer surface of the lower third transmission member 114, thereby also reducing the impact on the upper third transmission member 114 when conveying the target object.

[0130] As shown in FIGS. 1-3, the third driving assembly 110 can further include a transmission shaft 117 arranged between the two sets of third power wheels 112 spaced apart along the third direction, thereby enabling the two first sub-transmission members 1141 and the second sub-transmission member 1142 to move synchronously, thereby making the transportation of the target object more stable. For example, the taking member 200 can move towards the first inlet and outlet 101a along the first direction or move towards the second inlet and outlet 101b along the first direction.

[0131] In some embodiments, when the storage position is located at one side of the first inlet and outlet 101a, the first inlet and outlet 101a can be docked with the storage position, and the taking member 200 can move towards the first inlet and outlet 101a along the first direction and cooperate with the target object to transfer the target object from the first inlet and outlet 101a to the passing space 101. Alternatively, when the storage position is located at one side of the second inlet and outlet 101b, the second inlet and outlet 101b can be docked with the storage position, and the taking member 200 can move towards the second inlet and outlet 101b along the first direction and cooperate with the target object to transfer the target object from the second inlet and outlet 101b to the passing space 101.

[0132] Please refer to FIGS. 3 and 4 again. In some embodiments, the taking member 200 can rotate between the position towards the first inlet and outlet 101a and the position towards the second inlet and outlet 101b.

[0133] In some examples, when the taking member 200 is towards the first inlet and outlet 101a, the taking member 200 can drive the target object to pass through the first inlet and outlet 101a, i.e., the taking member 200 can transfer the target object from the first inlet and outlet 101a to the passing space 101 or make the target object leave the passing space 101 from the first inlet and outlet 101a.

[0134] In some examples, when the taking object 200 moves towards the second inlet and outlet 101b, the taking object 200 can drive the target object to pass through the second inlet and outlet 101b, i.e., the taking object 200 can transfer the target object from the second inlet and outlet 101b to the passing space 101 or make the target object leave the passing space 101 from the second inlet and outlet 101b.

[0135] In the embodiments of the present application, when the taking object 200 can rotate relative to the carrying mechanism 100, the taking object 200 can realize taking or placing the target objects on both sides of the passing space 101, which can further improve the flexibility of the taking and placing device 10 and also improve the taking and placing efficiency.

[0136] In some examples, the taking and placing device 10 further comprises a rotating driving assembly 600, which can be connected with the taking object 200 and drive the taking object 200 to rotate so as to drive the taking object 200 to move towards different directions.

[0137] FIG. 8 is a schematic diagram of the cooperation among a rotating driving assembly, a first connecting rod and a taking object according to an embodiment of the present application.

[0138] As shown in (a) of FIG. 8, in some examples, the rotating driving assembly 600 can be arranged at the second end of the first connecting rod 310. At this time, the rotating driving assembly 600 can drive the taking object 200 to rotate around the rotation axis i2, so that the taking object 200 can move towards different inlets and outlets. As shown in (b) of FIG. 8, in some examples, the rotating driving assembly 600 can be arranged at the second end of the first connecting rod 310. At this time, the rotating driving assembly 600 can drive the first connecting rod 310 to drive the taking object 200 to rotate around the rotation axis i3, so that the taking object 200 can move towards different inlets and outlets. As shown in (c) of FIG. 8, in some examples, the rotating driving assembly 600 can also be arranged at the first end of the first connecting rod 310 and connected with the taking object 200. At this time, the rotating driving assembly 600 can directly drive the taking object 200 to rotate around the rotation axis i4, so that the taking object 200 can move towards different inlets and outlets.

[0139] Please refer to FIG. 3 and FIG. 4 again, the rotating driving assembly 600 includes a rotating driving member 610 in some examples. The rotating driving member 610 can be arranged on the carrying mechanism 100, and a power output end of the rotating driving member 610 can be connected with the first connecting rod 310, so that the power output end of the rotating driving member 610 can drive the first connecting rod 310 to rotate, so as to drive the target object 200 to rotate between the two inlets and outlets. It should be noted that the rotating driving member 610 arranged on the carrying mechanism 100 can be arranged directly or indirectly through a connecting structure. Similarly, the power output end of the rotating driving member 610 can be directly connected with the target object 200 or indirectly connected through the first connecting rod 310 or other transmission structures, which is not limited in the embodiments of the present application.

[0140] FIG. 9 is a side view of a taking and placing device provided in an embodiment of the present application.

[0141] As shown in FIG. 9, in some examples, the target object 200 can include a fixed block 210 connected with the first end, so that the fixed block 210 can be connected with the base 120 of the carrying mechanism 100 through the first connecting rod 310.

[0142] In some examples, in order to reduce the space occupied by the target object 200 when rotating and the space occupied by the driving member when driving the target object 200 to rotate, the target object 200 can include a first sub-target object 220 and a second sub-target object 230, as shown in FIG. 9. The first sub-target object 220 and the second sub-target object 230 can be arranged on the fixed block 210 respectively. The first sub-target object 220 and the second sub-target object 230 can be directed to the first inlet and outlet 101a and the second inlet and outlet 101b respectively. In this way, the first sub-target object 220 can drive the target object to pass through the first inlet and outlet 101a, and the second sub-target object 230 can drive the target object to pass through the second inlet and outlet 101b.

[0143] In some examples, the first sub-target object 220 can cooperate with the target object, and the first sub-target object 220 can drive the target object to pass through the first inlet and outlet 101a, that is, the first sub-target object 220 can transfer the target object from the first inlet and outlet 101a to the passing space 101 or make the target object leave the passing space 101 from the first inlet and outlet 101a.

[0144] In some examples, the second sub-target object 230 can cooperate with the target object, and the second sub-target object 230 can drive the target object to pass through the second inlet and outlet 101b, that is, the second sub-target object 230 can transfer the target object from the second inlet and outlet 101b to the passing space 101 or make the target object leave the passing space 101 from the second inlet and outlet 101b.

[0145] In the embodiments of the present application, by arranging the first sub-taking object 220 and the second sub-taking object 230 on the fixed block 210, the first sub-taking object 220 can transfer the target object from the first inlet and outlet 101a to the carrying mechanism 100, and the second sub-taking object 230 can transfer the target object from the second inlet and outlet 101b to the carrying mechanism 100. In this way, the single taking object 200 does not need to be rotated, the driving structure for driving the rotation of the single taking object 200 is saved, the weight and size of the taking and placing device 10 are reduced, and the utilization rate of the storage space can be improved.

[0146] In some examples, the first sub-taking object 220 can have a first taking end 221. The first taking end 221 can be located on the side of the fixed block 210 close to the first inlet and outlet 101a, and the first taking end 221 can cooperate with the target object.

[0147] In some examples, the second sub-taking object 230 can have a second taking end 231. The second taking end 231 can be located on the side of the fixed block 210 close to the second inlet and outlet 101b, and the second taking end 231 can cooperate with the target object.

[0148] In some embodiments, the storage position can be located on a mobile shelf. Compared with a fixed shelf, the mobile shelf can sway or slightly swing during movement due to unstable center of gravity. In addition, during the process of taking and placing the target object, the position of the object on the mobile shelf can change, and the center of gravity of the mobile shelf can also change, thereby causing the mobile shelf to tilt.

[0149] It should be noted that the movement of the mobile shelf can be achieved by a carrying robot carrying the mobile shelf. The carrying robot can carry the mobile shelf to a target position. The target position can be a workstation, a picking station, a storage area, etc., which is not limited in the embodiments of the present application.

[0150] Since the mobile shelf can sway or tilt, the taking and placing device 10 needs to maintain a certain distance from the mobile shelf when taking and placing the target object on the mobile shelf. However, some storage positions (such as buffer positions on the picking workstation or operation positions) are fixed relative to the position of the taking and placing device 10, and do not sway during the process of taking and placing the target object. At this time, the taking and placing device 10 does not need to maintain a large distance from the fixed storage position.

[0151] It should be noted that the operation position on the picking workstation in some examples can also be referred to as a goods sorting platform, a goods sorting position, or a goods picking workstation, which is not limited in the embodiments of the present application.

[0152] In the embodiments of the present application, the first distance L1 can be between the first taking end 221 and the first end, and the second distance L2 can be between the second taking end 231 and the first end. The first distance L1 and the second distance L2 can be the same, or the first distance L1 and the second distance L2 can be different.

[0153] For example, the first distance L1 can be greater than or equal to the second distance L2 based on different storage positions having different characteristics. In this way, the first taking end 221 can conveniently take target objects on shelves with a long distance, and the second taking end 231 can take target objects on shelves with a short distance, the length of the second taking end 231 can be reduced, and the space occupied by the taking device 10 can be reasonably designed to reduce the space occupied by the taking device 10, thereby achieving miniaturization design of the taking device 10.

[0154] FIG. 10 is a side view of a taking device provided by an embodiment of the present application along a first direction, and FIG. 11 is a perspective view of a taking device provided by an embodiment of the present application omitting a third driving assembly and a support seat.

[0155] As shown in FIGS. 10 and 11, the taking device 10 further includes a second connecting rod 320. The second connecting rod 320 includes a third end and a fourth end, the third end is connected with the taking object 200, and the fourth end is connected with the carrying mechanism 100. The fourth end can slide along the first direction relative to the carrying mechanism 100, and the fourth end can also rotate relative to the carrying mechanism 100 and drive the taking object 200 to move between the taking position and the avoiding position. In this way, the first connecting rod 310 and the second connecting rod 320 drive the taking object 200 to move, which can improve the stability of the taking object 200 during movement.

[0156] For example, in order to facilitate the movement of the taking object 200 between the avoiding position and the taking position, the first end of the first connecting rod 310 is rotatably connected with the taking object 200, and the third end of the second connecting rod 320 is rotatably connected with the taking object 200. In this way, the first connecting rod 310 and the second connecting rod 320 can rotate in different directions relative to the taking object 200.

[0157] In some examples, the object taking device 200 can be a columnar structure, and the first end and the third end can be sleeved on the outer periphery of the object taking device 200 and rotatably connected with the object taking device 200. In some examples, the first end is relatively fixed with the object taking device 200 along the first direction (which can also be the extension direction of the object taking device 200), and the third end is relatively fixed with the object taking device 200 along the first direction. That is, the freedom degree of the first end with respect to the object taking device 200 along the first direction is limited, and the freedom degree of the third end with respect to the object taking device 200 along the first direction is limited. The first end has a freedom degree with respect to the object taking device 200 along the circumferential direction of the object taking device 200, and the third end has a freedom degree with respect to the object taking device 200 along the circumferential direction of the object taking device 200.

[0158] For example, the first end of the first connecting rod 310 can be rotatably connected with the fixed block 210. The third end of the second connecting rod 320 can be rotatably connected with the fixed block 210.

[0159] In some examples, the fixed block 210 is rotatably connected with the first end, and the fixed block 210 is rotatably connected with the third end.

[0160] In the embodiments of the present application, the first end and the third end can be connected to the same connection point of the fixed block 210, or the first end and the third end can be connected to the same connection point of the fixed block 210. In this way, the first connecting rod 310 and the second connecting rod 320 can ensure the stability of the object taking device 200 when switching the position of the object taking device 200, and ensure the stability of the object taking device 200 when transferring the target object.

[0161] In some examples, the fourth end and the second end can be located on the same side of the object taking device 200. For example, the fourth end and the second end can be located on the side of the object taking device 200 away from the taking position.

[0162] In some examples, the fourth end and the second end can be arranged above the passing space 101. For example, a top frame can be arranged above the passing space 101, and the fourth end and the second end can be connected with the top frame. In some examples, the fourth end and the second end can be arranged below the passing space 101. For example, the fourth end and the second end can be arranged on the base 120. In some examples, the fourth end and the second end can be arranged on one side of the passing space 101. For example, along the third direction, side frames can be arranged on both sides of the passing space 101. The fourth end and the second end can be connected with any one of the side frames.

[0163] In some examples of the embodiments of the present application, the fourth end and the second end are arranged below the passing space 101 as a specific example.

[0164] In some embodiments, a slide rail can be provided on the base 120, and the slide rail can extend along the first direction. The fourth end can slide along the extension direction of the slide rail. The second end can slide along the extension direction of the slide rail, so as to facilitate the first link 310 and the second link 320 to move relative to the base 120 along the first direction.

[0165] For example, two slide rails can be provided side by side, the fourth end is connected with one of the slide rails, and the second end is connected with the other slide rail.

[0166] Alternatively, a slide groove can be provided on the base 120, and the slide groove can extend along the first direction. The fourth end and the second end can be arranged in the slide groove.

[0167] In some examples, the slide groove can be provided on the surface of the base 120. The length direction of the slide groove can extend along the first direction. The width direction of the slide groove can extend along the third direction.

[0168] For example, the fourth end and the second end can move along the length direction of the slide groove, so that the first link 310 and the second link 320 can drive the object 200 to move relative to the support structure along the first direction.

[0169] In some examples, the fourth end and the second end can move relative to each other along the width direction of the slide groove, so as to adjust the distance between the fourth end and the second end.

[0170] FIG. 12 is a schematic diagram of the movement between the first link, the second link, and the object according to an embodiment of the present application.

[0171] In combination with FIGS. 10 and 12, in some examples, if the distance between the fourth end and the second end is to be increased, referring to (a) of FIG. 12, the second end can move along the m1 direction of FIG. 12, and the fourth end can move along the n1 direction of FIG. 12. That is, the second end and the fourth end can move away from each other along opposite directions, so as to increase the distance between the second end and the fourth end.

[0172] For example, referring to FIG. 12, in the case where the first end and the third end are coaxial with the rotation axis of the object 200, a triangular structure can be formed between the first link 310 and the second link 320. When the second end and the fourth end move away from each other along the third direction, the length of the base of the triangle increases, and the height of the triangle decreases. That is, the object 200 moves downward along the second direction under the driving of the first link 310 and the second link 320, so as to switch the object 200 from the taking position to the avoiding position.

[0173] In some examples, to reduce the distance between the fourth end and the second end, referring to (b) of FIG. 12, the second end can move in the direction of m2 of FIG. 12, and the fourth end can move in the direction of n2 of FIG. 12. That is, the second end and the fourth end can move towards each other in opposite directions, so that the distance between the second end and the fourth end is reduced.

[0174] For example, when the second end and the fourth end move towards each other in opposite directions in the third direction in the chute, the length of the base of the triangle decreases, and the height of the triangle increases, that is, the object 200 moves upwards in the second direction under the driving of the first connecting rod 310 and the second connecting rod 320, so that the object 200 is switched from the avoiding position to the taking position.

[0175] In some examples, the distance between the fourth end and the second end can be adjusted by a gas cylinder, a piston cylinder, a linear motor, or a push rod, etc. For example, one end of the gas cylinder can be connected with the fourth end, and the other end of the gas cylinder can be connected with the second end, and the gas cylinder can move together with the first connecting rod 310 and the second connecting rod 320 in the first direction relative to the bearing mechanism 100.

[0176] In some examples of the embodiments of the present application, the first connecting rod 310 and the second connecting rod 320 are connected with the object 200, and the distance between the first connecting rod 310 and the second connecting rod 320 is adjusted to drive the object 200 to switch between the taking position and the avoiding position. In this way, a stable triangular structure can be formed between the first connecting rod 310, the second connecting rod 320, and the bearing mechanism, which can improve the stability of the position switching of the object 200.

[0177] FIG. 13 is a structural schematic diagram of a pick-and-place device provided by an embodiment of the present application, which omits a third driving assembly and a base.

[0178] As shown in FIGS. 11 and 13, the pick-and-place device 10 can further include a third connecting rod 330 and a fourth connecting rod 340. The third connecting rod 330 and the fourth connecting rod 340 can be arranged on the bearing mechanism 100. The third connecting rod 330 and the fourth connecting rod 340 can move in the first direction relative to the bearing mechanism 100.

[0179] In some examples, the third connecting rod 330 can be connected with the second end of the first connecting rod 310, and the fourth connecting rod 340 can be connected with the fourth end of the second connecting rod 320, so as to form a “scissors fork” connecting rod assembly with the first connecting rod 310 and the second connecting rod 320, so as to facilitate the movement of the object 200 between the avoiding position and the taking position.

[0180] In some embodiments, a chute can be arranged on the base 120, the chute can extend in the first direction, and the third connecting rod 330 and the fourth connecting rod 340 can be arranged in the chute. In some examples, the third connecting rod 330 can be connected with the second end of the first connecting rod 310, and the fourth connecting rod 340 can be connected with the fourth end of the second connecting rod 320, so as to form a “scissors fork” connecting rod assembly with the first connecting rod 310 and the second connecting rod 320, so as to facilitate the movement of the object 200 between the avoiding position and the taking position.

[0181] In some examples, a sliding groove can be formed on the surface of the base 120. The length direction of the sliding groove can extend along the first direction. The width direction of the sliding groove can extend along the third direction.

[0182] In some examples, the third link 330 and the fourth link 340 can move along the length direction of the sliding groove, so that the third link 330 and the fourth link 340 can drive the first link 310 and the second link 320 to move relative to the support structure along the first direction.

[0183] In some examples, the third link 330 and the fourth link 340 can move relative to each other along the width direction of the sliding groove, so as to adjust the distance between the fourth end and the second end.

[0184] Alternatively, a sliding rail can be arranged on the base 120, and the sliding rail can extend along the first direction. The third link 330 and the fourth link 340 can be sleeved on the outer periphery of the sliding rail.

[0185] In some examples, the sliding rail can be a guide rod or a guide shaft.

[0186] In the embodiments of the present application, the third link 330 and the fourth link 340 can slide along the extension direction of the sliding rail, so as to drive the third link 330 and the fourth link 340 to move relative to the base 120 along the first direction.

[0187] In some examples, when the angle between the third link 330 and the fourth link 340 increases, the distance between the second end and the fourth end also increases. When the object 200 is switched to the avoiding position, the first link 310 and the third link 330 overlap each other, and the second link 320 and the fourth link 340 overlap each other. In this way, compared with the mode of switching the position of the object 200 by only the first link 310 and the second link 320, the space occupied by the first link 310 and the second link 320 along the second direction can be reduced, so that the overall size of the taking and placing device 10 can be reduced.

[0188] In some examples, in order to facilitate the third link 330 and the fourth link 340 to drive the object 200 to move between the taking position and the avoiding position, the taking and placing device further comprises a transmission structure 700. The transmission structure 700 is arranged on the carrying structure 100 and connected with the second end of the first link 310.

[0189] In some examples, the transmission structure 700 can be connected with the first link 310 through the third link 330. The transmission structure 700 can rotate relative to the carrying structure 100, so as to drive the second end of the first link 310 to rotate relative to the carrying structure 100, and drive the object 200 to move between the taking position and the avoiding position.

[0190] In combination with FIG. 11 and FIG. 13, in some embodiments, the transmission structure 700 can include a sliding block 710 disposed on the carrier mechanism 100, and the sliding block 710 is connected with the second end of the first connecting rod 310. The sliding block 710 can rotate relative to the carrier mechanism 100, thereby driving the second end to rotate relative to the carrier mechanism 100, so as to drive the object 200 to move between the taking position and the avoiding position.

[0191] For example, the sliding block 710 can be disposed on the base 120 of the carrier mechanism 100, and the sliding block 710 can rotate relative to the base 120.

[0192] In some embodiments, the taking and placing device 10 can further include a guide 720 disposed on the carrier mechanism 100. The sliding block 710 can rotate relative to the carrier mechanism 100, thereby driving the sliding block 710 to rotate relative to the carrier mechanism 100, so as to drive the second end to rotate relative to the carrier mechanism 100, thereby achieving the movement of the object 200 between the taking and placing position and the avoiding position.

[0193] For example, the guide 720 can be disposed on the base 120 of the carrier mechanism 100.

[0194] FIG. 14 is a schematic view of a guide with a non-circular radial cross section according to an embodiment of the present application, and FIG. 15 is a schematic view of a guide with a circular radial cross section according to an embodiment of the present application.

[0195] In combination with FIG. 14 and FIG. 15, in some embodiments, in order to facilitate the rotation of the sliding block 710, the peripheral wall of the guide 720 is provided with a limiting portion c. The limiting portion c can be engaged with the sliding block 710, so that the limiting portion c can limit the freedom degree of the sliding block 710 in the circumferential direction relative to the guide 720, thereby enabling the guide 720 to drive the sliding block 710 to rotate when the guide 720 rotates, so as to avoid the situation that the guide 720 rotates but the sliding block 710 does not rotate.

[0196] In some embodiments, the guide 720 can be a linear guide, and the groove or protrusion on the linear guide can form the limiting portion c.

[0197] Alternatively, the guide 720 can be a guide shaft.

[0198] In some examples, the radial cross section of the guide 720 can be a non-circular cross section, so that the non-circular cross section can be used to form the limiting portion c, so as to facilitate the setting of the limiting portion c and the processing of the guide 720. The shaft hole cross section on the sliding block 710 is adapted to the shape of the radial cross section of the guide 720, so that the sliding block 710 and the guide 720 are engaged with each other.

[0199] In some embodiments, as shown in (a) of FIG. 14, the radial section of the guide 720 can be a polygonal section, such that the corner between two adjacent sides of the polygonal section forms the limiting portion c, and correspondingly, the axial hole section of the sliding block 710 is also a polygonal section.

[0200] For example, the radial section of the guide 720 can be a triangular section, a quadrilateral section, a pentagonal section, etc.

[0201] In some examples, when the radial section of the guide 720 is a polygonal section, the guide 720 can be a polygonal tube shaft. The corner of the polygonal tube shaft can form the limiting portion c.

[0202] For example, the guide 720 can be a square tube shaft. Compared with a linear guide rail, using a square tube shaft as the guide 720 can reduce the weight of the guide 720, reduce the overall weight of the pick-and-place device 10, and save the energy consumption of the pick-and-place device 10.

[0203] In some examples, the square tube shaft can be an aluminum square tube shaft. Compared with other materials, aluminum has a smaller density, which can reduce the weight of the guide 720, reduce the overall weight of the pick-and-place device 10, and save the energy consumption of the pick-and-place device 10.

[0204] Alternatively, as shown in (b) of FIG. 14, the radial section of the guide 720 can be an elliptical section, such that the part of the major axis of the elliptical section forms the limiting portion c, and correspondingly, the axial hole section of the sliding block 710 is also an elliptical section.

[0205] Further alternatively, as shown in (c) of FIG. 14, the radial section of the guide 720 can be an irregular shape section, such that the convex part or the concave part of the irregular shape forms the limiting portion c, and correspondingly, the axial hole section of the sliding block 710 is also an irregular shape section.

[0206] In some examples, the radial section of the guide 720 can be a circular section, in which case, either the peripheral wall of the guide 720 or the sliding block 710 can be provided with a groove, and the other can be provided with a convex part. In this way, the groove or the convex part on the peripheral wall of the guide 720 can form the limiting portion c, and the guide 720 and the sliding block 710 can be engaged with each other through the groove and the convex part.

[0207] In some embodiments, as shown in (a) of FIG. 15, the peripheral wall of the guide 720 can be provided with a groove, and the groove can form the limiting portion c. The groove can extend along the axial direction of the guide 720, and the sliding block 710 can be correspondingly provided with a convex part, which can be embedded into the groove.

[0208] Exemplarily, the groove on the guide member 720 can extend through both ends of the guide member 720 in the axial direction to facilitate assembly with the sliding block 710, or the extension length of the groove on the guide member 720 can be less than the length of the guide member 720, and in this case, a resilient structure can be arranged between the guide member 720 and the sliding block 710 to facilitate assembly between the guide member 720 and the sliding block 710.

[0209] In some examples, the protrusion on the sliding block 710 can be an integral structure of the sliding block 710, or the protrusion on the sliding block 710 can be formed by a key embedded on the sliding block 710, which is not limited in the embodiments of the present application.

[0210] In some embodiments, as shown in (b) of FIG. 15, the peripheral wall of the guide member 720 can be provided with a protrusion, which can form the limiting portion c. The protrusion can extend in the axial direction of the guide member 720, and the sliding block 710 can be correspondingly provided with a groove, and the protrusion can be embedded into the groove.

[0211] In some examples, the protrusion on the guide member 720 can be an integral structure of the guide member 720, or the protrusion on the guide member 720 can be formed by a key embedded on the guide member 720, which is not limited in the embodiments of the present application.

[0212] Exemplarily, the groove on the sliding block 710 can extend through both ends of the sliding block 710 in the axial direction to facilitate assembly with the guide member 720, or the extension length of the groove on the sliding block 710 can be less than the length of the sliding block 710, and in this case, a resilient structure can be arranged between the guide member 720 and the sliding block 710 to facilitate assembly between the guide member 720 and the sliding block 710.

[0213] In some embodiments, as shown in (c) of FIG. 15, the guide member 720 can be a spline shaft, so that the spline can form the limiting portion c, and the sliding block 710 can be engaged with the spline.

[0214] In combination with FIGS. 11 and 13, the sliding block 710 can include a first sub-sliding block 711 and a second sub-sliding block 712, and the guide member 720 can include a first guide member 721 and a second guide member 722.

[0215] Exemplarily, the first guide member 721 and the second guide member 722 can be rotatably arranged on the base 120, and the second guide member 722 can be arranged side by side with the first guide member 721 in the third direction.

[0216] In some examples, the support seat 130 and the base 120 can have a preset interval therebetween. The preset interval between the support seat 130 and the base 120 can be used as a mounting space for mounting the first guide member 721 and the second guide member 722.

[0217] In some embodiments, the first guide 721 and the second guide 722 can have the same structure.

[0218] For example, the first guide 721 and the second guide 722 can both be hollow tube structures or both be solid shaft structures. Alternatively, the first guide 721 and the second guide 722 can have the same radial cross-sectional shape.

[0219] Alternatively, the first guide 721 and the second guide 722 can have different structures.

[0220] For example, the first guide 721 and the second guide 722 can be one hollow tube structure and the other a solid shaft structure. Alternatively, the first guide 721 and the second guide 722 can have different radial cross-sectional shapes.

[0221] In embodiments of the present application, the first guide 721 and the second guide 722 are not specifically limited.

[0222] In some examples, when the pick-and-place device 10 includes the first link 310 and the second link 320, the second end can be connected to the first sub-sliding block 711, the fourth end can be connected to the second sub-sliding block 712, the first guide 721 engages the first sub-sliding block 711, and the second guide 722 engages the second sub-sliding block 712. In this way, the first guide 721 can drive the first sub-sliding block 711 to rotate and drive the second end to rotate, and the second guide 722 can drive the second sub-sliding block 712 to rotate and drive the fourth end to rotate.

[0223] For example, the first guide 721 and the second guide 722 can be spaced apart along the third direction.

[0224] In some embodiments, the distance between the first guide 721 and the second guide 722 can be adjusted relative to the base 120 to adjust the distance between the second end and the fourth end.

[0225] In some examples, when the taking-and-placing device 10 includes the first link 310, the second link 320, the third link 330, and the fourth link 340, the third link 330 can be connected with the first sub-sliding block 711, and the third link 330 can rotate relative to the bearing mechanism 100. The fourth link 340 can be connected with the second sub-sliding block 712, and the fourth link 340 can rotate relative to the bearing mechanism 100. The first guide 721 is engaged with the first sub-sliding block 711, and the second guide 722 is engaged with the second sub-sliding block 712. In this way, the first guide 721 can drive the first sub-sliding block 711 to rotate and drive the third link 330 to rotate, and the second guide 722 can drive the second sub-sliding block 712 to rotate and drive the fourth link 340 to rotate.

[0226] In some examples, the distance between the first guide 721 and the second guide 722 can be adjusted relative to the base 120 to adjust the distance between the third link 330 and the fourth link 340, and thus to adjust the distance between the second end and the fourth end.

[0227] Alternatively, the angle between the third link 330 and the fourth link 340, and thus the distance between the third end and the fourth end, can be adjusted by reverse rotation of the first sub-sliding block 711 and the second sub-sliding block 712 to move the taken object 200 between the taking position and the avoiding position.

[0228] FIG. 16 is a schematic diagram of the cooperation between a taken object, a first link, a second link, a third link, a fourth link, and a sliding block according to an example of the present application.

[0229] For example, as shown in (a) of FIG. 16, when the first sub-sliding block 711 rotates in the o1 direction and the second sub-sliding block 712 rotates in the o2 direction, the third link 330 swings outward in the m1 direction, and the fourth link 340 swings outward in the n1 direction, so as to increase the angle between the third link 330 and the fourth link 340. At this time, the first link 310 and the second link 320 also swing outward respectively, and the distance between the third end and the fourth end is increased, so that the first link 310 overlaps the third link 330, and the second link 320 overlaps the fourth link 340, to drive the taken object 200 to switch from the taking position to the avoiding position.

[0230] As shown in (b) of FIG. 16, when the first sub sliding block 711 rotates in the o2 direction and the second sub sliding block 712 rotates in the o1 direction, the third connecting rod 330 swings in the m2 direction and the fourth connecting rod 340 swings in the n2 direction, so as to reduce the included angle between the third connecting rod 330 and the fourth connecting rod 340. At this time, the first connecting rod 310 and the second connecting rod 320 also swing inwards respectively, and the distance between the third end and the fourth end is reduced, so as to drive the object 200 to switch from the avoiding position to the taking position.

[0231] In the embodiments of the present application, the first guide 721 and the second guide 722 can be rotated in opposite directions to drive the third connecting rod 330 and the fourth connecting rod 340 to rotate in opposite directions through the first sub sliding block 711 and the second sub sliding block 712, so as to switch the object 200 between the taking position and the avoiding position.

[0232] In some examples, the first guide 721 and the second guide 722 can be rotatably connected between the two support plates on the two sides of the base 120, so as to facilitate the rotation of the first guide 721 and the second guide 722.

[0233] Please refer to FIG. 11 and FIG. 13 again. In some embodiments, the taking and placing device 10 can further include a first gear 410, a second gear 420 and a first driving assembly 430.

[0234] In some examples, one end of the first guide 721 can be sleeved with the first gear 410. Along the circumference of the first guide 721, the first gear 410 can be fixedly connected with the first guide 721.

[0235] In some examples, one end of the second guide 722 can be sleeved with the second gear 420. Along the circumference of the second guide 722, the second gear 420 can be fixedly connected with the second guide 722.

[0236] In some examples, the second gear 420 and the first gear 410 can be located on the same side of the support mechanism. The second gear 420 can be engaged with the first gear 410.

[0237] In some examples, the first driving assembly 430 can drive any one of the first gear 410 and the second gear 420 to rotate, so as to make the first guide 721 and the second guide 722 rotate in opposite directions.

[0238] In the embodiments of the present application, the first gear 410 is sleeved on one end of the first guide 721, and the second gear 420 is sleeved on one end of the second guide 722, and the first gear 410 is engaged with the second gear 420; meanwhile, when one of the first gear 410 and the second gear 420 is driven to rotate by the first driving assembly 430, the linear velocity directions of the first gear 410 and the second gear 420 are opposite due to the engagement between the first gear 410 and the second gear 420, so that the first guide 721 and the second guide 722 can be simultaneously driven and reversely rotated. The driving structure of the first guide 721 and the second guide 722 is simplified, and the overall structure of the taking and placing device 10 is simplified.

[0239] In some examples, the first driving assembly 430 can include a driving motor. An output shaft of the driving motor can be connected with one of the first gear 410 and the second gear 420, so as to drive the first gear 410 and the second gear 420 to reversely rotate.

[0240] In some examples, the driving motor can be a motor capable of forward rotation and reverse rotation. In some examples, the driving motor can include a servo motor. In some examples, the driving motor can include a synchronous motor. In some examples, the driving motor can include a stepping motor.

[0241] In some examples, the first driving assembly 430 can include a driving gear. The driving gear can be connected with an output shaft of the driving motor. The driving gear can be engaged with one of the first gear 410 and the second gear 420.

[0242] FIG. 17 is a schematic view of a movement process of a taking object, a first connecting rod and a transmission structure of still another taking and placing device according to an embodiment of the present application.

[0243] As shown in FIG. 17, in some examples, the transmission structure 700 can be arranged on the carrying mechanism 100, and the transmission structure 700 is directly connected with the second end of the first connecting rod 310. In this way, the transmission structure 700 can rotate relative to the carrying mechanism 100 to drive the second end to rotate relative to the carrying mechanism 100, and to drive the taking object 200 to move between the taking position and the avoiding position.

[0244] For example, if the taking state of the taking object 200 is shown in (a) of FIG. 17, when the taking object 200 drives the target object to the designated position, the taking object 200 can be separated from the target object, and the transmission structure 700 can drive the second end to rotate along the rotation axis i1 in the drawing, so that the taking object 200 is rotated to the avoiding state shown in (b) of FIG. 17 to avoid the target object above the first connecting rod 310.

[0245] For example, if the state of the taking object 200 is as shown in (b) of FIG. 17, the taking object 200 can be separated from the target object when the taking object 200 carries the target object to the designated position, and the transmission structure 700 can drive the second end to rotate along the rotation axis i1 in the drawing, so that the taking object 200 rotates to the avoiding state as shown in (a) of FIG. 17 to avoid the target object below the first connecting rod 310.

[0246] FIG. 18 is a schematic view of a partial structure of another taking and placing device according to an embodiment of the present application, and FIG. 19 is a side view of the taking and placing device according to an embodiment of the present application.

[0247] As shown in FIGS. 18 and 19, in some examples, the movement of the taking object 200 between the taking position and the avoiding position can also be achieved by using other structures, such as a first driving assembly 430, which can drive the first connecting rod 310 to translate relative to the bearing mechanism 100 to achieve the movement of the taking object 200 between the avoiding position and the taking position.

[0248] For example, the first driving assembly 430 can be directly connected with the first connecting rod 310. At this time, the first driving assembly 430 can drive the first connecting rod 310 to move relative to the bearing mechanism to drive the taking object 200 to move between the taking position and the avoiding position.

[0249] In some embodiments, if the avoiding position is located on the front and back sides of the passing space, the first driving assembly 430 can drive the first connecting rod 310 to move in the first direction.

[0250] Alternatively, if the avoiding position is located on the left and right sides of the passing space, the first driving assembly 430 can drive the first connecting rod 310 to move in the third direction.

[0251] Further alternatively, if the avoiding position is located above or below the passing space, the first driving assembly 430 can drive the first connecting rod 310 to move in the second direction.

[0252] In embodiments of the present application, the first driving assembly 430 can also drive the first connecting rod 310 to move in an inclined direction or a curved direction, and the specific driving direction can be adjusted according to actual conditions, which is not limited in embodiments of the present application.

[0253] In some examples, the first driving assembly (also referred to as a third driving assembly) 430 includes a first driving member 431, a first driving wheel 432, and a second fixed seat 433.

[0254] The first driving member 431 can be arranged on the bearing mechanism 100, and the first driving wheel 432 is connected with the power output end of the first driving member 431. The second fixed seat 433 is provided with a transmission rack 4331 engaged with the first driving wheel 432, and the first connecting rod 310 is arranged on the second fixed seat 433. In this way, the first driving member 431 can drive the first driving wheel 432 to rotate, and the first driving wheel 432 can drive the transmission rack 4331 to move in the second direction, so as to drive the second fixed seat 433 to move in the second direction, and drive the first connecting rod 310 and the taking object 200 to move in the second direction, thereby realizing the movement of the taking object 200 between the taking position and the avoiding position.

[0255] FIG. 20 is a side view of the cooperation of the connecting block, the sliding block, the first guide member and the second guide member in the taking and placing device provided in the embodiments of the present application, FIG. 21 is a sectional view along line A-A in FIG. 20, and FIG. 22 is a sectional view along line B-B in FIG. 20.

[0256] As shown in FIGS. 20 to 22, the transmission structure 700 of the taking and placing device 10 can also slide relative to the bearing mechanism 100 in the first direction, so as to drive the first connecting rod 310 to move relative to the bearing mechanism in the first direction.

[0257] For example, the guide member 720 in the transmission structure 700 can extend in the first direction, and the sliding block 710 can be slidably arranged on the guide member 720 to slide on the guide member 720 relative to the bearing mechanism 100 in the first direction.

[0258] In some examples, the base 120 can be provided with a sliding groove extending in the first direction, and the sliding block 710 can slide in the first direction in the sliding groove.

[0259] In some examples, the sliding block 710 can include a sliding block made of wear-resistant plastic material. In this way, the weight of the sliding block 710 is relatively light, which can reduce the overall weight of the taking and placing device 10.

[0260] In the embodiments of the present application, the sliding block 710 can not only drive the first connecting rod 310 and the taking object 200 to slide in the first direction, but also drive the first connecting rod 310 and the taking object 200 to rotate relative to the bearing mechanism 100, thereby effectively simplifying the sliding and rotating driving structure of the first connecting rod 310 and the taking object 200, facilitating the miniaturization design of the taking and placing device 10, and improving the space utilization of the storage system.

[0261] In the embodiments of the present application, the guide member 720 can provide a guiding effect for the sliding of the sliding block 710, and also drive the sliding block 710 to rotate, thereby facilitating the movement of the taking object 200 in the first direction and the movement of the taking object 200 between the taking position and the avoiding position.

[0262] In some embodiments, the guide 720 in the transmission structure 700 can include a guide shaft, and the sliding block 710 can slide on the guide shaft.

[0263] It should be noted that when the guide 720 includes a guide shaft, the specific connection between the guide shaft and the sliding block 710 can refer to the foregoing description, which will not be described here again.

[0264] In some embodiments, the pick-and-place device 10 can further include a second driving assembly 520, which can be arranged on the carrying mechanism 100. The power output end of the second driving assembly 520 can be connected with the second end of the first connecting rod 310. In this way, the second driving assembly 520 can drive the first connecting rod 310 to move in the first direction, so as to drive the picked object 200 to move in the first direction.

[0265] In some examples, the second driving assembly 520 can be arranged on the base 120, and the second driving assembly 520 is configured to drive the first sub-sliding block 711 to slide along the first guide 721 and / or the second sub-sliding block 712 to slide along the second guide 722.

[0266] For example, the second driving assembly 520 can include a second driving motor (not shown in the figure), which can be arranged on the carrying mechanism 100.

[0267] In some examples, the second driving motor can be arranged on the base 120. The second driving motor can include a reversible motor, such as a servo motor, a synchronous motor, or a stepper motor, etc.

[0268] In some examples, the second driving assembly 520 can include a second power wheel (not shown in the figure). The second power wheel can be arranged on the base 120. The second power wheel can be located at the first inlet and outlet 101a.

[0269] In some examples, the second power wheel can be connected with the output shaft of the second driving motor. The second driving motor can be configured to drive the second power wheel to rotate.

[0270] In some examples, the second driving assembly 520 can include a second idler wheel (not shown in the figure). The second idler wheel can be arranged on the base 120. The second idler wheel can be located at the second inlet and outlet 101b.

[0271] In some examples, the positions of the second idler wheel and the second power wheel can be interchanged.

[0272] In some examples, the second driving assembly 520 can include a second transmission belt. The second transmission belt can be sleeved on the second power wheel and the second idler wheel. When the second power wheel rotates, the second transmission belt can be driven to rotate.

[0273] In some examples, the second transmission belt can include any one of a timing belt, a synchronous belt, a chain, or a belt.

[0274] In some embodiments, the pick-and-place device 10 can further include a connecting block 510, and the second driving assembly 520 can be connected with the first sub-sliding block 711 and / or the second sub-sliding block 712 through the connecting block 510. The connecting block 510 can be driven by the second driving assembly 520 to move in the first direction and drive the first sub-sliding block 711 and / or the second sub-sliding block 712 to move in the first direction.

[0275] In some examples, the connecting block 510 can be sleeved on the first guide 721 and / or the second guide 722, can slide on the guide 720, and can rotate relative to the first guide 721 and / or the second guide 722. In other words, when the first guide 721 and the second guide 722 rotate relative to the base 120, the connecting block 510 and the second driving assembly 520 remain relatively stationary, so as to avoid affecting the rotation of the first guide 721 and the second guide 722 by the connecting block 510.

[0276] In some examples, the second transmission belt can be connected with the connecting block 510. In this way, the second driving motor drives the second power wheel to rotate, the second power wheel drives the second transmission belt to rotate, and the second transmission belt drives the connecting block 510 to move in the first direction, thereby driving the first sub-sliding block 711 and / or the second sub-sliding block 712 to move.

[0277] In some examples, the second driving assembly 520 can further include a lead screw, and an axial direction of the lead screw can extend in the first direction. The connecting block 510 can be a lead screw nut, and the lead screw can be sleeved on the lead screw nut. The lead screw is connected with an output shaft of the second driving member. The second driving member drives the lead screw to rotate, and the lead screw drives the connecting block 510 to move in the first direction through a screw fit, and the connecting block 510 drives the first sub-sliding block 711 and / or the second sub-sliding block 712 to move in the first direction.

[0278] In some examples, the connecting block 510 can be sleeved on the first guide 721. The connecting block 510 can rotate relative to the first guide 721.

[0279] In some examples, the connecting block 510 can have an axle hole 511, and a hole diameter of the axle hole 511 is greater than or equal to a maximum dimension of the guide 720 in a radial cross section.

[0280] For example, the axle hole 511 can include a first axle hole 5111, and the first guide 721 can be sleeved in the first axle hole 5111.

[0281] In some examples, when the first guide 721 is a square tube shaft, the first shaft hole 5111 can have a hole diameter greater than or equal to the diameter of the circumscribed circle of the square tube shaft, so as to facilitate the rotation of the first guide 721 relative to the connecting block 510.

[0282] In some examples, a bearing can be arranged on the peripheral wall of the first guide 721, the inner ring of the bearing can be fixed relative to the first guide 721 in the circumferential direction, and the connecting block 510 can be sleeved on the outer ring of the bearing, so as to realize the relative rotation of the connecting block 510 and the first guide 721.

[0283] In some examples, when the second driving motor drives the first guide 721 to rotate relative to the bearing mechanism 100, since the second driving motor and the second transmission belt are arranged on the base 120, the second transmission belt fixes the connecting block 510, so that the connecting block 510 does not rotate with the first guide 721, thereby realizing the decoupling of the rotation of the second driving assembly 520 and the first guide 721.

[0284] In some examples, the connecting block 510 can be sleeved on the second guide 722. It can be understood that the arrangement of the connecting block 510 sleeved on the second guide 722 can be the same as or similar to the arrangement of the connecting block 510 sleeved on the first guide 721, and specific details can be referred to the foregoing description of the connecting block 510 sleeved on the first guide 721, which will not be described herein again.

[0285] In some examples, the connecting block 510 can have a first shaft hole 5111 and a second shaft hole 5112. The first guide 721 can be arranged in the first shaft hole 5111, and the second guide 722 can be arranged in the second shaft hole 5112. That is, the connecting block 510 can be sleeved on the first guide 721 and the second guide 722 at the same time. In this way, the connecting block 510 can simultaneously drive the first sub sliding block 711 on the first guide 721 and the second sub sliding block 712 on the second guide 722 to slide, so as to facilitate the synchronous movement of the first sub sliding block 711 and the second sub sliding block 712, and improve the smoothness of the movement of the first sub sliding block 711 and the second sub sliding block 712 in the first direction.

[0286] FIG. 23 is a bottom view of the cooperation of the connecting block, the sliding block, the first guide and the second guide in the taking and placing device provided by the embodiment of the present application.

[0287] In combination with FIGS. 21 and 23, in some examples, in the third direction, the two sides of the connecting block 510 are inwardly recessed from the two ends of the first sub sliding block 711 and the second sub sliding block 712, so as to avoid affecting other structures on the periphery of the first sub sliding block 711 and the second sub sliding block 712.

[0288] In some examples, the thickness of the connecting block 510 is less than the thickness of the first sub sliding block 711 and the second sub sliding block 712 along the first direction.

[0289] In some embodiments, taking the first sub sliding block 711 as an example, the first sub sliding block 711 can include a first sliding part d and a second sliding part e.

[0290] In some examples, the first sliding part d and the second sliding part e are connected to and spaced apart from the two ends of the sixth end along the first direction, and the first sliding part d, the connecting block 510 and the second sliding part e are sequentially sleeved on the first guide 721. In other words, the connecting block 510 is located at the spaced position between the first sliding part d and the second sliding part e. When the first guide 721 drives the first sliding part d and the second sliding part e to rotate, the connecting block 510 remains relatively stationary with the second driving assembly 520.

[0291] In some embodiments, under the drive of the second driving assembly 520, the connecting block 510 can move towards the first sliding part d along the first direction, and can contact and push the first sliding part d to move along the first direction.

[0292] Alternatively, under the drive of the second driving assembly 520, the connecting block 510 can move towards the second sliding part e along the first direction, and can contact and push the second sliding part e to move along the first direction.

[0293] In the embodiments of the present application, the connecting block 510 is not directly connected to the first sliding part d and the second sliding part e, and can be in contact with and abut against the first sliding part d or the second sliding part e to push the first sliding part d or the second sliding part e, so as to realize the movement of the first sub sliding block 711 along the first sub direction and the second sub direction. It should be noted that the connection mode of the connecting block 510 and the second sub sliding block 712 can refer to the connection mode of the connecting block 510 and the first sub sliding block 711, which will not be described here.

[0294] In addition, along the first direction, the connecting block 510 has the first sliding part d between the connecting block 510 and the first inlet and outlet 101a, and the connecting block 510 has the second sliding part e between the connecting block 510 and the second inlet and outlet 101b. In this way, when the second driving assembly 520 drives the connecting block 510 to move along the first direction, when the end of the first sliding part d moves to the first inlet and outlet 101a, the connecting block 510 still has a certain distance (the distance between the connecting block 510 and the end of the first sliding part d) from the second power wheel. The interference between the connecting block 510 and the second power wheel can be avoided, and the movable stroke of the first sliding part d along the first direction is improved.

[0295] In addition, the second driving assembly 520 drives the connecting block 510 to move in the first direction, and when the end of the second sliding part e moves to the second inlet and outlet 101b, there is a certain distance between the connecting block 510 and the second idler, which can avoid interference between the connecting block 510 and the second idler, and improve the movable stroke of the second sliding part e in the first direction. That is, the movable stroke of the taken object 200 in the first direction is improved. In this way, under the same stroke, the size of the supporting mechanism in the first direction can be reduced, the space occupied by the taking and placing device 10 is reduced, and the utilization rate of the storage space is improved.

[0296] FIG. 24 is a structural schematic diagram of another taking and placing device according to an embodiment of the present application.

[0297] As shown in FIG. 24, in the embodiment of the present application, the guide 720 can further include a guide plate. The guide plate is arranged on the carrying mechanism 100, and the guide plate is provided with a guide protrusion 723 extending in the first direction, so as to form a guide rail structure on the guide plate. The sliding block 710 can be slidably connected with the guide protrusion 723. In this way, the sliding block 710 can slide in the first direction relative to the guide plate.

[0298] In some examples, the transmission structure 700 can further include a first fixed seat 730, which can be connected with the sliding block 720, and the first fixed seat 730 is connected with the second end of the first connecting rod 310. In this way, when the sliding block 720 slides in the first direction relative to the guide plate, the sliding block 720 can drive the first fixed seat 730 to slide in the first direction, and the first fixed seat 730 can drive the first connecting rod 310 and the taken object 200 to slide in the first direction, thereby facilitating the taken object 200 to approach or move away from the target object.

[0299] For example, the second driving assembly (also referred to as the second driving group) 520 is arranged on the carrying mechanism 100, and the second driving assembly 520 can be connected with the sliding block 710 through the connecting block 510. The connecting block 510 can move in the first direction under the driving of the second driving assembly 520, so as to drive the sliding block 710 to move in the first direction relative to the guide plate.

[0300] In some examples, the second driving assembly 520 can include a second driving part 521 and a second transmission part 522. The second driving part 521 can be arranged on the carrying mechanism 100, and the second transmission part 522 extends in the first direction and is arranged on the carrying mechanism 100. The second end of the first connecting rod 310 can be connected with the second transmission part 522 through the connecting block 510 and the sliding block 710. In this way, the second transmission part 522 can drive the first connecting rod 310 to move in the first direction under the driving of the second driving part 521.

[0301] Exemplarily, the second driving assembly 520 can further include a second driving wheel 523 and a second driven wheel 524. The second driving wheel 523 is connected with the power output end of the second driving member 521. The second driven wheel 524 is arranged along the first direction and spaced apart from the second driving wheel 523. The second transmission member 522 surrounds the outer periphery of the second driving wheel 523 and the second driven wheel 524, so that the second driving wheel 523 and the second driven wheel 524 are connected with the second transmission member 522 respectively. In this way, the second driving member 521 can drive the second driving wheel 523 to rotate, and the second transmission member 522 and the second driven wheel 524 will rotate accordingly to drive the connecting block 510 to move along the first direction.

[0302] In some examples, the second driving member 521 can be a driving motor, a driving motor or the like, which is not limited in the embodiments of the present application.

[0303] In some examples, the second driving member 521 can rotate forward and reverse to drive the taking object 200 to reciprocate along the first direction.

[0304] In some examples, the second transmission member 522 can be any one of a synchronous belt, a belt and a chain, which is not limited in the embodiments of the present application.

[0305] In some examples, the second transmission member 522 can include a lead screw, which can be connected with the power output end of the second driving member 521. In some examples, the second transmission member 522 can include a lead screw nut. The lead screw nut can be sleeved on the outer periphery of the lead screw. The first connecting rod 310 can be connected with the lead screw through the lead screw nut. That is, the first connecting rod 310 can be connected with the lead screw nut and move synchronously with the lead screw nut. In some examples, when the second driving member 521 drives the lead screw to rotate, the lead screw nut moves along the circumference of the lead screw, so as to drive the taking object 200 to move along the first direction through the first connecting rod 310.

[0306] In the embodiments of the present application, the first driving member 431 can be arranged on the sliding block 710 to realize the rationalized design of the taking and placing device 10.

[0307] FIG. 25 is a partial structural schematic view of another taking and placing device provided in the embodiments of the present application.

[0308] As shown in FIG. 25, in some examples, the second driving member 521 can include an engaging member 5211, which can be arranged on the bearing mechanism 100 along the first direction.

[0309] In some examples, the second driving member 521 can include a gear 5212. The gear 5212 can be connected to the power output end of the second driving member 521. The gear 5212 can engage with the engaging member 5211. The first connecting rod 310 can be connected to the engaging member 5211 through the gear 5212. In some examples, when the gear 5212 rotates, the gear 5212 can move along the engaging member 5211, thereby driving the object 200 to move in the first direction.

[0310] In some examples, the first connecting rod 310 can be connected to the second driving member 521.

[0311] In some examples, the engaging member 5211 can be a rack. In some examples, the engaging member 5211 can be a chain.

[0312] FIG. 26 is another partial structure schematic view of another pick-and-place device according to an embodiment of the present application.

[0313] As shown in FIG. 26, in some examples, the pick-and-place device 10 further includes an identification assembly 800 and a controller (not shown in the figure). The identification assembly 800 is installed on the carrying mechanism 100, and the identification assembly 800 is configured to identify the position of the target object on the third driving assembly 110. The controller is electrically connected to the identification assembly 800, and the controller is electrically connected to the third driving assembly 110. The controller is configured to control the third driving assembly 110 and the first connecting rod 310 according to the position information of the target object. By providing the identification assembly 800, the position of the target object can be identified during the conveying process. According to the position of the target object, the third driving assembly 110 and the first connecting rod 310 can be controlled by the controller, so that the first connecting rod 310 can be controlled in advance after or before the target object is conveyed by the third driving assembly 110, so that the object 200 moves between the picking position and the avoiding position, thereby avoiding the conveyed container. The second driving assembly 520 can also be controlled in advance, so that the object 200 moves in the first direction to approach or move away from the target object, so that the rhythm of the entire picking and placing process of the target object is more rapid and efficient.

[0314] As shown in (a) of FIG. 26, in some examples, the identification assembly 800 includes three groups of identification units 810. In the first direction, the three groups of identification units 810 are installed on the side of the carrying mechanism 100 in the first direction, so that the position of the target object can be identified at three positions. In some embodiments, the identification unit 810 can be an infrared identification unit.

[0315] As shown in (b) of FIG. 26, in some examples, the identification assembly 800 includes five groups of identification units 810 arranged along the first direction, and the five groups of identification units 810 are arranged on the side of the carrying mechanism 100 along the first direction, so that the position of the target object can be identified at five positions, and the identification accuracy of the position of the target object is higher.

[0316] It should be noted that the number of identification units 810 of the identification assembly 800 is not specially limited, and can be three groups, five groups, four groups, six groups, or the like. The user can adaptively increase or decrease the number according to the size of the entire grabbing device and the accuracy requirement of the box position identification.

[0317] The embodiment of the present application also provides a taking and placing method of the taking and placing device 10, which includes: before the target object is transferred from the storage position to the passing space 101, the inlet and outlet 1011 is docked with the storage position under the control of the control instruction. Under the control of the control instruction, the second end moves relative to the carrying mechanism 100 to drive the taking device 200 to move to the taking position of the taking device 200. Under the control of the control instruction, the first connecting rod 310 moves relative to the carrying mechanism 100 along the first direction to drive the taking device 200 to cooperate with the target object located at the storage position from the inlet and outlet 1011. Under the control of the control instruction, the first connecting rod 310 moves relative to the carrying mechanism 100 along the first direction to drive the taking device 200 to transfer the target object from the storage position to the specified position in the passing space 101. Under the control of the control instruction, the third driving assembly 110 drives the target object to move in the passing space 101 along the first direction. Under the control of the control instruction, the second end moves relative to the carrying mechanism 100 to drive the taking device 200 to move from the taking position to the avoiding position, so that the taking device 200 avoids the target object moving in the passing space 101.

[0318] The taking and placing method provided by the embodiment of the present application can make the taking device 200 avoid the target object in the passing space 101, so as to improve the taking and placing flexibility and efficiency of the taking and placing device 10, and improve the working efficiency of the warehouse system.

[0319] The embodiment of the present application also provides an object transfer device, which includes a moving device and the taking and placing device 10. The moving device can drive the taking and placing device 10 to move to the storage position, and the taking and placing device 10 can be movably arranged on the moving device.

[0320] FIG. 27 is a structural schematic diagram of an object transfer device provided by an embodiment of the present application.

[0321] As shown in FIG. 27, the item transfer device includes a carrying robot 20, which can include a chassis 21, a portal 22, and the pick-and-place device 10 provided in the above embodiments. The portal 22 can be arranged on the chassis 21, and the chassis 21 and the portal 22 together form a movement device. The pick-and-place device 10 is movably arranged on the portal 22, so as to be capable of ascending or descending along the portal 22 to move to the height of the target item.

[0322] Specifically, the chassis 21 can be the same as or similar to the chassis in the related art. In addition, the embodiments of the present application have the same or corresponding technical features as the above embodiments, and thus have the same or similar technical effects as the above embodiments of the present application. For details, reference can be made to the detailed description of the above embodiments of the present application, which will not be repeated here.

[0323] The portal 22 can be fixedly arranged on the chassis 21 and move under the driving of the chassis 21. The connection manner of the portal 22 and the chassis 21 can be the same as or similar to that in the related art, which will not be repeated here.

[0324] In addition, it can be understood that in the embodiments of the present application, the chassis 21 or the portal 22 can be provided with a communication module, which can communicate with the upper computer and receive the control signal sent by the upper computer. In addition, the communication module can also upload the position information of the item transfer device to the upper computer, and the upper computer controls the movement of the item transfer device in the warehouse system according to the carrying task, for example, to the specified position of the target carrier, so as to dock with the target storage location in the target carrier and realize the picking or returning process.

[0325] The pick-and-place device 10 is arranged on the portal 22 and can move up and down along the portal 22. For example, after the item transfer device moves to the storage location of the rack, the pick-and-place device 10 moves up and down along the portal 22 to reach the height of the corresponding target item.

[0326] In some examples, the item transfer device further includes a temporary storage plate (not shown in the figure) and a rotating mechanism (not shown in the figure).

[0327] The temporary storage plate is arranged on the portal 22, and the rotating mechanism is connected with the pick-and-place device 10 and is configured to drive the pick-and-place device 10 to rotate, so as to store the target item on the temporary storage plate by the pick-and-place device 10, or take the target item from the temporary storage plate by the pick-and-place device 10. The temporary storage plate forms the above-mentioned buffer position, which can be one of the storage locations.

[0328] It can be understood that the taking and placing device 10 can be located at one side of the portal 22, and the temporary storage plate is arranged at the other side of the portal 22; in some examples, a plurality of temporary storage plates can be arranged along the height direction of the portal 22, or in some examples, it can also be understood that the temporary storage plates are arranged in multiple layers along the height direction of the portal 22. In this way, the article transfer device can carry a plurality of target articles at a time, thereby improving the transfer efficiency of the target articles.

[0329] In some examples, the driving structure on the portal 22 can be connected with a lifting plate, the lifting plate is lifted under the driving of the driving mechanism, a rotating mechanism is arranged on the lifting plate, the rotating mechanism is connected with the support frame of the taking and placing device 10, and the support frame can rotate relative to the lifting plate, so as to drive the taking and placing device 10 to rotate.

[0330] In some application scenarios, the carrying robot 20 can move into the aisle between the shelves, the taking device 200 moves from the avoiding position to the taking position, and is connected with the target article on the shelf to transfer the target article to the passing space 101; the taking device 200 moves from the taking position to the avoiding position, the target article passes through the passing space 101 and moves to the temporary storage plate; the carrying robot 20 moves to carry the target article on the temporary storage plate to the designated position.

[0331] In some examples, after the carrying robot 20 carries the target article to the designated position (for example, the aisle between the shelves), the taking device 200 can transfer the target article on the temporary storage plate to the passing space 101, the taking device 200 moves from the taking position to the avoiding position, the target article passes through the passing space 101 and is transferred to the storage location of the shelf.

[0332] FIG. 28 is a structural schematic diagram of another article transfer device provided by an embodiment of the present application.

[0333] As shown in FIG. 28, the article transfer device can be a taking and placing robot 30, which can include a moving mechanism 31 and the taking and placing device 10 provided by the above-mentioned embodiments. The moving mechanism 31 can be used as a moving device, the taking and placing device 10 is movably arranged on the moving mechanism 31, and the moving mechanism 31 is movably arranged on the shelf. In this way, the taking and placing device 10 can be lifted along the moving mechanism 31, and the moving mechanism 31 can drive the taking and placing device 10 to move to the storage location column where the target article is located.

[0334] Specifically, the moving mechanism 31 can move relative to the carrier in a second horizontal direction through a track 32, which can be arranged on the carrier. The moving mechanism 31 can be a driving structure capable of driving the taking and placing device 10 to move up and down in a vertical direction. The connection modes between the taking and placing device 10 and the moving mechanism 31, between the moving mechanism 31 and the track 32, and between the track 32 and the shelf can be the same as or similar to those in the related art, and the embodiments of the present application will not be described here.

[0335] In addition, the embodiments of the present application have the same or corresponding technical features as the foregoing embodiments, and therefore have the same or similar technical effects as the foregoing embodiments of the present application. For details, please refer to the detailed description of the foregoing embodiments of the present application, which will not be described here.

[0336] In addition, it can be understood that in the embodiments of the present application, the moving mechanism 31 or the taking and placing device 10 can be provided with a communication module, which can communicate with the upper computer and receive the control signal sent by the upper computer. In addition, the communication module can also upload the position information of the taking and placing device 10 to the upper computer, and the upper computer can control the taking and placing device 10 to move relative to the carrier according to the carrying task, for example, to the specified position of the target carrier, so as to dock with the target storage location in the target carrier and realize the taking or returning process.

[0337] The taking and placing device 10 is arranged on the moving mechanism 31 and can move up and down along the moving mechanism 31. For example, after the moving mechanism 31 moves to the target shelf, the taking and placing device 10 moves up and down along the moving mechanism 31 to reach the storage location height corresponding to the target article.

[0338] FIG. 29 is a structural schematic diagram of a warehouse equipment provided by an embodiment of the present application.

[0339] As shown in FIG. 29, the warehouse equipment 40 can include a picking work station 41, a shelf 42, and an article transfer equipment provided by an embodiment of the present application. The shelf 42 can be moved to one side of the picking work station 41 under the carrying of the article transfer equipment; the taking device 200 docks with the shelf 42 and transfers the target article on the shelf to the passing space 101. The target article passes through the passing space 101 and moves to the storage location of the picking work station 41.

[0340] In some examples, the storage location can be a buffer location of the picking work station 41. In some examples, the storage location can be an operator location of the picking work station 41.

[0341] In some examples, the shelf 42 can be a fixed shelf. In some examples, the shelf 42 can be a mobile shelf.

[0342] It should be noted that the article transfer device and the storage device 40 provided by some embodiments of the present application have the same or corresponding technical features as the taking and placing device 10 provided by the foregoing embodiments of the present application; therefore, the taking and placing device 10 provided by the foregoing embodiments of the present application can have the same or similar technical effects, and details can be referred to the detailed description of the foregoing embodiments of the present application, and the embodiments of the present application will not be described again.

[0343] It is easy to understand that, on the basis of several embodiments provided by the present disclosure, those skilled in the art can combine, split, recombine, etc. to obtain other embodiments, and these embodiments do not exceed the protection scope of the present disclosure.

[0344] The above specific embodiments further detail the purpose, technical solutions and beneficial effects of the present disclosure. It should be understood that the above is only a specific embodiment of the present disclosure and does not limit the protection scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A pick-and-place device, characterized by Comprising: a carrying mechanism (100) having a passing space (101) configured for a target object to pass through; the passing space (101) having an entrance and exit (1011) configured to be dockable with a storage location when transferring the target object from the storage location to the passing space (101); a taking object (200) provided on the carrying mechanism (100); a first connecting rod (310) configured to be movable relative to the carrying mechanism (100) in a first direction to drive the taking object (200) to cooperate with the target object located at the storage location or to transfer the target object from the storage location to a designated location in the passing space (101); the first connecting rod (310) having a first end connected with the taking object (200) and a second end configured to be movably provided on the carrying mechanism (100) to drive the taking object (200) to move between a taking position and an avoiding position, the taking object (200) being capable of cooperating with the target object when located at the taking position, and the taking object (200) being capable of avoiding the target object when located at the avoiding position; before transferring the target object from the storage location to the passing space (101), the second end is configured to move relative to the carrying mechanism (100) to drive the taking object (200) to move from the avoiding position to the taking position; when the taking object (200) drives the target object to move to the designated location in the passing space (101), the second end is configured to move relative to the carrying mechanism (100) to drive the taking object (200) to move from the taking position to the avoiding position.

2. The taking and placing device according to claim 1, wherein: the avoiding position is located below the passing space (101), and when the target object moves in the passing space (101), the second end is configured to move relative to the carrying mechanism (100) to below the passing space (101) to drive the taking object (200) to move to the avoiding position below the passing space (101); or the avoiding position is located above the passing space (101), and when the target object moves in the passing space (101), the second end is configured to move relative to the carrying mechanism (100) to above the passing space (101) to drive the taking object (200) to move to the avoiding position above the passing space (101); or The avoiding position is located at the side of the passing space (101), and the second end is configured to move to the side of the passing space (101) relative to the bearing mechanism (100) to drive the taking object (200) to move to the avoiding position at the side of the passing space (101) when the target object moves in the passing space (101).

3. The pick-and-place apparatus according to claim 1 or 2, characterized in that Further comprising: A transmission structure (700) is arranged on the bearing mechanism (100) and connected with the second end of the first connecting rod (310); The transmission structure (700) is configured to slide along the first direction relative to the bearing mechanism (100) to drive the first connecting rod (310) to move along the first direction relative to the bearing mechanism (100).

4. The taking and placing device according to claim 3, wherein The transmission structure (700) comprises a sliding block (710) and a guide (720), The sliding block (710) is arranged on the bearing mechanism (100) and connected with the second end of the first connecting rod (310); The guide (720) is arranged on the bearing mechanism (100) and extends along the first direction; The sliding block (710) is configured to be slidably arranged on the guide (720) to slide on the guide (720) along the first direction relative to the bearing mechanism (100).

5. The taking and placing device according to claim 4, wherein The guide (720) comprises a guide plate; The guide plate is arranged on the bearing mechanism (100), and a guide protrusion (723) extending along the first direction is formed on the guide plate; The sliding block (710) is slidably connected with the guide protrusion (723); The transmission structure (700) further comprises a first fixing seat (730); The first fixing seat (730) is connected with the sliding block (710), and the first fixing seat (730) is connected with the second end of the first connecting rod (310); The first fixing seat (730) is configured to drive the first connecting rod (310) to move along the first direction through the guide plate.

6. The pick-and-place apparatus according to claim 1 or 2, wherein Further comprising: A second driving assembly (520); The second driving assembly (520) is arranged on the bearing mechanism (100); The power output end of the second driving assembly (520) is connected with the second end of the first connecting rod (310); The second driving assembly (520) is configured to drive the first connecting rod (310) to move along the first direction to drive the taking object (200) to move along the first direction.

7. The pick-and-place apparatus of claim 6, wherein, The second driving assembly (520) comprises: A second driving member (521) arranged on the bearing mechanism (100); A second transmission member (522) arranged on the bearing mechanism (100) along the first direction; The second end of the first connecting rod (310) is connected with the second transmission member (522); The second transmission member (522) is configured to drive the first connecting rod (310) to move along the first direction under the driving of the second driving member (521).

8. The pick-and-place apparatus of claim 7, wherein, The second driving assembly (520) further comprises: a second driving wheel (523) connected with the power output end of the second driving member (521); a second driven wheel (524) arranged along the first direction and spaced apart from the second driving wheel (523); the second transmission member (522) is arranged around the outer periphery of the second driving wheel (523) and the second driven wheel (524); the second driving wheel (523) and the second driven wheel (524) drive the second transmission member (522) to rotate, so as to drive the object (200) to move along the first direction. The second transmission member (522) comprises:

9. The pick-and-place apparatus of claim 7, wherein, a lead screw connected with the power output end of the second driving member (521); a lead screw nut sleeved on the outer periphery of the lead screw; the first connecting rod (310) is connected to the lead screw through the lead screw nut; when the second driving member (521) drives the lead screw to rotate, the lead screw nut drives the object (200) to move along the first direction. The second transmission member (522) comprises:

10. The pick-and-place apparatus of claim 7, wherein, an engaging member (5211) arranged along the first direction on the bearing mechanism (100); a gear (5212) connected with the power output end of the second driving member (521), and the gear (5212) is engaged with the engaging member (5211); the first connecting rod (310) is connected to the engaging member (5211) through the gear (5212); when the second driving member (521) drives the gear (5212) to rotate, the gear (5212) moves along the engaging member (5211) to drive the object (200) to move along the first direction. Further comprising:

11. The pick-and-place apparatus according to claim 1 or 2, wherein a transmission structure (700) arranged on the bearing mechanism (100) and connected with the second end of the first connecting rod (310); the transmission structure (700) is configured to rotate relative to the bearing mechanism (100) to drive the second end to rotate relative to the bearing mechanism (100) and drive the object (200) to move between the object position and the avoiding position. The transmission structure (700) comprises:

12. The pick-and-place apparatus of claim 11, wherein, a guide member (720) arranged on the bearing mechanism (100); a sliding block (710) connected with the second end of the first connecting rod (310); the sliding block (710) is arranged on the guide member (720); ​ The guide (720) is configured to rotate relative to the carrier mechanism (100) to drive the sliding block (710) to rotate relative to the carrier mechanism (100) and drive the second end to rotate relative to the carrier mechanism (100).

13. The pick-and-place device according to claim 12, wherein, The circumferential wall of the guide (720) is provided with a limiting portion (c); The limiting portion (c) is engaged with the sliding block (710); The limiting portion (c) is configured to limit the freedom of the sliding block (710) in the circumferential direction relative to the guide (720).

14. The pick-and-place device according to claim 13, wherein, The radial section of the guide (720) is a non-circular section to form the limiting portion (c); The axial hole (511) of the sliding block (710) is adapted to the radial section of the guide (720) to engage the sliding block (710) with the guide (720).

15. The pick-and-place device according to claim 13, wherein, The radial section of the guide (720) is a circular section; Either the circumferential wall of the guide (720) or the sliding block (710) is provided with a groove, and the other is provided with a protrusion; The groove or the protrusion of the circumferential wall of the guide (720) forms the limiting portion (c), and the guide (720) and the sliding block (710) are engaged with each other through the groove and the protrusion.

16. The pick-and-place device according to claim 12, wherein, The guide (720) comprises a first guide (720) and a second guide (720); The first guide (720) and the second guide (720) are spaced apart along a second direction, wherein the second direction is different from the first direction; The sliding block (710) is slidably arranged between the first guide (720) and the second guide (720).

17. The pick-and-place apparatus of claim 11, wherein, Further comprising a first driving assembly (430); The first driving assembly (430) is arranged on the carrier mechanism (100); The first driving assembly (430) is configured to drive the transmission structure (700) to rotate relative to the carrier mechanism (100) to drive the second end to rotate relative to the carrier mechanism (100) and drive the object (200) to move between the object position and the avoiding position.

18. The pick-and-place apparatus of claim 1 or 2, wherein, Further comprising a first driving assembly (430); The first driving assembly (430) is connected with the first connecting rod (310); The first driving assembly (430) is configured to drive the first connecting rod (310) to move relative to the carrier mechanism (100) to drive the object (200) to move between the object position and the avoiding position.

19. The pick-and-place device according to claim 18, wherein, The first driving assembly (430) is configured to drive the first connecting rod (310) to move in a second direction to drive the object (200) to move in the second direction, the second direction being arranged at an angle with the first direction.

20. The pick-and-place apparatus of claim 19, wherein, The first driving assembly (430) comprises: a first driving member (431) mounted on the bearing mechanism (100); a first driving wheel (432) connected with a power output end of the first driving member (431); and a second fixed seat (433) on which the first connecting rod (310) is arranged, the second fixed seat (433) being configured with a transmission rack (4331) engaged with the first driving wheel (432); The first driving member (431) is configured to drive the first driving wheel (432) to rotate to drive the second fixed seat (433) to move in the second direction.

21. The pick-and-place device according to claim 1 or 2, wherein: the inlet and outlet (1011) comprises a first inlet and outlet (101a) and a second inlet and outlet (101b) opposite in the first direction; the first inlet and outlet (101a) or the second inlet and outlet (101b) is configured to allow the target object to enter or exit the passing space (101).

22. The pick-and-place device according to claim 21, wherein: the object (200) is configured to rotate between a position facing the first inlet and outlet (101a) and a position facing the second inlet and outlet (101b); when the object (200) faces the first inlet and outlet (101a), the object (200) is configured to drive the target object to pass through the first inlet and outlet (101a); when the object (200) faces the second inlet and outlet (101b), the object (200) is configured to drive the target object to pass through the second inlet and outlet (101b).

23. The pick-and-place apparatus of claim 22, wherein, Further comprising: a rotation driving assembly (600); the rotation driving assembly (600) is connected with the object (200); the rotation driving assembly (600) is configured to drive the object (200) to rotate between the first inlet and outlet (101a) and the second inlet and outlet (101b) to drive the object (200) to face different directions.

24. The pick-and-place device according to claim 23, wherein: the rotation driving assembly (600) is arranged at the first end of the first connecting rod (310) and connected with the object (200) to drive the object (200) to rotate between the first inlet and outlet (101a) and the second inlet and outlet (101b); or, The rotating driving assembly (600) is arranged at the second end of the first connecting rod (310) to drive the second end of the first connecting rod (310) to drive the object taking device (200) to rotate between the first inlet and outlet (101a) and the second inlet and outlet (101b).

25. The pick-and-place device according to claim 23, wherein, The rotating driving assembly (600) comprises a rotating driving member (610); a power output end of the rotating driving member (610) is connected with the object taking device (200); The power output end of the rotating driving member (610) is used to drive the object taking device (200) to rotate between the first inlet and outlet (101a) and the second inlet and outlet (101b).

26. The pick-and-place device according to claim 21, wherein, The object taking device (200) comprises a first sub-object taking device (220) and a second sub-object taking device (230); The first sub-object taking device (220) and the second sub-object taking device (230) are respectively connected with the first end; The first sub-object taking device (220) is configured to face the first inlet and outlet (101a) to drive the target object to pass through the first inlet and outlet (101a); The second sub-object taking device (230) is configured to face the second inlet and outlet (101b) to drive the target object to pass through the second inlet and outlet (101b).

27. The pick-and-place device according to claim 26, wherein, The first sub-object taking device (220) comprises a first object taking end (221); The first object taking end (221) is configured to cooperate with the target object, and the first object taking end (221) has a first distance from the first end; The second sub-object taking device (230) comprises a second object taking end (231); The second object taking end (231) is configured to cooperate with the target object, and the second object taking end (231) has a second distance from the first end.

28. The pick-and-place apparatus of claim 1 or 2, wherein, The bearing mechanism (100) comprises a third driving assembly (110) configured to drive the target object to move in the passing space (101) in a first direction; The third driving assembly (110) comprises a third driving member (111); The third driving member (111) is configured to: in the case of forward rotation, drive the target object to move in a first sub-direction in the passing space (101); in the case of reverse rotation, drive the target object to move in a second sub-direction in the passing space (101); wherein the first sub-direction and the second sub-direction are two opposite directions on a straight line along the first direction.

29. The pick-and-place device according to claim 28, wherein, The third driving assembly (110) further comprises a third driving wheel (112), a third idler wheel (113) and a third transmission member (114); The third driving wheel (112) and the third idler wheel (113) are arranged in a spaced manner along the first direction; The third transmission member (114) is sleeved on the third driving wheel (112) and the third idler wheel (113); The third driving member (111) is connected with the third driving wheel (112), and the third driving member (111) is configured to drive the third driving wheel (112) to rotate; The third transmission member (114) is configured to drive the target object to move in the first direction in the passing space (101) under the driving of the third driving wheel (112).

30. The pick-and-place device according to claim 29, wherein The third transmission member (114) comprises any one of a synchronous belt, a belt and a chain.

31. The pick-and-place device according to claim 29, wherein The third driving assembly (110) further comprises a tensioning wheel (116) arranged between the third driving wheel (112) and the third idler wheel (113), and the tensioning wheel (116) abuts against the third transmission member (114); In the second direction, the height of the tensioning wheel (116) is less than or equal to the height of the top surface of the third transmission member (114); and the second direction is arranged at an angle to the first direction.

32. The pick-and-place apparatus of claim 29, wherein, The number of the third driving wheels (112) is two groups, and the two groups of third driving wheels (112) are arranged at intervals in the third direction and are arranged on two sides of the object (200) respectively; The number of the third idler wheels (113) and the third transmission members (114) is matched with the number of the third driving wheels (112).

33. The pick-and-place device according to claim 29, wherein The carrying mechanism (100) further comprises a base (120); The third driving member (111) is arranged on the base (120); The pick-and-place device further comprises a support seat (130) arranged on the base (120); The third driving wheel (112), the third idler wheel (113) and the third transmission member (114) are arranged on the support seat (130).

34. The pick-and-place apparatus of claim 28, wherein, Further comprising: An identification assembly (800) mounted on the carrying mechanism (100), the identification assembly (800) being configured to identify the position of the target object; A controller electrically connected with the identification assembly (800) and electrically connected with the third driving assembly (110); the controller being configured to control the third driving assembly (110) according to the position information of the target object.

35. The pick-and-place apparatus of claim 34, wherein, The identification assembly (800) comprises at least three groups of identification units (810) arranged at intervals on the carrying mechanism (100) in the first direction.

36. A pick-and-place method, comprising: Applied to the pick-and-place device according to any one of claims 1-35, The pick-and-place method comprises: Before the target object is transferred from the storage position to the passing space (101), the inlet and outlet (1011) is docked with the storage position under the control of the control instruction; Under the control of the control instruction, the second end moves relative to the carrying mechanism (100) to drive the taking object (200) to move to a taking position of the taking object (200); Under the control of the control instruction, the first connecting rod (310) moves relative to the carrying mechanism (100) in the first direction to drive the taking object (200) to cooperate with the target object located at the storage position from the inlet and outlet (1011); Under the control of the control instruction, the first connecting rod (310) moves relative to the carrying mechanism (100) in the first direction to drive the taking object (200) to transfer the target object from the storage position to a specified position of the passing space (101); Under the control of the control instruction, the second end moves relative to the carrying mechanism (100) to drive the taking object (200) to move from the taking position to an avoiding position to avoid the target object moving in the passing space (101).

37. An article transfer apparatus, characterized by, Comprise: a moving device and the taking and placing device as claimed in any one of claims 1-35; the moving device is configured to drive the taking and placing device to move to the storage position; the taking and placing device is movably arranged on the moving device.

38. A warehousing apparatus, characterised by Comprise: a picking work station (41); a shelf (42); and the object transfer device as claimed in claim 37, the object transfer device is capable of moving relative to the moving shelf (42) to take or transfer the target object.

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