Pick-and-place mechanism, zero point positioning method for pick-and-place mechanism, goods storage and retrieval apparatus, and warehousing system

Abstract

A pick-and-place mechanism (100), a zero point positioning method for the pick-and-place mechanism (100), a goods storage and retrieval apparatus, and a warehousing system. The pick-and-place mechanism (100) comprises a mounting frame (10), a pick-and-place assembly (20), a driving assembly, and a zero point positioning assembly. The zero point positioning assembly comprises a sensor (51) and a sensing member (52), one of the two being arranged on the pick-and-place assembly (20), the other being arranged on the mounting frame (10), and the sensing member (52) having a set length. The pick-and-place assembly (20) corresponds to a zero point position and a limit position. When the pick-and-place assembly (20) is located at the zero point position, the sensor (51) is in sensing cooperation with one end of the sensing member (52) in the length direction. When the pick-and-place assembly (20) is located at the limit position, the sensor (51) is in sensing cooperation with the other end of the sensing member (52) in the length direction, or the sensor (51) is in sensing cooperation with a set point position between the two ends of the sensing member (52) in the length direction.

Description

Pick-and-place mechanism, zero-point positioning method of pick-and-place mechanism, goods storage and retrieval device and warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202411366841.4 filed on September 27, 2024 with the China Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehouse logistics, for example, to a pick-and-place mechanism, a zero-point positioning method of the pick-and-place mechanism, a goods storage and retrieval device and a warehouse system. BACKGROUND

[0003] In an automated warehouse, a goods storage and retrieval device is generally used to pick and place goods on a shelf. The goods storage and retrieval device generally includes two horizontal tracks, two vertical tracks and a pick-and-place mechanism. The two horizontal tracks are arranged at the top beam and the bottom beam of the shelf, respectively. The upper ends of the two vertical tracks are movably connected to the top horizontal track, and the lower ends are movably connected to the bottom horizontal track. The pick-and-place mechanism is movably connected to the two vertical tracks. The pick-and-place mechanism can change its position in the vertical direction and the horizontal direction.

[0004] In order to increase the storage density and reduce the width of the aisle, it is desirable to arrange the goods closely on the shelf, which increases the difficulty of picking and placing the goods by the pick-and-place mechanism. In order to meet the above needs, the pick-and-place mechanism uses a hook to pick up the goods. In the initial state, the hook is in the zero-point position, and at this time, the hook needs to avoid colliding with obstacles outside the loading platform. Generally, an inductive sheet is used in combination with a sensor to position the hook at the zero point.

[0005] In the related art, the inductive sheet is a point structure. In some cases, the inductive sheet is arranged at the end of the pick-and-place mechanism. In this case, as long as the movement is in the direction of the inductive sheet, the zero-point position can be found. However, in this case, the hook will protrude from the loading platform and may collide with the shelf or the container. In some other cases, the inductive sheet is arranged at a position other than the end of the pick-and-place mechanism. However, in this case, the movement direction of the hook is not determined, which not only reduces the efficiency of zero-point positioning, but also increases the risk of collision. SUMMARY

[0006] The present application provides a pick-and-place mechanism, a zero-point positioning method of the pick-and-place mechanism, a goods storage and retrieval device and a warehouse system, which can quickly and accurately find the zero-point position of the pick-and-place mechanism and avoid collision between the pick-and-place mechanism and the surrounding obstacles when the pick-and-place mechanism is at the zero-point position.

[0007] A pick-and-place mechanism, comprising:

[0008] a mounting frame;

[0009] A hook body is arranged on the mounting frame.

[0010] A driving assembly is arranged in driving connection with the hook body and configured to drive the hook body to move in a first direction or a second direction opposite to the first direction.

[0011] A zero-position positioning assembly includes a sensor and a sensing member, one of which is arranged on the hook body and the other of which is arranged on the mounting frame, and the sensing member has a set length in the first direction.

[0012] The hook body has a zero-position and a limit position, when the hook body is located at the zero-position, the sensor and the sensing member are in sensing cooperation at one end in the length direction, and when the hook body is located at the limit position, the sensor and the sensing member are in sensing cooperation at the other end in the length direction or at a set point between the two ends in the length direction.

[0013] In an embodiment, when the hook body is located at the zero-position, the hooking part of the hook body does not exceed the edge of the mounting frame, or the hooking part of the hook body exceeds the edge of the mounting frame by a preset length.

[0014] In an embodiment, when the hook body is located at the limit position, the hooking part of the hook body exceeds the edge of the mounting frame by a maximum length.

[0015] In an embodiment, the hook body includes a hook body and a hook seat, the hook body is arranged on the hook seat, and one of the sensor and the sensing member is arranged at the lower end of the hook seat.

[0016] In an embodiment, the mounting frame includes a base frame and two side plates, the two side plates are connected to the base frame, and the two side plates are spaced apart in a direction perpendicular to the first direction, and the other of the sensor and the sensing member is arranged on the inner side wall of the side plate.

[0017] In an embodiment, the sensing member is arranged on the inner side wall of the side plate, the sensing member has an L-shaped cross section including a connecting part and a sensing part, the connecting part is connected to the side plate, the sensing part is in sensing cooperation with the sensor, and the sensing part has the set length.

[0018] In an embodiment, the length of the connecting part is less than the set length.

[0019] In an embodiment, one end of the connecting part away from the sensing part is provided with a turned edge, and the turned edge is connected to the side plate by a fastener.

[0020] The zero point positioning method of the pick-and-place mechanism is applied to the pick-and-place mechanism according to any one of the above solutions, and the zero point positioning method of the pick-and-place mechanism comprises:

[0021] Detecting whether the sensor has a signal, if the sensor has a signal, controlling the driving assembly to drive the pick-and-place assembly to move in the first direction until the signal disappears; if the sensor has no signal, controlling the driving assembly to drive the pick-and-place assembly to move in the second direction until the signal appears.

[0022] The goods access device comprises the pick-and-place mechanism according to any one of the above solutions or is configured to perform the zero point positioning method of the pick-and-place mechanism according to the above solutions.

[0023] The warehouse system comprises a goods shelf and the goods access device according to the above solutions, and the goods access device is configured to pick goods from a designated location of the goods shelf or is configured to deliver goods to the designated location of the goods shelf. BRIEF DESCRIPTION OF DRAWINGS

[0024] Fig. 1 is a structural schematic diagram of a goods access device in a warehouse system according to an embodiment of the present application;

[0025] Fig. 2 is a structural schematic diagram of a pick-and-place mechanism according to an embodiment of the present application;

[0026] Fig. 3 is a structural schematic diagram of a pick-and-place mechanism according to an embodiment of the present application, in which the pick-and-place assembly and one side guide plate are removed;

[0027] Fig. 4 is a structural schematic diagram of a one-side side plate and a mounting structure thereon according to an embodiment of the present application;

[0028] Fig. 5 is a structural schematic diagram of another one-side side plate and a mounting structure thereon according to an embodiment of the present application;

[0029] Fig. 6 is a structural schematic diagram of a pick-and-place assembly according to an embodiment of the present application;

[0030] Fig. 7 is a structural schematic diagram of another pick-and-place assembly according to an embodiment of the present application;

[0031] Fig. 8 is a structural schematic diagram of a pick-and-place assembly located at a zero point position according to an embodiment of the present application;

[0032] Fig. 9 is a structural schematic diagram of a pick-and-place assembly located at a limit position according to an embodiment of the present application.

[0033] In the figure: 100, taking and placing mechanism; 200, first track; 300, second track; 10, mounting frame; 11, bottom beam; 12, side plate; 13, guide plate; 14, mounting plate; 20, taking and placing assembly; 21, hook body; 22, hook seat; 31, first power element; 32, first transmission belt; 33, linear slide rail; 34, sliding block; 41, second power element; 42, second transmission belt; 51, sensor; 52, inductive element; 521, inductive part; 522, connecting part; 523, flange. DETAILED DESCRIPTION

[0034] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the situation.

[0035] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first feature and the second feature are in direct contact, or that the first feature and the second feature are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0036] In the description of the present embodiment, the terms "up", "down", "right", and other orientation or position relationships are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0037] The embodiment of the present application provides a warehouse system, which comprises a shelf and a goods access device. The shelf can be arranged in a single-layer or multi-layer structure, and each layer of the shelf can be provided with one or more goods storage spaces (i.e. goods storage spaces) for storing goods. The goods access device is arranged on the shelf and can be configured to take out goods from a designated goods storage space of the shelf, or can be configured to send goods into a designated goods storage space of the shelf.

[0038] As shown in FIG. 1, the goods accessing device includes a taking and placing mechanism 100, two first tracks 200 extending in the transverse direction, and two second tracks 300 extending in the vertical direction. The two first tracks 200 are arranged in the vertical direction. The first tracks 200 can be mounted on the frame of the shelf or formed by the frame of the shelf. For example, the frame cross beams of the uppermost layer and the lowest layer of the shelf can be used as the two first tracks 200, respectively. The taking and placing mechanism 100 can have end portions movably connected with the two second tracks 300, and be located on the side of the running plane formed by the two second tracks 300 away from the shelf. Moreover, the taking and placing mechanism 100 can be located between the two second tracks 300 so that the goods can pass through the gap between the two second tracks 300.

[0039] As shown in FIGS. 2-9, the taking and placing mechanism 100 includes a mounting frame 10, a taking and placing assembly 20, and a driving assembly. The taking and placing assembly 20 is movably arranged on the mounting frame 10. The taking and placing assembly 20 includes a taking and placing part, which is a hook body 21 in this embodiment. The hook body 21 has a hooking and pulling part configured to hook and pull the goods. The driving assembly is drivingly connected with the taking and placing assembly 20. The driving assembly is configured to drive the taking and placing assembly 20 to move in a first direction, so as to realize the hooking and pulling action on the goods in the first direction through the hooking and pulling part. In the business scenario of warehouse logistics, the first direction can be the direction from the shelf to the taking and placing mechanism 100, which can be parallel to the horizontal plane or form a preset angle with the horizontal plane. The taking and placing mechanism 100 can pull the goods in the storage location to the taking and placing mechanism 100 through the hooking and pulling part of the hook body 21. At this time, the hook body 21 can hook and pull the goods on the side facing the goods, which can reduce the requirement for the distance between the goods in the storage location and the height of the storage location, thereby facilitating the realization of a higher storage density of the shelf.

[0040] The shape of the hook body 21 can be L-shaped, U-shaped, or other shapes. The hooking and pulling part can enter the hookable part from at least one side of the hookable part of the goods, so as to reach the position of the hookable goods. The outer wall of the goods can be provided with a hooking groove as the hookable part, so that the hooking and pulling part of the hook body 21 realizes the hooking and pulling action on the goods by hooking the inner wall of the hooking groove.

[0041] In this embodiment, the hook body 21 also has a pushing part configured to push the goods. The driving assembly is also configured to drive the taking and placing assembly 20 to move in a second direction, so as to realize the pushing action on the goods in the second direction through the pushing part. The second direction is the opposite direction of the first direction, i.e., the second direction is parallel to and opposite to the first direction. Under the driving of the driving assembly on the taking and placing assembly 20, the pushing part of the hook body 21 can realize the pushing action on the goods. The pushing part can act on the outside of the hookable part of the goods, so that the goods move in the second direction. The pushing part can act on the outside of the hookable part, or act on other positions on the side of the goods facing the pushing part.

[0042] In the embodiment, the hook body 21 is in the shape of L, the outer side surface of the bending structure of the L-shaped hook body 21 can be used as the pushing part, and the inner side surface thereof can be used as the hooking part, so that the pushing and hooking actions on the goods can be realized by the hook body 21, and the goods can be conveniently taken out and put into the storage location.

[0043] In other embodiments, the taking and placing part of the taking and placing assembly 20 can also be a suction cup or other structure, and is not limited to the embodiment.

[0044] Referring to FIGS. 2 and 3, the mounting frame 10 includes a base frame and two side plates 12, the two side plates 12 are connected to the base frame, and the two side plates 12 are spaced apart along a direction perpendicular to the first direction. In the embodiment, the base frame includes a plurality of bottom beams 11, the plurality of bottom beams 11 are spaced apart along the first direction, the two side plates 12 are spaced apart along the length direction of the bottom beams 11, and the side plates 12 are connected to the plurality of bottom beams 11 at the same time.

[0045] Referring to FIG. 2, and combining FIGS. 6 and 7, the taking and placing assembly 20 is located between the two side plates 12, and the taking and placing assembly 20 includes a hook seat 22 and the above-mentioned hook body 21, the hook body 21 is arranged on the hook seat 22.

[0046] Referring to FIGS. 2 to 5, the driving assembly includes a first power element 31 and a first linear transmission structure, the first power element 31 is connected to the hook seat 22 through the first linear transmission structure, and the first power element 31 is configured to drive the hook seat 22 to move along the first direction or the second direction through the first linear transmission structure. In the embodiment, the first linear transmission structure includes a first transmission wheel set and a first transmission belt 32. The first transmission wheel set is arranged on the inner side wall of the side plate 12, and the first transmission belt 32 is arranged around the first transmission wheel set and is fixedly connected to the hook seat 22. The first power element 31 can output torque to part of the transmission wheels in the first transmission wheel set to drive part of the transmission wheels in the first transmission wheel set to rotate, and under the driving of the first transmission wheel set, the first transmission belt 32 rotates around the first transmission wheel set, and the hook seat 22 fixedly connected to the first transmission belt 32 also moves with the first transmission belt 32 accordingly. The first power element 31 can include a motor or a pneumatic motor, etc. The first power element 31 can be arranged on the outer side wall of the side plate 12 to avoid interference with the hook seat 22.

[0047] The driving assembly further comprises a linear guide structure configured to guide the hook base 22 to move relative to the mounting frame 10 in the first direction or the second direction. The linear guide structure can assist the linear transmission structure to stably move the hook base 22 linearly in the first direction or the second direction, thereby reducing the risk of the goods falling due to instability during movement. In the embodiment, the linear guide structure comprises a linear sliding rail 33 and a sliding block 34. The linear sliding rail 33 is arranged on the inner side wall of the side plate 12 of the mounting frame 10 and extends in the first direction. The sliding block 34 is in sliding cooperation with the linear sliding rail 33, and the sliding block 34 is connected with the hook base 22.

[0048] The taking and placing mechanism 100 in the embodiment of the application further comprises a conveying assembly configured to convey the goods in the first direction or the second direction. The taking and placing assembly 20 and the conveying assembly can act on the goods, and the two can cooperate to improve the adaptability of the goods in different scenarios. In the embodiment, the conveying assembly comprises a second power element 41, a second transmission wheel set and a second transmission belt 42. The second transmission wheel set is arranged on the outer side wall of the side plate 12, and the second transmission belt 42 is arranged around the second transmission wheel set. The second power element 41 can output torque to part of the transmission wheels in the second transmission wheel set to drive part of the transmission wheels in the second transmission wheel set to rotate. Under the driving of the second transmission wheel set, the second transmission belt 42 rotates around the second transmission wheel set. The taking and placing assembly 20 can hook and pull the goods to the second transmission belt 42, so that the second transmission belt 42 can convey the goods placed thereon. The cooperation relationship between the taking and placing assembly 20 and the conveying assembly is related art, which will not be described in detail here. The second power element 41 can comprise a motor or a pneumatic motor. The second power element 41 can be arranged on the outer side wall of the side plate 12 to avoid interference with the hook base 22. The outer side wall of the side plate 12 is provided with a mounting plate 14 spaced apart from the side plate 12, and the second power element 41 is arranged on the mounting plate 14.

[0049] The upper end of the side plate 12 is provided with a guide plate 13 extending in the first direction. The guide plate 13 is configured to guide and limit the movement of the goods to avoid deviation of the goods.

[0050] The taking and placing mechanism 100 in the embodiment of the present application further comprises a zero point positioning assembly configured to find the zero point position (i.e. initial position) of the taking and placing assembly 20 in the horizontal direction when initializing or when the taking and placing assembly 20 loses the position. Referring to FIGS. 4-9, the zero point positioning assembly comprises a sensor 51 and a sensing piece 52, the sensor 51 is arranged on the taking and placing assembly 20, and the sensing piece 52 is arranged on the mounting frame 10, the sensing piece 52 has a set length in the first direction. The taking and placing assembly 20 corresponds to the zero point position and the limit position, referring to FIG. 8, when the taking and placing assembly 20 is located at the zero point position, the sensor 51 and the sensing piece 52 are inductively matched at one end along the length direction; referring to FIG. 9, when the taking and placing assembly 20 is located at the limit position, the sensor 51 and the sensing piece 52 are inductively matched at the other end along the length direction or at the set point position between the two ends along the length direction of the sensing piece 52.

[0051] In the embodiment, the sensing piece 52 is arranged to have a preset length, and the taking and placing assembly 20 and the sensing piece 52 are inductively matched at one end along the length direction when the taking and placing assembly 20 is at the zero point position, and the taking and placing assembly 20 and the sensing piece are inductively matched at the other end along the length direction or at the set point position between the two ends along the length direction of the sensing piece 52 when the taking and placing assembly 20 is at the limit position. When the sensor 51 is located at the side of the zero point position away from the limit position, the sensor 51 has no signal, and when the sensor 51 is located at the side of the zero point position close to the limit position, the sensor 51 has a signal. The orientation of the sensor 51 can be determined by whether the sensor 51 has a signal. When the sensor 51 has a signal, the driving assembly is controlled to drive the taking and placing assembly 20 to move in the first direction until the signal disappears, and then the taking and placing assembly 20 reaches the zero point position; when the sensor 51 has no signal, the driving assembly is controlled to drive the taking and placing assembly 20 to move in the second direction until the signal appears, and then the taking and placing assembly 20 reaches the zero point position. In this way, the taking and placing assembly 20 can quickly and accurately find the zero point position. Moreover, the preset length of the sensing piece 52 can be configured to avoid collision between the taking and placing assembly 20 and the surrounding obstacles when the sensing piece 52 is at the zero point position.

[0052] Referring to FIG. 8, when the taking and placing assembly 20 is at the zero point position, the hook body 21 does not exceed the edge of the mounting frame 10, thereby avoiding collision between the hook body 21 and the shelves or goods. Alternatively, when the taking and placing assembly 20 is at the zero point position, the hook body 21 exceeds the edge of the mounting frame 10 by a preset length. The preset length is a length that enables the hook body 21 to avoid collision with the surrounding objects, and when the preset length is calculated and determined, all the surrounding obstacles need to be considered.

[0053] Referring to FIG. 9, when the taking and placing assembly 20 is at the limit position, the hook body 21 exceeds the edge of the mounting frame 10 by the maximum length, i.e. the taking and placing assembly 20 cannot continue to move forward after reaching the limit position. The limit position is a reference position for the sensor 51 to distinguish the orientation.

[0054] Referring to FIG. 5 and FIG. 7, the sensor 51 is arranged at the lower end of the hook base 22, and the sensing member 52 is arranged on the side plate 12 of the mounting frame 10. Referring to FIG. 5, the sensing member 52 has an L-shaped cross section, including a connecting portion 522 and a sensing portion 521, the connecting portion 522 is connected with the side plate 12, and the sensing portion 521 is in sensing cooperation with the sensor 51, and the sensing portion 521 has a set length. The length of the connecting portion 522 is not limited, and can be greater than, equal to, or less than the set length. In the embodiment, the length of the connecting portion 522 is less than the set length, so as to save materials and reduce costs.

[0055] Referring to FIG. 5, in the embodiment, the connecting portion 522 is connected with the side plate 12 of the mounting frame 10 by using fasteners, and for the convenience of connection, the end of the connecting portion 522 away from the sensing portion 521 has a flange 523, and the flange 523 is connected with the side plate 12 of the mounting frame 10. In other embodiments, the connecting portion 522 can also be connected with the side plate 12 of the mounting frame 10 by other ways, such as welding.

[0056] In other embodiments, the sensor 51 can also be arranged on the mounting frame 10, and the sensing member 52 is arranged on the pick-and-place assembly 20, and the principle is the same, which will not be described in detail here.

[0057] The embodiment of the application further provides a zero-point positioning method of the pick-and-place mechanism 100, which comprises the following steps:

[0058] It is detected whether the sensor 51 has a signal, if the sensor 51 has a signal, the driving assembly is controlled to drive the pick-and-place assembly 20 to move in a first direction until the signal disappears, and if the sensor 51 has no signal, the driving assembly is controlled to drive the pick-and-place assembly 20 to move in a second direction until the signal appears.

[0059] The pick-and-place assembly 20 can quickly and accurately find the zero-point position by using the above zero-point positioning method.

Claims

1. A pick-and-place mechanism, comprising: a mounting frame (10) ; a pick-and-place assembly (20) movably arranged on the mounting frame (10) ; a driving assembly drivingly connected with the pick-and-place assembly (20) and configured to drive the pick-and-place assembly (20) to move in a first direction or a second direction, the first direction being opposite to the second direction; a zero-point positioning assembly comprising a sensor (51) and a sensing piece (52), one of the sensor (51) and the sensing piece (52) being arranged on the pick-and-place assembly (20) and the other being arranged on the mounting frame (10), the sensing piece (52) having a set length in the first direction; the pick-and-place assembly (20) corresponding to a zero-point position and a limit position, when the pick-and-place assembly (20) is located at the zero-point position, the sensor (51) and the sensing piece (52) are in sensing cooperation at one end in the length direction, and when the pick-and-place assembly (20) is located at the limit position, the sensor (51) and the sensing piece (52) are in sensing cooperation at the other end in the length direction or at a set point between the two ends in the length direction of the sensing piece (52).

2. The pick-and-place mechanism of claim 1, wherein, When the pick-and-place assembly (20) is located at the zero-point position, the pick-and-place part of the pick-and-place assembly (20) does not exceed the edge of the mounting frame (10), or the pick-and-place part of the pick-and-place assembly (20) exceeds the edge of the mounting frame (10) by a preset length.

3. The pick-and-place mechanism of claim 1, wherein, When the pick-and-place assembly (20) is located at the limit position, the pick-and-place part of the pick-and-place assembly (20) exceeds the edge of the mounting frame (10) by a maximum length.

4. The pick-and-place mechanism according to any one of claims 1-3, wherein, The pick-and-place assembly (20) comprises a hook body (21) and a hook base (22), the hook body (21) being the pick-and-place part of the pick-and-place assembly (20), the hook body (21) being arranged on the hook base (22), and the structure arranged on the pick-and-place assembly (20) among the sensor (51) and the sensing piece (52) being arranged at the lower end of the hook base (22).

5. The pick-and-place mechanism of any one of claims 1-3, wherein, The mounting frame (10) comprises a base frame and two side plates (12), the two side plates (12) being connected to the base frame and being spaced apart in a direction perpendicular to the first direction, and the structure arranged on the mounting frame (10) among the sensor (51) and the sensing piece (52) being arranged on the inner side wall of the side plate (12).

6. The pick-and-place mechanism of claim 5, wherein, The sensing piece (52) is arranged on the inner side wall of the side plate (12), the sensing piece (52) having an L-shaped cross section comprising a connecting part (522) and a sensing part (521), the connecting part (522) being connected to the side plate (12), the sensing part (521) being in sensing cooperation with the sensor (51), and the sensing part (521) having the set length.

7. The pick-and-place mechanism of claim 6, wherein, The length of the connecting part (522) is less than the set length.

8. The pick-and-place mechanism of claim 6, wherein, An end of the connecting part (522) away from the sensing part (521) is provided with a flange (523), and the flange (523) is connected to the side plate (12) by a fastener. 9.A zero-point positioning method of a pick-and-place mechanism, applied to the pick-and-place mechanism according to any one of claims 1-8, comprising: detecting whether the sensor has a signal, in response to the sensor having the signal, controlling the driving assembly to drive the pick-and-place assembly to move in a first direction until the signal disappears; in response to the sensor not having the signal, controlling the driving assembly to drive the pick-and-place assembly to move in a second direction until the signal appears.

10. A goods access device comprising the pick-and-place mechanism (100) as claimed in any one of claims 1-8, or configured to perform the zero-point positioning method of the pick-and-place mechanism as claimed in claim 8.

11. A warehousing system comprising a goods rack and the goods access device as claimed in claim 10, the goods access device being configured to pick goods from a designated location of the goods rack, or configured to deliver goods to a designated location of the goods rack.

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