Warehousing system, pick-and-place device and item transfer method

Abstract

A warehousing system, a pick-and-place device and an item transfer method. The warehousing system comprises: a carrier arranged on a support surface of the warehousing system and provided with multiple layers of storage positions in the direction of height; a pick-and-place device arranged on one side of the carrier and capable of moving laterally relative to the carrier, the pick-and-place device comprising a pick-and-place mechanism capable of moving longitudinally relative to the carrier; and a support member located on one side of the carrier, the pick-and-place device being capable of moving laterally along the support member, and a preset gap being provided between the bottom of the support member and the support surface. The warehousing system, pick-and-place device and item transfer method provided in the present application can provide support for the pick-and-place device on the carrier, reducing an acting force exerted by the pick-and-place device and a target item on one side of the carrier, and thereby reducing the strength requirements for the carrier.

Description

Storage systems, pick-and-place devices and methods for transferring goods

[0001] This application claims priority to Chinese patent applications filed on January 23, 2025, with application number 202510115334.1 entitled "Storage System and Article Transfer Method", Chinese patent applications filed on January 23, 2025, with application number 202520166615.5 entitled "A Storage System", and Chinese patent applications filed on January 23, 2025, with application number 202520166567.X entitled "Retrieval and Placement Device and Storage System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of warehousing equipment technology, specifically to a warehousing system, a pick-and-place device, and a method for transferring goods. Background Technology

[0003] In a warehousing system, to make full use of the vertical space, shelves are usually installed. The shelves are set up with multiple storage locations along the height of the warehousing system, and the target items are stored in the storage locations, thereby making full use of the vertical space of the warehousing system.

[0004] Currently, to place or retrieve target items from storage locations, a pick-and-place device is typically installed on one side of the shelf. This device can move laterally along the shelf to each column of storage locations. A pick-and-place mechanism is also installed on the device, which can move longitudinally along the device to each shelf level. The pick-and-place mechanism places the target item in or retrieves it from the storage location and places it in a buffer position at the bottom of the shelf. Then, a handling robot within the warehousing system moves the target item from the buffer position.

[0005] However, the picking and placing devices and mechanisms in the related technologies, as well as the overall weight of the picking and placing mechanism when carrying the target item, are relatively heavy, exert a large force on one side of the shelf, and require high strength from the shelf. Summary of the Invention

[0006] This application provides a storage system, a retrieval device, and a method for transferring goods. It can support the retrieval device on the vehicle, reduce the force exerted by the retrieval device and the target goods on one side of the vehicle, and reduce the strength requirements of the vehicle.

[0007] On one hand, this application provides a storage system, including: a carrier, disposed on a support platform of the storage system, having multiple layers of storage locations along the height direction; a pick-and-place device, disposed on one side of the carrier, movable relative to the carrier along the transverse direction of the carrier, the pick-and-place device including a pick-and-place mechanism, movable relative to the carrier along the longitudinal direction of the carrier; and a support member, located on one side of the carrier, the pick-and-place device being movable laterally along the support member, the bottom of the support member having a preset gap with the support platform.

[0008] On the other hand, embodiments of this application provide a method for transferring goods, applied to a warehousing system. The warehousing system includes a carrier, a pick-and-place device, a support, and a transfer robot. The carrier is located on a support platform of the warehousing system and has multiple storage locations along its height. The pick-and-place device is located on one side of the carrier and is movable relative to the carrier along its lateral direction. The pick-and-place device includes a pick-and-place mechanism that is movable relative to the carrier along its longitudinal direction. The support is located on one side of the carrier, and there is a preset gap between the bottom of the support and the support platform. The transfer robot travels on the support platform. The method includes: the pick-and-place device moving laterally along the carrier according to a goods transfer instruction; the pick-and-place mechanism moving longitudinally along the carrier according to the goods transfer instruction until the pick-and-place mechanism moves to a target storage location to transfer a target item between the pick-and-place mechanism and the target storage location; the transfer robot determining whether a first travel path on the support platform includes the preset gap according to the goods transfer instruction; if the first travel path includes the preset gap, the transfer robot travels through the preset gap to transfer the target item between the transfer robot and the pick-and-place device.

[0009] In another aspect, embodiments of this application provide a pick-and-place device, comprising: a base having a bearing area, the bearing area having an inlet and outlet configured for a target item to enter or exit the bearing area; a moving mechanism disposed on the base; a pick-up component disposed on the base, the pick-up component being moved relative to the base along a first direction under the drive of the moving mechanism to dock with the target item; a column being arranged in a vertical direction; and a base being movably disposed on the column, the base being movable relative to the column along the extension direction of the column.

[0010] In another aspect, embodiments of this application provide a warehousing system, including: a carrier having storage locations; a support member, at least disposed on one side of the carrier, connected to and spaced apart from the ground; a pick-and-place device, including a pick-and-place mechanism and a motion mechanism, wherein the pick-and-place mechanism can move on the motion mechanism, and the pick-and-place mechanism is configured to move on the motion mechanism to a target storage location under the control of a control command, and pick up or place a target item on the target storage location; the motion mechanism can move along the support member, and the motion mechanism is configured to drive the pick-and-place mechanism to move to the storage location row where the target storage location is located under the control of a control command; and a gap or channel is formed between the end of the motion mechanism near the ground and the ground.

[0011] According to the warehousing system provided in the embodiments of this application, by setting a carrier on the support platform of the warehousing system, and the carrier having multiple layers of storage locations along the height direction, the longitudinal space of the warehousing system can be fully utilized, thereby improving the storage density and space utilization rate of the warehousing system. By setting a pick-and-place device on one side of the carrier, the pick-and-place device can move relative to the carrier in the lateral direction. Thus, the pick-and-place device can include a pick-and-place mechanism, which can move to any column of the carrier and can move longitudinally relative to the pick-and-place device. This allows the pick-and-place mechanism to move to any layer of the carrier, facilitating the exchange of target items between the pick-and-place mechanism and the carrier (e.g., the pick-and-place mechanism places the target item on the carrier, or the pick-and-place mechanism removes the target item from the carrier). In addition, a support member is set in the warehousing system, located on one side of the carrier, and the first part of the pick-and-place device along the longitudinal direction can be supported on the support member. In this way, the weight of the pick-up and place device, the pick-up and place mechanism, and the target item placed on the pick-up and place mechanism can be transferred from one side of the vehicle to the support, which can reduce the force exerted on the vehicle by the weight of the pick-up and place device and the target item, reduce the strength requirements of the vehicle, and save the production and processing costs of the vehicle.

[0012] Furthermore, in the warehousing system provided in this application embodiment, there is a preset gap between the bottom of the support member and the bottom of the pick-and-place device and the support platform. Thus, when the transfer robot in the warehousing system moves along the support platform, it can pass through the preset gap to the bottom of the carrier. In this way, when the pick-and-place device moves laterally on one side of the carrier, the transfer robot moving along the support platform can pass through the preset gap to the bottom of the carrier; or, from the bottom of the carrier to the outside of the carrier. That is to say, the lateral movement of the pick-and-place device will not affect the movement of the transfer robot, improving the transfer efficiency of the transfer robot in handling target items and improving the flow efficiency of target items in the warehousing system. Attached Figure Description

[0013] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0014] Figure 1 is a schematic diagram of the structure of a storage area provided in an embodiment of this application;

[0015] Figure 2 is a schematic diagram of the structure of a workstation provided in an embodiment of this application;

[0016] Figure 3 is a schematic diagram of a warehousing system provided in some embodiments of this application;

[0017] Figure 4 is a schematic diagram of another structure of the warehousing system provided in some embodiments of this application;

[0018] Figure 5 is a simplified structural diagram of a warehousing system provided in some embodiments of this application;

[0019] Figure 6 is a partial structural schematic diagram of a vehicle provided in some embodiments of this application;

[0020] Figure 7 is an enlarged view of point A in Figure 6;

[0021] Figure 8 is a schematic diagram of a structure in which a picking and placing device and a support member cooperate in a storage system provided by some embodiments of this application;

[0022] Figure 9 is a schematic diagram of another result of the cooperation between the pick-and-place device and the support in a storage system provided by some embodiments of this application;

[0023] Figure 10 is another structural schematic diagram of the cooperation between the pick-and-place device and the support in a warehousing system provided in some embodiments of this application;

[0024] Figure 11 is a rear view schematic diagram of the cooperation between the pick-and-place device and the support in a storage system provided in some embodiments of this application;

[0025] Figure 12 is a schematic diagram of another structure of the retrieval device and support component in a warehousing system provided in some embodiments of this application;

[0026] Figure 13 is a magnified view of part B in Figure 9;

[0027] Figure 14 is a schematic diagram of a structure in which the first drive wheel and the support member cooperate in a warehousing system provided by some embodiments of this application;

[0028] Figure 15 is a partial enlarged view of point C in Figure 10;

[0029] Figure 16 is a schematic diagram of another structure of the first drive wheel and the support member cooperating in the warehousing system provided by some embodiments of this application;

[0030] Figure 17 is an enlarged view of point D in Figure 11;

[0031] Figure 18 is an enlarged view of point E in Figure 12;

[0032] Figure 19 is an enlarged view of point F in Figure 12;

[0033] Figure 20 is a simplified schematic diagram of the cooperation between the column and the picking and placing mechanism provided in some embodiments of this application;

[0034] Figure 21 is an enlarged view of point G in Figure 12;

[0035] Figure 22 is a schematic diagram of the structure of the upright and horizontal beam provided in the embodiment of this application;

[0036] Figure 23 is a partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application;

[0037] Figure 24 is another partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application;

[0038] Figure 25 is a flowchart of one implementation of the article transfer method provided in some embodiments of this application;

[0039] Figure 26 is another implementation flowchart of the article transfer method provided in some embodiments of this application;

[0040] Figure 27 is another implementation flowchart of the article transfer method provided in some embodiments of this application.

[0041] Explanation of reference numerals in the attached drawings: 10-Carrier; 20-Pick-and-place device; 30-Support component; 40-Transfer robot; 50-Auxiliary rail; 110-Cargo location; 120-Buffer location; 130-Carrier column; 310-Support column; 320-Tie rod; 311-Horizontal beam; 3111-First horizontal beam; 3112-Positioning marker; 313-Block; 314-First connector; 210-Pick-and-place mechanism; 211-Base; 212-Moving mechanism; 213-Pick-up component; 214-First sensor; 2111-Bearing area; 2112-Inlet / outlet; 2113-Third drive assembly; 2114-Slide rail; 2115-Transfer mechanism; 2116-Second sensor; 2117-Third sensor; 2118-Fourth sensor; 2119-Fifth sensor; 2121-Second mounting bracket; 2122-... 2123 - Third driving component; 2124 - Slider; 2125 - Third mounting bracket; 2126 - Limiting component; 2131 - Hook; 2112a - First inlet / outlet; 2112b - Second inlet / outlet; 2113a - Fourth driving component; 2113b - Transmission component; 2116a - First signal transmitter; 2116b - First signal receiver; 2117a - Second signal transmitter; 2117b - Second signal receiver; 360 - Motion mechanism; 220 - First drive assembly; 221 - First drive member; 222 - First drive wheel; 223 - First mounting bracket; 3651 - Connecting part; 3652 - Mounting part; 3653 - Pick-up and drop-out port; 224 - Guide wheel; 301 - Preset gap; 302 - Guide structure; 303 - Guide protrusion; 363a - First rolling surface; 364 - Second drive assembly; 3641 - Second drive wheel; 3642 - Elastic member; 3643 - Second connecting member; 3644 - Follower assembly; a1 - Bottom wall; b1 - Groove sidewall; 3021 - First guide groove; 3022 - Second guide groove; 230-Column; 3611-First column; 3612-Second column; 3613-Reinforcing beam; 361a-Opening; 361b-First limiting part; 361c-Second limiting part; 362-Lifting drive assembly; 3621-Transmission belt; 3622-Transmission shaft; 3623-Lifting drive component; 381-First displacement sensor; 382-Second displacement sensor; 383-Control mechanism; 391-Driven assembly; 392-Sliding contact line; 3921-Conductor; 3922-Receiver. Detailed Implementation

[0042] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0043] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0044] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0045] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0046] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0047] Figure 1 is a schematic diagram of a storage area provided in an embodiment of this application, and Figure 2 is a schematic diagram of a workstation provided in an embodiment of this application.

[0048] As shown in Figures 1 and 2, the warehousing system may include a storage area 100 as shown in Figure 1 and a workstation 200 as shown in Figure 2.

[0049] As shown in Figure 1, in some examples, storage area 100 is used to store items P. Exemplarily, storage area 100 may include at least one carrier 10, wherein each carrier 10 has a plurality of storage locations 110 formed on it for storing items P.

[0050] It should be noted that item P may include, but is not limited to, goods, containers (such as bins) containing goods, pallets, packages containing goods, original packaging boxes containing goods, etc.

[0051] In some examples, vehicle 10 can be a stationary vehicle 10 or a mobile vehicle 10.

[0052] For example, the storage area 100 can be a storage area, a buffer area, a temporary storage area, etc. In this way, the carrier 10 of the storage area 100 can form storage locations, buffer locations, and temporary storage locations, etc.

[0053] Optionally, the carrier 10 can be a shelf, support frame, etc., wherein storage locations, buffer locations, and temporary storage locations can be formed on the shelf or support frame.

[0054] For ease of explanation, a coordinate system is established below with the height direction of vehicle 10 as the z-axis, the width direction of vehicle 10 as the x-axis, and the length direction of vehicle 10 as the y-axis.

[0055] For example, the carrier 10 may include a plurality of horizontal beams 311 and a plurality of carrier columns 130. The plurality of carrier columns 130 enclose a storage area of ​​the carrier 10. The plurality of horizontal beams 311 are spaced apart along the height direction of the carrier (the z-axis direction as shown in Figure 1) and connected to the carrier columns 130. A plurality of storage positions 110 may be formed on each layer of horizontal beams 311 to store items P.

[0056] It should be noted that in other embodiments, the vehicle column 130 may also be referred to as the vertical beam of the vehicle 10.

[0057] Understandably, item P can also be placed directly on the horizontal beam 311 to support and store item P. Alternatively, multiple horizontal beams 311 can be used to form a support frame to support item P.

[0058] In some examples, the storage area 100 may also include a pick-and-place device 20, which may be mounted on the vehicle 10.

[0059] For example, the pick-and-place device 20 includes a motion mechanism 360 and a pick-and-place mechanism 210. The motion mechanism 360 is movably mounted on the carrier 10 and can move along the length direction of the carrier 10 (the y-axis direction as shown in Figure 1). The pick-and-place mechanism 210 is movably mounted on the motion mechanism 360, thereby enabling it to move along the height direction of the carrier 10 (the z-axis direction as shown in Figure 1). Thus, the pick-and-place mechanism 210 can move to any storage location 110 on the carrier 10 under the drive of the motion mechanism 360 to retrieve or place the target item P from or in the target storage location 110.

[0060] In one example, when the vehicle 10 is a single-depth vehicle, the pick-up and drop device 20 may be located on one side of the vehicle 10.

[0061] In another example, when the vehicle 10 is a double-deep vehicle, the loading and unloading device 20 can be located on one side of the vehicle 10. In this case, the loading and unloading device 20 can load and unload items P in the double-deep compartment. Alternatively, the loading and unloading device 20 can be located on both sides of the vehicle 10. In this case, the loading and unloading devices 20 located on both sides of the vehicle 10 can load and unload items P located closer to that side, respectively.

[0062] In another example, regardless of whether the carrier 10 is a single-deep, double-deep, or multi-deep container, the loading and unloading device 20 can be located on both sides of the carrier 10 to facilitate the loading and unloading of the item P on the carrier 10. In this embodiment, the location of the loading and unloading device 20 relative to the carrier 10 is not limited.

[0063] For example, the warehousing system may also include a transfer robot 40, which can cooperate with the pick-and-place device 20 to transfer items.

[0064] It should be noted that in other examples, the transfer robot 40 may also be referred to as a transport device.

[0065] In some examples, the gaps between adjacent vehicles 10 can form aisles, in which the pick-and-place device 20 is located. Simultaneously, the transfer robot 40 can also operate within these aisles. Thus, the transfer robot 40 can either remove the item P taken from the vehicle 10 by the pick-and-place device 20, or transfer the item P to the pick-and-place device 20 for it to place the item P onto the vehicle 10.

[0066] The following explanation uses the transfer of items between the transfer robot 40, the pick-and-place device 20, and the carrier 10 as an example.

[0067] In one example, the pick-and-place device 20 can retrieve the target item from the vehicle 10, and then the transfer robot 40 can directly retrieve the target item from the pick-and-place device 20. Alternatively, the transfer robot 40 can directly place the target item on the pick-and-place device 20, so that the pick-and-place device 20 can place the target item on the vehicle 10.

[0068] In another example, after the pick-and-place device 20 retrieves the target item from the vehicle 10, it can place the target item in a buffer storage location, and the transfer robot 40 retrieves the target item from the buffer storage location. Alternatively, the transfer robot 40 places the target item in the buffer storage location, and then the pick-and-place device 20 retrieves the target item from the buffer storage location and places it on the vehicle 10.

[0069] In another example, after the pick-and-place device 20 takes the target item from the carrier 10, it can place the target item on the buffer shelf. The transfer robot 40 then takes the target item from the buffer location or moves the buffer shelf away to transfer the target item on the buffer shelf.

[0070] For example, the cache shelf can be located at the bottom or side of the carrier 10. In this embodiment, the location of the cache shelf is not limited.

[0071] Furthermore, the cache shelf can be a fixed cache shelf or a mobile cache shelf, and this embodiment does not impose any limitation.

[0072] In another example, the transfer robot 40 places the target item on the cache shelf or moves the cache shelf containing the target item to the target location, such as the bottom or side of the vehicle 10, and then the pick-and-place device 20 retrieves the target item from the cache location and places it on the vehicle 10.

[0073] It is understood that in other embodiments, the target items transferred by the transfer robot 40 and the pick-and-place device 20 may also come from locations such as workbenches and mobile shelves, and are not limited in this embodiment.

[0074] It should be noted that the transfer robot 40 can be a handling robot. Alternatively, the transfer robot 40 can be a picking robot or other equipment with transportation functions that carries items to be picked. In this embodiment, the specific structure of the transfer robot 40 is not limited. Furthermore, the items transported by the transfer robot 40 can include, but are not limited to, goods, containers containing goods, and empty containers. The containers can be bins, boxes, cartons, or pallets, etc. In this embodiment, the items transported by the transfer robot 40 are not limited.

[0075] As shown in Figure 2, in some examples, workstation 200 may include a work platform 21 and a carrier 10. The work platform 21 can be used for sorting or picking specific items P. Exemplarily, the work surface of the work platform 21 may be adapted to the average height of the picking object, such as a worker, so that the worker can quickly pick the specific item P on the work platform 21.

[0076] The carrier 10 is located on one side of the work platform 21 and forms a storage location 110. The carrier 10 can be used to store a designated item P transferred from the storage area 100 by the transfer robot 40, so that the operation object (such as the picking object) can pick the item P.

[0077] In one example, the carrier 10 can be used to buffer the designated item P to be picked, loaded by the transfer robot 40 from the storage location 110 or the pick-and-place device 20 in the storage area 100. This prevents the transfer robot 40 from continuously carrying the designated item P to be picked near the work platform 21 while waiting to be picked, thereby reducing the waiting time of the transfer robot 40. In this way, the transfer robot 40 can unload as early as possible and continue its handling work, thereby improving the operating efficiency of the transfer robot 40.

[0078] In another example, carrier 10 can store any remaining items P or empty containers after processing, so that transfer robot 40 can move the items P or empty containers from carrier 10 to storage area 100. In other words, after picking items P from a container, the user can place the remaining items P or containers on carrier 10, and transfer robot 40 can move the remaining items P or empty containers from carrier 10 to storage area 100. In this way, the user does not need to place the remaining items P or empty containers on work platform 21 to wait for transfer robot 40 to move them before starting the next picking operation, thereby improving picking efficiency.

[0079] Understandably, vehicle 10 can hold items P to be picked up, or it can hold picked items P or empty containers.

[0080] For example, the structure of vehicle 10 shown in FIG2 can be the same as that of vehicle 10 shown in FIG1, and will not be described again here.

[0081] Optionally, the pick-and-place device 20 can be located on the side of the carrier 10 away from the work platform 21 to hand over the item P on the carrier 10 to the transfer robot 40. In this case, the work platform 21 can be positioned close to the carrier 10 to facilitate the operator to pick up the item P from the carrier 10 or place the item P on the carrier 10.

[0082] Alternatively, the pick-and-place device 20 can be located on the side of the carrier 10 facing the work platform 21. In this way, the pick-and-place device 20 can place an item P on the carrier 10 onto the work platform 21, or place an item P on the work platform 21 onto the carrier 10.

[0083] Alternatively, the pick-and-place devices 20 can be simultaneously installed on both sides of the carrier 10. The pick-and-place device 20 on the side closer to the work platform 21 can realize the transfer of item P between the carrier 10 and the work platform 21, while the pick-and-place device 20 on the side away from the work platform 21 can realize the transfer of item P between the carrier 10 and the transfer robot 40. In this embodiment, the installation position of the pick-and-place device 20 on the carrier 10 is not limited.

[0084] It should be noted that the pick-and-place device 20 can also be used for inventory management. For example, the pick-and-place device 20 can remove an item P located in one storage location 110 of the carrier 10 and place it in another storage location 110 of the same carrier 10, thereby organizing the item P on the carrier 10. Alternatively, the pick-and-place device 20 can remove an item P located in a storage location 110 of one carrier 10 and place it in a storage location 110 of another carrier 10, thereby organizing the item P on the carrier 10. When the pick-and-place device 20 moves the item P between two carriers 10, the two carriers 10 can be arranged adjacent to each other, and the pick-and-place device 20 can be located between the two carriers 10.

[0085] It is understood that the pick-and-place device 20 can also be applied to other scenarios, and is not limited in the embodiments of this application.

[0086] As shown in Figure 1, in some examples, in order for the pick-and-place mechanism 210 of the pick-and-place device 20 to reach any position on the carrier 10, the height of the motion mechanism 360 of the pick-and-place device 20 is usually close to or equal to the height of the carrier column 130 of the carrier 10, so that the pick-and-place mechanism 210 can move along the motion mechanism 360 to the cargo position 110 on the carrier 10 at any height.

[0087] For example, to improve the storage efficiency of the storage area 100, the width of the aisle between two adjacent carriers 10 is usually small. When the transfer robot 40 is running in the aisle, if the pick-and-place mechanism 210 is at the bottom of the motion mechanism 360, the pick-and-place mechanism 210 is close to the support platform, which will block the aisle and prevent the transfer robot 40 from running in the aisle. At this time, the transfer robot 40 needs to wait for the pick-and-place mechanism 210 to rise along the motion mechanism 360 to above the transfer robot 40 before it can continue to run in the aisle.

[0088] Optionally, when the pick-up and place mechanism 210 is located at the bottom of the motion mechanism 360, the motion mechanism 360 can be stationary relative to the carrier 10, and the pick-up and place mechanism 210 stays at a position close to the support platform.

[0089] Alternatively, the motion mechanism 360 may be movable relative to the carrier 10, in which case the pick-and-place mechanism 210 moves near the support platform. In this case, since the motion speed of the motion mechanism 360 relative to the carrier 10 is usually relatively high, in order to avoid collision between the transfer robot 40 and the pick-and-place mechanism 210, the transfer robot 40 needs to wait for the pick-and-place mechanism 210 to finish moving near the support platform and rise along the motion mechanism 360 before it can move.

[0090] Therefore, the operation of the transfer robot 40 in the storage area 100 is affected by the pick-and-place device 20, which leads to a decrease in the handling efficiency of the transfer robot 40 and affects the throughput of the storage area 100.

[0091] Optionally, when the pick-and-place mechanism 210 obstructs the operation of the transfer robot 40 within the aisle, the bottom of the motion mechanism 360 may not contact the support platform.

[0092] Alternatively, a roller can be installed at the bottom of the motion mechanism 360, which can contact and roll on the support platform. The support platform of the storage area 100 is typically uneven, with some sections tilted. This can cause the position of the carrier 10 on the support platform to differ from the position of the roller, and the roller needs to contact the tilted support platform. In this case, the tilted support platform increases the difficulty of aligning the motion mechanism 360 with the carrier 10, potentially preventing the pick-and-place mechanism 210 from reaching the designated storage location 110, thus affecting the operating efficiency of the pick-and-place device 20.

[0093] Figure 3 is a schematic diagram of a warehousing system provided in some embodiments of this application; Figure 4 is another schematic diagram of a warehousing system provided in some embodiments of this application; and Figure 5 is a simplified schematic diagram of a warehousing system provided in some embodiments of this application.

[0094] As shown in Figures 3 to 5, the warehousing system may include the storage area 100 shown in Figure 1 and the workstation 200 shown in Figure 2.

[0095] In a warehousing system, to make full use of the vertical space, as shown in Figure 3, the warehousing system typically includes a carrier 10. The carrier 10 can be installed on the support platform of the warehousing system.

[0096] Within the storage system 300, there can be one or more vehicles 10.

[0097] In some examples, vehicle 10 can be a stationary vehicle 10 or a mobile vehicle 10.

[0098] In some examples, the support platform can be the floor of a storage system.

[0099] In some examples, the support surface can be the surface of a support platform set on the ground of the storage system.

[0100] In some examples, vehicle 10 may include shelves.

[0101] In some examples, the shelves can be fixed shelves.

[0102] In some examples, the shelves can be movable shelves.

[0103] In some examples, the shelf could be a cache shelf.

[0104] In some examples, the shelving can be a combination of different types of shelving. For example, it could be a combination of fixed shelving and movable shelving. Fixed shelving can be positioned above movable shelving.

[0105] In some examples, fixed shelves and movable shelves can be arranged side by side on a support platform, for example, they can be arranged side by side.

[0106] In some examples, vehicle 10 can be the seeding wall of a picking station.

[0107] In some examples, to make full use of the vertical space of the storage system, as shown in Figure 3, the vehicle 10 can be configured with multiple storage locations 110 along the height direction. The storage locations 110 can be configured to place target items.

[0108] In some examples, the target item can be the goods themselves, the original packaging, a container, a carrying pallet, a bin, a package containing goods, the original packaging box containing goods, a packaging box, or a packaging container, etc. The bin can be a standard bin or a slanted bin, etc. In some examples, to facilitate the transfer or circulation of the target item in the warehousing system, the bottom layer of the carrier 10 can be equipped with a buffer space 120.

[0109] In some examples, the target item can be retrieved from location 110 and placed in buffer location 120, and then transferred from buffer location 120 to other locations in the warehouse system (e.g., to picking workstations in the warehouse system) by transfer robot 40 in the warehouse system.

[0110] In some examples, a transfer robot 40 may move the target item from another location in the warehousing system to a buffer location 120, and then place the target item from the buffer location 120 onto a storage location 110 of the vehicle 10.

[0111] In some examples, referring to Figure 1, the target item is retrieved from storage location 110 and placed in buffer location 120 for convenient access; or, the target item is placed from buffer location 120 into storage location 110. The storage system may include a pick-and-place device 20. The pick-and-place device 20 may be located on one side of the carrier 10.

[0112] In some examples, the pick-and-place device 20 works in conjunction with the transfer robot 40 to transfer items.

[0113] In some examples, a guide rail can be provided on one side of the vehicle 10 in a transverse direction (e.g., the direction shown by the y-axis in Figure 3), and the pick-and-place device 20 can be mounted on the guide rail. At least a portion of the pick-and-place device 20 can move longitudinally (e.g., the direction shown by the z-axis in Figure 1).

[0114] In some examples, the pick-and-place device 20 can move along a guide rail laterally relative to the carrier 10. In this way, the pick-and-place device 20 can be moved to any column of the carrier 10.

[0115] In some examples, the pick-and-place device 20 may be provided with a pick-and-place mechanism 210, which can move relative to the carrier 10 along the longitudinal direction (e.g., the direction shown by the z-axis in Figure 3).

[0116] In other words, in some examples of the embodiments of this application, the pick-and-place device 20 can carry the pick-and-place mechanism 210 and move it laterally relative to the carrier 10, thereby moving the pick-and-place mechanism 210 to any column of the carrier 10. The pick-and-place mechanism 210 can move longitudinally relative to the carrier 10, thereby moving to any layer of storage location 110 of the carrier 10. In this way, the pick-and-place mechanism 210 can dock with storage location 110 at any position of the carrier 10 and transfer items with storage location 110 (e.g., transferring the target item from the pick-and-place mechanism 210 to storage location 110; or, removing the target item from storage location 110). It can be understood that the pick-and-place device 20 is mounted on one side of the carrier 10 via a track, and the weight of the pick-and-place device 20 and the pick-and-place mechanism 210 is concentrated on one side of the carrier 10, applying a force to the carrier 10, resulting in uneven force on both sides of the carrier 10 and a tendency to twist. Furthermore, when the target item is carried on the pick-up and place mechanism 210, the weight of the pick-up and place device 20, the pick-up and place mechanism 210, and the target item is concentrated on one side of the carrier 10. To avoid dangerous situations, the carrier 10 is usually required to have high strength.

[0117] In some examples, the pick-and-place device 20 may include a column 230. The column 230 may be disposed on one side of the carrier 10. The pick-and-place mechanism 210 may be disposed on the column 230.

[0118] In some examples, column 230 can be a single column, and pick-and-place mechanism 210 can move longitudinally along the single column.

[0119] In some examples, the column 230 may include two columns arranged side by side to form a gantry, and the pick-and-place mechanism 210 may be mounted on the gantry and move longitudinally along the gantry.

[0120] In some examples, to avoid dangerous situations, the bottom of the pick-and-place device 20 can be supported on a support platform. For example, the bottom end of the pick-and-place device 20 can extend to the ground. In this way, the weight of the pick-and-place device 20 and the target item can be unloaded onto the support platform.

[0121] However, when the pick-and-place device 20 moves laterally relative to the carrier 10, the transfer robot 40 in the storage system needs to move to the bottom of the carrier 10 to transfer items between itself and the buffer position 120 at the bottom of the carrier 10. At this time, because the pick-and-place device 20 moves at high speed, the transfer robot 40 needs to wait for the pick-and-place device 20 to stop before it can pass through to the bottom of the carrier 10, affecting the transfer efficiency of the transfer robot 40 in transferring the target items. In some cases, the transfer robot 40 cannot pass through the bottom of the carrier 10 and can only move within the bottom aisle of the shelf. This also affects the transfer efficiency of the transfer robot 40 in transferring the target items. In some examples, referring to Figures 3 to 5, the storage system may include a support member 30. The support member 30 may be located on one side of the carrier 10.

[0122] In some examples, to facilitate the suspension of the pick-and-place device 20, the pick-and-place device 20 can be connected to the carrier 10 via a support member 30 and move relative to the carrier 10 along the support member 30. This also avoids the problem of misalignment between the pick-and-place device 20 and the cargo position 110 of the carrier 10 due to the tilt of the support platform, thereby improving the operating efficiency of the pick-and-place device 20.

[0123] For example, the support member 30 can be a track, a support plate, or a support platform, etc., and is not limited in this embodiment.

[0124] In some examples, the first part of the pick-and-place device 20 along the longitudinal direction can be supported on the support member 30. In this way, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item can be unloaded onto the support member 30.

[0125] In some examples, the first part may be the bottom of the pick-and-place device 20.

[0126] In some examples, the first part may be the top of the pick-and-place device 20.

[0127] In some examples of embodiments of this application, "bottom" can be the bottom end of the pick-and-place device 20, such as the lowest position of the pick-and-place device 20. Of course, "bottom" can also be a position at a certain distance from the bottom end of the pick-and-place device 20. The specific position of "bottom" is not limited in the embodiments of this application.

[0128] In addition, in some examples of the embodiments of this application, "top" can be the top of the pick-and-place device 20, such as the highest position of the pick-and-place device 20. Of course, "top" can also be a position at a certain distance from the top of the pick-and-place device 20, and the specific position of "top" is not limited in the embodiments of this application.

[0129] In some examples, the bottom of the support 30 may have a preset gap 301 between it and the support platform.

[0130] In some examples, the support member 30 can be mounted on the ceiling of the storage system. For example, the support member 30 can be suspended from the ceiling of the storage system by expansion screws. In this way, there is no direct contact between the support member 30 and the support surface (e.g., the ground) of the storage system, which allows for a predetermined gap 301 between the support member 30 and the support surface of the storage system.

[0131] In some examples, the top of the pick-and-place device 20 may be supported on the support member 30. For example, the top of the pick-and-place device 20 may be provided with a traveling roller (not shown in the figure), which may be rotatably connected to the top of the pick-and-place device 20. The traveling roller may be suspended on the support member 30, so that the support member 30 supports the pick-and-place device 20, and the traveling roller may travel along the support member 30.

[0132] In some examples, the bottom of the pick-and-place device 20 may have a preset gap 301 between it and the support platform.

[0133] In some examples, referring to Figures 3 through 5, the warehousing system may include a transfer robot 40. The transfer robot 40 can move on a support platform.

[0134] In some examples, the transfer robot 40 can be configured to travel along a first direction (the direction shown by the x-axis in Figure 3) through a preset gap 301 to the bottom of the carrier 10. The transfer robot 40 can dock with the pick-and-place mechanism 210 of the pick-and-place device 20. In this way, the target item can be transferred between the transfer robot 40 and the pick-and-place mechanism 210. That is, the pick-and-place mechanism 210 can directly place the target item on the transfer robot 40. Alternatively, the pick-and-place mechanism 210 can remove the target item from the transfer robot 40.

[0135] In some examples, when the transfer robot 40 is unloaded, it can pass through a preset gap to the bottom of the carrier 10. After the pick-and-place mechanism 210 places the target item on the transfer robot 40, the transfer robot 40 can wait for the pick-and-place device 20 to move laterally before passing through the preset gap to the outside of the carrier 10.

[0136] As shown in Figures 4 and 5, to avoid the pick-and-place device 20 affecting the operation of the transfer robot 40, the height of the motion mechanism 360 can be reduced, so that there is a distance H between the bottom of the motion mechanism 360 and the support platform, thereby forming a preset gap. In other words, the pick-and-place device 20 can be suspended relative to the carrier 10. Thus, when the pick-and-place mechanism 210 moves to the bottom of the motion mechanism 360, there is also a certain distance between the pick-and-place mechanism 210 and the support platform.

[0137] In some examples, the distance H between the bottom of the motion mechanism 360 and the support platform or the distance between the pick-and-place mechanism 210 and the support platform can be greater than the height of the transfer robot 40, so that the transfer robot 40 can run below the pick-and-place mechanism 210, thereby avoiding the pick-and-place device 20 from affecting the operation of the transfer robot 40 and improving the handling efficiency of the transfer robot 40.

[0138] In some examples, the transfer robot 40 may be equipped with a carrying device for transporting items. In this case, the distance H between the bottom of the motion mechanism 360 and the support platform, or the distance between the pick-and-place mechanism 210 and the support platform, can be greater than the height of the transfer robot 40. The height of the transfer robot 40 can be the overall height of the transfer robot 40 when the carrying device is unloaded and lowered to its lowest point, or the height of the transfer robot 40 can be the overall height of the transfer robot 40 and the carried item after the carrying device has loaded the item, or the height of the transfer robot 40 can be the overall height of the transfer robot 40 and the carried item when the carrying device has loaded the item and lowered to its lowest point.

[0139] In some examples, the removal of the target item from vehicle 10 is used as an illustration.

[0140] In some examples, the dispatch center (or control center) of the warehousing system can issue item transfer instructions to the pick-and-place device 20, the pick-and-place mechanism 210, and the transfer robot 40.

[0141] In some examples, after receiving an item transfer instruction, the pick-up and place device 20 can move laterally along the vehicle 10 according to the location of the target item in the item transfer instruction until the pick-up and place device 20 moves to the column where the target item is located.

[0142] In some examples, the pick-and-place mechanism 210 can move longitudinally along the vehicle 10 according to the item transfer instruction until the pick-and-place mechanism 210 moves to the storage location where the target item is located.

[0143] In some examples, the pick-and-place mechanism 210 can move longitudinally after the pick-and-place device 20 has been moved into place.

[0144] In some examples, the pick-and-place mechanism 210 can move longitudinally while the pick-and-place device 20 moves laterally.

[0145] In some examples, the pick-and-place mechanism 210 may move before the pick-and-place device 20. For example, after the pick-and-place mechanism 210 moves longitudinally to the storage layer where the target storage location is located, the pick-and-place device 20 moves laterally, driving the pick-and-place mechanism 210 until the pick-and-place device 20 moves to the column where the target item is located.

[0146] In some examples, the pick-and-place mechanism 210 can remove the target item from the target location, and then the pick-and-place mechanism 210 can move downwards longitudinally.

[0147] In some examples, the transfer robot 40 can move along a support platform to below the column containing the target item, based on an item transfer instruction. The transfer robot 40 docks with the pick-and-place mechanism 210. The pick-and-place mechanism 210 can place the target item onto the transfer robot 40. The transfer robot 40 then transfers the target item to another location in the warehousing system (e.g., a picking station).

[0148] In some examples, the transfer robot 40 can determine the first walking path on the support platform based on the item handling instructions.

[0149] In some examples, the first walking path can be planned by the warehouse system's dispatch center based on the item handling instructions. The dispatch center can send the first walking path to the transfer robot 40 when sending the item handling instructions to the transfer robot.

[0150] In some examples, the transfer robot 40 can determine whether the first travel path passes through the preset gap 301. For example, referring to FIG3, the first travel path can be traveling through the preset gap 301 along a first direction (e.g., the direction shown by the x-axis in FIG3), in which case the first travel path can pass through the preset gap 301.

[0151] In some examples, referring to Figure 3, the first travel path can be along the direction shown by the y-axis in Figure 3. That is, the transfer robot 40 can travel along the direction shown by the y-axis in Figure 3 to the underside of the carrier 10 and dock with the pick-and-place mechanism 210. In this case, the transfer robot 40 does not need to pass through the preset gap 301, and the first travel path does not pass through the preset gap 301.

[0152] In some examples, when the first travel path passes through a preset gap 301, the transfer robot 40 can pass through the preset gap 301 to the underside of the carrier 10 and dock with the pick-and-place mechanism 210. This facilitates the transfer of the target item between the pick-and-place device 20 and the transfer robot 40. That is, the pick-and-place mechanism 210 can place the target item on the transfer robot 40, and the transfer robot 40 can transfer the target item to other locations in the storage system.

[0153] In some examples, the transfer robot can determine multiple primary walking paths on the support platform based on the item transfer instructions. For example, one walking path could be along the x-axis in Figure 3, and another walking path could be along the y-axis in Figure 3.

[0154] In some examples, the transfer robot 40 can determine a target first walking path from multiple first walking paths based on the efficiency of transferring the target item. The target first walking path can be a first walking path that the transfer robot 40 determines to follow.

[0155] In some examples, the distance that the transfer robot 40 needs to travel from its current position to the docking position with the pick-and-place mechanism 210 along each first walking path can be determined.

[0156] In some examples, the shortest first walking path can be determined as the target first walking path. In this way, the transfer robot 40 needs to travel the shortest distance, which can improve the efficiency of transferring the target item.

[0157] In some examples, the efficiency of transferring the target item on each first walking path can be determined by identifying whether there are obstacles on each first walking path, such as whether there are other transfer robots 40. The first walking path where no other transfer robots 40 exist is designated as the target first walking path. In this way, the current transfer robot 40 does not need to avoid other transfer robots 40 on the first walking path, thus improving the efficiency of transferring the target item.

[0158] In some examples, after determining the first travel path with the shortest travel distance, the transfer robot 40 can determine whether there are other transfer robots 40 blocking the first travel path.

[0159] In some examples, "obstruction" can mean that the current transfer robot 40 is not blocked by other transfer robots 40 during its movement along the first walking path. That is, at any given moment, other transfer robots 40 may be present on the first walking path, as long as they do not affect the movement of the current transfer robot 40 at that moment. For example, other transfer robots 40 may be a certain distance away from the current transfer robot 40, and in the next moment, the other transfer robots 40 may move from the first walking path to another path.

[0160] In some examples, if other transfer robots 40 exist on the shortest first walking path, it can be determined from the remaining first walking paths whether other transfer robots 40 exist on the shortest first walking path. This continues until the shortest first walking path without other transfer robots 40 is determined as the target walking path. In this way, the transfer efficiency of the transfer robot 40 in transferring the target item can be improved.

[0161] In some examples, when the transfer robot 40 determines the shortest first travel path and there are other transfer robots 40 on that first travel path, the transfer robot 40 can determine whether it will meet the other transfer robots 40 on the first travel path when they reach the intersection of the first path. That is, it determines whether the two transfer robots 40 will obstruct each other.

[0162] In some examples, where the two transfer robots 40 do not obstruct each other, the first path with the shortest walking distance can be determined as the target first walking path. The current transfer robot 40 walks along the target first walking path.

[0163] In some examples, referring to Figure 3, the storage system may include a cache location 120. The cache location 120 may be located at the bottom of the vehicle 10.

[0164] In some examples, the transfer robot 40 is configured to travel through a preset gap 301 to the bottom of the vehicle 10 in a first direction (the direction shown by the x-axis in Figure 3).

[0165] In some examples, the transfer robot 40 can dock with the buffer position 120. The transfer robot 40 can transfer items between the buffer position 120 and the buffer position 120. For example, the transfer robot 40 can place the target item on the buffer position 120, and the pick-and-place mechanism 210 on the pick-and-place device 20 can remove the target item from the buffer position 120 and place the target item on the cargo position 110 of the carrier 10. Alternatively, the transfer robot 40 can remove the target item from the buffer position 120.

[0166] In some examples, after the transfer robot 40 completes the transfer of the target item with the buffer position 120—for example, the transfer robot 40 removes the target item from the buffer position 120, or the transfer robot 40 places the target item in the buffer position 120—the transfer robot 40 can determine a second travel path between itself and the location to be transferred.

[0167] In some examples, the location to be transferred can be another location in the warehousing system besides the current location of the transfer robot 40. For example, it could be a picking workstation, another carrier 10, or another buffer location 120 in the warehousing system.

[0168] In some examples, when the second walking path passes through the preset gap 301, the transfer robot can pass through the preset gap 301 to the outside of the vehicle and walk along the second walking path to the transfer location.

[0169] In some examples, the method for determining the second walking path may be the same as, similar to or similar to the method for determining the first walking path. For details, please refer to the detailed description of the first walking path in the foregoing embodiments of this application. This application will not repeat the details in the embodiments.

[0170] In some examples, the transfer robot 40 can travel through a preset gap 301 to the outside of the vehicle 10 in the direction shown by the x-axis in Figure 3.

[0171] In some examples, the transfer robot 40 can travel along the second travel path without passing through the preset gap 301.

[0172] In some examples, the buffer position 120 may be located on one side of the vehicle 10. For example, taking Figure 1 as an example, the buffer position 120 may be located on one side of the vehicle 10 along the direction shown by the x-axis in Figure 3. The side of the pick-up and drop mechanism 210 away from the vehicle may dock with the buffer position 120, thereby transferring the target item to the buffer position 120.

[0173] In some examples, the transfer robot 40 can walk along a first walking path to the buffer position 120. After completing the transfer of the target item between the transfer robot 40 and the buffer position 120, the transfer robot 40 can walk along a second walking path to the position to be transferred.

[0174] In some examples, when there are multiple vehicles 10, the multiple vehicles 10 can be spaced apart along the width direction of the vehicle 10 (the x-axis direction in Figure 5). A passageway N can be formed between two adjacent vehicles 10 to allow the transfer robot 40 or operators to pass through.

[0175] It should be noted that the extension direction of the tunnel N can be the same as the length direction of the vehicle 10 (the y-axis direction in Figure 4), and the arrangement direction of the vehicle 10 can be the same as the width direction of the vehicle 10 (the x-axis direction in Figure 5).

[0176] In some examples, the storage system may have multiple carriers 10, which may be arranged in a matrix on the support platform of the storage system.

[0177] In some examples, a passageway may be reserved between two adjacent vehicles 10. After the transfer robot 40 passes through the preset gap 301 to the outside of the vehicle 10, the transfer robot 40 can move in the passageway (for example, it can move in the passageway in the direction shown by the y-axis in Figure 3).

[0178] In some examples, the pick-and-place device 20 may be located inside the tunnel.

[0179] According to the warehousing system provided in this application embodiment, by setting a carrier 10 on the support platform of the warehousing system, and having multiple layers of storage locations 110 along the height direction of the carrier 10, the vertical space of the warehousing system can be fully utilized, thereby improving the storage density and space utilization rate of the warehousing system. A buffer location 120 is set at the bottom of the carrier 10 to facilitate the turnover and transfer of target items, improving the transfer efficiency of target items. By setting a pick-and-place device 20 on one side of the carrier 10, the pick-and-place device 20 can move relative to the carrier 10 in the lateral direction. Thus, the pick-and-place device 20 can drive the pick-and-place mechanism 210 set on the pick-and-place device 20 to move to any column of the carrier 10. The pick-and-place mechanism 210 can move relative to the pick-and-place device 20 in the longitudinal direction, thereby moving to any layer of the carrier 10, facilitating the exchange of target items between the pick-and-place mechanism 210 and the carrier 10 (e.g., the pick-and-place mechanism 210 places the target item on the carrier 10, or the pick-and-place mechanism 210 removes the target item from the carrier 10). In addition, a support member 30 is provided in the storage system. The support member 30 is located on one side of the carrier 10, and at least one end of the pick-and-place device 20 along the longitudinal direction can be supported on the support member 30. In this way, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item placed on the pick-and-place mechanism 210 can be transferred from one side of the carrier 10 to the support member 30. This can reduce the force exerted on the carrier 10 by the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item, thereby reducing the strength requirements of the carrier 10 and saving on the production and processing costs of the carrier 10.

[0180] Furthermore, in the warehousing system provided in this application embodiment, there is a preset gap 301 between the support member 30 and the end of the pick-and-place device 20 near the support platform (e.g., the ground) and the support platform. Thus, when the transfer robot 40 in the warehousing system walks on the support platform, it can pass through the preset gap 301 to the buffer position 120 at the bottom of the carrier 10, and after completing the target exchange with the buffer position 120, it can pass through the preset gap 301 to the outside of the carrier 10. In this way, when the pick-and-place device 20 moves laterally on one side of the carrier 10, the transfer robot 40 walking on the support platform can pass through the preset gap 301 to the bottom buffer position 120 of the carrier 10; or, from the bottom buffer position 120 of the carrier 10 to the outside of the carrier 10. That is to say, the lateral movement of the pick-and-place device 20 will not affect the movement of the transfer robot 40, improving the transfer efficiency of the transfer robot 40 in handling target items and improving the flow efficiency of target items in the warehousing system.

[0181] Figure 6 is a partial structural schematic diagram of a vehicle provided in some embodiments of this application.

[0182] Figure 7 is an enlarged view of point A in Figure 6.

[0183] As shown in Figures 6 and 7, exemplarily, partitions 313 may also be provided on each layer of horizontal beams 311, extending along the width direction of the carrier 10 (the y-axis direction in Figure 6). The two ends of the partitions 313 are respectively connected to two horizontal beams 311, thereby using the partitions 313 to divide one layer of horizontal beams 311 into multiple storage locations 110. It is understood that when the horizontal beams 311 are not provided with partitions 313, one layer of horizontal beams 311 may also have multiple storage locations 110; this is not limited in this embodiment.

[0184] As shown in Figures 6 and 7, in some examples, the horizontal beam 311 closest to the support platform can be a first horizontal beam 3111. The first horizontal beam 3111 can be spaced apart from the support platform. In other words, a storage location 110 may not be formed in the space between the first horizontal beam 3111 and the support platform for the transfer robot 40 to pass under the carrier 10. In this way, the transfer robot 40 can move not only along the extension direction of the aisle N (y-axis direction in Figure 6) but also along the arrangement direction of the carrier 10 (x-axis direction in Figure 6). Furthermore, while moving along the extension direction of the aisle N or along the arrangement direction of the carrier 10, it can also pass through the gaps or channels formed between the motion mechanism 360 and the support platform without colliding with the carrier 10. This achieves greater operational flexibility for the transfer robot 40 and effectively improves its operational efficiency. In addition, the transfer robot 40 can also pass under the carrier 10 to fully utilize the space beneath it, thereby improving the space utilization rate of the storage system 300.

[0185] For example, the space above the first horizontal beam 3111 can be used to form a buffer position 120.

[0186] Taking item shelving as an example, after the transfer robot 40 transports the target item to the designated location of the carrier 10, it can first place the target item on the buffer position 120 near the support platform. The buffer position 120 near the support platform is relatively low, making it easy for the transfer robot 40 to place the target item on it. At this time, the transfer robot 40 can proceed to the next transportation task without waiting for the pick-and-place device 20 to remove the target item from the transfer robot 40, thereby improving transportation efficiency. After completing the previous task, the pick-and-place device 20 can remove the target item from the buffer position 120 and place it on the designated storage location 110 of the carrier 10 to realize the shelving of the target item.

[0187] It is understandable that the buffer position 120 can also be located on the carrier 10 away from the support platform, such as at the top of the carrier 10. In this case, the supporting structure on the transfer robot 40 can be raised and lowered to pick up and place items on the buffer position 120 located at a higher position.

[0188] It should be noted that the process of removing items from the shelves is the reverse of the process of adding items to the shelves, and will not be elaborated here.

[0189] It is understood that in other embodiments, the storage location 110 on the first horizontal beam 3111 can also have the same function as the storage location 110 on other horizontal beams 311, that is, the vehicle 10 may not be provided with a buffer location 120. In this embodiment, the setting of the storage location 110 of the vehicle 10 is not limited.

[0190] Optionally, as shown in Figures 1 and 2 above, the carrier 10 can be a shelf or a support frame. The shelf can be a fixed shelf, or a movable shelf, or it can include both fixed and movable shelves arranged horizontally or vertically. The support frame can be a fixed support frame or a movable support frame.

[0191] In addition, the carrier 10 can also be a partitioned shelf or other structures with storage locations 110 that can realize the function of storing goods. In this embodiment, the carrier 10 is not limited.

[0192] In some examples, the support member 30 is at least located on one side of the carrier 10. For example, along the width direction of the carrier 10, the support member 30 can be located on one side of the carrier 10 or on both sides of the carrier 10. Alternatively, the support member 30 can be located on one side of the carrier 10 along the width direction (x-axis direction in Figure 6) and simultaneously on one side of the carrier 10 along the length direction (y-axis direction in Figure 6). Furthermore, the support member 30 can be arranged around the carrier 10, that is, the support member 30 can be arranged around the perimeter of the carrier 10. It is understood that the relative position of the support member 30 and the carrier 10 can be adjusted according to actual conditions and is not limited in this embodiment.

[0193] For example, the support member 30 can be disposed on the horizontal beam 311 of the carrier 10, or the support member 30 can be directly formed from the horizontal beam 311 of the carrier 10. However, whether the support member 30 is disposed on the horizontal beam 311 of the carrier 10 or formed from the horizontal beam 311 of the carrier 10, the overall load of the pick-and-place device 20 will act on the carrier 10, resulting in a large load on the carrier 10. At the same time, if the pick-and-place device 20 is disposed on one side of the carrier 10, it will also cause the load of the carrier 10 to be unbalanced, making it easy to tip over and increasing the difficulty of fixing the carrier 10.

[0194] It should be noted that the transfer robot 40 will also encounter the same problem in the workstation 200 scenario, where the pick-and-place mechanism 210 in the storage area 100 blocks the aisle, affecting the operation of the transfer robot 40 and the load stability of the carrier 10. This will not be elaborated here.

[0195] For example, the support member 30 is connected to the support platform. In this way, the load acting on the support member 30 can be transferred to the support platform. Compared with the form in Figures 1 and 2 where the support member 30 is placed on the carrier 10, connecting the support member 30 to the support platform can prevent the load acting on the support member 30 from being transferred to the carrier 10, thereby improving the stability of the carrier 10.

[0196] Optionally, the support member 30 can be directly connected to the support platform. In this case, the support member 30 can be provided with a support portion extending toward the support platform, so that while connecting with the support platform, it can also support the rest of the support member 30, thus creating a gap between the support platform and the support member 30.

[0197] Alternatively, the support member 30 can be indirectly connected to the support platform. In this case, the support member 30 can be connected to the support platform through other components or structures.

[0198] It should be noted that the support platform in this embodiment can be the ground plane or a platform erected on the ground plane. In this embodiment, the support platform is not limited.

[0199] Furthermore, the support member 30 can be spaced apart from the support platform, meaning the end of the support member 30 closest to the support platform is a distance h from it. This spacing allows the transfer robot 40 to pass through, preventing the support member 30 from interfering with the robot's operation and improving its transport efficiency. In addition, the spaced-apart arrangement simplifies the planning of the transfer robot 40's trajectory. In other words, the position of the support member 30 does not need to be considered when planning the robot's trajectory, thus increasing the flexibility of the trajectory planning.

[0200] Referring to Figures 5 and 6, the pick-up and place device 20 can be located on the side of the support member 30 close to the carrier 10, or the pick-up and place device 20 can be located on the side of the support member 30 away from the carrier 10 (as shown in Figure 5), or the pick-up and place device 20 can be located above the support member 30.

[0201] In some examples, the pick-and-place device 20 includes a pick-and-place mechanism 210 and a motion mechanism 360.

[0202] The pick-and-place mechanism 210 can move on the motion mechanism 360 to perform lifting and lowering movements on the motion mechanism 360 under the control of control commands, thereby reaching the target storage location 110 located at a specified height on the carrier 10. The pick-and-place mechanism 210 is capable of picking up and placing target items on the target storage location 110, that is, the pick-and-place mechanism 210 can remove target items from the target storage location 110 or place target items on the target storage location 110.

[0203] In some examples, the components on the pick-and-place mechanism 210 used for picking up and placing target items can be gripping forks, suction cups, hooks, levers, and magnetic structures. The gripping forks can clamp the target item from both sides, or insert from below or hook from above. The suction cups can be positioned at the center of the target item's side wall, or their connection position can be adjusted according to the target item's center of gravity. The hooks can grab the edges, top edges, bottom edges, or protrusions, grooves, and handles on the target item's side. There can be one or more levers.

[0204] For example, the loading and unloading mechanism 210 can be a single-deep mechanism, a double-deep mechanism, or a multi-deep mechanism, which can be adjusted according to the configuration of the cargo position 110 of the carrier 10.

[0205] Furthermore, when the pick-and-place device 20 is located between the two carriers 10, the pick-and-place mechanism 210 can pick up and place target items on one side of the carrier 10, or on both sides of the carrier 10. When the pick-and-place mechanism 210 picks up and places target items on both sides of the carrier 10, the components on the pick-and-place mechanism 210 used for picking up and placing target items may have a rotation function, or they may not have a rotation function, but have a bidirectional gripping or suction structure to pick up and place target items on both sides respectively.

[0206] It should be noted that the specific structure of the pick-and-place mechanism 210 can be adjusted according to the actual situation, and is not limited in this embodiment.

[0207] In some examples, the motion mechanism 360 can move along the support member 30, with a gap between the end of the motion mechanism 360 and the support platform, i.e., a distance H between the end of the motion mechanism 360 and the support platform. Compared to the structure shown in Figure 1, the motion mechanism 360 does not obstruct the movement of the transfer robot 40 along the extension direction of the aisle N (y-axis direction in Figure 6), nor does it obstruct the movement of the transfer robot 40 along the arrangement direction of the aisle N (x-axis direction in Figure 6). Thus, the transfer robot 40 has greater operational flexibility in both the extension and arrangement directions of the aisle N. When planning the path of the transfer robot 40, it is not necessary to consider whether the motion mechanism 360 will obstruct its movement path, thereby improving the flexibility of path planning and increasing the control response speed of the warehousing system 300.

[0208] Furthermore, when the pick-and-place mechanism 210 moves to the end of the motion mechanism 360 near the support platform, there is a gap between the end of the pick-and-place mechanism 210 near the support platform and the support platform. This gap between the side of the pick-and-place mechanism 210 facing the support platform and the support platform can be used to form a channel for the transfer robot 40 to pass through. Compared to the structure shown in Figure 1, the pick-and-place mechanism 210 does not obstruct the movement of the transfer robot 40 along the extension direction of the aisle N (as shown by the y-axis in Figure 6), nor does it obstruct the movement of the transfer robot 40 along the arrangement direction of the aisle N (as shown by the x-axis in Figure 6). Simultaneously, the movement of the pick-and-place mechanism 210 on the motion mechanism 360 does not affect the operation of the transfer robot 40, thus ensuring that the working process of the pick-and-place mechanism 210 and the working process of the transfer robot 40 do not interfere with each other, thereby improving the operational freedom of the transfer robot 40. In this way, when planning the path of the transfer robot 40, it is not necessary to consider whether the motion mechanism 360 will obstruct the operation path of the transfer robot 40, which can improve the flexibility of the path planning of the transfer robot 40 and improve transportation efficiency.

[0209] In other words, the distance between the side of the motion mechanism 360 near the support platform and the support platform, as well as the distance between the side of the pick-and-place mechanism 210 near the support platform and the support platform when the pick-and-place mechanism 210 moves to the side near the support platform, can avoid obstructing the operation of the transfer robot 40. This allows the transfer robot 40 to move freely on the support platform, improving the flexibility of the path planning and operation of the transfer robot 40, thereby improving transportation efficiency.

[0210] In some examples, when the pick-and-place mechanism 210 moves to the end of the motion mechanism 360 near the support platform, the distance between the side of the pick-and-place mechanism 210 facing the support platform and the support platform can be greater than the height of the transfer robot 40 in the empty state and / or loaded state, so that the transfer robot 40 can pass through in various states, so as to facilitate the planning of the running trajectory of the transfer robot 40.

[0211] It should be noted that the height of the transfer robot 40 in its unloaded state can be the overall height of the transfer robot 40 without a load-bearing structure and without carrying any items, or the height of the transfer robot 40 in its unloaded state can be the overall height of the transfer robot 40 with a load-bearing structure but without carrying any items, and with the load-bearing structure at its lowest point. The height of the transfer robot 40 in its loaded state can be the overall height of the transfer robot 40 and the items when the transfer robot 40 is not carrying a load-bearing structure but carrying items, or the height of the transfer robot 40 in its loaded state can be the overall height of the load-bearing structure, the items, and the transfer robot 40 when the load-bearing structure is at its lowest point.

[0212] In the warehousing system 300 provided in this application embodiment, the support member 30 is connected to and spaced apart from the support platform. This arrangement ensures that the support member 30 does not affect the operation of the transfer robot 40, while simultaneously transferring the load exerted on the support member 30 by the pick-and-place device 20 to the support platform, thereby avoiding impact on the load on the carrier 10, reducing the difficulty of fixing the carrier 10, and improving the stability of the carrier 10. Simultaneously, the spaced-apart arrangement of the end of the motion mechanism 360 of the pick-and-place device 20 near the support platform also avoids affecting the operation of the transfer robot 40. Furthermore, placing the pick-and-place device 20 on the support member 30 spaced apart from the support platform also prevents the tilt and flatness of the support platform from affecting the positioning between the pick-and-place mechanism 210 and the storage location 110, thus improving the positioning accuracy between the pick-and-place mechanism 210 and the storage location 110. Furthermore, when the pick-and-place mechanism 210 moves to one end of the motion mechanism 360 near the support platform, the gap between the pick-and-place mechanism 210 and the support platform can form a channel for the transfer robot 40 to pass through, thereby improving the operational freedom of the transfer robot 40, improving the path planning flexibility of the transfer robot 40, and thus improving transportation efficiency and the throughput of the warehousing system 300.

[0213] In some examples, referring to Figures 3, 5, and 7, the support platform is provided with support columns 310. The support member 30 can be supported on the end of the support column 310 away from the support platform. That is, in some examples of the embodiments of this application, the support member 30 can be set on the support platform of the storage system through the support column 310. For example, the support member 30 can be set on the support platform through the support column 310. In this way, the support column 310 can support the support member 30, so that there is a preset gap 301 between the support member 30 and the support platform, which facilitates the passage of the transfer robot 40 through the preset gap 301.

[0214] It should be noted that in other examples, the support column 310 can also be referred to as a support column.

[0215] In other words, the storage system 300 may also include at least one support column 310. The support column 310 is located between the support member 30 and the support platform to connect the support member 30 and the support platform. In this way, the support column 310 can suspend the support member 30 above the support platform and can also transfer the load on the support member 30 to the support platform.

[0216] For example, the support column 310 may be the same material and shape as the support member 30, or the support column 310 may be the same material and shape as the vehicle column 130 of the vehicle 10.

[0217] In some examples, the support member 30 can be located on one side of the carrier 10, and the motion mechanism 360 can be located on the side of the support member 30 away from the carrier 10, that is, the support member 30 is located between the carrier 10 and the motion mechanism 360. In this way, the motion mechanism 360 and the pick-and-place mechanism 210 can be located in the aisle N, and the distance between the support member 30 and the carrier 10 can be reduced, so as to reduce the width of the aisle N and thus improve the space utilization of the storage area.

[0218] In some examples, the bottom end of the pick-and-place device 20 may be supported on the support member 30 and travel along the support member 30.

[0219] In some examples of embodiments of this application, the support member 30 is supported on the support platform of the storage system by the support column 310. In this way, the weight of the picking and placing device 20, the picking and placing mechanism 210, and the target item can be unloaded onto the support platform through the support member 30 and the support column 310. This reduces the installation difficulty of the support member 30.

[0220] Furthermore, by supporting the support member 30 on the support platform through the support column 310, the support member 30 can be leveled, thus ensuring longitudinal stability of the picking and placing device 20 when moving laterally. This facilitates the docking of the picking and placing mechanism 210 with each layer of storage location 110. Compared to supporting the bottom of the picking and placing device 20 on the ground, this simplifies the longitudinal position control of the picking and placing device 20 and simplifies its structure.

[0221] In some examples, referring to Figure 3, the support columns 310 may include multiple columns. The multiple support columns 310 may be arranged at lateral intervals along the carrier 10.

[0222] In some examples, the transfer robot 40 can move between two adjacent support columns 310.

[0223] In some examples of embodiments of this application, multiple support columns 310 are arranged at lateral intervals along the carrier 10. The support member 30 is supported by the multiple support columns 310. In this way, the span between adjacent support columns 310 can be reduced, and the strength of the support member 30 between adjacent support columns 310 can be improved. This ensures that the support member 30 can bear the weight of the pick-and-place device 20, the pick-and-place mechanism 210 and the target item, and can keep the support member 30 from deforming. This ensures the accuracy of the longitudinal position of the pick-and-place device 20 and facilitates the docking of the pick-and-place mechanism 210 with the cargo location 110.

[0224] In some examples, referring to Figure 3, the vehicle 10 may have a vehicle column 130. The vehicle column 130 may be supported on a support platform.

[0225] In some examples, the vehicle column 130 can be square steel, I-beam steel, or channel steel, etc. The vehicle column 130 can be supported longitudinally on the support platform.

[0226] In some examples, multiple vehicle columns 130 can be arranged at intervals along the transverse direction of the vehicle 10 (e.g., the direction shown by the y-axis in Figure 3). This facilitates support for the cargo bay 110.

[0227] In some examples, as shown in Figure 3, the support column 310 can be positioned opposite the carrier column 130 along the direction in which the transfer robot 40 travels through the preset gap 301 (e.g., the direction shown by the x-axis in Figure 3).

[0228] For example, to facilitate the positioning of the pick-and-place mechanism 210 and the storage location 110 and to avoid affecting the pick-and-place of target items on the storage location 110, at least one support column 310 can correspond to the carrier column 130 of the carrier 10, and at least one support column 310 can be connected to the carrier column 130 of the carrier 10. In this way, the impact of the support column 310 on the operation of the transfer robot 40 can also be reduced, especially when the transfer robot 40 is passing under the carrier 10.

[0229] Optionally, the number of support columns 310 may be equal to or less than the number of vehicle columns 130 on one side of the vehicle 10, and this is not limited in this embodiment.

[0230] In some examples, along the direction in which the transfer robot 40 travels through the preset gap 301, such as a first direction (e.g., the direction shown by the x-axis in Figure 3), the support column 310 can be aligned with the carrier column 130. Thus, the support column 310 and the carrier column 130 occupy the same space, meaning the support column 310 does not obstruct the travel path of the transfer robot 40, facilitating the transfer robot 40 to travel under the carrier 10, or facilitating the transfer robot 40 to travel from under the carrier 10 to the outside of the carrier 10.

[0231] In some examples, when the target item is placed on the transfer robot 40 and the transfer robot 40 is lowered to its lowest position, the target item and the transfer robot 40 have a first height relative to the support platform. That is, the first height can be the distance between the highest point of the target item and the support platform.

[0232] In some examples, the support column 310 may have a second height. The second height may be higher than the first height. That is, after the support column 310 supports the support member 30, the height of the preset gap 301 formed between the support member 30 and the support platform may be higher than the first height.

[0233] In other words, after the lifting mechanism of the transfer robot 40 rises to remove the target item from the buffer position 120, the lifting mechanism descends to the lowest point, and then the transfer robot 40 passes through the preset gap 301 to the outside of the vehicle 10.

[0234] In this way, after the transfer robot 40 takes the target item from the buffer position 120, it can pass through the preset gap 301 to the outside of the vehicle 10 without waiting for the lifting mechanism to descend to the lowest point, which reduces the waiting time of the transfer robot 40 and improves the efficiency of the transfer robot 40 in transferring the target item.

[0235] In some examples, when the transfer robot 40 is in an unloaded state, it can be lowered to its lowest position and pass through the preset gap 301. It can be understood that when the transfer robot 40 is in an unloaded state and lowered to its lowest position, the height of the transfer robot 40 relative to the support platform is lower than the second height.

[0236] In some examples of embodiments of this application, by setting the height of the support column 310 to be higher than the total height of the transfer robot 40 and the target item, the height of the preset gap 301 can be higher than the total height of the transfer robot 40 and the target item, making it easier for the transfer robot 40 to carry the target item through the preset gap 301. This improves the transfer efficiency of the transfer robot 40 in transporting the target item.

[0237] As shown in Figures 3 and 7, the warehousing system also includes, for example, a first connector 314, one end of which is connected to the carrier 10 and the other end of which is connected to the support member 30 and / or the support column 310.

[0238] In one example, the support member 30 is connected to the carrier 10 via the first connector 314, thereby limiting the position of the support member 30 by means of the carrier 10, so as to fix the relative position between the support member 30 and the carrier 10, thereby facilitating the improvement of the positioning accuracy of the pick-and-place mechanism 210 and the cargo location 110.

[0239] Optionally, the first connecting member 314 can be a bolt, so that the support member 30 can be connected to the carrier 10 by the bolt. Alternatively, the first connecting member 314 can be an adhesive layer, so that the support member 30 can be connected to the carrier 10 by the adhesive layer. In this embodiment, the connection method between the support member 30 and the carrier 10 is not limited. For example, in order to facilitate the positioning of the loading and unloading mechanism 210 and the storage location 110 and to avoid affecting the loading and unloading of target items on the storage location 110, the support member 30 can correspond to the horizontal beam 311 of the carrier 10, that is, the support member 30 can be located at the same height as the horizontal beam 311 of the carrier 10 and connected to the horizontal beam 311 of the carrier 10 through the first connecting member 314.

[0240] It should be noted that the support member 30 can also be connected to the vehicle column 130 of the vehicle 10 through the first connector 314, which is not limited in this embodiment.

[0241] In another example, at least one support column 310 is connected to the carrier 10 via a first connector 314, thereby limiting the position of the support column 310 by means of the carrier 10, thereby limiting the position of the support member 30 connected to the support column 310, and fixing the relative position between the support member 30 and the carrier 10, thereby facilitating the improvement of the positioning accuracy of the pick-and-place mechanism 210 and the cargo location 110.

[0242] Optionally, as shown in Figure 7, the first connector 314 can be a bolt, so that the support column 310 can be connected to the carrier 10 by the bolt. Alternatively, the first connector 314 can be an adhesive layer, so that the support column 310 can be connected to the carrier 10 by the adhesive layer. In this embodiment, the connection method between the support column 310 and the carrier 10 is not limited.

[0243] In another example, the support member 30 and at least one support column 310 are connected to the carrier 10 via a first connector 314, thereby enabling relative fixation between the support member 30 and the carrier 10.

[0244] It should be noted that the connection between the support member 30 and the carrier 10 via the first connector 314, and the connection between the support column 310 and the carrier 10 via the first connector 314, can be referred to the above description and will not be repeated here.

[0245] In this embodiment, the load of the support member 30 is mainly supported by the support column 310 and transferred to the support platform. The main purpose of connecting the support member 30 to the carrier 10 and / or connecting the support column 310 to the carrier 10 is to fix the relative position between the support member 30 and the carrier 10, so as to facilitate the subsequent positioning of the cargo space 110 and the items on the carrier 10. At this time, the connection between the support member 30 and the carrier 10 and / or the connection between the support column 310 and the carrier 10 is not the main transmission path of the load of the support member 30. Therefore, the load on the support member 30 has a relatively small impact on the carrier 10, thereby maintaining the stability of the carrier 10.

[0246] In other embodiments, multiple spaced cement protrusions may also be provided on the support platform. The support member 30 may be positioned above the cement protrusions to connect with the support platform through the cement protrusions. Meanwhile, in areas where the support platform does not have cement protrusions, the support member 30 is spaced apart from the support platform to allow the transfer robot 40 to pass through.

[0247] As shown in Figure 3, in some examples, the first connector 314 may include a pull rod 320.

[0248] In some examples, a tie rod 320 is provided between the support member 30 and the carrier 10. The tie rod 320 can be configured to limit the distance between the support member 30 and the carrier. The tie rod 320 can be a rigid member. For example, the tie rod 320 can be square steel, channel steel, or I-beam steel, etc.

[0249] In some examples, one end of the pull rod 320 can be fixedly connected to the support member 30. The pull rod 320 can be fixedly connected to the support member 30 by bolts, screws, or threaded rods.

[0250] In some examples of the embodiments of this application, the descriptions such as "one end," "end," and "other end" can refer to the endpoint of a component. In other examples, the descriptions such as "one end," "end," and "other end" can refer to a part of a component that is at a predetermined distance from the end. As long as it is not the midpoint of a component, the specific location of "one end," "end," and "other end" is not limited in the embodiments of this application.

[0251] In some examples, the other end of the pull rod 320 can be fixedly connected to the carrier 10. The fixed connection method between the pull rod 320 and the carrier 10 can refer to the fixed connection method between the pull rod 320 and the support member 30 in the foregoing embodiments of this application, and will not be repeated in the embodiments of this application.

[0252] In some examples, the lever 320 may be a horizontal lever 320. For example, the lever 320 may extend in the direction shown by the x-axis in Figure 1.

[0253] In some examples, the tie rod 320 can be a diagonal tie rod 320. For example, the end of the tie rod 320 connected to the support member 30 can be higher than the end of the tie rod 320 connected to the carrier 10.

[0254] In some examples, the end of the tie rod 320 that connects to the vehicle 10 can be connected to the bottom of the vehicle column 130. In this way, the tie rod 320 and the support column 310 can provide triangular support for the support member 30, thereby improving the stability of the support member 30.

[0255] In some examples of embodiments of this application, a pull rod 320 is provided between the support member 30 and the carrier 10, with one end of the pull rod 320 fixedly connected to the support member 30 and the other end of the pull rod 320 fixedly connected to the carrier 10. Thus, the pull rod 320 can provide fixed support for the support member 30 in a direction perpendicular to the moving plane of the pick-and-place device 20 (e.g., the plane constructed by the y-axis and z-axis in Figure 3, or a plane parallel to the y-axis and z-axis). This eliminates the swaying of the support member 30 in a direction perpendicular to the moving plane of the pick-and-place device 20 (e.g., the direction shown by the x-axis in Figure 3) when the pick-and-place device 20 moves on it, thereby improving the stability of the support member 30 in supporting the pick-and-place device 20 and enhancing the safety of transferring the target item.

[0256] It should be noted that the support column 310 can also be connected to the horizontal beam 311 of the carrier 10 through the first connector 314, which is not limited in this embodiment.

[0257] Figure 8 is a schematic diagram of the cooperation between the retrieval device and the support in a warehousing system according to some embodiments of this application. Figure 9 is another schematic diagram of the cooperation between the retrieval device and the support in a warehousing system according to some embodiments of this application. Figure 10 is yet another schematic diagram of the cooperation between the retrieval device and the support in a warehousing system according to some embodiments of this application. Figure 11 is a rear view schematic diagram of the cooperation between the retrieval device and the support in a warehousing system according to some embodiments of this application. Figure 12 is yet another schematic diagram of the cooperation between the retrieval device and the support in a warehousing system according to some embodiments of this application.

[0258] Referring to Figures 8 to 12, in some examples, the motion mechanism 360 can move along the support member 30. The support member 30 is spaced apart from the support platform and connected to the support column 310. The support member 30 corresponds to the first horizontal beam 3111, so that both the first horizontal beam 3111 and the space below the support member 30 can be used to form a passage for the transfer robot 40 to run. The support member 30 can be connected to the first horizontal beam 3111 to maintain the relative position between the support member 30 and the first horizontal beam 3111.

[0259] It should be noted that in other examples, the support member 30 connected to the first horizontal beam 3111 can also be referred to as the first support member.

[0260] For example, one end of the first connector 314 is connected to the carrier 10, and the other end is connected to the support 30.

[0261] Optionally, the support member 30 can be connected to the first horizontal beam 3111 of the carrier 10 via the first connector 314.

[0262] Alternatively, the support member 30 can be connected to the vehicle column 130 of the vehicle 10 via the first connector 314, which is not limited in this embodiment.

[0263] In some examples, referring to Figures 8 to 11, the pick-and-place device 20 may have a first drive assembly 220 at one end near the support member 30. The first drive assembly 220 may cooperate with the support member 30 to drive the pick-and-place device 20 to move laterally along the carrier 10.

[0264] In some examples, as shown in Figures 8 to 11, the end of the pick-and-place device 20 near the support member 30 may be provided with a first mounting bracket 223. The first mounting bracket 223 may be fixedly connected to the pick-and-place device 20.

[0265] In some examples, the first mounting bracket 223 may extend laterally along the carrier 10. That is, the extension direction of the first mounting bracket 223 may intersect with the extension direction of the pick-and-place device 20.

[0266] In some examples, the first drive component 220 may be mounted on the first mounting bracket 223. The first drive component 220 may be fixedly connected to the first mounting bracket 223.

[0267] It is understood that in some examples of embodiments of this application, the weight of the pick-and-place device 20, the pick-and-place mechanism 210, and the target item is unloaded onto the support member 30. The first drive assembly 220 can use the frictional force between itself and the support member 30 to drive the pick-and-place device 20 to move laterally relative to the carrier 10.

[0268] In this embodiment of the application, by providing a first driving component 220 at one end of the pick-and-place device 20 near the support member 30, the pick-and-place device 20 can be driven by the friction provided by the pick-and-place device 20, the pick-and-place mechanism 210 and the weight of the target item, which facilitates driving the pick-and-place device 20.

[0269] In some examples, referring to Figures 8 and 9, the first drive assembly 220 may include a first drive member 221. The first drive member 221 may be located at one end of the pick-and-place device 20 near the support member 30.

[0270] In some examples, the first drive element 221 may be located on the first mounting bracket 223.

[0271] It should be noted that in other examples, the first mounting bracket 223 may also be referred to as a connecting plate.

[0272] In some examples, the first mounting bracket 223 may protrude from both sides of the pick-and-place device 20 along the transverse direction of the carrier 10 (e.g., along the direction shown by the y-axis in Figure 3). The first drive member 221 may be located on the outer side of the pick-and-place device 20. This facilitates the longitudinal movement of the pick-and-place mechanism 210 located inside the pick-and-place device 20.

[0273] In some examples, the first driving element 221 can be a motor. For example, the first driving element 221 can be a servo motor, a stepper motor, or a synchronous motor. This application does not limit the specific type of the first driving element 221.

[0274] In some examples, referring to FIG9, the first drive assembly 220 may include a first drive wheel 222. The first drive wheel 222 may be connected in a transmission manner to the first drive member 221.

[0275] In some examples, the first drive member 221 can drive the first drive wheel 222 to rotate, and the first drive wheel 222 travels along the support member 30 through the friction between the first drive wheel and the support member 30, thereby driving the entire pick-up and put-down device 20 to move.

[0276] In some examples, a rack may be provided on the support member 30. The first drive wheel 222 may include a gear. When the first drive member 221 drives the first drive wheel 222 to rotate, the first drive wheel 222 travels along the rack, thereby driving the pick-and-place device 20 to travel along the support member 30.

[0277] In some examples, a chain may be mounted on the support member 30. The first drive wheel 222 may include a sprocket. When the first drive member 221 drives the first drive wheel 222 to rotate, the first drive wheel 222 can travel along the chain, thereby driving the pick-and-place device 20 to travel along the support member 30.

[0278] In this embodiment, a first driving member 221 is provided at one end of the pick-and-place device 20 near the support member 30, and is connected to the first driving wheel 222 via the first driving member 221. When the first driving member 221 drives the first driving wheel 222 to rotate, the first driving wheel 222 moves along the support member 30, thereby driving the pick-and-place device 20 to move along the support member 30. In this way, the structure of the first driving assembly 220 can be simplified.

[0279] In some examples, referring to FIG8, the first driving component 220 may include two. One first driving component 220 may be disposed on one side of the pick-and-place device 20, and the other first driving component 220 may be disposed on the other side of the pick-and-place device 20. By driving the pick-and-place device 20 with two first driving components 220, the pick-and-place device 20 can be driven by the first driving component 220 on both sides, thereby improving the force balance of the pick-and-place device 20 and improving the stability of the movement of the pick-and-place device 20.

[0280] In some examples, the motion mechanism 360 may include a column 230. The column 230 may move along the support member 30, and the pick-and-place mechanism 210 may move along the column 230.

[0281] It should be noted that in other examples, column 230 can also be referred to as frame.

[0282] Figure 13 is a partial enlarged view of point B in Figure 9. Figure 14 is a schematic diagram of a structure in which the first drive wheel and the support member cooperate in a warehousing system provided by some embodiments of this application. Figure 15 is a partial enlarged view of point C in Figure 10. Figure 16 is another schematic diagram of a structure in which the first drive wheel and the support member cooperate in a warehousing system provided by some embodiments of this application.

[0283] In some examples, referring to Figures 13-16, one of the first drive wheel 222 and the support member 30 is provided with a guide structure 302. The other of the first drive wheel 222 and the support member 30 cooperates with the guide structure 302 to guide the travel direction of the first drive wheel 222.

[0284] In some examples, the guide structure 302 can guide the walking direction of the first drive wheel 222 along the extension direction of the support member 30. That is, under the guidance of the guide structure 302, the first drive wheel 222 can remain on the support member 30. In this way, the stability of the movement of the pick-and-place device 20 can be improved, thereby improving the safety of the transfer of the target item.

[0285] In some examples, a groove is formed on one of the first rolling surface 363a of the first drive wheel 222 and the support member 30, and the other of the first rolling surface 363a of the first drive wheel 222 and the support member 30 is embedded in the groove and contacts the sidewall of the groove opposite to the width direction of the support member 30, so that the other moves along the groove relative to the one of them.

[0286] In some examples, referring to Figures 13-16, the guide structure 302 may include a first guide groove 3021. The first guide groove 3021 may be provided on the side of the support member 30 near the first drive wheel 222. For example, the first guide groove 3021 may be recessed into the top of the support member 30.

[0287] In one example, a groove can be provided on the support member 30, the first drive wheel 222 can be embedded in the groove, and the first rolling surface 363a of the first drive wheel 222 contacts the inner surface of the bottom wall a1 of the support member 30 and rolls along the inner surface of the bottom wall a1.

[0288] In some examples, the first guide groove 3021 may extend along the extension direction of the support 30.

[0289] In some examples, at least a portion of the first drive wheel 222 may be fitted into the first guide groove 3021. That is, the first drive wheel 222 may travel within the first guide groove 3021 along the extending direction of the first guide groove 3021.

[0290] In some examples of embodiments of this application, by providing a first guide groove 3021 on the side of the support member 30 near the first drive wheel 222, at least a portion of the first drive wheel 222 is embedded in the first guide groove 3021. In this way, the first drive wheel 222 can travel along the extension direction of the first guide groove 3021, which facilitates maintaining the traveling direction of the first drive wheel 222 and improves the stability of the movement of the pick-and-place device 20.

[0291] In some examples, referring to FIG13, the first guide groove 3021 may have a first sidewall and a second sidewall along the axial direction of the first drive wheel 222. The first sidewall and the second sidewall may be arranged opposite to each other.

[0292] In some examples, a first guide groove 3021 is constructed between the first sidewall and the second sidewall. That is, the first drive wheel 222 is located between the first sidewall and the second sidewall.

[0293] In some examples, the distance between the first sidewall and the second sidewall is greater than the axial dimension of the first drive wheel 222. Thus, by positioning the first drive wheel 222 between the first and second sidewalls, a gap can be created between the first drive wheel 222 and both the first and second sidewalls. When the first drive wheel 222 moves, friction between the first drive wheel 222 and either the first or second sidewall can be avoided, improving the stability of the first drive wheel 222's movement and thus improving the stability of the pick-and-place device 20's movement.

[0294] In some examples, referring to Figures 13 and 15, the pick-and-place device 20 may be provided with a guide wheel 224. The peripheral wall of the guide wheel 224 may abut against one of the first side wall and the second side wall.

[0295] It should be noted that in other examples, guide wheel 224 can also be referred to as the first guide wheel.

[0296] In some examples, as shown with reference to Figures 13 and 15, the axial direction of the guide wheel 224 may intersect with the axial direction of the first drive wheel 222.

[0297] In some examples, referring to Figures 13 and 15, multiple guide wheels 224 may be provided, arranged side-by-side along the extending direction of the first guide groove 3021. In some examples of embodiments of this application, three guide wheels 224 are shown as an example. By providing multiple guide wheels 224, the guiding stability of the guide wheels 224 can be improved, thereby enhancing the stability of the first drive wheel 222 traveling along the first guide groove 3021.

[0298] In some examples of embodiments of this application, by setting the distance between the first sidewall and the second sidewall of the first guide groove 3021 to be greater than the axial dimension of the first drive wheel 222, when the first drive wheel 222 moves within the first guide groove 3021, a certain gap can be maintained between the two ends of the first drive wheel 222 in the axial direction and the first and second sidewalls, which can prevent the two ends of the first drive wheel 222 in the axial direction from rubbing against the first and second sidewalls and improve the smoothness of the first drive wheel 222's movement.

[0299] Furthermore, by providing a guide wheel 224 on the pick-and-place device 20, the peripheral wall of the guide wheel 224 abuts against one of the first side wall and the second side wall. Thus, when the pick-and-place device 20 moves along the first guide groove 3021, the guide wheel 224 moves along one of the first side wall and the second side wall. Since the guide wheel 224 always abuts against one of the first and second side walls, a gap is maintained between the two ends of the first drive wheel 222 along the axial direction and the first and second side walls, preventing the first drive wheel 222 from wobbling axially within the first guide groove 3021 and improving the stability of the first drive wheel 222 moving along the first guide groove 3021.

[0300] As shown in Figures 15 and 16, in some examples, the support member 30 has a groove, in which the first drive wheel 222 is embedded. The first drive assembly 220 also includes a guide wheel 224. The guide wheel 224 is connected to the mounting portion 3652 on the side facing the support member 30 and is located on the same side as the first drive wheel 222. The guide wheel 224 is embedded in the groove to move along the groove sidewall b1. In this way, the rolling surface of the guide wheel 224 can contact either of the two groove sidewalls b1 of the groove of the support member 30. The guide wheel 224 is clearance-fitted with the two groove sidewalls b1, so that the guide wheel 224 can move along the groove and is also confined between the two groove sidewalls b1 without deviation, thereby driving the first drive wheel 222 to move along the support member 30.

[0301] In other embodiments, if the support member 30 is arranged along the z-axis, the guide wheel 224 can move along the bottom wall a1 of the groove. In this embodiment, the specific movement form of the guide wheel 224 is not limited.

[0302] For example, the axle of the guide wheel 224 can be perpendicular to the axle of the first drive wheel 222. In this way, the first rolling surface 363a of the first drive wheel 222 and the rolling surface of the guide wheel 224 are perpendicular to each other, so that when the first rolling surface 363a moves along the bottom surface of the groove of the support member 30, the rolling surface of the guide wheel 224 can roll along the side wall b1 of the groove of the support member 30.

[0303] It should be noted that when the groove shape of the support member 30 is different, the angle at which the axle of the first drive wheel 222 and the axle of the guide wheel 224 intersect can also be other angles, which are not limited in this embodiment. The perpendicularity mentioned in this embodiment includes, but is not limited to, perpendicular and approximately perpendicular relationships.

[0304] In some examples, referring to FIG14, the guide structure 302 may include a second guide groove 3022. The second guide groove 3022 may be provided on the peripheral wall of the first drive wheel 222.

[0305] As shown in (b) and (d) of Figures 14 and 16, in one example, a groove can be provided on the first rolling surface 363a of the first drive wheel 222, and the top and bottom of the support member 30 are embedded in the groove, so that the rolling surface of the first drive wheel 222 can run along the surface of the support member 30 extending into the groove.

[0306] In some examples, the second guide groove 3022 may surround the peripheral wall of the first drive wheel 222. The second guide groove 3022 may be recessed into the peripheral wall of the first drive wheel 222 radially.

[0307] In some examples, as shown in FIG14, the support member 30 may have a guide protrusion 303 on the side near the first drive wheel 222. The guide protrusion 303 may be fitted into the second guide groove 3022.

[0308] In some examples, the guide protrusion 303 may extend along the extension direction of the support 30.

[0309] In some examples, as the first drive wheel 222 travels along the support member 30, the guide protrusion 303 is always embedded in the second guide groove 3022, and the guide protrusion 303 guides the first drive wheel 222 to travel on the support member 30 through the second guide groove 3022.

[0310] In some examples, the second guide groove 3022 can be a straight groove. The shape of the guide protrusion 303 can match the shape of the second guide groove 3022.

[0311] In some examples, the width of the second guide groove 3022 can be greater than the width of the support member 30. That is, the support member 30 can be directly embedded in the second guide groove 3022 on the side closest to the first drive wheel 222.

[0312] In some examples of embodiments of this application, the guide structure 302 is configured as a second guide groove 3022 on the peripheral wall of the first drive wheel 222, and a guide protrusion 303 is provided on the side of the support member 30 near the first drive wheel 222, the guide protrusion 303 being embedded in the second guide groove 3022. This improves the stability of the pick-and-place device 20 as it travels along the support track, and enhances the safety of transferring the target item.

[0313] In some examples, as shown in FIG14, the second guide groove 3022 can be a V-groove. That is, the opening size of the second groove is larger than the bottom size.

[0314] In some examples, referring to Figure 14, the cross-section of the support member 30 can be tapered. The side of the support member 30 near the first drive wheel 222 can be configured as a guide protrusion 303.

[0315] Referring to Figure 16, in some examples, the interface shape of the groove can be, but is not limited to, a square as shown in Figure 16(a), a V-shape as shown in Figures 16(b) and (c), an arc shape as shown in Figures 16(e) and (f), and other suitable shapes. For example, a groove is formed on the first rolling surface 363a of the first drive wheel 222, and the shape of the groove can be a square, V-shape, arc shape, or other suitable shape. Correspondingly, the shape of the top or bottom of the support member 30 matches the shape of the groove.

[0316] In some examples of embodiments of this application, by setting the second guide groove 3022 as a V-shaped groove and setting the cross section of the support member 30 as conical, the first drive wheel 222 and the support member 30 can be in close contact under the gravity of the pick-and-place device 20, the pick-and-place mechanism 210 and the target item, which can improve the friction between the first drive wheel 222 and the support member 30, thereby improving the stability of the first drive wheel 222 and avoiding the slippage of the first drive wheel 222.

[0317] Please refer again to Figures 8 to 12. In some examples, the end of the pick-and-place device 20 away from the support member 30 is provided with a second drive assembly 364. The carrier 10 is provided with an auxiliary rail 50 on the side near the pick-and-place device 20. The extension direction of the auxiliary rail 50 may be consistent with the extension direction of the support member 30.

[0318] In some examples, the second drive component 364 may cooperate with the auxiliary track 50 to assist the end of the pick-and-place device 20 away from the support 30 to move synchronously with the end of the pick-and-place device 20 close to the support 30.

[0319] It should be noted that in other examples, the auxiliary track 50 may also be referred to as the second support.

[0320] For example, along the height direction of the carrier 10, the auxiliary rail 50 is spaced apart from the support member 30, and the auxiliary rail 50 is located above the support member 30. In this way, the motion mechanism 360 can be connected to both the support member 30 and the auxiliary rail 50 simultaneously, and move along the support member 30 and the auxiliary rail 50. This utilizes the support member 30 and the auxiliary rail 50 to connect both ends of the motion mechanism 360, reducing the possibility of deformation of the motion mechanism 360 and improving the connection stability of the motion mechanism 360.

[0321] For example, the auxiliary track 50 can be set to correspond to the horizontal beam 311 of the vehicle 10, thereby avoiding any impact on the cargo position 110 on the vehicle 10 and the loading and unloading of items.

[0322] In one example, the auxiliary track 50 can be connected to the support column 310. This allows the support column 310 to support the auxiliary track 50.

[0323] In another example, the auxiliary track 50 can be connected to the horizontal beam 311 of the vehicle 10 to fix the auxiliary track 50.

[0324] In some examples, the motion mechanism 360 includes a column 230. The column 230 can move along the support member 30 and the auxiliary track 50, and the pick-and-place mechanism 210 can move along the column 230. In some examples, the cooperation between the second drive component 364 and the auxiliary track 50 can be the same as, similar to, or analogous to the cooperation between the first drive component 220 and the support member 30. For details, please refer to the detailed description of the cooperation between the first drive component 220 and the support member 30 in the foregoing embodiments of this application. This application will not repeat the details in this embodiment.

[0325] In some examples of embodiments of this application, a second drive assembly 364 is provided at the end of the pick-and-place device 20 away from the support member 30, and an auxiliary rail 50 is provided on the side of the carrier 10 near the pick-and-place device 20. The second drive assembly cooperates with the auxiliary rail 50. In this way, the second drive assembly can drive the end of the pick-and-place device 20 away from the support member 30 to move, thereby enabling the end of the pick-and-place device 20 away from the support member 30 and the end of the pick-and-place device 20 near the support member 30 to move synchronously. This ensures the stability of the movement of the pick-and-place device 20 and improves the safety of the transfer of the target item.

[0326] Figure 17 is an enlarged view of point D in Figure 11.

[0327] Figure 18 is an enlarged view of point E in Figure 12.

[0328] As shown in Figures 11, 12, 17 and 18, in some examples, the second drive assembly 364 includes a second drive wheel 3641 and an elastic element 3642.

[0329] The second drive wheel 3641 can move along the auxiliary track 50. An elastic element 3642 is disposed on the column 230 and abuts against the second drive wheel 3641 to apply a spring force towards the auxiliary track 50 to the second drive wheel 3641. In this way, the spring force of the elastic element 3642 can maintain a tight connection between the second drive wheel 3641 and the auxiliary track 50, thereby enabling the auxiliary track 50 to provide sufficient friction for the second drive wheel 3641 to prevent it from spinning freely.

[0330] For example, when the second drive wheel 3641 is positioned close to the first column 3611, the elastic element 3642 is disposed on the first column 3611. When the second drive wheel 3641 is positioned close to the second column 3612, the elastic element 3642 may be disposed on the second column 3612.

[0331] In some examples, the second drive assembly 364 further includes a second connector 3643 located below the auxiliary track 50. One end of the second connector 3643 is connected to the column 230, and the other end is used to connect the elastic member 3642 and the second drive wheel 3641.

[0332] For example, one end of the second connector 3643 can be connected to the first column 3611, and the other end can extend toward the first column 3611 away from the second column 3612, so that the second drive wheel 3641 is located at the end of the first column 3611 away from the second column 3612, so as to avoid the second drive wheel 3641 affecting the movement of the pick-and-place mechanism 210 between the first column 3611 and the second column 3612.

[0333] It should be noted that the second connector 3643 can be a plate or a rod, and no specific limitation is made to the second connector 3643 in this embodiment.

[0334] Furthermore, the motion mechanism 360 may also include a follower component 3644, which includes a follower wheel disposed on the auxiliary track 50. When the second drive component 364 is connected to the first column 3611, the follower component 3644 is connected to the second column 3612, and the second drive component 364 and the follower component 3644 are located on opposite sides of the first column 3611 and the second column 3612, respectively. When the second drive component 364 is connected to the second column 3612, the follower component 3644 is connected to the first column 3611, and the second drive component 3644 and the follower component 3644 are located on opposite sides of the first column 3611 and the second column 3612, respectively. Thus, when the second drive component 364 drives one of the columns to move along the auxiliary track 50, the follower component 3644 can follow the second drive component 364 to drive the other column to move along the auxiliary track 50.

[0335] It should be noted that the follower assembly 3644 may also include an elastic element 3642 to maintain close contact between the follower wheel and the auxiliary track 50.

[0336] It is understandable that the way the second drive wheel 3641 cooperates with the auxiliary rail 50 can be the same as the way the first drive wheel 222 and the support member 30 cooperate, which will not be described again here.

[0337] Referring again to Figure 17, in some examples, the motion mechanism 360 may also include a lifting drive assembly 362. The lifting drive assembly 362 includes a transmission belt 3621, a transmission shaft 3622, and a lifting drive member 3623. There may be two transmission belts 3621, one on the first column 3611 and one on the second column 3612. A transmission belt 3621 can be connected to each side of the pick-and-place mechanism 210, allowing it to move up and down along the first column 3611 and the second column 3612 under the drive of the transmission belts 3621. The transmission shaft 3622 is connected to the two transmission belts 3621. The lifting drive member 3623 can be connected to either the first column 3611 or the second column 3612 and is connected to the transmission shaft 3622, so that one lifting drive member 3623 drives both transmission belts 3621 to move. This ensures that the strokes of the two drive belts 3621 remain synchronized, preventing the pick-up and place mechanism 210 from tilting during lifting and lowering, and improving the operational stability of the pick-up and place mechanism 210.

[0338] For example, if the connection between the pick-up and place mechanism 210 and the transmission belt 3621 fails, the pick-up and place mechanism 210 can be limited by the first limiting part 361b and the second limiting part 361c. If the connection between the pick-up and place mechanism 210 and the transmission belt 3621 is not failed, the pick-up and place mechanism 210 can be located above the first limiting part 361b and the second limiting part 361c, without contacting them.

[0339] In other embodiments, the pick-and-place mechanism 210 itself may also be equipped with a lifting motor to enable the pick-and-place mechanism 210 to move up and down using its own lifting motor, thus eliminating the need for the drive belt 3621. It is understood that the lifting power structure of the pick-and-place mechanism 210 on the first column 3611 and the second column 3612 can be adjusted according to actual conditions, and is not limited in this embodiment.

[0340] Figure 19 is an enlarged view of point F in Figure 12.

[0341] Referring to Figures 12 and 19, in some examples, the motion mechanism 360 further includes a driven component 391, which is connected to the column 230 and can move along the third support member 323. This allows the middle portion of the column 230 to move along the third support member 323, and the constraint imposed by the driven component 391 prevents bending deformation of the column 230, thereby improving the stability of the column 230 and the pick-and-place mechanism 210.

[0342] In some examples, the storage system 300 also includes a sliding contact line 392, with a conductor 3921 disposed on a third support member 323 and a receiver 3922 disposed on a column 230 and electrically connected to a first drive assembly 220 and a second drive assembly 364. The receiver 3922 can make contact with the conductor 3921 when it moves along the column 230, the support member 30, the auxiliary track 50 and the third support member 323.

[0343] By using the sliding contact line 392, the number of cables is reduced, thus decreasing the load on the pick-and-place device 20 and minimizing the impact of the cables on its lifespan, ensuring stable operation. Furthermore, the reduced number of cables eliminates the need for cable chains, further guaranteeing the structural stability of the pick-and-place device 20.

[0344] Furthermore, the retrieval device 20 is powered via the sliding contact line 392, resulting in high charging efficiency and short waiting time. This eliminates the need for replacement devices 20, thus reducing the number of devices required. Additionally, compared to related technologies that use batteries to power the retrieval device 20, this embodiment uses the sliding contact line 392, avoiding traffic congestion during battery charging and improving the efficiency of retrieval and return. Referring again to Figures 8 to 12, in some examples, the retrieval device 20 may include a base 211, which can be mounted on the column 230 and move vertically along the column 230. Thus, the base 211 can dock with any cargo space on any level of the carrier 10.

[0345] For example, the pick-and-place mechanism 210 may include a base 211.

[0346] In some examples, as shown in Figure 1, the column 230 may be positioned on one side of the vehicle 10.

[0347] In some examples, a guide rail can be provided on one side of the vehicle 10 in a transverse direction (e.g., the direction shown by the y-axis in Figure 3), and the column 230 can be mounted on the guide rail. The column 230 can extend in a longitudinal direction (e.g., the direction shown by the z-axis in Figure 3).

[0348] In some examples, the column 230 can move laterally along the guide rail of the carrier 10. In this way, the pick-and-place device 20 can be moved to any column of the carrier 10 by the column 230.

[0349] In some examples, the column 230 may be provided with a pick-and-place mechanism 210. The pick-and-place mechanism 210 may include the base 211 described in detail in the foregoing embodiments of this application.

[0350] In some examples, the column 230 can move along the support 30, the auxiliary track 50, and the third support 323. The pick-and-place mechanism 210 can move along the column 230.

[0351] For example, the distance between the end of the column 230 near the support platform and the support platform is greater than or equal to the distance between the support member 30 and the support platform. In this way, the end of the column 230 near the support platform can be at the same height as or higher than the bottom surface of the support member 30, thereby avoiding the occupation of the space below the support member 30 and thus avoiding interference with the operation of the transfer robot 40.

[0352] It should be noted that when the dimension of the support member 30 along the height direction of the carrier 10 is large, the end face of the column 230 facing the support platform can be located above the end face of the support member 30 facing the support platform. When the dimension of the support member 30 along the height direction of the carrier 10 is small, the end face of the column 230 facing the support platform can be on the same plane as the end face of the support member 30 facing the support platform.

[0353] Optionally, the column 230 can be a primary support, in which case the picking and placing mechanism 210 can be raised and lowered on the column 230. Alternatively, the column 230 can be a telescopic secondary or tertiary support, thereby allowing the picking and placing mechanism 210 to have a larger lifting range.

[0354] It should be noted that the specific configuration of the column 230 can be selected according to the actual situation. This embodiment does not limit it. The column 230 is used as a first-level frame for explanation.

[0355] Figure 20 is a simplified schematic diagram of the cooperation between the column and the picking and placing mechanism provided in some embodiments of this application.

[0356] Referring to Figure 20, in some examples, when the pick-up and place mechanism 210 moves to the side of the column 230 near the support platform along the height direction of the column 230, the distance h0 between the side of the pick-up and place mechanism 210 near the support platform and the support platform (as shown in Figure 20(b)) is less than the distance h between the side of the column 230 near the support platform and the support platform (as shown in Figure 20(a)). Thus, compared to the support member 30 and the column 230, the pick-up and place mechanism 210 can descend further below the support member 30, thereby retrieving items below the support member 30 and improving the space utilization under the vehicle 10. At the same time, although the distance between the pick-up and place mechanism 210 and the support platform is small when it descends to the side of the column 230 near the support platform, the pick-up and place mechanism 210's pick-up and place action is faster, and the time spent in this position is shorter. When the pick-and-place mechanism 210 moves away from this position (as shown in Figure 20(a)), the column 230 will not affect the movement of the transfer robot 40, thereby improving the utilization of storage space while minimizing the impact on the movement of the transfer robot 40. Furthermore, when the pick-and-place mechanism 210 can be closer to the support platform, it also facilitates direct docking between the transfer robot 40 and the pick-and-place mechanism 210, enabling the exchange of items between the two.

[0357] Figure 21 is an enlarged view of point G in Figure 12.

[0358] Referring to Figures 11, 12, 20, and 21, in some examples, the column 230 includes a first column 3611, a second column 3612, and multiple reinforcing beams 3613. The pick-and-place mechanism 210 is located between and connected to the first column 3611 and the second column 3612, and can move up and down along the first column 3611 and the second column 3612.

[0359] The first column 3611 and the second column 3612 are spaced apart along the extension direction of the support member 30. The first column 3611 can move along the support member 30, the auxiliary track 50 and the third support member 323, and the second column 3612 can move along the support member 30, the auxiliary track 50 and the third support member 323.

[0360] In some examples, an opening 361a is provided between the first column 3611 and the second column 3612, and the pick-and-place mechanism 210 is suspended from the first column 3611 and the second column 3612. When the pick-and-place mechanism 210 moves along the first column 3611 and the second column 3612 toward the side closer to the support platform, the pick-and-place mechanism 210 can pass through the opening 361a. Thus, the distance h0 between the side of the pick-and-place mechanism 210 closer to the support platform and the support platform (as shown in (b) of Figure 20) is less than the distance h between the side of the first column 3611 and the second column 3612 closer to the support platform and the support platform (as shown in (a) of Figure 20).

[0361] For example, the first column 3611 has a first limiting part 361b at one end near the support platform, and the second column 3612 has a second limiting part 361c at one end near the support platform. The first limiting part 361b and the second limiting part 361c can restrict the position of the picking and placing mechanism 210 on the first column 3611 and the second column 3612, thereby preventing the picking and placing mechanism 210 from slipping off the first column 3611 and the second column 3612.

[0362] Optionally, the first limiting part 361b and the second limiting part 361c can be a limiting plate, a limiting post or other protruding structure to achieve locking of the picking and placing mechanism 210, thereby preventing the picking and placing mechanism 210 from falling.

[0363] In some examples, the column 230 also includes a plurality of reinforcing beams 3613 spaced apart along the height direction of the column 230 and located between the first column 3611 and the second column 3612. Each reinforcing beam 3613 is connected at both ends to the first column 3611 and the second column 3612, thereby increasing the rigidity of the first column 3611 and the second column 3612 to prevent bending deformation. It also constrains the distance between the first column 3611 and the second column 3612 to prevent deformation of the first column 3611 and the second column 3612 from pulling or squeezing the pick-and-place mechanism 210 located between the first column 3611 and the second column 3612.

[0364] For example, each reinforcing beam 3613 corresponds to a horizontal beam 311 of the carrier 10. In this way, the reinforcing beams 3613 can be prevented from obstructing the loading and unloading of goods at the storage location 110.

[0365] Figure 22 is a schematic diagram of the structure of the upright and horizontal beam provided in the embodiment of this application.

[0366] As shown in Figures 21 and 22, optionally, multiple positioning markers 3112 can be set on the horizontal beam 311, each positioning marker 3112 corresponding to a storage location 110. Thus, when the picking and placing mechanism 210 reaches the target storage location 110, the recognition camera on the picking and placing mechanism 210 can capture an image of the positioning marker 3112. The warehousing system can determine whether the picking and placing mechanism 210 is aligned with the storage location 110 based on the offset of the positioning marker 3112 in the image captured by the recognition camera, thereby avoiding inaccurate alignment between the picking and placing mechanism 210 and the storage location 110, and preventing any impact on the subsequent handling of items.

[0367] It should be noted that in other examples, the location identifier 3112 can also be referred to as an identifier.

[0368] For example, the location identifier 3112 can be a QR code, barcode, image code, image mark (such as inkjet), hole, etc. The location identifier 3112 can be identified, and the item information stored in it can be read.

[0369] In some examples, when the reinforcing beam 3613 corresponds to the horizontal beam 311, it avoids the positioning mark 3112 on the horizontal beam 311.

[0370] As shown in Figure 22(a), in one example, if the positioning mark 3112 is located near the top of the horizontal beam 311, then the reinforcing beam 3613 can correspond to the position near the bottom of the horizontal beam 311 to avoid obstructing the positioning mark 3112 on the horizontal beam 311 and affecting the recognition of the positioning mark 3112.

[0371] As shown in Figure 22(b), in another example, if the positioning mark 3112 is located near the bottom of the horizontal beam 311, then the reinforcing beam 3613 can correspond to the position near the top of the horizontal beam 311 to avoid obstructing the positioning mark 3112 on the horizontal beam 311 and affecting the recognition of the positioning mark 3112.

[0372] In another example, a perforated structure can be provided on the reinforcing beam 3613 corresponding to the positioning mark 3112 on the horizontal beam 311. This perforated structure displays the positioning mark 3112, preventing the reinforcing beam 3613 from obstructing the positioning mark 3112 and affecting its identification. The perforated structure can be a rectangular hole, a circular hole, or a triangular hole, etc.

[0373] Please refer again to Figures 8 to 12. In some examples, the first drive assembly 220 is connected to the first column 3611 and the second column 3612, and the first drive assembly 220 is disposed on the support member 30 to drive the first column 3611 and the second column 3612 to move along the support member 30. The second drive assembly 364 is connected to the first column 3611 and the second column 3612, and the second drive assembly 364 is disposed on the auxiliary track 50 to drive the first column 3611 and the second column 3612 to move along the auxiliary track 50. In this way, the first drive assembly 220 and the second drive assembly 364 can work together under the control of control commands to simultaneously drive both ends of the column 230 in the height direction to move simultaneously. This avoids the situation where only one end is equipped with a drive assembly, resulting in a large speed difference between the two ends, which could cause the column 230 to tilt and affect the stability of the column 230 and the pick-and-place mechanism 210.

[0374] For example, along the height direction of the column 230, the first drive assembly 220 and the second drive assembly 364 are located between the support member 30 and the auxiliary track 50. In other words, the first drive assembly 220 is above the support member 30, and the second drive assembly 364 is below the auxiliary track 50. In this case, the second drive assembly 364 does not transfer the main load to the auxiliary track 50, while the first drive assembly 220 can apply the main load to the support member 30, and then transfer it through the support member 30 to the support column 310, and then from the support column 310 to the support platform. When the auxiliary track 50 is connected and fixed via the horizontal beam 311 of the carrier 10, the load generated by the auxiliary track 50 on the carrier 10 can be reduced, thereby reducing the impact on the stability of the carrier 10.

[0375] In some examples, there are two first drive components 220 to provide sufficient driving force for the movement of the column 230 on the support member 30. Along the extension direction of the support member 30, the two first drive components 220 are respectively located on both sides of the column 230, that is, the two first drive components 220 are respectively located on both sides of the first column 3611 and the second column 3612, so as to drive the first column 3611 and the second column 3612 to move on the support member 30.

[0376] For example, the motion mechanism 360 also includes a first mounting bracket 223 connected to the side of the first column 3611 and the second column 3612 near the support member 30, and two first drive components 220 are respectively connected to the two ends of the first mounting bracket 223 along the extension direction of the support member 30.

[0377] As shown in Figures 12 and 21, the two first drive components 220 may have a speed difference during operation. This can cause the distance between the first column 3611 and the second column 3612 to increase or decrease, thereby pulling or squeezing the pick-and-place mechanism 210 located between the first column 3611 and the second column 3612, affecting the connection stability between the pick-and-place mechanism 210 and the first column 3611 and the second column 3612. The first mounting bracket 223 can constrain the two first drive components 220 so that the first drive components 220 and the second drive component 3612 always maintain the same distance, thus keeping the distance between the first column 3611 and the second column 3612 constant, and avoiding affecting the stability of the pick-and-place mechanism 210.

[0378] Referring to Figures 12 and 21, in some examples, the first mounting bracket 223 includes a connecting portion 3651 and two mounting portions 3652, which are located at both ends of the connecting portion 3651 along the extending direction of the support member 30.

[0379] One mounting part 3652 is connected to the first column 3611 and to the first drive assembly 220. The other mounting part 3652 is connected to the second column 3612 and to the second drive assembly 364. The two mounting parts 3652 and the connecting part 3651 together form a pick-and-place opening 3653, through which the pick-and-place mechanism 210 can pick up and place target items on the storage location 110. In this way, the connection between the first drive assembly 220 and the second drive assembly 364 can be achieved, while avoiding any impact on the pick-and-place operation of the pick-and-place mechanism 210.

[0380] As shown in Figure 21, in some examples, the first drive assembly 220 includes a first drive member 221 and a first drive wheel 222, the first drive member 221 being used to drive the first drive wheel 222 to move along the support member 30.

[0381] The first driving member 221 is disposed on the side of the mounting portion 3652 away from the support member 30, wherein the side of the mounting portion 3652 away from the support member 30 refers to the side of the mounting portion 3652 away from the support member 30 along the x-axis direction in Figure 3. The first driving wheel 222 is disposed on the side of the mounting portion 3652 facing the support member 30, wherein the side of the mounting portion 3652 facing the support member 30 refers to the side of the mounting portion 3652 close to the support member 30 along the x-axis direction in Figure 3. In other words, the first driving member 221 and the first driving wheel 222 can be located on opposite sides of the mounting portion 3652, and the first driving wheel 222 can move along the support member 30. This avoids the first driving member 221 from colliding with the horizontal beam 311 or the upright column 130 of the carrier 10.

[0382] For example, the first driving element 221 can be a drive motor or a drive motor, and the first driving element 221 is not limited in this embodiment.

[0383] As shown in Figures 18 and 21, in some examples, the storage system 300 may also include a first displacement sensor 381, a second displacement sensor 382, ​​and a control mechanism 383.

[0384] The first displacement sensor 381 detects the first movement stroke of the first drive assembly 220 and generates a first detection signal. The second displacement sensor 382 detects the second movement stroke of the second drive assembly 364 and generates a second detection signal. Thus, the control mechanism 383 can determine whether the first and second movement strokes are consistent based on the first and second detection signals. If the first and second movement strokes are different, the control mechanism 383 can adjust the operating parameters of at least one of the first and second drive assemblies 220 and 364 to ensure that the first and second movement strokes are consistent, thereby preventing the column 230 from tilting and ensuring its stability. This, in turn, prevents the pick-and-place mechanism 210 from tilting, ensuring the positional stability of the pick-and-place mechanism 210 relative to the loading position 110 on the carrier 10.

[0385] For example, the first displacement sensor 381 and the second displacement sensor 382 can start detection at the same time, and the initial positions of the first displacement sensor 381 and the second sensor at the start of detection correspond to the same position of the support member 30, so as to ensure that the first drive assembly 220 and the second drive assembly 364 can move along the support member 30 and the auxiliary track 50 at the same time.

[0386] In some examples, at least one of the first displacement sensor 381 and the second displacement sensor 382 may include, but is not limited to, a Hall sensor, an ultrasonic sensor, a lidar sensor, an encoder, and a camera.

[0387] For example, the first displacement sensor 381 and the second displacement sensor 382 can be the same sensor or different sensors, and this embodiment is not limited.

[0388] In some examples, the control mechanism 383 can be a drive controller.

[0389] Optionally, the control mechanism 383 can adjust the rotational speed of the first drive wheel 222 and / or the rotational speed of the second drive wheel 3641 to keep the first and second motion strokes consistent.

[0390] Alternatively, the control mechanism 383 can adjust the output power of the first drive member 221 and / or the second drive wheel 3641 to keep the first and second motion strokes consistent.

[0391] In this embodiment, the operating parameters adjusted by the control mechanism 383 are not limited. Figure 23 is a partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application.

[0392] Referring to Figures 3 and 23, the base 211 may have a support area 2111. The support area 2111 may be configured to support a target item.

[0393] In some examples, referring to Figures 3 and 23, the carrying area 2111 has an inlet / outlet 2112. The inlet / outlet 2112 can be configured to allow target items to enter and exit the carrying area 2111. For example, when a target item is placed on a storage location, the target item can leave the carrying area 2111 from the inlet / outlet 2112 and move towards the storage location. When a target item is moved from a storage location to the carrying area 2111, the target item can enter the carrying area 2111 from the inlet / outlet 2112.

[0394] In some examples, the pick-and-place device 20 may include a moving mechanism 212. Referring to FIG23, the moving mechanism 212 may be disposed on the base 211.

[0395] In some examples, the picking and placing device 20 may include a picking component 213. The picking component 213 may be disposed on the base 211.

[0396] In some examples, the picking component 213 can move along a first direction (e.g., the direction shown by the x-axis in Figure 23) toward the inlet / outlet 2112 under the action of the moving mechanism 212, so as to facilitate the picking component 213 docking with the target item.

[0397] In some examples, the picking component 213 may include a suction cup.

[0398] In some examples, the object-grabbing component 213 may include an electromagnet.

[0399] In some examples, the picking component 213 may include a hook.

[0400] In some examples, the picking component 213 can move away from the inlet / outlet along a first direction under the action of the moving mechanism 212.

[0401] In some examples, the moving mechanism 212 may include a chain, belt, or timing belt. The chain, belt, or timing belt may be arranged along a first direction. The picking component 213 may be connected to the moving mechanism 212, and when the chain, belt, or timing belt rotates, it drives the picking component 213 to move along the first direction.

[0402] In some examples, the moving mechanism 212 can be configured to move on the base 211 toward the inlet / outlet 2112. For example, when a target item needs to be placed in a storage location, the moving mechanism 212 can move toward the inlet / outlet 2112, thereby causing the picking component 213 to push the target item from the inlet / outlet 2112 away from the carrying area 2111 and into the storage location. Alternatively, when a target item needs to be removed from the storage location, the moving mechanism 212 can move toward the inlet / outlet 2112 to facilitate the picking component 213 in removing the target item from the storage location.

[0403] In some examples, the moving mechanism 212 can move away from the inlet / outlet 2112. For example, after the moving mechanism 212 moves toward the inlet / outlet 2112 and the picking component 213 engages with the target item in the target location, the moving mechanism 212 can move away from the inlet / outlet 2112, thereby using the picking component 213 to move the target item from the inlet / outlet 2112 into the carrying area 2111.

[0404] In some examples, the picking component 213 may be mounted on the moving mechanism 212. The moving mechanism 212 may move the picking component 213 toward the inlet / outlet 2112. Alternatively, the moving mechanism 212 may move the picking component 213 away from the inlet / outlet 2112.

[0405] In some examples, referring to FIG23, the picking component 213 can rotate along the first rotation axis i1 (relative to the moving mechanism 212). For example, it can rotate in the direction shown by arrow a in FIG23.

[0406] In some examples, the picking component 213 can rotate bidirectionally relative to the moving mechanism 212 about a first rotation axis i1. That is, the picking component 213 can rotate relative to the moving mechanism 212 in the direction shown by arrow a in Figure 23. In addition, the picking component 213 can rotate relative to the moving mechanism 212 in the opposite direction to arrow a in Figure 23.

[0407] In some examples, the picking component 213 can rotate relative to the moving mechanism 212 in a vertical plane (e.g., the plane constructed by the x-axis and z-axis in Figure 23).

[0408] It is understood that in some examples of the embodiments of this application, the rotation direction of the picking component 213 relative to the moving mechanism 212 is only shown as a specific example. In other examples of the embodiments of this application, the rotation direction of the picking component 213 relative to the moving mechanism 212 may be other directions. The embodiments of this application do not limit this.

[0409] In some examples, when the picking component 213 needs to engage with the target item, the picking component 213 can rotate from a vertical state to a horizontal state. That is, the picking component 213 can rotate from a state of engagement with the target item to a state of avoidance of the target item. The engagement state can include a state of engagement with the target item and a state of disengagement from the target item.

[0410] In some examples, the avoidance state can be to avoid the space where the target item is located. For example, the picking component 213 can rotate from horizontal to vertical; or, the picking component 213 can rotate from facing the inlet / outlet 2112 to facing the receiving area 2111; or, the picking component 213 can rotate from facing the inlet / outlet 2112 to facing away from the inlet / outlet 2112. In some examples, the avoidance state can be that the picking component 213 avoids the movement space of the target item in the receiving area 2111. For example, the target item can move in the receiving area 2111 along a first direction.

[0411] In some examples, the retrieval device 20 can be positioned between two adjacent vehicles 10. The retrieval component 213 can retrieve the target item from one of the vehicles 10, moving the target item to the carrying area 2111. After the target item reaches the carrying area 2111, the retrieval component 213 can rotate around a first rotation axis to a clearance state. At this point, the retrieval component 213 clears the movement space of the target item in the carrying area 2111. The target item continues to move within the carrying area 2111, and then can move from the carrying area 2111 to the other vehicle 10. In other words, the retrieval component 213 can transfer the target item from one of two adjacent vehicles 10 to the other.

[0412] In some examples, the retrieval device 20 can be positioned between the vehicle 10 and the buffer position. That is, there can be a passageway between the buffer position and the vehicle 10. The retrieval device 20 can be located in the passageway between the vehicle 10 and the buffer position, i.e., the vehicle 10 and the buffer position are located on opposite sides of the retrieval device 20. Alternatively, the buffer position can be located within the passageway.

[0413] In some examples, the retrieval component 213 can transfer the target item from the buffer position to the vehicle 10 on the other side of the retrieval device 20, and the target item moves to the vehicle 10 through the carrying area 2111.

[0414] In some examples, the retrieval component 213 can transfer the target item from the vehicle 10 to the buffer position on the other side of the retrieval device 20, and the target item can be moved to the buffer position through the carrying area 2111.

[0415] In some examples, the buffer location can be a storage location on a buffer shelf or buffer carrier. The transfer robot 40 can move the buffer shelf or buffer carrier across a support platform to transfer target items from the buffer shelf or buffer carrier. For example, the buffer shelf or buffer carrier can be located in an aisle between two adjacent carriers 10. The pick-and-place device 20 can transfer target items from carrier 10 to the buffer shelf or buffer carrier. The transfer robot 40 moves the buffer shelf or buffer carrier across the support platform. Alternatively, the transfer robot 40 moves the buffer shelf or buffer carrier into an aisle between adjacent carriers 10.

[0416] In other words, in some examples of embodiments of this application, the pick-up and drop mechanism 210 can be configured to dock a buffer position 120 on one side of the alleyway with a vehicle 10 on the other side of the alleyway to transfer target items between the buffer position 120 on one side of the alleyway and the vehicle 10 on the other side of the alleyway.

[0417] In some examples, when the picking component 213 needs to be disengaged from the target item, the picking component 213 can rotate from a horizontal state to a vertical state. That is, the picking component 213 can rotate from a docking state to a clearance state.

[0418] In some examples, when it is necessary to remove the target item from the vehicle 10, the moving mechanism 212 can drive the picking component 213 to move toward the inlet / outlet 2112. After the moving mechanism 212 moves to a certain distance from the inlet / outlet 2112, the picking component 213 can rotate relative to the moving mechanism 212 around the first rotation axis i1.

[0419] In this embodiment, the example is taken with the object-grabbing component 213 relative to the moving mechanism 212 in a vertical plane. The object-grabbing component 213 rotates relative to the moving mechanism 212 in the direction shown by arrow a in Figure 23, and the object-grabbing component 213 rotates from a vertical state to a horizontal state. When the object-grabbing component 213 is rotated to a horizontal state, the object-grabbing component 213 cooperates with the force-bearing structure on the target item.

[0420] In some examples, the force-bearing structure on the target object can be a slot located on the end face of the target object. The hook 2131 of the picking component 213 can be inserted into the slot.

[0421] In some examples, after the picking component 213 engages with the force-bearing structure on the target item, the moving mechanism 212 moves away from the inlet / outlet 2112. The moving mechanism 212 drives the picking component 213 to move, thereby enabling the picking component 213 to carry the target item from the inlet / outlet 2112 into the carrying area 2111.

[0422] In some examples, the picking component 213 can cooperate with the side of the force-bearing structure away from the moving mechanism and provide a force to the force-bearing structure toward the bearing area 2111, thereby moving the target item from the inlet / outlet 2112 toward the bearing area 2111.

[0423] In some examples, to facilitate the accurate coordination of the picking component 213 with the force-bearing structure when rotating from a vertical to a horizontal position, as shown in FIG23, the picking and placing device 20 may include a first sensor 214.

[0424] In some examples, the first sensor 214 may be mounted on the base 211.

[0425] In some examples, the first sensor 214 is disposed on the base 211 as a specific example. The first sensor 214 may also be disposed on other structures connected to the base 211. In some examples of embodiments of this application, the specific location of the first sensor 214 is not limited.

[0426] In some examples, the moving mechanism 212 can drive the first sensor 214 to move synchronously with the object-grabbing component 213.

[0427] In some examples, the first sensor 214 may be located on the moving mechanism 212.

[0428] In some examples, the first sensor 214 may be configured to detect the distance between the object-taking component 213 and the target object.

[0429] In some examples, the first sensor 214 may be configured to detect the distance between the first rotation axis i1 of the picking component 213 and the target object.

[0430] In some examples, the first sensor 214 may be a ranging sensor.

[0431] In some examples, the first sensor 214 may include any one of an ultrasonic ranging sensor, a laser ranging sensor, an infrared ranging sensor, or a millimeter-wave ranging sensor.

[0432] In some examples, when the moving mechanism 212 moves on the base 211, it causes the first sensor 214 to move synchronously. The first sensor 214 detects the distance between itself and the target object, thereby obtaining the distance between the moving mechanism 212 and the target object.

[0433] In some examples, when the first sensor 214 detects that the distance between the first rotation axis i1 and the target item is a first preset distance, the picking component 213 rotates relative to the moving mechanism 212 to engage with the force-bearing structure on the target item, or to disengage the picking component 213 from the force-bearing structure.

[0434] In some examples, the first preset distance can be the distance at which the object-retrieving component 213 can engage with the force-bearing structure after it rotates from the avoidance state to the docking state. That is, under the first preset distance, the distance between the first rotation axis i1 and the target item can be equal to the length of the object-retrieving component 213.

[0435] In some examples, the removal of a target item from its storage location is used as an example. When it is necessary to remove the target item from its storage location, the column 230 of the pick-and-place device 20 can move laterally along the carrier 10 and move to the column where the target storage location is located. Then, the base 211 moves longitudinally along the column 230 and moves to the storage layer where the target storage location is located. At this time, the moving mechanism 212 drives the picking component 213 to move towards the inlet / outlet 2112, and the first sensor 214 detects the distance between the first rotation axis i1 and the target item. When the distance detected by the first sensor 214 is a first preset distance, the moving mechanism 212 stops driving the picking component 213 to move, and the picking component 213 rotates to the docking state, engaging with the force-bearing structure on the target item. The moving mechanism 212 drives the picking component 213 away from the inlet / outlet 2112, and the picking component 213 carries the target item from the inlet / outlet 2112 into the carrying area 2111. Thus, the target item is removed from the target storage location and placed on the carrying area 2111. The base 211 can move longitudinally along the column 230 to transfer the target item to the buffer position at the bottom of the vehicle 10, or the pick-and-place mechanism 210 can transfer the target item to other transfer vehicles.

[0436] In some examples, placing a target item on a storage location is used as an example. When it is necessary to place a target item from the carrying area 2111 to the storage location, the target item can be moved from the inlet / outlet 2112 toward the storage location by the pushing action of the moving mechanism 212. After the moving mechanism 212 pushes the target item a certain distance, the moving mechanism 212 can move away from the target item. The first sensor 214 can detect the distance between the first rotation axis i1 and the target item. When the distance between the first rotation axis i1 and the target item is a preset distance, the picking component 213 rotates along the first direction to the open state, cooperating with the force-bearing structure on the target item. The moving mechanism 212 continues to move toward the inlet / outlet 2112, and the picking component 213 pushes the target item toward the storage location.

[0437] According to the retrieval and placement device 20 provided in the embodiments of this application, by providing a carrying area 2111 and an inlet / outlet 2112 on the base 211, it is convenient for the target item to enter and exit the carrying area 2111 through the inlet / outlet 2112; a moving mechanism 212 is provided on the base 211, and a retrieval component 213 is provided on the moving mechanism 212; thus, when the moving mechanism 212 moves toward the inlet / outlet 2112, the moving mechanism 212 can drive the retrieval component 213 to move toward the inlet / outlet 2112, and after the retrieval component 213 cooperates with the target item, the moving mechanism 212 can use the retrieval component 213 to drive the target item from the inlet / outlet 2112 into the carrying area 2111; or, the moving mechanism 212 can use the retrieval component 213 to push the target item from the carrying area 2111 to the storage location, which facilitates the retrieval and placement of the target item; a first sensor 214 is provided on the moving mechanism 212, and the first sensor 214 can... The distance between the moving mechanism 212 and the target item is detected. When the first sensor 214 detects that the distance between the moving mechanism 212 and the target item is a first preset distance, the picking component 213 can rotate relative to the moving mechanism 212 along a first direction, thereby allowing the picking component 213 to unfold and engage with the target item. The first preset distance can be the unfolded length of the picking component 213. That is, when the picking component 213 rotates relative to the moving mechanism 212 along the first direction to the docking state, the length of the picking component 213 ensures that it engages precisely with the target item. Thus, the picking component 213 will not push the target item away from the picking and placing device 20, or it can avoid situations where the picking component 213 cannot engage with the target item. This facilitates the quick engagement of the picking component 213 with the target item, improving the efficiency and safety of the picking and placing device 20 in picking and placing the target item.

[0438] In some examples, the detection surface of the first sensor 214 may have a first distance from the inlet / outlet 2112. It should be noted that when the detection surface of the first sensor 214 faces the inlet / outlet 2112, the distance between the detection surface of the first sensor 214 and the inlet / outlet 2112 may be the first distance.

[0439] It is understood that the first sensor 214 is mounted on the moving mechanism 212 and moves together with the moving mechanism 212. Therefore, in some examples of embodiments of this application, the first distance can be a variable distance.

[0440] In some examples, there is a second distance between the first rotation axis i1 of the picking component 213 and the inlet / outlet 2112. It is understood that the second distance can be a variable distance.

[0441] In some examples, the first distance and the second distance can have a preset distance difference. That is, in the direction toward the inlet / outlet 2112, the first sensor 214 and the first rotation axis i1 can be misaligned, so that the first distance and the second distance have a preset distance difference.

[0442] In some examples, as the moving mechanism 212 moves the first sensor 214 and the picking component 213 toward the target item, the first sensor 214 can detect a first distance between itself and the target item. It can be understood that the difference between the first distance and a preset distance is the second distance. That is, the second distance can be used to determine whether the first rotation axis i1 has reached the first preset distance from the target item. Thus, after the picking component 213 unfolds, it precisely engages with the force-bearing structure of the target item. The picking component 213 will not push the target item away from the moving mechanism 212, nor will it fail to engage with the force-bearing structure of the target item. This improves the efficiency of the picking component 213 engaging with the target item, enhancing the transfer efficiency and safety of the target item.

[0443] In some examples, the first distance and the second distance can be equal. That is, in some examples of embodiments of this application, the preset distance difference can be zero. The detection surface of the first sensor 214 can be flush with or approximately flush with the first rotation axis i1.

[0444] In some examples of embodiments of this application, the first distance and the second distance are set to be equal, so that the detection surface of the first sensor 214 can be flush with or approximately flush with the first rotation axis i1. When the first sensor 214 detects that the distance between itself and the target object is the first preset distance, the distance between the first rotation axis i1 and the target object is the first preset distance, without the need to subtract the preset distance difference, which simplifies the calculation of the first preset distance and improves the transfer efficiency of the target object.

[0445] In some examples, referring to Figure 23, the inlet / outlet 2112 may include a first inlet / outlet 2112a. The first inlet / outlet 2112a may be located in the carrying area 2111 near the carrier 10 where the column 230 is located. The first inlet / outlet 2112a may be configured to dock with the cargo position of the carrier 10 where the column 230 is located.

[0446] In some examples, the target item can enter the carrying area 2111 from the storage location via the first inlet / outlet 2112a.

[0447] In some examples, the target item can enter the storage location from the carrying area 2111 via the first inlet / outlet 2112a.

[0448] In some examples, referring to Figure 23, the inlet / outlet 2112 may include a second inlet / outlet 2112b. The second inlet / outlet 2112b is located in the carrying area 2111 away from the carrier 10 where the column 230 is located. The second inlet / outlet 2112b may be configured to dock with a cargo location on an adjacent carrier 10 of the carrier 10 where the column 230 is located.

[0449] In some examples, the target item can enter the carrying area 2111 from the cargo position of the adjacent vehicle 10 via the second inlet / outlet 2112b.

[0450] In some examples, the target item can be accessed from the carrying area 2111 via the second entrance / exit 2112b to the cargo location of the adjacent vehicle 10.

[0451] In some examples, the moving mechanism 212 can move relative to the base 211 along the direction of the first inlet 2112a and the second inlet 2112b (e.g., the direction shown by the x-axis in Figure 23, i.e., the first direction).

[0452] In some examples, as shown with reference to FIG23, the picking component 213 can rotate about the first rotation axis i1 relative to the moving mechanism 212.

[0453] In some examples, the retrieval component 213 can place the target item from the first inlet / outlet 2112a to the target location. Then, the retrieval component 213 rotates about the first rotation axis i1 in the direction shown by arrow a to face the second inlet / outlet 2112b and retrieves the target item from the adjacent vehicle 10 on the other side of the aisle.

[0454] In some examples, referring to Figure 23, the object-grabbing component 213 can rotate about the first rotation axis i1 in the direction indicated by arrow a and engage with the force-bearing structure of the target object. The object-grabbing component 213 can engage with the force-bearing structure from below.

[0455] In some examples, as shown in FIG23, when the object-retrieving component 213 needs to be disengaged from the force-bearing structure, the object-retrieving component 213 can rotate in the opposite direction of the first rotation axis i1 in the direction indicated by arrow a, thereby disengaging from the force-bearing structure.

[0456] In some examples, referring to Figure 23, the object-grabbing component 213 can rotate about the first rotation axis i1 in the opposite direction to that indicated by arrow a, and engage with the force-bearing structure of the target object. The object-grabbing component 213 can engage with the force-bearing structure from above.

[0457] In some examples, the picking component 213 can rotate about the first rotation axis i1 in the direction shown by arrow a, thereby disengaging from the force-bearing structure.

[0458] In some examples, referring to FIG23, the example of the object-retrieving component 213 retrieving a target item from the first inlet / outlet 2112a is described. The object-retrieving component 213 can move toward the first inlet / outlet 2112a under the action of the moving mechanism 212. When the first sensor 214 detects that the distance between the object-retrieving component 213 and the target item is a first preset distance, the object-retrieving component 213 can rotate around the first rotation axis i1. Then, the object-retrieving component 213 can continue to move toward the first inlet / outlet 2112a a preset distance under the action of the moving mechanism 212. After that, the object-retrieving component 213 can move longitudinally (e.g., in the direction shown by the z-axis in FIG23) under the action of the moving mechanism 212, so that the object-retrieving component 213 cooperates with the force-bearing structure.

[0459] In some examples, after the target item is transferred onto the base 211, the picking component 213 can move in the opposite direction of the z-axis in Figure 23 under the drive of the moving mechanism 212. Then, the moving mechanism 212 drives the picking component 213 to move a preset distance away from the target item along a first direction. Finally, the picking component 213 rotates relative to the moving mechanism 212 about the first rotation axis i1, thereby completing the disengagement between the picking component 213 and the force-bearing structure.

[0460] In some examples, as described in the foregoing embodiments of this application, the picking component 213 can engage with the force-bearing structure from above. It is understood that engaging with and disengaging from the force-bearing structure from above can be the same as, similar to, or analogous to engaging with and contacting the force-bearing structure from below. For details, please refer to the foregoing embodiments of this application; further elaboration is not required in this application.

[0461] In some examples, referring to FIG23, a second mounting bracket 2121 may be provided on the moving mechanism 212. The second mounting bracket 2121 may be rotatably connected to the moving mechanism 212 about a second rotation axis i2. The direction of the second rotation axis i2 is different from that of the first rotation axis i1.

[0462] In some examples, the second rotation axis i2 can be along the direction shown by the z-axis in Figure 23, and the first rotation axis i1 can be along the direction shown by the y-axis in Figure 23.

[0463] In some examples, the second rotation axis i2 and the first rotation axis i1 may be located in the same plane.

[0464] In some examples, the second rotation axis i2 and the first rotation axis i1 may be located in different planes.

[0465] In some examples, the object-grabbing component 213 and the first sensor 214 may be mounted on the second mounting bracket 2121. Thus, when the second mounting bracket 2121 rotates relative to the moving mechanism 212 about the second rotation axis i2, the second mounting bracket 2121 can drive the first sensor 214 and the object-grabbing component 213 to rotate together.

[0466] In some examples, when it is necessary to transfer a target item from the first inlet / outlet 2112a, the second mounting bracket 2121 can drive the first sensor 214 and the retrieval component 213 to rotate about the second rotation axis i2 until the first sensor 214 and the retrieval component 213 are rotated toward the first inlet / outlet 2112a. Then, the moving mechanism 212, through the second mounting bracket 2121, drives the retrieval component 213 and the first sensor 214 to move on the base 211, thereby transferring the target item from the first inlet / outlet 2112a.

[0467] In some examples, when it is necessary to transfer a target item from the second inlet / outlet 2112b, the second mounting bracket 2121 can drive the first sensor 214 and the retrieval component 213 to rotate about the second rotation axis i2 until the first sensor 214 and the retrieval component 213 are rotated toward the second inlet / outlet 2112b. Then, the moving mechanism 212 moves the retrieval component 213 and the first sensor 214 on the base 211 via the second mounting bracket 2121, thereby transferring the target item from the second inlet / outlet 2112b.

[0468] In some examples of embodiments of this application, by setting the inlet and outlet 2112 of the carrying area 2111 as a first inlet and outlet 2112a and a second inlet and outlet 2112b, the first inlet and outlet 2112a and the second inlet and outlet 2112b are located on opposite sides of the carrying area 2111, and a second mounting bracket 2121 is provided on the moving mechanism 212 and rotatably connected to the moving mechanism 212 about the second rotation axis i2. The picking component 213 and the first sensor 214 are provided on the second mounting bracket 2121. In this way, the target items on different shelves can be transferred by the rotation of the second mounting bracket 2121 relative to the moving mechanism 212. That is, one picking and placing device 20 can transfer the target items on two adjacent carriers 10, which can reduce the number of picking and placing devices 20 and reduce the layout cost of the warehousing system.

[0469] In some examples, referring to Figure 23, the removal of a target item from the first inlet / outlet 2112a is used as an example. The second mounting bracket 2121 can drive the retrieval component 213 to rotate along the second rotation axis i2, thereby enabling the retrieval component 213 to engage with the force-bearing structure of the target item. Alternatively, it can facilitate the engagement between the retrieval component 213 and the force-bearing structure.

[0470] For example, when the moving mechanism 212 moves the picking component 213 toward the first inlet / outlet 2112a until the distance between the picking component 213 and the target item is a first preset distance, the second mounting bracket 2121 can drive the picking component 213 to rotate around the second rotation axis i2 in the direction shown by arrow b, so that the picking component 213 cooperates with the force-bearing structure of the target item.

[0471] When it is necessary to disengage the object-retrieving component 213 from the force-bearing structure, the second mounting bracket 2121 can drive the object-retrieving component 213 to rotate around the second rotation axis i2 in the opposite direction to the direction shown by arrow b, so as to disengage the object-retrieving component 213 from the force-bearing structure.

[0472] Figure 24 is another partial structural schematic diagram of the pick-and-place device provided in some embodiments of this application.

[0473] In some examples, referring to FIG24, a second drive member 2122 is provided on the second mounting bracket 2121. The second drive member 2122 can be drively connected to the picking member 213. The second drive member 2122 can be configured to drive the picking member 213 to rotate relative to the moving mechanism 212 in a first direction.

[0474] In some examples, the second drive 2122 can be a servo motor, synchronous motor, or stepper motor, which can rotate in both forward and reverse directions.

[0475] In some examples, as shown in FIG23, the second drive member 2122 can drive the picking member 213 to rotate from the vertical direction (avoidance state) to the horizontal state (docking state) in the direction indicated by arrow a in FIG23 about the first rotation axis i1.

[0476] In some examples, as shown in FIG23, the second drive member 2122 can drive the picking member 213 to rotate from the horizontal direction to the vertical direction in the opposite direction to the direction indicated by arrow a in FIG23 about the first rotation axis i1.

[0477] In some examples, referring to FIG23, a third drive member 2123 may be provided on the moving mechanism 212. The third drive member 2123 may be drively connected to the second mounting bracket 2121. The third drive member 2123 may be configured to drive the picking member 213 to rotate about the second rotation axis i2 relative to the moving mechanism 212.

[0478] In some examples, the type of the third drive member 2123 may be the same as, similar to or similar to the type of the second drive member 2122. For details, please refer to the detailed description of the second drive member 2122 in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0479] In some examples, the third drive 2123 may be a joint motor.

[0480] In some examples of embodiments of this application, a second driving member 2122 is provided on the second mounting bracket 2121, and the second driving member 2122 is drivenly connected to the picking member 213. This facilitates driving the picking member 213, allowing it to engage or disengage with the target item. A third driving member 2123 is provided on the moving mechanism 212, and the third driving member 2123 is drivenly connected to the second mounting bracket 2121. This facilitates driving the second mounting bracket 2121 to rotate the picking member 213 and the first sensor 214, facilitating the transfer of the target item from either the first inlet / outlet 2112a or the second inlet / outlet 2112b.

[0481] In some examples, referring to FIG23, a third drive assembly 2113 may be provided on the base 211. The third drive assembly 2113 may be drively connected to the moving mechanism 212. The third drive assembly 2113 may be configured to drive the moving mechanism 212 to move relative to the base 211.

[0482] For example, when it is necessary to transfer a target item from the first inlet / outlet 2112a to the carrying area 2111, the third drive component 2123 can drive the second mounting bracket 2121 to rotate relative to the moving mechanism 212 until the picking component 213 and the first sensor 214 rotate toward the first inlet / outlet 2112a. Then, the third drive component 2113 drives the moving mechanism 212 to move toward the first inlet / outlet 2112a. When the first sensor 214 detects that the moving mechanism 212 is a first preset distance away from the target item, the second drive component 2122 drives the picking component 213 to rotate relative to the moving mechanism 212 in a first direction and cooperate with the target item. After the picking component 213 cooperates with the target item, the third drive component 2113 drives the moving mechanism 212 to move away from the first inlet / outlet 2112a, thereby bringing the target item from the first inlet / outlet 2112a into the carrying area 2111.

[0483] In addition, after the target item is transferred to the carrying area 2111, the third driving member 2123 can drive the second mounting bracket 2121 to rotate, thereby driving the picking member 213 to rotate. The picking member 213 can be rotated to the side of the carrying area 2111, thus reducing the space occupied by the picking member 213 between the target item and the moving mechanism 212, and reducing the size of the picking and placing device 20.

[0484] In some examples of embodiments of this application, the moving mechanism 212 is moved relative to the base 211 by the third driving component 2113, which facilitates the movement of the moving mechanism 212 and the transfer of the target item.

[0485] In some examples, as shown with reference to FIG23, the third drive component 2113 may include a fourth drive component 2113a.

[0486] In some examples, the fourth drive element 2113a may be disposed on the base 211. The fourth drive element 2113a may include a telescopic structure. For example, the fourth drive element 2113a may include a cylinder, an electric cylinder, or a piston cylinder, etc.

[0487] In some examples, the fourth drive element 2113a may be mounted on the base 211. The fourth drive element 2113a may include a servo motor, a stepper motor, or a synchronous motor, etc.

[0488] In some examples, the third drive component 2113 may include a transmission element 2113b. The transmission element 2113b may be positioned along a first direction.

[0489] In some examples, the transmission element 2113b may be connected to the moving mechanism 212. The fourth drive mechanism 2113a may cooperate with the transmission element 2113b to drive the moving mechanism 212 to move in the first direction.

[0490] In some examples, the transmission element 2113b may include a lead screw. The lead screw may be mounted on the base 211. The axial direction of the lead screw may extend in a first direction.

[0491] In some examples, the transmission component 2113b may include a lead screw nut, which may be fitted onto a lead screw. The moving mechanism 212 may be mounted on the lead screw nut.

[0492] In some examples, the fourth drive element 2113a can drive the lead screw to rotate, causing the lead screw nut to move along the lead screw, thereby driving the moving mechanism 212 to move.

[0493] In some examples, the transmission element 2113b may include transmission gears. There may be at least two transmission gears. The two transmission gears may be arranged along a first direction. One of the transmission gears may be connected in a transmission manner to the fourth drive element 2113a.

[0494] In some examples, the transmission element 2113b may include a transmission belt (e.g., a belt, timing belt, or chain). The transmission element 2113b may be wound around the two transmission gears. The transmission element 2113b may be connected to the moving mechanism 212.

[0495] In some examples, the fourth drive mechanism 2113a can drive the transmission gear to rotate, the transmission gear drives the transmission belt to move, and the transmission belt drives the moving mechanism 212 to move along the first direction.

[0496] In some examples, the fourth drive element 2113a may be located on the moving mechanism 212. The fourth drive element 2113a may include a servo motor, a stepper motor, and a synchronous motor, etc.

[0497] In some examples, the transmission element 2113b may include an engaging element. The engaging element may be disposed on a base. The engaging element may extend along the direction of the first inlet and the second inlet / outlet.

[0498] In some examples, the output shaft of the fourth drive member may be equipped with a meshing gear that meshes with the meshing member. When the fourth drive member 2113a drives the meshing gear to rotate, the meshing gear can travel along the meshing member, thereby driving the moving mechanism 212 to move.

[0499] In some examples of embodiments of this application, the fourth driving member 2113a is disposed on the moving mechanism 212, and the meshing member 2113b is disposed on the base 211. Thus, the gear on the output shaft of the fourth driving member 2113a can mesh with the meshing member 2113b. When the fourth driving member 2113a drives the gear to rotate, the gear moves along the meshing member 2113b, thereby facilitating the driving of the moving mechanism 212, simplifying the structure of the third driving assembly 2113, and saving production costs for the pick-and-place device 20.

[0500] In some examples, the meshing element 2113b may include a rack.

[0501] In some examples, the engagement element 2113b may include a chain.

[0502] In some examples, as shown in FIG23, a slide rail 2114 may be provided on the base 211. The slide rail 2114 may extend along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0503] In some examples, referring to FIG23, the moving mechanism 212 may include a slider 2124. The slider 2124 may be disposed on a slide rail 2114. The slider 2124 may slide along the slide rail 2114.

[0504] In some examples, referring to FIG23, the moving mechanism 212 may include a third mounting bracket 2125. The third mounting bracket 2125 may be disposed on the slider 2124.

[0505] In some examples, the third mounting bracket 2125 may be located above the slider 2124. For example, the third mounting bracket 2125 may be located on top of the slider 2124.

[0506] In some examples, the third mounting bracket 2125 may be located on the side of the slider 2124.

[0507] In some examples, the third mounting bracket 2125 can be configured as a bent shape, and the bent portion of the third mounting bracket 2125 can be located at the bottom of the slider 2124.

[0508] In some examples, the fourth drive element 2113a may be located on the third mounting bracket 2125.

[0509] In some examples, the second mounting bracket 2121 may be mounted on the third mounting bracket 2125.

[0510] In some examples of embodiments of this application, a slide rail 2114 is provided on the base 211 along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b. The slider 2124 of the moving mechanism 212 is disposed on the slide rail 2114 and moves along the slide rail 2114. The third mounting bracket 2125 of the moving mechanism 212 is disposed on the slider 2124. Thus, when the fourth driving member 2113a drives the moving mechanism 212 to move, the slider 2124 can slide on the slide rail 2114, which can reduce the friction between the moving mechanism 212 and the base 211, improve the smoothness of the movement of the moving mechanism 212, and thus improve the stability and safety of the transfer of the target item.

[0511] In some examples, as shown in FIG23, a conveying mechanism 2115 may be provided on the base 211. The conveying mechanism 2115 may extend along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0512] In some examples, the conveying mechanism 2115 may include multiple conveying rollers. The multiple conveying rollers may be arranged along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b.

[0513] In some examples, the conveying mechanism 2115 may include a conveyor belt.

[0514] In some examples, the conveying mechanism 2115 may include multiple rollers. The multiple rollers may be arranged side by side along a first direction.

[0515] In some examples, after the picking component 213 carries the target item from the inlet / outlet 2112 (which can be either the first inlet / outlet 2112a or the second inlet / outlet 2112b) into the carrying area 2111 and moves it to a preset position, the second driving component 2122 can drive the picking component 213 to rotate in the opposite direction to the direction shown by arrow a in Figure 23, thereby disengaging the picking component 213 from the force-bearing structure. Then, the conveying mechanism 2115 can carry the target item to continue moving towards the carrying area 2111. In this way, without moving the moving mechanism 212 from the second inlet / outlet 2112b to outside the base 211, it is possible to ensure that the target item is completely inside the carrying area 2111, which can reduce the volume of the base 211, reduce the space required by the picking and placing device 20, and improve the storage density of the storage system.

[0516] In some examples, when it is necessary to transfer a target item from the carrying area 2111 to the storage location, the conveying mechanism 2115 can move the target item from the carrying area 2111 towards the inlet / outlet 2112 to a preset position. Once the target item reaches the preset position, the second drive member 2122 can drive the picking member 213 to rotate in the direction shown by arrow a in Figure 23, so that the picking member 213 engages with the force-bearing structure. After the picking member 213 engages with the force-bearing structure, the moving mechanism 212 moves towards the inlet / outlet 2112, thereby pushing the target item further towards the inlet / outlet 2112. In this way, the picking member 213 can push the target item from the inlet / outlet 2112 into the storage location.

[0517] In some examples, when it is necessary to transfer a target item from the carrying area 2111 to the storage location, the picking component 213 can engage with the side of the force-bearing structure closest to the moving mechanism. The picking component 213 applies a force toward the storage location to the force-bearing structure, thereby pushing the target item from the carrying area 2111 toward the storage location. That is, the picking component 213 can engage with different sides of the force-bearing structure for retrieving the target item from the storage location and for placing the target item in the storage location.

[0518] It is understandable that in some examples, when the retrieval component 213 is a hook, the force-bearing structure can be a slot located on the end face of the target item. When it is necessary to retrieve the target item from the storage location, the hook 2131 can be inserted into the slot and contact the inner wall of the slot, applying a force towards the bearing area 2111. When it is necessary to transfer the target item from the bearing area 2111 to the storage location, the hook 2131 can be located outside the slot. Of course, the hook can also be inserted into the slot.

[0519] In some examples of embodiments of this application, by providing a conveying mechanism 2115 on the base 211, when the target item enters the carrying area 2111 from the inlet / outlet 2112 and moves to a preset position, the second driving member 2122 drives the picking member 213 to disengage from the force-bearing structure; or, when the conveying mechanism 2115 moves the target item from the carrying area 2111 to the inlet / outlet 2112 to a preset position, the second driving member 2122 can drive the picking member 213 to engage with the force-bearing structure; thus, without moving the moving mechanism 212 from the second inlet / outlet 2112b to outside the base 211, it is ensured that the target item completely enters the carrying area 2111, which can reduce the volume of the base 211, reduce the space required by the picking and placing device 20, and improve the storage density of the warehousing system.

[0520] In some examples, after the retrieval component 213 removes the target item from the carrier 10, the target item can be moved to the carrying area 2111 via the first inlet / outlet 2112a under the action of the conveying mechanism 2115. The retrieval component 213 can rotate to a clearance state, and the conveying mechanism 2115 can continue to move the target item toward the second inlet / outlet 2112b toward the adjacent carrier 10 or the buffer position. When the target item moves toward the second inlet / outlet 2112b to a preset position, the retrieval component 213 rotates to a docking state, pushing the target item toward the adjacent carrier 10 or the buffer position to continue moving.

[0521] It is understood that in some examples of the embodiments of this application, the process of the retrieval component 213 transferring the target item from the adjacent vehicle 10 or the buffer position to the vehicle 10 may be the same as, similar to or similar to the process of the retrieval component 213 transferring the target item from the vehicle 10 to the adjacent vehicle 10 or the buffer position. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0522] In some examples, referring to FIG23, the conveying mechanism 2115 may include two. The two conveying mechanisms 2115 may be arranged at intervals along a second direction (e.g., the direction shown by the y-axis in FIG23).

[0523] In some examples, the slide rail 2114 and the moving mechanism 212 may be located between two conveying mechanisms 2115.

[0524] In some examples, the two conveying mechanisms 2115 can be arranged symmetrically with respect to the slide rail 2114.

[0525] In some examples of embodiments of this application, two conveying mechanisms 2115 are provided, with a slide rail 2114 and a moving mechanism 212 located between the two conveying mechanisms 2115. Thus, when the target item moves in the carrying area 2111, it can be supported by the two conveying mechanisms 2115, increasing the support area for the target item and improving the stability of its movement.

[0526] In some examples, as shown in FIG23, a second sensor 2116 may be provided on the base 211. The second sensor 2116 may be configured to detect the position of the target item in the bearing area 2111, thereby determining whether the target item has reached the preset position.

[0527] In some examples, the second sensor 2116 may be a magnetic sensor. For example, the second sensor 2116 may be a Hall sensor.

[0528] In some examples, the bottom of the target item may be equipped with a magnetic component. When the target item moves from the inlet / outlet 2112 to the carrying area 2111 and moves to a preset position, the second sensor 2116 can detect the change in the magnetic field of the magnetic component, thereby determining that the target item has moved to the preset position.

[0529] In some examples, the second sensor 2116 may be a contact sensor. When the target item moves from the inlet / outlet 2112 to the carrying area 2111 and moves to a preset position, the bottom of the target item may come into contact with the second sensor 2116, thereby determining that the target item has moved to the preset position.

[0530] In some examples of embodiments of this application, by setting a second sensor 2116 on the base 211, the second sensor 2116 detects the position of the target item in the bearing area 2111. In this way, the position of the target item in the bearing area 2111 can be accurately determined, which facilitates the control of the picking component 213 to accurately cooperate with the force-bearing structure of the target item, or to promptly release the cooperation between the picking component 213 and the force-bearing structure.

[0531] In some examples, the second sensor 2116 may include the first through-beam sensor.

[0532] In some examples, the first signal transmitter 2116a of the first through-beam sensor may be located on one side of the support area 2111. The first signal transmitter 2116a may be located outside the support area 2111.

[0533] In some examples, the first signal receiver 2116b of the first through-beam sensor may be located on the other side of the bearing area 2111. The first signal receiver 2116b may be disposed opposite to the first signal transmitter 2116a. The first signal receiver 2116b can receive signals emitted by the first signal transmitter 2116a.

[0534] In some examples, the first through-beam sensor can be a photogate.

[0535] In some examples, the first through-beam sensor may include an infrared through-beam sensor.

[0536] In some examples, the signal transmission path of the first through-beam sensor (i.e., the path through which the first signal transmitter 2116a transmits the signal to the first signal receiver 2116b) may intersect with the direction of movement of the target item in the carrying area 2111.

[0537] In some examples, the target item can move from the inlet / outlet 2112 to the carrying area 2111. For example, it could be retrieved from a storage location. When the target item moves to the carrying area 2111 and is between the first signal transmitter 2116a and the first signal receiver 2116b, the target item blocks the signal emitted by the first signal transmitter 2116a, preventing the first signal receiver 2116b from receiving the signal. In this case, it can be determined whether the target item has reached the preset position based on whether the first signal receiver 2116b receives the signal.

[0538] In some examples, the target item can move from the carrying area 2111 to the inlet / outlet 2112. For example, the target item can be placed on the storage location from the carrying area 2111. When the target item moves towards the inlet / outlet 2112 and passes between the first signal transmitter 2116a and the first signal receiver 2116b, the target item no longer obstructs the signal emitted by the first signal transmitter 2116a, allowing the first signal receiver 2116b to receive the signal emitted by the first signal transmitter 2116a. At this time, it can be determined whether the target item has reached the preset position based on whether the first signal receiver 2116b receives the signal.

[0539] In some examples of embodiments of this application, a first signal transmitter 2116a of a first through-beam sensor is provided on one side of the bearing area 2111, and a first signal receiver 2116b of the first through-beam sensor is provided on the other side of the bearing area 2111. Thus, whether the target object obstructs the signal can be determined by whether the first signal receiver 2116b receives the signal emitted by the first signal transmitter 2116a, thereby accurately determining the position of the target object in the bearing area 2111, facilitating accurate engagement or disengagement of the object-receiving component 213 with the force-bearing structure of the target object.

[0540] In some examples, the second sensor 2116 may be located in the middle of the carrying area 2111 along the direction of the first inlet / outlet 2112a and the second inlet / outlet 2112b. In this way, when the target item is taken out from the storage location, after the target item moves to the preset position, the center of gravity of the target item may be located in the carrying area 2111, which facilitates the conveying mechanism 2115 to convey the target item.

[0541] In some examples, referring to Figure 23, a third sensor 2117 may be provided on the base 211. The third sensor 2117 may be located at the inlet / outlet 2112. The third sensor 2117 may be configured to detect whether a target item is present at the inlet / outlet 2112.

[0542] In some examples, the third sensor 2117 can be a magnetic sensor. For example, the third sensor 2117 can be a Hall sensor. A magnetic element can be placed on the bottom of the target item. The Hall sensor can determine whether the target item is present at the inlet / outlet 2112 by sensing the magnetic field of the magnetic element.

[0543] In some examples, the third sensor 2117 can be a contact sensor. When the target item moves to the inlet / outlet 2112, the third sensor 2117 can come into contact with the target item to determine whether the target item is present at the inlet / outlet 2112.

[0544] In some examples, when a target item is present at the inlet / outlet 2112, the retrieval component 213 can disengage from the force-bearing structure based on a preset position determined by the second sensor 2116. For example, when retrieving a target item from a storage location, the target item moves from the storage location to the carrying area 2111. The third sensor 2117 of the inlet / outlet 2112 first detects the presence of the target item. As the target item continues to move, when the second sensor 2116 determines that the target item has moved to the preset position, since the target item has not yet fully entered the carrying area 2111, the third sensor 2117 can still detect the presence of the target item at the inlet / outlet 2112. In other words, in some examples of the embodiments of this application, the third sensor 2117 and the second sensor 2116 can jointly determine whether the target item has moved to the preset position.

[0545] In some examples, when a target item is present at the inlet / outlet 2112, the retrieval component 213 can cooperate with the force-bearing structure based on the preset position determined by the second sensor 2116. For example, during the process of moving the target item from the carrying area 2111 to the storage location, as the target item moves to the inlet / outlet 2112, the third detection sensor can detect the presence of the target item at the inlet / outlet 2112, locking the target item in place and continuing to move. When the second sensor 2116 determines that the target item has moved to the preset position, since the target item has not completely left the carrying area 2111, the third sensor 2117 can still detect the presence of the target item at the inlet / outlet 2112. That is to say, in some examples of the embodiments of this application, the third sensor 2117 and the second sensor 2116 can jointly determine whether the target item has moved to the preset position.

[0546] In some examples of embodiments of this application, a third sensor 2117 is provided on the base 211, and the third sensor 2117 is located at the inlet / outlet 2112. Thus, the third sensor 2117 can detect whether a target item exists at the inlet / outlet 2112. By using the third sensor 2117 and the second sensor 2116 together to determine whether the target item has moved to a preset position, the accuracy of target item position detection is improved, and the efficiency of target item transfer is increased.

[0547] In some examples, the third sensor 2117 may include a second through-beam sensor. A second signal transmitter 2117a of the second through-beam sensor is located on one side of the carrier area 2111. A second signal receiver 2117b of the second through-beam sensor may be located on the other side of the carrier area 2111. The second signal receiver 2117b and the second signal transmitter 2117a may be arranged opposite to each other.

[0548] In some examples, the signal transmission path of the second through-beam sensor may intersect with the direction of movement of the target item at the inlet / outlet 2112.

[0549] In some examples, the type of the second through-beam sensor may be the same as, similar to or similar to the type of the first through-beam sensor. For details, please refer to the detailed description of the first through-beam sensor in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0550] In some examples, the working principle of the second through-beam sensor may be the same as, similar to or similar to that of the first through-beam sensor. For details, please refer to the detailed description of the first through-beam sensor in the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0551] In some examples of embodiments of this application, by setting a second through-beam sensor at the inlet / outlet 2112 to detect whether a target item exists at the inlet / outlet 2112, the accuracy of detecting whether a target item exists at the inlet / outlet 2112 can be improved.

[0552] In some examples, the second sensor 2116 may include two. One of the two second sensors 2116 may be located at the first inlet / outlet 2112a. The other of the two second sensors 2116 may be located at the second inlet / outlet 2112b.

[0553] In some examples, referring to FIG23, the moving mechanism 212 may be provided with a limiting member 2126. The limiting member 2126 may be located on the rotation path of the second mounting bracket 2121 rotating about the second rotation axis i2. The limiting member 2126 may be configured to limit the rotation angle of the second mounting bracket 2121 relative to the moving mechanism 212 to position the picking member 213 toward the first inlet / outlet 2112a, or to position the picking member 213 toward the second inlet / outlet 2112b.

[0554] In some examples, as shown in FIG23, when the second mounting bracket 2121 rotates about the second rotation axis i2 in the direction indicated by arrow b in FIG23 until the picking member 213 faces the first inlet / outlet 2112a, the side wall of the second mounting bracket 2121 abuts against the side wall of the limiting member 2126, and the second mounting bracket 2121 cannot continue to rotate in the second direction.

[0555] In some examples, when the second mounting bracket 2121 rotates about the second rotation axis i2 in the opposite direction of arrow b in Figure 6 until the picking member 213 faces the second inlet / outlet 2112b, the side wall of the second mounting bracket 2121 is flush with the side wall of the limiting member 2126, and the second mounting bracket 2121 cannot continue to rotate.

[0556] In some examples of embodiments of this application, by providing a limiting member 2126 on the moving mechanism 212, the limiting member 2126 is disposed on the rotation path of the second mounting bracket 2121 rotating around the second rotation axis i2. Thus, when the second mounting bracket 2121 rotates, the limiting member 2126 can abut against the side wall of the second mounting bracket 2121, thereby limiting the rotation angle of the second mounting bracket 2121. This allows the picking component 213 to accurately face either the first inlet / outlet 2112a or the second inlet / outlet 2112b, facilitating accurate matching between the picking component 213 and the force-bearing structure of the target item, thereby improving the transfer efficiency of the target item.

[0557] In some examples, referring to FIG23, a fourth sensor 2118 may be provided on the base 211. The fourth sensor 2118 may be located at the inlet / outlet 2112. The fourth sensor 2118 may be configured to detect whether a target item is present on the vehicle 10.

[0558] In some examples, the fourth sensor 2118 may include a lidar, ultrasonic radar, millimeter-wave radar, or infrared sensor. The fourth sensor 2118 can determine whether a target object is on the vehicle 10 based on the signal reflected by the target object.

[0559] In some examples, there may be two fourth sensors 2118. One fourth sensor 2118 may be located at the first inlet / outlet 2112a, and the other fourth sensor 2118 may be located at the second inlet / outlet 2112b.

[0560] In some examples of embodiments of this application, by setting a fourth sensor 2118 at the inlet / outlet 2112, and the first sensor 214 detecting whether there is a target item on the carrier 10, it is possible to quickly determine whether there is a target item in the cargo location, so as to adjust the position of the pick-up and put-down device 20 in a timely manner and improve the transfer efficiency of the target item.

[0561] In some examples, as shown with reference to Figures 23 and 24, a fifth sensor 2119 may be provided on the base 211. The fifth sensor 2119 may be configured to detect a positioning mark on the carrier 10 to locate the position of the base 211 along the carrier 10.

[0562] In some examples, the fifth sensor 2119 can be a magnetic sensor, such as a Hall sensor, and the positioning mark can be a magnetic component. The positioning mark can be located on the crossbeam of the carrier 10.

[0563] In some examples, the fifth sensor 2119 can be a QR code camera, and the location identifier can be a QR code.

[0564] In some examples, the fifth sensor 2119 can be a barcode camera, and the positioning identifier can be a barcode or a printed mark.

[0565] In some examples, the fifth sensor 2119 can be a through-beam sensor, and the positioning marker can be a baffle.

[0566] In some examples, the positioning marker can be a hole. The hole can be at least one of a round hole, a square hole, a polygonal hole, or an irregularly shaped hole.

[0567] In some examples, as the pick-and-place device 20 moves laterally relative to the carrier 10, the fifth sensor can identify positioning marks on the carrier 10 to determine the position of the pick-and-place device 20. This facilitates the accurate movement of the pick-and-place device 20 to the column where the target cargo location is located.

[0568] In some examples, as the pick-and-place mechanism 210 moves longitudinally relative to the carrier 10, the fifth sensor can identify positioning markers on the carrier 10 to determine the longitudinal position of the pick-and-place mechanism 210. This facilitates the accurate movement of the pick-and-place mechanism 210 to the storage layer where the target cargo location is located.

[0569] In some examples of embodiments of this application, by setting a fifth sensor 2119 on the base 211, the fifth sensor 2119 can detect the positioning mark on the carrier 10, thereby positioning the moving position of the base 211 along the carrier 10. This facilitates the accurate docking of the inlet / outlet 2112 with the target cargo location and facilitates the transfer of the target items between the carrying area 2111 and the cargo location.

[0570] In some examples, there may be two fifth sensors 2119, one of which may be located at the first inlet / outlet 2112a and the other may be located at the second inlet / outlet 2112b.

[0571] In some embodiments, a fifth sensor 2119 may be provided. The fifth sensor 2119 may be oriented toward one of two adjacent vehicles 10. The two adjacent vehicles 10 may be aligned, so that the fifth sensor 2119 can determine whether it is aligned with the cargo position of the adjacent vehicle 10 by recognizing the positioning mark on one of the vehicles 10.

[0572] In some examples, the pick-and-place device 20 can determine the target storage location based on the item transfer instruction. The pick-and-place device 20 can move laterally along the carrier 10 based on the item transfer instruction. The pick-and-place device 210 can move longitudinally along the carrier 10 based on the item transfer instruction.

[0573] In some examples, after the fifth sensor 2119 identifies the positioning mark corresponding to the target location, the pick-and-place device 210 can finely adjust its position relative to the carrier 10 along the lateral direction of the carrier 10 based on the identification of the positioning mark by the fifth sensor 2119, so that the pick-and-place device 210 is directly opposite the column where the target location is located.

[0574] In some examples, after the fifth sensor 2119 identifies the positioning mark corresponding to the target cargo location, the pick-up and place mechanism 210 can finely adjust the position of the pick-up and place mechanism 210 along the longitudinal direction of the carrier 10 according to the identification of the positioning mark by the fifth sensor, so that the pick-up and place mechanism 210 is facing the target cargo location.

[0575] It is understood that in some examples of the embodiments of this application, fine-tuning may refer to adjusting the position of the pick-and-place mechanism 210 and the pick-and-place device 20 within a small range of movement. For example, the pick-and-place device 20 may move laterally without exceeding the current column, and the pick-and-place mechanism 210 may move longitudinally without exceeding the current reservoir.

[0576] In some examples, the fifth sensor 2119 identifies the positioning marker by recognizing its position relative to its center point. For example, laterally, this could be slightly to the left or right. If it's slightly to the left, the pick-and-place device 20 can move to the left, bringing the positioning marker closer to the center point of the sensor. If it's slightly to the right, the pick-and-place device 20 can move to the right. Alternatively, longitudinally, it could be slightly to the top or bottom. If it's slightly to the top, the pick-and-place mechanism 210 can move upwards; if it's slightly to the bottom, the pick-and-place mechanism 210 can move downwards. This ensures that the pick-and-place mechanism 210 is aligned with the target location, facilitating the transfer of the target item.

[0577] Figure 25 is a flowchart of one implementation of the article transfer method provided in some embodiments of this application.

[0578] Referring to FIG25, in some examples of embodiments of this application, a method for transferring goods is provided. The method for transferring goods can be applied to the warehousing system provided in the foregoing embodiments of this application. The method for transferring goods may include the following steps:

[0579] s801, the pick-up and drop device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0580] In some examples, the pick-and-place device 20 can move laterally along the carrier 10 according to the target item transfer task instruction issued by the dispatch center of the warehousing system. The first drive component 220, described in detail in the foregoing embodiments of this application, can drive the lateral movement of the pick-and-place device 20.

[0581] In some examples, the pick-and-place device 20 can move laterally according to the target storage location 110 where the target item is located, as indicated in the target item transfer task instruction.

[0582] s802, the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction until the pick-up and place mechanism 210 moves to the target storage location 110, so as to transfer the target item between the pick-up and place mechanism 210 and the target storage location 110.

[0583] In some examples, the pick-and-place mechanism 210 can move longitudinally relative to the carrier 10 after the pick-and-place device 20 has moved laterally to the column where the target storage location 110 is located. The longitudinal movement of the pick-and-place mechanism 210 can be driven by the third drive assembly 2113, as described in the foregoing embodiments of this application.

[0584] In some examples, the pick-and-place mechanism 210 can move longitudinally relative to the carrier 10 while the pick-and-place device 20 moves laterally.

[0585] In some examples, after the pick-and-place mechanism 210 moves to the target storage location 110, it can transfer the target item between the pick-and-place mechanism 210 and the target storage location 110. For example, the pick-and-place mechanism 210 can remove the target item from the target storage location 110. Alternatively, the pick-and-place mechanism 210 can place the target item on the target storage location 110.

[0586] s803, when the first walking path passes through the preset gap 301, the transfer robot 40 passes through the preset gap 301 and transfers the target item between the transfer robot 40 and the pick-and-place device 20.

[0587] It is understood that in some examples of the embodiments of this application, the movement of the transfer robot 40 and the movement of the pick-and-place device 20 can be performed simultaneously. In some examples, the transfer robot 40 can move before the pick-and-place device 20. In some examples, the transfer robot 40 can move after the pick-and-place device 20 and the pick-and-place mechanism 210 have moved into place. The embodiments of this application do not limit the order in which the transfer robot 40 moves and the pick-and-place device 20 moves.

[0588] In some examples, the transfer robot 40 can pass through the preset gap 301 and reach the bottom of the carrier 10. Thus, at the bottom of the carrier 10, the transfer robot 40 can transfer the target item between itself and the pick-and-place device 20. For example, the transfer robot 40 can transfer the target item to the pick-and-place mechanism 210. Alternatively, the pick-and-place mechanism 210 can transfer the target item to the transfer robot 40, which then transfers the target item to another location in the storage system.

[0589] In some examples, the bottom of the vehicle 10 may have a buffer position 120. The pick-and-place mechanism 210 can transfer target items between itself and the buffer position 120. That is, the pick-and-place mechanism 210 can place the target item on the buffer position 120, and the transfer robot 40 can transfer the target item from the buffer position 120 to another location in the storage system. Alternatively, the transfer robot 40 can transfer the target item from another location in the storage system to the buffer position 120, and after the pick-and-place mechanism 210 retrieves the target item from the buffer position 120, it is transferred to the target storage location 110.

[0590] It is understood that the method embodiments of this application have the same or corresponding technical features as the aforementioned device embodiments of this application. Therefore, the method embodiments of this application and the aforementioned device embodiments may have the same or similar technical effects. For details, please refer to the detailed description of the aforementioned device embodiments of this application. This application will not repeat the details.

[0591] Figure 26 is a flowchart of another implementation of the article transfer method provided in some embodiments of this application.

[0592] In some examples, referring to FIG26, the article transfer method provided in the embodiments of this application may include the following steps:

[0593] S901, the pick-up and drop device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0594] s902, when the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction until the pick-up and place mechanism 210 moves to the target storage location 110, the moving mechanism 212 drives the pick-up component 213 to move toward the target storage location 110.

[0595] In some examples, the carrier 10 may be equipped with a positioning mark. When the pick-up and drop-off mechanism 210 moves longitudinally, the fifth sensor 2119 can detect the positioning mark on the carrier 10.

[0596] In some examples, when the fifth sensor 2119 detects the location marker where the target storage location 110 is located, it can be determined that the pick-and-place mechanism 210 has moved to the target storage location 110.

[0597] In some examples, when the pick-and-place mechanism 210 moves longitudinally to the target location 110, the vehicle 10 where the target location 110 is located is determined.

[0598] In some examples, the vehicle 10 where the target storage location 110 is located can be the vehicle 10 where the pick-and-place device 20 is located.

[0599] In some examples, the vehicle 10 where the target location 110 is located may be an adjacent vehicle 10 to the vehicle 10 where the pick-and-place device 20 is located. The pick-and-place device 20 is located in the aisle between the two vehicles 10.

[0600] In some examples, based on the carrier 10 where the target storage location 110 is located, the second mounting bracket 2121 rotates about the second rotation axis i2 relative to the moving mechanism 212, so that the picking component 213 and the first sensor 214 rotate to one of the first inlet / outlet 2112a and the second inlet / outlet 2112b2 that docks with the target storage location 110.

[0601] In some examples, when the target location 110 is located on the carrier 10 where the pick-and-place device 20 is located, the second mounting bracket 2121 can be rotated toward the first inlet / outlet 2112a under the drive of the second drive member 2122.

[0602] In some examples, when the target storage location 110 is located in an adjacent vehicle 10, the second mounting bracket 2121 can be rotated toward the second inlet / outlet 2112b under the drive of the second drive member 2122.

[0603] In some examples, the fourth sensor 2118 can detect whether a target item is present in the target storage location 110. For example, if the fifth sensor 2119 determines that the pick-and-place mechanism 210 has moved to the target storage location 110, the presence of a target item in the target storage location 110 can be confirmed based on the fourth sensor 2118.

[0604] In some examples, if the target item is not present in the target storage location 110, it can be determined that the target item in the target storage location 110 may have been moved by human intervention. In this case, it is not necessary to move the moving mechanism 212 to the target storage location 110 to transfer the target item.

[0605] In some examples, the moving mechanism 212 can drive the picking component 213 and the first sensor 214 to move synchronously toward the target storage location 110.

[0606] In some examples, if the fourth sensor 2118 determines that the target item exists in the target storage location 110, the item transfer method may include:

[0607] S903, when the first sensor 214 detects that the distance between the first rotation axis i1 and the target item is a first preset distance, the picking component 213 rotates relative to the moving mechanism 212 around the second rotation axis to cooperate with the force-bearing structure on the target item.

[0608] In some examples of embodiments of this application, the detection method of the first sensor 214 and the rotation method of the object-taking component 213 can be referred to the detailed description of the foregoing embodiments of this application, and will not be repeated here.

[0609] S904, the moving mechanism 212 moves away from the inlet / outlet 2112 to drive the target item through the inlet / outlet 2112 toward the carrying area 2111.

[0610] In some examples, after the picking component 213 engages with the force-bearing structure, the moving mechanism 212 can move in the opposite direction. That is, the moving mechanism 212 moves away from the inlet / outlet 2112, thereby moving the target item. The target item can then enter the carrying area 2111 from the inlet / outlet 2112.

[0611] s905, when the second sensor 2116 detects that the target item has reached the preset position, the picking component 213 rotates relative to the moving mechanism 212 around the first rotation axis i1 to release the picking component 213 from the force-bearing structure.

[0612] In some examples, the disengagement of the object-retrieving component 213 from the force-bearing structure can be described in detail in the foregoing embodiments of this application, and will not be repeated in the embodiments of this application.

[0613] In some examples, when the second sensor 2116 detects that the target item has reached the preset position and the third sensor 2117 detects that the target item is present in the inlet / outlet 2112, the picking component 213 rotates relative to the moving mechanism 212 in the first direction to detect the cooperation between the picking component 213 and the force-bearing structure.

[0614] s906, the conveyor mechanism 2115 moves the target item from the preset position toward the carrying area 2111 until the target item is completely inside the carrying area 2111.

[0615] In some examples, the conveyor 2115 moves the target item toward the carrying area 2111 until the third sensor 2117 detects that the target item is not present at the inlet / outlet 2112.

[0616] In this way, the target item can be transferred from storage location 110 to carrying area 2111.

[0617] Figure 27 is another implementation flowchart of the article transfer method provided in some embodiments of this application.

[0618] In some examples, referring to Figure 27, the pick-and-place mechanism 210 can place the target item on the target storage location 110, and the item transfer method may include:

[0619] s1001, the pick-up and drop-off device 20 moves laterally along the vehicle 10 according to the item transfer command.

[0620] s1002, when the pick-up and place mechanism 210 moves longitudinally along the carrier 10 according to the item transfer instruction until the place mechanism 210 moves to the target storage location 110, the conveying mechanism 2115 drives the target item from the carrying area 2111 toward the target storage location 110.

[0621] s1003, when the third sensor 2117 detects that there is a target item at the inlet / outlet 2112 and the second detection sensor detects that the target item has reached the preset position, the picking component 213 rotates relative to the moving mechanism 212 around the first rotation axis i1 to cooperate with the force-bearing structure.

[0622] s1004, the moving mechanism 212 moves toward the target storage location 110, so as to drive the picking component 213 to push the target item toward the target storage location 110 until the third detection sensor detects that the target item does not exist at the inlet / outlet 2112.

[0623] The embodiments described above are merely specific embodiments of this application and are not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made based on the technical solution of this application should be included within the scope of protection of this application.

Claims

A warehousing system, characterized in that, include: The carrier (10) is located on the support platform of the storage system and has multiple storage positions (110) along the height direction; A pick-and-place device (20) is provided on one side of the carrier (10) along the transverse direction of the carrier (10). The pick-and-place device (20) is movable relative to the carrier (10). The pick-and-place device (20) includes a pick-and-place mechanism (210) along the longitudinal direction of the carrier (10). The pick-and-place mechanism (210) is movable relative to the carrier (10). The support member (30) is located on one side of the carrier (10), and the picking and placing device (20) can move laterally along the support member (30). There is a preset gap (301) between the bottom of the support member (30) and the support platform. The warehousing system according to claim 1 is characterized in that, The bottom of the picking and placing device (20) has the preset gap (301) between it and the support platform. The warehousing system according to claim 1 is characterized in that, Also includes: A transfer robot (40) walks on the support platform. The transfer robot (40) is configured to pass through the preset gap (301) or to pass through the underside of the vehicle (10) or the aisle between adjacent vehicles (10) to transfer the target item between the transfer robot (40) and the pick-and-place device (20). The warehousing system according to claim 3 is characterized in that, The pick-and-place device (20) moves laterally along the carrier (10) according to the item transfer command, so as to drive the pick-and-place mechanism (210) to move laterally relative to the carrier (10); The pick-and-place mechanism (210) moves longitudinally along the carrier (10) according to the item transfer instruction until the pick-and-place mechanism (210) moves to the target storage location, so as to transfer the target item between the pick-and-place mechanism (210) and the target storage location; When the first walking path of the transfer robot (40) passes through the preset gap (301), the transfer robot (40) passes through the preset gap (301) and transfers the target item between the transfer robot (40) and the pick-and-place device (20). The warehousing system according to claim 4 is characterized in that, Also includes: The transfer robot (40) determines multiple first walking paths for the transfer robot (40) to walk on the support platform according to the item transfer instruction; Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths; Determine whether the target's first walking path passes through the preset gap. The warehousing system according to claim 5 is characterized in that, Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths, including: Determine the walking distance of the transfer robot (40) from its current position to the docking position with the pick-and-place device (20) through each of the first walking paths; The first walking path with the shortest walking distance is determined as the target first walking path. The warehousing system according to claim 5 is characterized in that, Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths, including: Determine whether any other transport robots (40) are blocking each of the first walking paths; The first walking path that is not blocked by any other transport robot (40) is determined as the target first walking path. The warehousing system according to claim 5 is characterized in that, Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths, including: Determine the walking distance of the transfer robot (40) from its current position to the docking position with the pick-and-place device (20) through each of the first walking paths; Determine whether there are other transport robots (40) blocking the first walking path with the shortest walking distance; If there are other transport robots (40) blocking the first walking path with the shortest walking distance, determine whether there are other transport robots (40) in the remaining first walking paths with the shortest walking distance, until the first walking path with the shortest walking distance and no other transport robots (40) blocking it is determined as the target first walking path. The warehousing system according to claim 8 is characterized in that, If other transport robots (40) are blocking the first walking path with the shortest walking distance, determine whether other transport robots (40) are blocking the remaining first walking paths with the shortest walking distance, until the first walking path with the shortest walking distance and no other transport robots (40) blocking it is determined as the target first walking path, including: If there are other transport robots (40) blocking the first walking path with the shortest walking distance, determine whether the current transport robot (40) and other transport robots (40) in the first walking path meet when they walk to the intersection of the first walking path; If the current transfer robot (40) encounters another transfer robot (40) in the first walking path when walking to the intersection of the first walking path, determine whether there is another transfer robot (40) blocking the shortest walking distance in the remaining first walking path, until the first walking path with the shortest walking distance and no other transfer robot (40) blocking is determined as the target first walking path. The warehousing system according to any one of claims 4-9 is characterized in that, Also includes: Buffer position (120); The pick-and-place device (20) moves laterally along the carrier (10) to drive the pick-and-place mechanism (210) to move laterally, and the pick-and-place mechanism (210) moves longitudinally to dock with the buffer position (120), and the target item is transferred between the buffer position (120) and the pick-and-place mechanism (210); The transfer robot (40) is configured to dock with the buffer (120) to transfer the target item. The warehousing system according to claim 10 is characterized in that, When the buffer position (120) is located at the bottom of the vehicle (10) and the first walking path passes through the preset gap (301), the transfer robot (40) is configured to travel through the preset gap (301) to the buffer position (120) to transfer the target item. The warehousing system according to claim 11 is characterized in that, When the transfer robot (40) and the buffer position (120) complete the exchange of the target item, a second travel path between the transfer robot (40) and the location to be transferred is determined; When the second walking path passes through the preset gap (301), the transfer robot (40) passes through the preset gap (301) into the alley and walks along the second walking path toward the transfer location. The warehousing system according to claim 10 is characterized in that, The pick-and-place mechanism (210) is configured to dock the buffer position (120) on one side of the alleyway with the vehicle (10) on the other side of the alleyway to transfer the target item between the buffer position (120) on one side of the alleyway and the vehicle (10) on the other side of the alleyway. The warehousing system according to claim 1 is characterized in that, The support platform is provided with a support column (310), and the support member (30) is supported on the support platform by the support column (310). The warehousing system according to claim 14 is characterized in that, The support columns (310) include a plurality of columns, which are arranged at lateral intervals along the carrier (10). The warehousing system according to claim 15 is characterized in that, The vehicle (10) has a vehicle column (130) supported on the support platform. Along the transverse direction of the vehicle (10), a plurality of vehicle columns (130) are arranged at intervals. Along the first direction, the support column (310) is arranged opposite to the carrier column (130), wherein the transfer robot (40) is configured to traverse the preset gap (301) along the first direction. The warehousing system according to claim 16 is characterized in that, The vehicle (10) has a horizontal beam (311), and the support (30) is provided corresponding to the horizontal beam (311). The warehousing system according to claim 14 is characterized in that, When the target item is placed on the transfer robot (40) and the transfer robot (40) is lowered to its lowest state, the target item and the transfer robot (40) have a first height relative to the support platform, and the support column (310) has a second height; the second height is higher than the first height, so that the preset gap (301) is higher than the first height. The warehousing system according to any one of claims 1-9 is characterized in that, A tie rod (320) is provided between the support member (30) and the carrier (10), the tie rod (320) being configured to limit the distance of the support member (30) relative to the carrier (10). The warehousing system according to any one of claims 1-9 is characterized in that, The pick-and-place device (20) is provided with a first drive assembly (220), which cooperates with the support member (30) to drive the pick-and-place device (20) to move laterally along the carrier (10). The warehousing system according to claim 20 is characterized in that, The first driving component (220) includes: The first driving member (221) is disposed at one end of the pick-and-place device (20) near the support member (30); The first drive wheel (222) is connected to the first drive member (221) for transmission. The first drive wheel (222) rotates along the support member (30) under the drive of the first drive member (221). The warehousing system according to claim 21 is characterized in that, One of the first drive wheel (222) and the support member (30) is provided with a guide structure (302), and the other of the first drive wheel (222) and the support member (30) cooperates with the guide structure (302) to guide the walking direction of the first drive wheel (222). The warehousing system according to claim 22 is characterized in that, The guide structure (302) includes a first guide groove (3021), which is located on the side of the support member (30) near the first drive wheel (222), and at least a portion of the first drive wheel (222) is embedded in the first guide groove (3021). The warehousing system according to claim 23 is characterized in that, Along the axial direction of the first drive wheel (222), the first guide groove (3021) has a first sidewall and a second sidewall, and the distance between the first sidewall and the second sidewall is greater than the axial dimension of the first drive wheel (222) so that the first drive wheel (222) has a gap with both the first sidewall and the second sidewall; The pick-and-place device (20) is provided with a guide wheel (224), the peripheral wall of which abuts against at least one of the first side wall or the second side wall. The warehousing system according to claim 24 is characterized in that, The guide wheel (224) includes multiple guide wheels (224) arranged side by side along the extension direction of the first guide groove (3021). The warehousing system according to claim 22 is characterized in that, The guide structure (302) includes a second guide groove (3022), which is disposed on the peripheral wall of the first drive wheel (222); The support member (30) has a guide protrusion (303) on the side near the first drive wheel (222), and the guide protrusion (303) is embedded in the second guide groove (3022). The warehousing system according to claim 26 is characterized in that, The second guide groove (3022) is a V-shaped groove, the cross section of the support member (30) is tapered, and the side of the support member (30) near the first drive wheel (222) is configured as the guide protrusion (303). The warehousing system according to claim 20 is characterized in that, The pick-and-place device (20) is provided with a second drive assembly (364) at one end away from the support member (30), and the carrier (10) is provided with an auxiliary rail (50) on the side close to the pick-and-place device (20). The extension direction of the auxiliary rail (50) is consistent with the extension direction of the support member (30). The second drive assembly cooperates with the auxiliary rail (50) to assist the pick-and-place device (20) at one end away from the support member (30) and the pick-and-place device (20) at one end close to the support member (30) to move synchronously. The warehousing system according to claim 28 is characterized in that, The picking and placing device includes a motion mechanism (360), and the picking and placing mechanism (210) can move on the motion mechanism (360); The motion mechanism (360) can move along the support (30), and the motion mechanism (360) is configured to drive the pick-and-place mechanism (210) to the storage row where the target storage location is located under the control of the control command; The motion mechanism (360) has a preset gap (301) between its end near the support platform and the support platform. The warehousing system according to claim 28 is characterized in that, Also includes: First mounting bracket (223); the first mounting bracket (223) is located at the end of the pick-and-place device near the support member; The first drive assembly (220) includes two components, and the first drive assembly (220) is mounted on the first mounting bracket (223). The warehousing system according to claim 28 is characterized in that, The warehousing system also includes: The first displacement sensor (381) is configured to detect the first motion stroke of the first drive assembly (363) and generate a first detection signal; The second displacement sensor (382) is configured to detect the second motion stroke of the second drive assembly (364) and generate a second detection signal; The control mechanism (383) is configured to determine whether the first motion stroke and the second motion stroke are consistent based on the first detection signal and the second detection signal; The control mechanism (383) is further configured to adjust the operating parameters of at least one of the first drive component (220) and the second drive component (364) to keep the first and second motion strokes consistent when the first motion stroke is different from the second motion stroke. The warehousing system according to any one of claims 1-9 is characterized in that, The pick-and-place device includes: The base (211) has a bearing area (2111) having an inlet (2112) configured to allow a target item to enter or exit the bearing area (2111); A moving mechanism (212) is provided on the base (211); A picking component (213) is disposed on the base (211). The picking component (213) moves relative to the base (211) along a first direction under the drive of the moving mechanism (212) to dock with the target item. The warehousing system according to claim 32 is characterized in that, The object-grabbing component (213) is rotatably disposed on the moving mechanism (212) about a first rotation axis. The object-grabbing component (213) rotates relative to the moving mechanism (212) to switch between a docking state with the target object and a state of avoiding the target object. In the docking state, the object-taking component (213) engages with or disengages from the force-bearing structure of the target item; In the avoidance state, the object-retrieving component (213) avoids the space where the target object is located or the passage space of the target object. The warehousing system according to claim 33 is characterized in that, The pick-and-place device further includes: A first sensor (214) is configured to detect the distance between the object-taking component (213) and the target object; When the first sensor (214) detects that the distance between the first rotation axis and the target item is a first preset distance, the picking component (213) rotates relative to the moving mechanism (212) to the docking state to cooperate with the force-bearing structure on the target item, or the picking component (213) rotates relative to the moving mechanism (212) to the avoidance state to release the cooperation between the picking component (213) and the force-bearing structure. The warehousing system according to claim 32 is characterized in that, The base (211) is provided with a third drive assembly (2113), which is connected to the moving mechanism (212) in a transmission manner. The third drive assembly (2113) is configured to drive the moving mechanism (212) to move relative to the base (211) in the first direction. The warehousing system according to claim 35 is characterized in that, The third drive component (2113) includes: Fourth drive unit (2113a); The transmission member (2113b) extends along the first direction and is connected to the moving mechanism (212). The fourth driving member (2113a) cooperates with the transmission member (2113b) to drive the moving mechanism (212) to move. The warehousing system according to claim 36 is characterized in that, The fourth driving member (2113a) is disposed on the moving mechanism (212); the transmission member (2113b) includes: A transmission component is disposed on the base (211) along the first direction; The meshing gear meshes with the transmission member, and the meshing gear is connected to the fourth driving member (2113a) for transmission. The fourth driving member (2113a) drives the meshing gear to rotate, and the meshing gear moves along the transmission member to drive the moving mechanism (212) to move in the first direction. The warehousing system according to claim 36 is characterized in that, The base (211) is provided with a slide rail (2114), which extends along the first direction; the moving mechanism (212) includes: The slider (2124) is slidably disposed on the slide rail (2114); The third mounting bracket (2125) is disposed on the slider (2124), and the fourth driving member (2113a) is disposed on the third mounting bracket (2125). The warehousing system according to claim 34 is characterized in that, The base (211) is provided with a conveying mechanism (2115), which extends along the first direction; When the picking component (213) carries the target item from the inlet / outlet (2112) into the carrying area (2111) and moves it to a preset position, the picking component (213) disengages from the target item; the conveying mechanism (2115) carries the target item to continue moving towards the carrying area (2111); or, When the conveying mechanism (2115) moves the target item from the carrying area (2111) to the inlet / outlet (2112) to a preset position, the picking component (213) cooperates with the target item and pushes the target item to continue moving towards the inlet / outlet (2112). The warehousing system according to claim 39 is characterized in that, The conveying mechanism (2115) includes two, which are arranged at intervals along a second direction, which intersects with the first direction. The warehousing system according to claim 39 is characterized in that, The base (211) is provided with a second sensor (2116), which is configured to detect the position of the target item in the bearing area (2111) to determine whether the target item has reached the preset position. The warehousing system according to claim 41 is characterized in that, Along the first direction, the second sensor (2116) is located in the middle of the bearing area (2111). The warehousing system according to claim 41 is characterized in that, A third sensor (2117) is provided on the base (211), the third sensor (2117) is disposed at the inlet / outlet (2112), and the third sensor (2117) is configured to detect whether the target item exists at the inlet / outlet (2112); When the target item is present at the inlet / outlet (2112), the picking component (213) releases its engagement with the force-bearing structure according to the preset position determined by the second sensor (2116), or the picking component (213) engages with the force-bearing structure according to the preset position determined by the second sensor (2116). The warehousing system according to claim 34 is characterized in that, The moving mechanism (212) is provided with a second mounting bracket (2121), which is rotatably mounted on the moving mechanism (212) around a second rotation axis. The object picking component (213) and the first sensor (214) are mounted on the second mounting bracket (2121). The second rotation axis is in a different direction from the first rotation axis. The warehousing system according to claim 44 is characterized in that, The inlet / outlet (2112) includes a first inlet / outlet (2112a) and a second inlet / outlet (2112b), wherein the first inlet / outlet (2112a) and the second inlet / outlet (2112b) are arranged opposite to each other along the first direction; The picking component (213) picks up and places the target item from the first inlet / outlet (2112a) and / or the picking component (213) picks up and places the target item from the second inlet / outlet (2112b). The warehousing system according to claim 45 is characterized in that, The second mounting bracket (2121) rotates about the second rotation axis relative to the moving mechanism (212) to drive the picking component (213) and the first sensor (214) toward either the first inlet / outlet (2112a) or the second inlet / outlet (2112b). The warehousing system according to claim 44 is characterized in that, The second mounting bracket (2121) is provided with a second driving member (2122), which is connected to the object-retrieving component (213) in a transmission manner. The second driving member (2122) is configured to drive the object-retrieving component (213) to rotate relative to the moving mechanism (212) about the first rotation axis. The warehousing system according to claim 44 is characterized in that, The moving mechanism (212) is provided with a third driving member (2123), which is connected to the second mounting bracket (2121) in a transmission manner. The third driving member (2123) is configured to drive the second mounting bracket (2121) to rotate relative to the moving mechanism (212) about the second rotation axis, so as to drive the object picking component (213) to rotate relative to the moving mechanism (212). The warehousing system according to claim 46 is characterized in that, The moving mechanism (212) is provided with a limiting member (2126), which is disposed on the rotation path of the second mounting bracket (2121) about the second rotation axis; the limiting member (2126) is configured to limit the rotation angle of the second mounting bracket (2121) relative to the moving mechanism (212) so as to position the picking member (213) toward the first inlet / outlet (2112a) or to position the picking member (213) toward the second inlet / outlet (2112b). The warehousing system according to any one of claims 33-44 is characterized in that, The base (211) is provided with a fourth sensor (2118), which is located at the inlet / outlet (2112) and is configured to detect whether a target item is present on the vehicle. The warehousing system according to any one of claims 33-44 is characterized in that, The picking and placing device also includes a column (230) which is arranged in a vertical direction; the base (211) is movably disposed on the column (230) and can move relative to the column (230) along the extension direction of the column (230); The base (211) is also provided with a fifth sensor (2119), which is configured to detect the positioning mark on the carrier (10) to locate the position of the base (211) moving along the carrier (10). A method for transferring items, characterized in that, The method is applied to a warehousing system, which includes a carrier (10), a picking and placing device (20), a support member (30), and a transfer robot (40). The carrier (10) is located on the support platform of the warehousing system and has multiple storage locations (110) along its height. The picking and placing device (20) is located on one side of the carrier (10) and can move relative to the carrier (10) along the transverse direction of the carrier (10). The picking and placing device (20) includes a picking and placing mechanism (210) and can move relative to the carrier (10) along the longitudinal direction of the carrier (10). The support member (30) is located on one side of the carrier (10), and there is a preset gap (301) between the bottom of the support member (30) and the support platform. The transfer robot (40) walks on the support platform. The method includes: The pick-and-place device (20) moves laterally along the vehicle (10) according to the item transfer command; The pick-and-place mechanism (210) moves longitudinally along the carrier (10) according to the item transfer instruction until the pick-and-place mechanism (210) moves to the target storage location, so as to transfer the target item between the pick-and-place mechanism (210) and the target storage location; The transfer robot (40) determines whether the first walking path on the support platform includes the preset gap (301) according to the item transfer instruction; When the first walking path includes the preset gap (301), the transfer robot (40) passes through the preset gap (301) to transfer the target item between the transfer robot and the pick-and-place device (20). The method according to claim 52, characterized in that, The transfer robot (40) determines whether its first walking path on the support platform includes the preset gap (301) according to the item transfer instruction, including: The transfer robot (40) determines multiple first walking paths for the transfer robot (40) to walk on the support platform according to the item transfer instruction; Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths; Determine whether the target's first walking path includes the preset gap. The method according to claim 53 is characterized in that, Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths, including: Determine the walking distance of the transfer robot (40) from its current position to the docking position with the pick-and-place device (20) through each of the first walking paths; The first walking path with the shortest walking distance is determined as the target first walking path. According to the method of claim 53, determining the target first walking path from the plurality of first walking paths based on the target item transfer efficiency includes: Determine whether the transfer robot (40) exists in each of the first walking paths; The first walking path where the transfer robot (40) does not exist is determined as the target first walking path. The method according to claim 53 is characterized in that, Based on the target item transfer efficiency, the target first walking path is determined from the plurality of first walking paths, including: Determine the walking distance of the transfer robot (40) from its current position to the docking position with the pick-and-place device (20) through each of the first walking paths; Determine whether the transfer robot (40) exists in the first walking path with the shortest walking distance; If the transfer robot (40) exists in the first walking path with the shortest walking distance, determine whether the transfer robot (40) exists in the remaining first walking paths with the shortest walking distance, until the first walking path with the shortest walking distance and without the transfer robot (40) is determined as the target first walking path. The method according to claim 56, characterized in that, If the transfer robot (40) exists in the first walking path with the shortest walking distance, determine whether the transfer robot (40) exists in the remaining first walking paths with the shortest walking distance, until the first walking path with the shortest walking distance and without the transfer robot (40) is determined as the target first walking path, including: If the transfer robot (40) exists in the first walking path with the shortest walking distance, determine whether the current transfer robot (40) and the transfer robot (40) in the first walking path meet when they walk to the intersection of the first walking paths; If the current transfer robot (40) meets another transfer robot (40) in the first walking path when they reach the intersection of the first walking paths, determine whether the transfer robot (40) exists in the first walking path with the shortest walking distance among the remaining first walking paths, until the first walking path with the shortest walking distance and without the transfer robot (40) is determined as the target first walking path. The method according to any one of claims 53-57, characterized in that, The warehousing system also includes: a cache slot (120); The pick-and-place device (20) moves laterally along the carrier (10) to drive the pick-and-place mechanism (210) to move laterally, and the pick-and-place mechanism (210) moves longitudinally to dock with the buffer position (120), and the target item is transferred between the buffer position (120) and the pick-and-place mechanism (210). The transfer robot (40) is configured to dock with the buffer position (120) to transfer the target item between the buffer position (120) and the transfer robot (40). The method according to claim 58, characterized in that, When the buffer position (120) is located at the bottom of the vehicle (10) and the first walking path includes the preset gap (301), the transfer robot (40) is configured to travel through the preset gap (301) to the buffer position (120) and exchange the target item with the buffer position (120). The method according to claim 59, characterized in that, The method further includes: When the transfer robot (40) and the buffer position (120) complete the exchange of the target item, a second travel path between the transfer robot (40) and the location to be transferred is determined; When the second walking path includes the preset gap (301), the transfer robot (40) passes through the preset gap (301) to the outside of the vehicle (10) and walks along the second walking path toward the transfer location. The method according to claim 52, characterized in that, The picking and placing mechanism (210) includes a base (211), a moving mechanism (212), and a picking component (213); the base (211) has a bearing area (2111), the bearing area (2111) has an inlet and outlet (2112), the inlet and outlet (2112) is configured to allow the target item to enter and exit the bearing area (2111); the moving mechanism (212) is disposed on the base (211); the picking component (213) is disposed on the base (211), and the picking component (213) moves relative to the base (211) along a first direction under the drive of the moving mechanism (212); the method further includes: When the picking and placing mechanism (210) moves longitudinally to the target storage location (110), the moving mechanism (212) drives the picking component (213) to move toward the target storage location (110) so that the picking component (213) docks with the target item. The method according to claim 61, characterized in that, The picking and placing mechanism further includes a first sensor (214), which is disposed on the base (211). The moving mechanism (212) drives the first sensor (214) and the picking component (213) to move synchronously. The moving mechanism (212) drives the picking component (213) to move toward the target storage location (110) so that the picking component (213) docks with the target item. The steps include: The moving mechanism (212) drives the picking component (213) and the first sensor (214) to move synchronously toward the target storage location (110); When the first sensor (214) detects that the distance between the moving mechanism (212) and the target item is a first preset distance, the picking component (213) rotates relative to the moving mechanism (212) around the first rotation axis to cooperate with the force-bearing structure on the target item. The method according to claim 62, characterized in that, After the step of rotating the object-grabbing component (213) about the first rotation axis relative to the moving mechanism (212) to engage with the force-bearing structure on the target item, the method further includes: The moving mechanism (212) moves away from the inlet / outlet (2112) to drive the target item to move toward the carrying area (2111) through the inlet / outlet (2112). The method according to claim 63, characterized in that, The base (211) is provided with a conveying mechanism (2115) that extends along the first direction; the base (211) is provided with a second sensor (2116) that is configured to detect the position of the target item in the bearing area (2111); After the step of the moving mechanism (212) moving away from the inlet / outlet (2112) to move the target item through the inlet / outlet (2112) toward the carrying area (2111), the method further includes: When the second sensor (2116) detects that the target item has reached the preset position, the picking component (213) rotates relative to the moving mechanism (212) around the first rotation axis to release the cooperation between the picking component (213) and the force-bearing structure. The conveying mechanism (2115) moves the target item from the preset position toward the carrying area (2111) until the target item is completely inside the carrying area (2111). The method according to claim 64, characterized in that, A third sensor (2117) is provided on the base (211), the third sensor (2117) is located at the inlet / outlet (2112), and the third sensor (2117) is configured to detect whether the target item exists at the inlet / outlet (2112); the step of the object-retrieving component (213) rotating relative to the moving mechanism (212) around the first rotation axis when the target item reaches the preset position, so as to release the engagement between the object-retrieving component (213) and the force-bearing structure, includes: When the second sensor (2116) detects that the target item has reached the preset position, and the third sensor (2117) detects that the target item is present at the inlet / outlet (2112), the picking component (213) rotates relative to the moving mechanism (212) around the first rotation axis to release the cooperation between the picking component (213) and the force-bearing structure. The method according to claim 65, characterized in that, The step of the conveying mechanism (2115) moving the target item from the preset position toward the carrying area (2111) until the target item is completely inside the carrying area (2111) includes: The conveying mechanism (2115) moves the target item from the preset position toward the carrying area (2111) until the third sensor (2117) detects that the target item does not exist at the inlet / outlet (2112). The method according to claim 65, characterized in that, The method further includes: The conveying mechanism (2115) moves the target item from the carrying area (2111) toward the target storage location (110); When the third sensor (2117) detects the presence of the target item at the inlet / outlet (2112) and the second sensor (2116) detects that the target item has reached the preset position, the picking component (213) rotates relative to the moving mechanism (212) around the first rotation axis to cooperate with the force-bearing structure. The moving mechanism (212) drives the picking component (213) to move toward the target storage location (110) to push the target item toward the target storage location (110) until the third sensor (2117) detects that the target item does not exist at the inlet / outlet (2112). The method according to any one of claims 62-67, characterized in that, The inlet / outlet (2112) includes a first inlet / outlet (2112a) and a second inlet / outlet (2112b), which are located on opposite sides of the bearing area (2111); the moving mechanism (212) is provided with a second mounting bracket (2121), which is rotatably mounted on the moving mechanism (212) around a second rotation axis; the object-grabbing component (213) and the first sensor (214) are mounted on the second mounting bracket (2121), and the second rotation axis intersects with the first rotation axis; When the picking and placing mechanism (210) moves longitudinally to the target storage location (110), the moving mechanism (212) drives the picking component (213) to move toward the target storage location (110) so that the picking component (213) docks with the target item. The step includes: When the pick-and-place mechanism (210) moves longitudinally to the target cargo location (110), the carrier (10) where the target cargo location (110) is located is determined; Based on the carrier (10) where the target storage location (110) is located, the second mounting bracket (2121) rotates about the second rotation axis relative to the moving mechanism (212) so that the picking component (213) and the first sensor (214) rotate to one of the first inlet / outlet (2112a) and the second inlet / outlet (2112b) that is connected to the target storage location (110); The moving mechanism (212) drives the picking component (213) to move toward the target storage location (110) so that the picking component (213) docks with the target item. The method according to any one of claims 61-67, characterized in that, A fourth sensor (2118) is provided on the base (211), the fourth sensor (2118) is located at the inlet / outlet (2112), and the fourth sensor (2118) is configured to detect whether the target item exists in the target storage location (110); When the picking and placing mechanism (210) moves longitudinally to the target storage location (110), the step of the moving mechanism (212) driving the picking component (213) to move toward the target storage location (110) includes: When the pick-and-place mechanism (210) moves longitudinally to the target storage location (110), the fourth sensor (2118) determines whether the target item exists in the target storage location (110); When the target item is present in the target storage location (110), the moving mechanism (212) drives the picking component (213) to move toward the target storage location (110). The method according to any one of claims 61-67, characterized in that, The base (211) is provided with a fifth sensor (2119), and the carrier (10) is provided with a positioning mark; the steps of the picking and placing device (20) moving laterally along the carrier (10) according to the item transfer command include: The pick-and-place device (20) moves laterally along the carrier (10) until the fifth sensor (2119) identifies the positioning mark corresponding to the column where the target cargo location is located. The method according to claim 70, characterized in that, The step of the pick-and-place mechanism (210) moving longitudinally along the carrier (10) until the pick-and-place mechanism (210) moves to the target storage location includes: The pick-and-place mechanism (210) moves longitudinally along the carrier (10) until the fifth sensor (2119) detects the location marker where the target cargo location (110) is located. A pick-and-place device, characterized in that, include: The base (211) has a bearing area (2111) having an inlet (2112) configured to allow a target item to enter or exit the bearing area (2111); A moving mechanism (212) is provided on the base (211); A picking component (213) is disposed on the base (211). The picking component (213) moves relative to the base (211) along a first direction under the drive of the moving mechanism (212) to dock with the target item. The column (220) is arranged vertically; the base (211) is movably disposed on the column (230) and can move relative to the column (230) along the extension direction of the column (230). The pick-and-place device according to claim 72 is characterized in that, The object-grabbing component (213) is rotatably disposed on the moving mechanism (212) about a first rotation axis. The object-grabbing component (213) rotates relative to the moving mechanism (212) to switch between a docking state with the target object and a state of avoiding the target object. In the docking state, the object-taking component (213) engages with or disengages from the force-bearing structure of the target item; In the avoidance state, the object-retrieving component (213) avoids the space where the target object is located or the passage space of the target object. The pick-and-place device according to claim 73 is characterized in that, The pick-and-place device further includes: A first sensor (214) is configured to detect the distance between the object-taking component (213) and the target object; When the first sensor (214) detects that the distance between the first rotation axis and the target item is a first preset distance, the picking component (213) rotates relative to the moving mechanism (212) to the docking state to cooperate with the force-bearing structure on the target item, or the picking component (213) rotates relative to the moving mechanism (212) to the avoidance state to release the cooperation between the picking component (213) and the force-bearing structure. The pick-and-place device according to claim 74 is characterized in that, The base (211) is provided with a first drive assembly (2113), which is connected to the moving mechanism (212) in a transmission manner. The first drive assembly (2113) is configured to drive the moving mechanism (212) to move relative to the base (211) along the first direction. The pick-and-place device according to claim 75 is characterized in that, The first driving component (2113) includes: First driving component (2113a); A transmission member (2113b) extends along the first direction and is connected to a moving mechanism (212). The first driving member (2113a) cooperates with the transmission member (2113b) to drive the moving mechanism (212) to move. The pick-and-place device according to claim 76 is characterized in that, The first driving member (2113a) is disposed on the base (211); the transmission member (2113b) includes: A lead screw is disposed on the base (211) along the first direction, and the lead screw is connected to the first driving member (2113a) in a transmission connection. A lead screw nut is sleeved on the outer periphery of the lead screw and is connected to the moving mechanism (212). When the first driving member (2113a) drives the lead screw to rotate, the lead screw nut drives the moving mechanism (212) to move along the first direction. The pick-and-place device according to claim 76 is characterized in that, The first driving member (2113a) is disposed on the base (211); the transmission member (2113b) includes: A transmission gear, which is connected to the first driving member (2113a) in a transmission manner; A transmission belt is wound around the transmission gear and arranged along the first direction. The transmission belt is connected to the moving mechanism (212). The first driving member (2113a) drives the transmission belt through the transmission gear to drive the moving mechanism (212) to move along the first direction. The pick-and-place device according to claim 76 is characterized in that, The first driving member (2113a) is disposed on the moving mechanism (212); the transmission member (2113b) includes: A transmission component is disposed on the base (211) along the first direction; A meshing gear meshes with the transmission member, and the meshing gear is connected to the first driving member (2113a) for transmission. The first driving member (2113a) drives the meshing gear to rotate, and the meshing gear moves along the transmission member to drive the moving mechanism (212) to move in the first direction. The pick-and-place device according to claim 76 is characterized in that, The base (211) is provided with a slide rail (2114), which extends along the first direction; the moving mechanism (212) includes: The slider (2124) is slidably disposed on the slide rail (2114); The third mounting bracket (2125) is disposed on the slider (2124), and the first driving member (2113a) is disposed on the third mounting bracket (2125). The pick-and-place device according to claim 74 is characterized in that, The base (211) is provided with a conveying mechanism (2115), which extends along the first direction; When the picking component (213) carries the target item from the inlet / outlet (2112) into the carrying area (2111) and moves it to a preset position, the picking component (213) disengages from the target item; the conveying mechanism (2115) carries the target item to continue moving towards the carrying area (2111); or, When the conveying mechanism (2115) moves the target item from the carrying area (2111) to the inlet / outlet (2112) to a preset position, the picking component (213) cooperates with the target item and pushes the target item to continue moving towards the inlet / outlet (2112). The pick-and-place device according to claim 81 is characterized in that, The conveying mechanism (2115) includes two, which are arranged at intervals along a second direction, which intersects with the first direction. The pick-and-place device according to claim 81 is characterized in that, The base (211) is provided with a second sensor (2116), which is configured to detect the position of the target item in the bearing area (2111) to determine whether the target item has reached the preset position. The pick-and-place device according to claim 83 is characterized in that, The second sensor (2116) includes a first through-beam sensor; the first signal transmitter (2116a) of the first through-beam sensor is disposed on one side of the bearing area (2111), the first signal receiver (2116b) of the first through-beam sensor is disposed on the other side of the bearing area (2111), and the signal transmission path of the first through-beam sensor intersects with the movement direction of the target item in the bearing area (2111); When the target item moves from the inlet / outlet (2112) to the bearing area (2111), and the first signal receiver (2116b) does not receive the signal emitted by the first signal transmitter (2116a), it is determined that the target item has moved to a preset position, and the picking component (213) is released from the force-bearing structure. When the target item moves from the bearing area (2111) to the inlet / outlet (2112) and the first signal receiver (2116b) receives the signal emitted by the first signal transmitter (2116a), it is determined that the target item has moved to a preset position, and the picking component (213) cooperates with the force-bearing structure. The pick-and-place device according to claim 83 is characterized in that, Along the first direction, the second sensor (2116) is located in the middle of the bearing area (2111). The pick-and-place device according to claim 83 is characterized in that, A third sensor (2117) is provided on the base (211), the third sensor (2117) is disposed at the inlet / outlet (2112), and the third sensor (2117) is configured to detect whether the target item exists at the inlet / outlet (2112); When the target item is present at the inlet / outlet (2112), the picking component (213) releases its engagement with the force-bearing structure according to the preset position determined by the second sensor (2116), or the picking component (213) engages with the force-bearing structure according to the preset position determined by the second sensor (2116). The pick-and-place device according to claim 86 is characterized in that, The third sensor (2117) includes a second through-beam sensor; the second signal transmitter (2117a) of the second through-beam sensor is located on one side of the bearing area (2111), and the second signal receiver (2117b) of the second through-beam sensor is located on the other side of the bearing area (2111); the signal transmission path of the second through-beam sensor intersects with the movement direction of the target item at the inlet / outlet (2112); If the second signal receiver (2117b) does not receive a signal from the second signal transmitter (2117a), it is determined that the target item exists at the import / export (2112). The pick-and-place device according to any one of claims 74-86 is characterized in that, The moving mechanism (212) is provided with a second mounting bracket (2121), which is rotatably mounted on the moving mechanism (212) around a second rotation axis. The object picking component (213) and the first sensor (214) are mounted on the second mounting bracket (2121). The second rotation axis is in a different direction from the first rotation axis. The pick-and-place device according to claim 88 is characterized in that, The inlet / outlet (2112) includes a first inlet / outlet (2112a) and a second inlet / outlet (2112b), wherein the first inlet / outlet (2112a) and the second inlet / outlet (2112b) are arranged opposite to each other along the first direction; The picking component (213) picks up and places the target item through the first inlet / outlet (2112a) and / or the picking component (213) picks up and places the target item through the second inlet / outlet (2112b). The pick-and-place device according to claim 89 is characterized in that, The second mounting bracket (2121) rotates about the second rotation axis relative to the moving mechanism (212) to drive the picking component (213) and the first sensor (214) toward either the first inlet / outlet (2112a) or the second inlet / outlet (2112b). The pick-and-place device according to claim 89 is characterized in that, The second mounting bracket (2121) is provided with a second driving member (2122), which is connected to the object-retrieving component (213) in a transmission manner. The second driving member (2122) is configured to drive the object-retrieving component (213) to rotate relative to the moving mechanism (212) about the first rotation axis. The pick-and-place device according to claim 89 is characterized in that, The moving mechanism (212) is provided with a third driving member (2123), which is connected to the second mounting bracket (2121) in a transmission manner. The third driving member (2123) is configured to drive the second mounting bracket (2121) to rotate relative to the moving mechanism (212) about the second rotation axis, so as to drive the object picking component (213) to rotate relative to the moving mechanism (212). The pick-and-place device according to claim 89 is characterized in that, The moving mechanism (212) is provided with a limiting member (2126), which is disposed on the rotation path of the second mounting bracket (2121) about the second rotation axis; the limiting member (2126) is configured to limit the rotation angle of the second mounting bracket (2121) relative to the moving mechanism (212) so as to position the picking member (213) toward the first inlet / outlet (2112a) or to position the picking member (213) toward the second inlet / outlet (2112b). The pick-and-place device according to any one of claims 74-86 is characterized in that, The base (211) is provided with a fourth sensor (2118), which is located at the inlet / outlet (2112) and is configured to detect whether a target item is present on the vehicle. The pick-and-place device according to any one of claims 74-86 is characterized in that, The pick-and-place device also includes The base (211) is also provided with a fifth sensor (2119), which is configured to detect the positioning mark on the carrier (10) to locate the position of the base (211) moving along the carrier (10). The pick-and-place device according to claim 95 is characterized in that, The pick-and-place device (210) is configured to adjust the position between the pick-and-place device (210) and the vehicle (10) laterally according to the identification of the positioning mark by the fifth sensor (2119); The pick-and-place mechanism (210) is configured to adjust the position between the pick-and-place device (210) and the vehicle (10) along the longitudinal direction of the vehicle (10) based on the identification of the positioning mark by the fifth sensor (2119). A warehousing system, characterized in that, include: The vehicle (10) forms a cargo space (110); A support member (30) is provided at least on one side of the vehicle (10), connected to the ground and spaced apart from the ground; The pick-and-place device (20) includes a pick-and-place mechanism (210) and a motion mechanism (360). The pick-and-place mechanism (210) can move on the motion mechanism (360). The pick-and-place mechanism (210) is configured to move on the motion mechanism (360) to the target storage location (110) under the control of a control command, and pick up the target item on the target storage location (110) or place the target item on the target storage location (110). The motion mechanism (360) can move along the support (30), and the motion mechanism (360) is configured to drive the pick-and-place mechanism (210) to the storage row where the target storage location (110) is located under the control of the control command; The motion mechanism (360) has a gap or channel between its end near the ground and the ground. The warehousing system according to claim 97 is characterized in that, Also includes: At least one support column (310) is disposed between the support member (30) and the ground, and is connected to the support member (30) and the ground; The support member (30) and / or at least one of the support columns (310) are connected to the carrier (10). The warehousing system according to claim 98 is characterized in that, The support member (30) corresponds to the horizontal beam (311) of the vehicle (10); The support column (310) corresponds to the vehicle column (130) of the vehicle (10); The storage system further includes a first connector (314), one end of which is connected to the carrier (10), and the other end of which is connected to the support (30) and / or the support column (310). The warehousing system according to claim 99 is characterized in that, The support member (30) is spaced apart from the ground and connected to the support column (310); The motion mechanism (360) can move along the support (30); The support member (30) corresponds to the first horizontal beam (3111) of the vehicle (10) that is closest to the ground; The storage location (110) is located above the first horizontal beam (3111); A gap or channel is formed between the first horizontal beam (3111) and the ground; One end of the first connector (314) is connected to the carrier (10), and the other end is connected to the support (30) and / or the support column (310). The warehousing system according to any one of claims 97-99 is characterized in that, Also includes: A transfer robot (40) is configured to cooperate with the pick-and-place device (20) to transfer the target item; The gap or channel formed between the end of the motion mechanism (360) near the ground and the ground is configured to allow the transfer robot (40) to pass through. The warehousing system according to claim 101 is characterized in that, When the pick-and-place mechanism (210) moves to the end of the motion mechanism (360) that is close to the ground, the gap or channel formed between the side of the pick-and-place mechanism (210) facing the ground and the ground is configured to allow the transfer robot (40) to pass through. The warehousing system according to claim 101 is characterized in that, A passageway (N) is formed between two adjacent vehicles (10); The transfer robot (40) is configured to move along the extension direction of the tunnel (N) under the control of control commands. The warehousing system according to claim 103 is characterized in that, The transfer robot (40) is also configured to move along the arrangement direction of the carrier (10) under the control of control commands. The warehousing system according to claim 104 is characterized in that, The transfer robot (40) is also configured to pass through the gap or channel formed between the motion mechanism (360) and the ground when moving along the extension direction of the alley (N) or the arrangement direction of the vehicle (10) under the control of control commands. The warehousing system according to any one of claims 97-99 is characterized in that, The support member (30) is spaced apart from the ground and connected to the ground; The motion mechanism (360) includes a column (230) that can move along the support member (30); The pick-and-place mechanism (210) can move along the column (230); When the pick-and-place mechanism (210) moves to the side of the column (230) closest to the ground along the height direction of the column (230), the distance between the side of the pick-and-place mechanism (210) closest to the ground and the ground is less than the distance between the side of the column (230) closest to the ground and the ground. The warehousing system according to claim 106 is characterized in that, Along the height direction of the column (230), the distance between the end of the column (230) near the ground and the ground is greater than or equal to the distance between the side of the support member (30) near the ground and the ground. The warehousing system according to claim 106 is characterized in that, The column (230) includes: The first column (3611) can move along the support member (30); The second column (3612) is movable along the support member (30) and is spaced apart from the first column (3611) along the extension direction of the support member (30); An opening (361a) is provided between the first column (3611) and the second column (3612); The picking and placing mechanism (210) is movably disposed on the first column (3611) and the second column (3612); When the picking and placing mechanism (210) moves along the first column (3611) and the second column (3612), the picking and placing mechanism (210) can pass through the opening (361a) and continue to move towards the side closer to the ground; When the pick-up and place mechanism (210) moves to the side closer to the ground through the opening (361a), the distance between the side of the pick-up and place mechanism (210) closer to the ground and the ground is less than the distance between the side of the first column (3611) and the second column (3612) closer to the ground and the ground. The warehousing system according to claim 108 is characterized in that, The first column (3611) is provided with a first limiting part (361b) at one end near the ground; The second column (3612) is provided with a second limiting part (361c) at one end near the ground; The first limiting part (361b) and the second limiting part (361c) are configured to limit the position of the pick-and-place mechanism (210) on the first column (3611) and the second column (3612) to prevent the pick-and-place mechanism (210) from slipping off the first column (3611) and the second column (3612). The warehousing system according to claim 108 is characterized in that, The column (230) further includes: a plurality of reinforcing beams (3613) connected to the first column (3611) and the second column (3612); The reinforcing beams (3613) are spaced apart along the height direction of the column (230), and each of the reinforcing beams (3613) corresponds to a horizontal beam (311) of the vehicle (10). The warehousing system according to claim 110 is characterized in that, The horizontal beam (311) of the carrier (10) is provided with a positioning mark (3112), which is configured to indicate whether the pick-and-place mechanism (210) is aligned with the cargo position (110); When the reinforcing beam (3613) corresponds to the horizontal beam (311), it avoids the positioning mark (3112). The warehousing system according to claim 106 is characterized in that, The motion mechanism (360) further includes a first drive assembly (220); The first drive assembly (220) is connected to the column (230) and is configured to drive the column (230) to move along the support (30). The warehousing system according to claim 112 is characterized in that, The first driving component (220) consists of two parts; Along the extending direction of the support member (30), the two first drive assemblies (220) are respectively located on both sides of the column (230); The motion mechanism (360) further includes a first mounting bracket (223) connected to the side of the column (230) near the support member (30); The two first drive components (220) are respectively connected to the two ends of the first mounting bracket (223). The warehousing system according to claim 113 is characterized in that, The first mounting bracket (223) includes: Connecting part (3651); Two mounting portions (3652) are located at both ends of the connecting portion (3651) along the extending direction of the support member (30); One of the mounting parts (3652) is connected to the column (230) and the first drive assembly (220); Another of the mounting parts (3652) is connected to the column (230) and another of the first drive components (220); The two mounting portions (3652) and the connecting portion (3651) together form a pick-and-place opening (3653); The pick-and-place mechanism (210) is configured to pick up and place target items on the storage location (110) through the pick-and-place port (3653). The warehousing system according to claim 114 is characterized in that, The first driving component (220) includes: The first driving member (221) is disposed on the side of the mounting part (3652) opposite to the support member (30); The first drive wheel (222) is disposed on the side of the mounting part (3652) facing the support member (30) and can move along the support member (30); The first drive member (221) is configured to drive the first drive wheel (222) to move along the support member (30). The warehousing system according to claim 115 is characterized in that, A groove is formed on one of the first rolling surface (363a) of the first drive wheel (222) and the support member (30), and the other of the first rolling surface (363a) of the first drive wheel (222) and the support member (30) is embedded in the groove so that the other moves along the groove relative to the first one. The warehousing system according to claim 116 is characterized in that, The support member (30) has the groove, and the first drive wheel (222) is embedded in the groove; The first drive assembly (220) further includes a guide wheel (224) connected to the side of the mounting portion (3652) facing the support member (30); The guide wheel (224) is embedded in the groove, and the guide wheel (224) moves along the side wall (b) or bottom wall (a) of the groove. The warehousing system according to claim 112 is characterized in that, It also includes an auxiliary track (50), which is spaced apart from the support member (30) and located above the support member (30) along the height direction of the column (230), and the auxiliary track (50) is connected to the carrier (10); The column (230) can move along the auxiliary track (50); The motion mechanism (360) also includes a second drive assembly (364); The second drive assembly (364) is connected to the column (230) and is configured to cooperate with the first drive assembly under the control of a control command to drive the column (230) to move along the support (30) and the auxiliary track (50). The warehousing system according to claim 118 is characterized in that, The second driving component (364) includes: The second drive wheel (3641) can move along the auxiliary track (50); An elastic element (3642) is disposed on the column (230) and abuts against the second drive wheel (3641) to apply an elastic force toward the auxiliary track (50) to the second drive wheel (3641). The warehousing system according to claim 119 is characterized in that, The warehousing system also includes: The first displacement sensor (381) is configured to detect the first motion stroke of the first drive assembly (220) and generate a first detection signal; The second displacement sensor (382) is configured to detect the second motion stroke of the second drive assembly (364) and generate a second detection signal; The control mechanism (383) is configured to determine whether the first motion stroke and the second motion stroke are consistent based on the first detection signal and the second detection signal; The control mechanism (383) is further configured to adjust the operating parameters of at least one of the first drive component (220) and the second drive component (364) to keep the first and second motion strokes consistent when the first motion stroke is different from the second motion stroke. The warehousing system according to claim 118 is characterized in that, It also includes at least one third support member (323), which is spaced apart from the support member (30) and the auxiliary track (50) along the height direction of the column (230); The motion mechanism (360) also includes a driven component (391); The driven component (391) is connected to the column (230) and can move along the third support (323). The warehousing system according to claim 121 is characterized in that, The warehousing system also includes a sliding contact line (392); The conductor (3921) of the sliding contact line (392) is disposed on the third support member (323); The collector (3922) of the sliding contact line (392) is disposed on the column (230) and is electrically connected to the first drive assembly (220) and the second drive assembly (364); The receiver (3922) is configured to contact the conductor (3921) as the column (230) moves along the support (30).

Images