CN221215591U

CN221215591U - Warehouse system

Info

Publication number: CN221215591U
Application number: CN202323290839.7U
Authority: CN
Inventors: 王淼
Original assignee: Nanjing Geek+ Robot Co ltd
Current assignee: Nanjing Geek+ Robot Co ltd
Priority date: 2023-12-04
Filing date: 2023-12-04
Publication date: 2024-06-25
Anticipated expiration: 2033-12-04

Abstract

The embodiment of the application provides a warehousing system, which comprises: a work platform configured for sorting or picking the target item by a picking object; the support frame is positioned at one side of the working platform and is provided with a storage position; the picking and placing device is positioned on one side of the supporting frame and is at least configured to pick and place a target object on the storage position or the working platform; the picking and placing device is provided with a walking assembly, at least part of the walking assembly is detachably arranged on the supporting frame and moves along the supporting frame, so that the picking and placing device moves along the supporting frame, the assembly and maintenance difficulty of the warehousing system is reduced, and the manufacturing and operation cost of the warehousing system is reduced.

Description

Warehouse system

Technical Field

The application belongs to the technical field of warehousing logistics equipment, and particularly relates to a warehousing system.

Background

At present, in a warehousing system in the logistics field, a robot responds to an order instruction to carry a container corresponding to an order to a workstation, or carry a carrier carrying the container to the workstation as a whole, transfer the container to a picking platform of the workstation through container loading and unloading equipment of the workstation, and sort articles corresponding to the order in the container to an order box so as to sort the articles corresponding to the order.

In the related art, the container loading and unloading equipment is integrated in the picking platform, and the structure is complex, so that the assembling and maintaining difficulty of a workstation in a warehouse system is high, and the manufacturing and operation and maintenance costs of the workstation are increased.

Disclosure of utility model

The embodiment of the application provides a warehousing system, which reduces the assembly and maintenance difficulty of the warehousing system, thereby reducing the manufacturing and operation cost of the warehousing system.

In one aspect, an embodiment of the present application provides a warehousing system, including: a work platform configured for sorting or picking the target item by a picking object; the support frame is positioned at one side of the working platform and is provided with a storage position; the picking and placing device is positioned on one side of the supporting frame and is at least configured to pick and place the target object on at least one of the storage position and the working platform; the picking and placing device is provided with a walking assembly, at least part of the walking assembly is detachably arranged on the supporting frame and moves along the supporting frame, so that the picking and placing device moves along the supporting frame.

In one implementation, the pick-and-place device comprises at least one of a first pick-and-place device and a second pick-and-place device;

The first picking and placing device is positioned on one side of the supporting frame, facing the working platform, and is configured to pick and place target objects on at least one of the storage position and the working platform;

The second picking and placing device is located on one side, back to the working platform, of the supporting frame and is configured to pick and place target objects on at least one of the storage position, the working platform and the carrier.

In one implementation, a first rail is provided on the support frame; the walking assembly comprises a walking member and a driving member, the walking member comprises a first rolling member, and at least part of the first rolling member is embedded in the first track; the first rolling element is connected with the driving element so as to roll along the first track under the driving of the driving element.

In one implementation, the first rail has a rail opening, and a portion of the first rolling element is exposed to the first rail through the rail opening to be connected with the driving element; wherein the track opening is upward.

In one implementation mode, the picking and placing device is further fixedly provided with a first auxiliary supporting piece, and the first auxiliary supporting piece is embedded in the first track and moves along the first track along with the first rolling piece.

In one implementation, the first auxiliary support comprises a second rolling member; the first rolling element rolls along a first inner surface of the first track, and the second rolling element contacts along a second inner surface of the first track, the first inner surface facing different than the second inner surface.

In one implementation, the pick-and-place device further comprises a trolley line; the conductor of the sliding contact line is arranged on the first track, the current collector of the sliding contact line is arranged on the driving piece and is electrically connected with the driving piece, and the current collector is configured to be contacted with the conductor when the driving piece drives the first rolling piece to move along the first track.

In one implementation, the pick-and-place device further comprises a device body, the walking assembly is arranged on the device body, the device body is configured to carry the target object, and the walking assembly is configured to drive the device body to move along the support frame; the walking components are at least one group, and the at least one group of walking components are arranged at a first position of the device body, and the distance between the first position and the top of the device body is smaller than the distance between the first position and the bottom of the device body.

In one implementation mode, the walking components are multiple groups, and the multiple groups of walking components are arranged at intervals along the height direction of the device body; the at least one group of walking components are arranged at a second position of the device body, and the distance between the second position and the bottom of the device body is smaller than the distance between the second position and the top of the device body.

In one implementation, an apparatus body includes: at least one upright post, each upright post extends along the height direction of the supporting frame, and the walking assembly is arranged on the at least one upright post so as to drive the upright posts to move along the supporting frame; the picking and placing mechanism is movably arranged on at least one upright post; the longitudinal driving structure is arranged on at least one upright post and connected with the picking and placing mechanism, and the longitudinal driving structure is configured to drive the picking and placing mechanism to move along the height direction of the upright post.

In one implementation mode, two upright posts are arranged at intervals, and the picking and placing mechanism is movably arranged between the two upright posts; each upright post is provided with a walking assembly, and the two upright posts move along the supporting frame under the driving of the corresponding walking assemblies;

Or one of the upright posts is provided with a walking assembly, and the walking assembly is configured to drive one of the upright posts to move along the supporting frame so as to drive the other upright post to move.

In one implementation, the two upright posts are a first upright post and a second upright post respectively, the first upright post is arranged in the first track through the walking assembly, the second upright post is arranged in the first track through the second auxiliary supporting piece, and the second upright post is configured to move under the driving of the first upright post so as to drive the second auxiliary supporting piece to move along the first track.

In one implementation, the second auxiliary support comprises: the supporting seat is connected with the second upright post; the first rolling assembly is movably connected with the supporting seat and is arranged on the supporting frame in a rolling manner.

In one implementation, the first rolling assembly includes a third rolling member and a fourth rolling member; the third rolling element rolls along a first inner surface of the first track, and the fourth rolling element contacts along a second inner surface of the first track, the first inner surface facing different than the second inner surface.

In one implementation, the top ends of the posts extend out of the cross beam at the top of the support frame, and the pick-and-place mechanism is movable to the top ends of the posts; the bottom of stand is less than the crossbeam of braced frame bottom, and gets and put the mechanism movable to the bottom of stand.

In one implementation mode, the longitudinal driving structure is arranged on the upright post and comprises a longitudinal driving piece and a longitudinal transmission piece, wherein the longitudinal driving piece is connected with the longitudinal transmission piece to drive the longitudinal transmission piece to move, and the picking and placing mechanism is connected with the longitudinal transmission piece to move under the drive of the longitudinal transmission piece;

wherein, the longitudinal driving piece is arranged at the end part of the upright post.

In one implementation, the longitudinal drive is disposed at the top end of the column.

In one implementation, the pick-and-place device further includes: the picking and placing mechanism is connected with the longitudinal driving structure through the connecting piece; the second rolling assembly is connected with the picking and placing mechanism, a second track is arranged on the upright post, and the second rolling assembly is arranged in the second track in a rolling way.

In one implementation, the second rolling assembly is disposed on the connecting piece; the second rolling assembly comprises a fifth rolling member and a sixth rolling member; the fifth rolling element rolls along a third inner surface of the second track, the sixth rolling element contacts along a fourth inner surface of the second track, the third inner surface facing different than the fourth inner surface.

In one implementation, a longitudinal transmission includes: the longitudinal driving wheels and the longitudinal driven wheels are arranged at intervals along the height direction of the upright post, and the longitudinal driving piece is connected with the longitudinal driving wheels to drive the longitudinal driving wheels to rotate; the longitudinal driving belt is sleeved on the longitudinal driving wheel and the longitudinal driven wheel, and the longitudinal driving belt and the longitudinal driven wheel move under the driving of the longitudinal driving wheel.

In one implementation, the support frames have at least one, and at least two pick-and-place devices are arranged on one side of each support frame.

In one implementation, the plurality of support frames are arranged in sequence along the walking direction of the picking and placing device; the first rails on the at least two support frames are communicated, and the at least two support frames share the picking and placing device.

In one implementation, the pick-and-place mechanism includes: a carrying assembly configured to carry a target item;

A pick and place assembly configured to pick and place a target item from a first target location and load onto the carrier assembly, or configured to unload a target item from the carrier assembly and place at a second target location; the motion assembly is configured to drive the picking and placing assembly to move in the first motion track and the second motion track; in the first motion track, the motion assembly is configured to drive the picking and placing assembly to move along the picking direction so as to load and unload the target object; within the second motion trail, the motion component is configured to drive the fetching component to deviate from the fetching direction.

In one implementation, within the second motion profile, the motion assembly is configured to drive the pick-and-place assembly to move obliquely upward or obliquely downward away from the carrier assembly; or in the second motion track, the motion assembly is at least configured to drive the picking and placing assembly to rotate so as to enable the picking and placing assembly to be switched between a picking and placing position and an avoiding position.

In one implementation mode, the picking and placing components are one, one picking and placing component can be switched between a third position and a fourth position, the picking and placing component is connected with the target object on the corresponding side along the positive direction of the picking and placing direction when rotating to the third position, and the picking and placing component is connected with the target object on the corresponding side along the opposite direction of the picking and placing direction when rotating to the fourth position; the third position and the fourth position are picking and placing positions; or the two picking and placing components are arranged, wherein the picking end of one picking and placing component faces to the positive direction of the picking and placing direction, and the picking end of the other picking and placing component faces to the opposite direction of the picking and placing direction.

In one implementation, the pick-and-place assembly includes a suction cup structure configured to suction a target item.

The embodiment of the application provides a warehouse system, wherein a supporting frame is arranged on one side of a working platform, a picking and placing device for loading and unloading picking objects (such as a bin filled with picking objects) is arranged on one side of the supporting frame, a walking component of the picking and placing device is detachably arranged on the supporting frame, on one hand, the walking component moves on the supporting frame to enable the picking and placing device to move along the supporting frame, so that the picking and placing device can pick and place target objects at different storage positions of the supporting frame or the working platform, on the other hand, the picking and placing device is arranged on one side of the supporting frame, modularization of the picking and placing device can be realized, the whole picking and placing device and the supporting frame can be assembled only by assembling the picking and placing device in advance, and then the walking component is hung on the supporting frame, so that the assembling difficulty of the picking and placing device and the whole warehouse system is reduced, namely the quick replacement of the picking and placing device is realized, the problem of secondary calibration after field maintenance is reduced, and the whole working efficiency of the warehouse system is improved.

In addition, through setting up getting put the device in one side of braced frame, so, the space that can utilize braced frame by the greater limit can set up a plurality of storage positions on braced frame, and do not receive getting the interference of putting the device, can make getting put the device and can in time unload the target article of receiving on braced frame, guarantee to get put the device and be in usable state, can in time receive the target article, improved work efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application.

Fig. 1 is a schematic structural diagram of a warehousing system according to an embodiment of the application at a first view angle;

FIG. 2 is a schematic diagram of a warehouse system according to an embodiment of the present application at a second view angle;

FIG. 3 is a schematic diagram of a warehouse system according to an embodiment of the present application at a third view angle;

FIG. 4 is a partial schematic view of the structure of FIG. 1;

FIG. 5 is a schematic view of the structure of the connector of FIG. 1;

FIG. 6 is a schematic structural diagram of a pick-and-place mechanism at a first view angle according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a pick-and-place mechanism according to an embodiment of the present application at a second view angle;

Fig. 8 is a schematic view of a part of a pick-and-place mechanism according to another embodiment of the present application.

Reference numerals illustrate:

P-workstation equipment; m-connection area; an N-sorting area;

100-working platform; 200-supporting a frame; 300-a picking and placing device; 400-target article;

110-a work surface; 210-a cross beam; 220-stringers; 230-storage bits; 240-a first rail; 310-a walking assembly; 320-device body; 330-a first auxiliary support; 340-a second auxiliary support; 350-trolley lines;

240 a-a first track; 311-driving piece; 312-walking members; 321-upright posts; 322-a pick-and-place mechanism; 323-a longitudinal drive structure; 331-a first support base; 332-a second rolling member; 341-a second support base; 342-a first scrolling component;

3211-a second track; 3221-a base; 3222-a carrier assembly; 3223-a motion assembly; 3224-a pick-and-place assembly; 3225-a drive assembly; 3231—a longitudinal drive; 3232—a longitudinal transmission; 3233—a connector; 3234—a second scroll component; 3421-third rolling member; 3422-fourth rolling members;

3221 a-accommodating space; 3221 b-guide strips; 3222 a-conveyor belt; 3222 b-an avoidance space; 32231-slide mechanism; 32232-a guide mechanism; 32241—an object taking section; 32242-fixing part; 32321-longitudinal drive wheels; 32322-longitudinal driven wheels; 32323-longitudinal drive belt; 32341-fifth rolling elements; 32342-sixth rolling elements;

3223 a-first guide, 3223 b-second guide; 3224 a-chuck structure; 3224 b-connecting rod; 3224 c-elastic member.

Detailed Description

In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

The embodiment of the application provides a warehousing system, which comprises a storage system and a picking system (such as a workstation), wherein the storage system is used for storing articles, and the articles can be cargos, containers with cargos or packaging boxes with cargos. For example, items may be stored on shelves having multiple layers of storage bits. In some examples, items may be placed onto designated storage locations in the shelves or transferred between storage locations in the shelves by robotic arms or transfer robots.

Fig. 1 is a schematic structural diagram of a warehousing system according to an embodiment of the present application at a first view angle, fig. 2 is a schematic structural diagram of a warehousing system according to an embodiment of the present application at a second view angle, and fig. 3 is a schematic structural diagram of a warehousing system according to an embodiment of the present application at a third view angle.

Referring to fig. 1-3, a picking system may include workstation equipment P, a docking bay M, and a picking bay N, where the picking bay N includes a work platform 100 at which picking subjects may sort or pick target items 400 at the work platform 100 of the picking bay N. The picking object may be a worker, a robot arm, or a transfer robot (e.g., a first transfer robot).

Picking the target item 400 refers to picking the target item 400 hit by an order among various items received by the work platform 100, and placing the picked target item 400 in a sowing wall for subsequent delivery. The sorted articles can be sorted, i.e. the same type of target articles 400 can be selected and classified and are concentrated on the shelf again, so that a plurality of the same type of target articles 400 can be quickly taken out and sowed when the articles are delivered next time.

One side of the work platform 100 has a docking area M configured for a transfer robot (e.g., a second transfer robot) to operate. After receiving the order task, the transfer robot takes out the target article 400 from the storage system and moves the target article 400 to the connection area M of the picking system, and the pick-and-place device 300 of the workstation equipment P transfers the target article 400 of the connection area M to the working platform 100 for picking or sorting of the picking object.

In some examples, the transfer robot may transfer only the target item 400 from the storage system to the docking area M of the picking system, such that the pick-and-place device in the workstation apparatus P may interface directly with the transfer robot to transfer the target item 400 onto the pick-and-place device 300 and ultimately onto the work platform 100 via the pick-and-place device.

In other examples, to increase the efficiency of work, the transfer robot may transfer the movable racks storing the plurality of target items 400 directly from the storage system to the docking area M of the picking system, so that the pick-and-place device of the workstation apparatus P may take out the target items 400 from the movable racks and transfer them onto the work platform 100 for picking or sorting.

It will be appreciated that the pick-and-place device is movable in a first direction, such as the X-direction, such that the pick-and-place mechanism of the pick-and-place device can interface with the columns of shelves on the docking area M side and with various positions of the work platform 100 in the horizontal direction. In addition, the pick-and-place mechanism of the pick-and-place device or the whole pick-and-place device can move along the second direction, for example, the Z direction, so that the pick-and-place mechanism of the pick-and-place device can be in butt joint with each layer of the shelf at the M side of the connection area and each position of the working platform 100 along the vertical direction.

In the related art, a pick-and-place device of the workstation device P is integrated on a working platform, for example, a docking window is formed on the working platform, and the pick-and-place device is disposed in the docking window. The device comprises a transverse module, a longitudinal module and a picking and placing mechanism, wherein the transverse module is connected with the picking and placing mechanism and used for driving the picking and placing mechanism to move along a first direction, the longitudinal module is connected with the picking and placing mechanism or the transverse module and used for driving the picking and placing mechanism to move along a second direction, the transverse module and the longitudinal module are both arranged on the side wall of the butt joint window, and the picking and placing mechanism is located in an operation space of the butt joint window and can move along the first direction and the second direction in the operation space.

Therefore, in the workstation equipment P, each part of the pick-and-place device is mounted on the working platform, the whole structure is complex, the pick-and-place device cannot be independently dismounted, when the parts in the pick-and-place device fail, a worker needs to maintain the workstation equipment P, on one hand, the normal operation of the pick-and-place mechanism in other pick-and-place devices or the picking work of the worker can be influenced, the whole working efficiency is influenced, on the other hand, the maintained parts such as the pick-and-place mechanism need secondary calibration, for example, the mounting angles of the pick-and-place mechanism in the horizontal and vertical directions need to be calibrated, so that the pick-and-place mechanism can accurately pick-and-place target objects, the whole operation flow is overlong, the production and manufacturing cost is high, the implementation operation cost is high, and the fault tolerance rate is low. In addition, the workstation device P is also large in size, occupies a large area, and is insufficient in space utilization, for example, the docking window of the workstation device P needs to operate the pick-and-place mechanism, so that storage bits cannot be set or a large number of storage bits cannot be set.

Based on this, in the warehouse system provided by the embodiment of the application, the supporting frame 200 is arranged on one side of the working platform 100, the picking and placing device 300 is hung on one side of the supporting frame 200 as a whole, and can move along the supporting frame 200, so that the modularization of the picking and placing device 300 can be realized, the whole picking and placing device 300 and the supporting frame 200 can be assembled just by assembling the picking and placing device 300 in advance and then hanging the picking and placing device on the supporting frame 200, the assembly difficulty of the picking and placing device 300 and the warehouse system such as a workstation device is reduced, namely the quick replacement of the picking and placing device 300 is realized, the problem of secondary calibration after on-site maintenance is reduced, the overall working efficiency of the warehouse system is further improved, the whole operation flow is shortened, the production and manufacturing cost is reduced, the implementation operation cost is low, and the fault tolerance rate is high.

In addition, by arranging the picking and placing device 300 on one side of the supporting frame 200, the space of the supporting frame 200 can be utilized to a greater extent, and a plurality of storage positions 230 can be arranged on the supporting frame 200 without being interfered by the picking and placing device 300, so that the picking and placing device 300 can timely unload the received target object 400 on the supporting frame 200, the picking and placing device 300 is ensured to be in a usable state, the target object 400 can be timely received, and the working efficiency is improved.

The following describes in detail the specific structure of the warehousing system provided by the embodiment of the application with reference to the accompanying drawings.

With continued reference to fig. 1 to 3, an embodiment of the present application provides a warehouse system, which includes a working platform 100, a supporting frame 200, and a pick-and-place device 300. Wherein work platform 100 is configured for picking objects to sort or pick target items 400. Illustratively, the work surface 110 of the work platform 100 may be adapted to the prevalent height of a picking object, such as a worker, so that the worker can quickly pick the target item 400 on the work platform 100.

The support frame 200 is located at one side of the work platform 100 and is formed with a storage location 230.

Illustratively, the support frame 200 may include a plurality of cross beams 210 and a plurality of side beams 220, wherein each of the cross beams 210 may extend in a first direction, for example, an X-axis direction, the plurality of cross beams 210 may be spaced apart in a second direction, for example, a Z-axis direction, the side beams 220 may extend in the Z-axis direction, a firm frame structure is formed by fixing the cross beams 210 to the side beams 220, and a storage location 230 is formed above each of the cross beams 210 in the Z-axis direction. It is understood that each storage bit 230 may be formed from a plurality (e.g., two) of beams 210 spaced apart along a third direction, such as the Y-axis direction.

For convenience of description, an X-axis direction may be taken as a length direction of the support frame 200, a Y-axis direction may be taken as a width direction of the support frame 200, and a Z-axis direction may be taken as a height direction of the support frame 200.

The storage location 230 formed by the support frame 200 has high structural stability without additional reinforcing structures, thereby reducing the number of parts of the warehouse system, lowering the cost and improving the assembly efficiency.

The pick-and-place device 300 according to the embodiment of the present application is disposed on one side of the support frame 200 and is at least configured to pick and place a target object on at least one of the storage location 230 and the working platform 100.

In some examples, the pick-and-place device 300 may be disposed on a side of the support frame 200 facing the work platform 100 such that the pick-and-place device 300 is configured to pick and place a target item 400 on at least one of the storage location 230 and the work platform 100.

For convenience of description, the picking and placing apparatus 300 disposed at a side of the support frame 200 facing the work platform 100 may be referred to as a first picking and placing apparatus disposed at a side of the support frame 200 facing the work platform 100 (i.e., an inner side of the support frame 200), which may pick and place the target object 400 on the storage location 230, or pick and place the target object 400 on the work platform 100.

For example, the first pick-and-place device may transfer the target item 400 between the storage locations 230 and the work platform 100, or the first pick-and-place device may move the target item 400 on the support frame 200 from one of the storage locations 230 to another storage location 230, or may move the target item 400 on the work platform 100.

In addition, when the first picking and placing device has a plurality of picking and placing mechanisms, the first picking and placing device can pick and place the storage location 230 and the target article 400 on the working platform 100 at the same time, that is, the first picking and placing device can perform a plurality of tasks at the same time, so that the working efficiency of the warehouse system is improved.

In other examples, the pick-and-place device 300 may be disposed on a side of the support frame 200 facing away from the work platform 100, such that the pick-and-place device 300 is configured to pick and place a target item 400 on at least one of the storage location 230, the work platform 100, and the carrier.

For convenience of description, the picking and placing device 300 disposed on a side of the support frame 200 facing away from the working platform 100 may be referred to as a second picking and placing device, where the second picking and placing device is disposed on a side of the support frame 200 facing away from the working platform 100 (i.e., an outer side of the support frame 200), and may pick and place the target object 400 on the storage location 230, or pick and place the target object 400 on the working platform 100, or may pick and place the target object 400 on the carrier.

For example, the second pick-and-place device may move the target article 400 on the support 200, the work platform 100, or the carrier, or the second pick-and-place device may transfer the target article 400 between any two of the storage location 230, the work platform 100, and the carrier of the support 200, and the second pick-and-place device may transfer the target article 400 between the storage location 230 and the carrier, for example.

In addition, when the second picking and placing device has a plurality of picking and placing mechanisms, the first picking and placing device can simultaneously pick and place the target object 400 on at least two of the storage location 230, the working platform 100 and the carrier, for example, when the picking and placing mechanisms have three, the three picking and placing mechanisms can simultaneously and respectively execute the picking and placing actions on the storage location 230, the working platform 100 and the target object 400 on the carrier, i.e. the second picking and placing device can simultaneously perform a plurality of tasks, thereby improving the working efficiency of the warehouse system.

It should be noted that, the second picking and placing device may perform the picking and placing operation on the target object 400 on the working platform 100 in the following manner: the picking and placing mechanism of the second picking and placing device can pass through the supporting frame 200 to reach the working platform 100 to be in butt joint with the working platform 100, or the picking and placing mechanism of the second picking and placing device shuttles between the working platform 100 and the supporting frame 200 to realize the movement of transferring the target article 400 between the working platform 100 and the supporting frame 200.

It is to be understood that the warehouse system according to the embodiment of the present application may only provide the pick-and-place device 300 on the side of the support frame 200 facing the working platform 100, i.e., the pick-and-place device 300 is the first pick-and-place device. The pick-and-place device 300 may also be provided only on a side of the support frame 200 facing away from the work platform 100, i.e. the pick-and-place device 300 is a second pick-and-place device.

Of course, in some examples, the warehouse system of the present application may be provided with the picking and placing device 300 on both the side of the support frame 200 facing the working platform 100 and the side facing away from the working platform 100, that is, the picking and placing device 300 includes a first picking and placing device and a second picking and placing device, so that the transfer of the target article 400 between the carrier and the storage location 230 may be implemented by the second picking and placing device, and the second picking and placing device may also move the target article 400 near the outer side of the support frame 200. In addition, the transfer of the target article 400 between the work platform 100 and the storage location 230 may be performed by the first pick-and-place device, which may also move the target article 400 inside the support frame 200.

The following description of the specific structure of the warehouse system will be made by taking the example that the pick-and-place device 300 is disposed outside the supporting frame 200.

The pick-and-place device 300 may be disposed outside the support frame 200, where the pick-and-place device 300 is disposed away from the working platform 100, so as to avoid collision between the pick-and-place device 300 and a picking object, such as a worker, on the side of the working platform 100 during operation, thereby causing a safety hazard.

The pick-and-place apparatus 300 is capable of picking and placing a target object 400 on at least one of the carrier, the storage location 230, and the work platform 100. For example, the picking and placing device 300 may move the target object 400 on the support 200, the working platform 100, or the carrier, or the picking and placing device 300 may transfer the target object 400 between any two of the storage location 230, the working platform 100, and the carrier of the support 200, and the picking and placing device 300 may transfer the target object 400 between the storage location 230 and the carrier, for example.

In the embodiment of the present application, the docking area M of the picking system is located at one side of the support frame 200, for example, the docking area M is located at one side of the support frame 200 where the pick-and-place device 300 is located, and the docking area M is configured to allow the carrier to run and dock, and the pick-and-place device 300 may transfer the target object 400 on the carrier to the support frame 200 or the work platform 100. It will be appreciated that the carrier may be a transfer robot or a movable pallet that is transferred by the transfer robot. Hereinafter, a movable rack will be described as an example of a carrier.

The picking zone N of the picking system is located on the other side of the support frame 200, e.g. the picking zone N may be located on the side of the support frame 200 where the work platform 100 is located, the picking zone N being configured for picking objects to remove target items 400 from the support frame 200 and sort or pick said target items 400 on the work platform 100.

Illustratively, the support frame 200 may include a first side and a second side opposite to each other along the Y-axis direction, the working platform 100 is disposed on the first side, and the pick-and-place device 300 may be disposed on the second side, so that the docking area M and the sorting area N may be isolated by the support frame 200, thereby ensuring the safety of the staff. It will be appreciated that in this example, the pick-and-place device 300 is configured to transfer the target article 400 between the carrier and the support frame 200, or to move the target article 400 on the support frame 200.

The pick-and-place device 300 according to the embodiment of the application may include a device body 320 and a traveling assembly 310, wherein the traveling assembly 310 is fixedly connected to the device body 320. Wherein the apparatus body 320 is configured to transfer the target article 400 between the carrier and the support frame 200 or to move the target article 400 on the support frame 200.

In addition, the walking assembly 310 is movably disposed on the support frame 200 and configured to drive the device body 320 to move along the support frame 200, so that the whole pick-and-place device 300 moves along the support frame 200, for example, along the X-axis direction of the support frame 200, so that the device body 320 can be docked with each target position disposed along the X-axis direction in the carrier or the support frame 200, thereby realizing the transfer of the target article 400.

When the walking assembly 310 is assembled with the support frame 200, it may be specifically that at least part of the walking assembly 310 is detachably mounted on the support frame 200 and moves along the support frame 200, so that the pick-and-place device 300 moves along the support frame 200. That is, the pick-and-place device 300 is suspended on the support frame 200 by the traveling assembly 310 thereof and moves in the extending direction of the support frame 200, for example, the X-axis direction.

Fig. 4 is a partial structural schematic diagram of fig. 1. Referring to fig. 2 and 4, in some examples, the walking assembly 310 may be rollably disposed on the support frame 200 to reduce friction between the walking assembly 310 and the support frame 200, and improve the operation efficiency of the pick-and-place device 300, so that the operation speed is more controllable. For example, a first rail 240a may be formed on the beam 210 of the support frame 200, and at least a portion of the walking assembly 310 is rollably disposed in the first rail 240a, such that the walking assembly 310 moves along the support frame 200 while moving along the first rail 240a, thereby driving the device body 320.

For example, the walking assembly 310 may include a walking member 312 and a driving member 311, the driving member 311 is fixed on the device body 320, the walking member 312 includes a first rolling member, and at least a portion of the first rolling member is embedded in the first track 240 a; the first rolling member is connected to the driving member 311 to roll along the first track 240a under the driving of the driving member 311, so as to drive the device body 320 to move along the support frame 200.

Illustratively, the driving member 311 may be a motor such as a stepping motor, a driving cylinder, a synchronous pulley structure, a rack-and-pinion structure, etc., and the first rolling member may be a roller, a ball, etc. For example, the first rolling element is a roller, and a roller shaft of the roller is fixed to an output shaft of a motor, and the output shaft of the motor drives the roller to roll along the first track 240a during the rotation process, so as to drive the device body 320 to move.

It will be appreciated that the walking assembly 310 functions to move the device body 320 along the first track 240a of the support frame 200, on the one hand, and also functions to suspend the device body 320 from the support frame 200, on the other hand. When the pick-and-place device 300 needs to be disassembled, the operator only needs to lift the pick-and-place device 300 and separate the walking assembly 310 from the support frame 200. In contrast, when the pick-and-place apparatus 300 needs to be assembled, the operator only needs to lift the pick-and-place apparatus 300 and erect the traveling assembly 310 in the support frame 200, for example, the first rail 240a, so as to complete the assembly of the pick-and-place assembly 3224 and the support frame 200.

In addition, the device body 320 may be docked with each target position of the carrier or the support frame 200 along the Z-axis direction, so as to increase the storage density of the support frame 200 and the carrier along the Z-axis direction. For example, the device body 320 may include a pick-and-place mechanism 322, the pick-and-place mechanism 322 being configured to pick-and-place the target article 400, the pick-and-place mechanism 322 being movable in the Z-axis direction to interface with respective target positions of the carrier or support frame 200 disposed in the Z-axis direction.

When the pick-and-place device 300 is disposed inside the support frame 200, the pick-and-place device 300 and the support frame 200 are assembled in the same manner as when the pick-and-place device 300 is disposed outside the support frame 200.

The following takes picking tasks as an example, and describes the working process of the picking system according to the embodiment of the present application.

When receiving the order task instruction, the transfer robot may take out the shelf storing the target article 400 in the storage system and transfer the article to the docking area M of the warehouse system, the pick-and-place device 300 may be driven by the travelling assembly 310 to move along the X-axis direction, and the pick-and-place mechanism 322 may also move along the Z-axis direction, so that the pick-and-place mechanism 322 may finally move to the target position of the shelf, and then the target article 400 at the target position is taken out through the pick-and-place mechanism 322 and transferred to the storage position 230 of the support frame 200. The operator in the picking area N may remove the target item 400 from the support frame 200 and transfer it to the work platform 100 for picking the target item 400, for example, by placing the target item 400 on a seed wall.

It should be noted that, when the pick-and-place device 300 does not need to dock with a carrier, such as a rack, of the docking area M, the pick-and-place device 300 may move the target article 400 on the support frame 200, so that the target article 400 may be concentrated to a height adapted to the working platform 100, for example, the target article 400 may be concentrated to the three-layer storage location 230, so that a worker may conveniently and quickly take out the target article 400 from the support frame 200, so as to improve the picking efficiency.

In addition, when the picking and placing device 300 concentrates the target objects 400 on the supporting frame 200 in one area, for example, when the picking and placing device concentrates on three layers and less than three layers of storage positions 230 of the supporting frame 200, four layers and more than four layers of storage positions 230 can be vacated to prepare for an order of a next link, so that the picking and placing device 300 can concentrate and cache the received target objects 400 on the four layers and more than four layers of storage positions 230 in the order of the next link without walking too many paths, on one hand, the caching efficiency of the picking and placing device 300 on the target objects 400 is improved, the power consumption of the picking and placing device 300 is reduced, on the other hand, the target objects 400 on the shelf of the docking area M can be more efficiently and rapidly transferred to the supporting frame 200, and the picking efficiency is integrally improved.

Taking sorting tasks (i.e. tally tasks) as an example, the working process of the picking system according to the embodiment of the application is described.

When the sorting task instruction is received, the rack, for example, the first rack, in which the target article 400 is stored in the storage system, can be taken out by the handling robot and is transported to the docking area M of the warehouse system, the pick-and-place device 300 can move along the X-axis direction under the driving of the travelling assembly 310, and the pick-and-place mechanism 322 also moves along the Z-axis direction, so that the pick-and-place mechanism 322 finally moves to the target position of the first rack, and then the target article 400 in the target position is taken out by the pick-and-place mechanism 322 and transferred to the storage position 230 of the support frame 200.

The staff in the picking area N can take out the target articles 400 on the support frame 200 and transfer the target articles 400 to the working platform 100 to sort the target articles 400, for example, the same type of target articles 400 can be concentrated in the same container, then the container with the same type is placed on the support frame 200, the picking and placing device 300 transfers the container to a shelf, such as a second shelf, of the docking area M, so that the target articles 400 stored on the second shelf are all the same type of target articles 400, and in the next picking task, the transfer robot can directly transfer the shelf corresponding to the target articles 400 with the order hit type to the docking area M of the picking system, and the picking and placing device 300 can directly move to the target position corresponding to the target articles 400, so that multiple target articles 400 with the same type can be picked at one time, thereby improving the subsequent picking and sowing efficiency.

The embodiment of the application provides a warehouse system, a supporting frame 200 is arranged on one side of a working platform 100, a picking and placing device 300 for loading and unloading a target object 400 is arranged on one side of the supporting frame 200, and a walking component 310 of the picking and placing device 300 is detachably erected on the supporting frame 200, on one hand, the walking component 310 moves on the supporting frame 200 to realize that the picking and placing device 300 moves along the supporting frame 200, so that the picking and placing device 300 can be in butt joint with different storage positions 230 of the supporting frame 200 or the working platform 100 for transferring the target object 400, on the other hand, the picking and placing device 300 is arranged on one side of the supporting frame 200, the modularization of the picking and placing device 300 can be realized, the whole picking and placing device 300 is assembled in advance, and then the walking component 310 is hung on the supporting frame 200, so that the assembly difficulty of the picking and placing device 300 and the whole warehouse system is reduced, namely the problem of secondary calibration after on-site maintenance is realized, the whole work efficiency of the warehouse system is improved, the whole work flow is shortened, the manufacturing cost is reduced, the manufacturing cost is lowered, and the fault tolerance is high, and the operation cost is lowered.

In addition, by arranging the picking and placing device 300 on one side of the supporting frame 200, the space of the supporting frame 200 can be utilized to a greater extent, for example, the storage position 230 can be arranged at the top of the supporting frame 200, without interference of the picking and placing device 300, compared with the picking and placing mechanism 322 of the picking and placing device 300 in the related art, which can only move at the docking window of the working platform 100 and cannot move to the top of the working platform 100, the picking and placing device 300 in the embodiment of the application can enable the picking and placing device 300, for example, the picking and placing mechanism 322, to move to the top of the supporting frame 200 and docking transfer of the target article 400 with the storage position 230 at the top of the supporting frame 200, thereby improving the space utilization rate of the supporting frame 200 and the whole storage system, for example, workstation, so that the picking and placing device 300 can unload the received target article 400 on the supporting frame 200 in time, ensure that the picking and placing device 300 is in a usable state, and can receive the article in the docking area M in time and quickly, and docking efficiency and picking efficiency are improved.

When the first rail 240a is specifically disposed, the beam 210 of the support frame 200 may be directly provided with the first rail 240a, and the travelling member 312, for example, the first rolling member, is disposed in the first rail 240a in a rolling manner, so that manufacturing components of a warehouse system, for example, a workstation, can be saved, and manufacturing efficiency of the warehouse system can be improved.

Referring to fig. 2 and 4, in other examples, a first rail 240 may be additionally provided on the support frame 200, and a first rail 240a may be formed in the first rail 240, and the first rail 240 may be fixedly coupled to the support frame 200, for example, may be fixed to the cross member 210 of the support frame 200, to improve the stability of the first rail 240. The first guide rail 240 is additionally arranged on the support frame 200 to improve the structural stability of the first rail 240a, so that the first rail 240a can stably bear the picking and placing device 300, and the picking and placing device 300 can stably walk along the first rail 240 a.

For example, the first rail 240a may include a bottom surface and side surfaces surrounding the periphery of the bottom surface, for example, the side surfaces may be two, the two side surfaces are disposed opposite to each other, and the bottom surface and the side surfaces enclose a movable space of the first rail 240 a.

The first rail 240a has a rail opening 2043, the rail opening 2403 is opposite to the bottom surface, and a portion of the first rolling element is exposed to the first rail 240a through the rail opening 2403 to be connected with the driving element 311.

In some examples, track opening 2403 is facing upward, i.e., track opening 2403 faces away from the ground of the picking system, the bottom surface may be parallel to the ground, and two sides may be oppositely disposed along the Y-axis, e.g., both perpendicular to the ground, and a first rolling member, e.g., a roller, may roll along the bottom surface within first track 240a, i.e., the bottom surface acts to support the first rolling member.

When the pick-and-place device 300 needs to be disassembled, the operator only needs to lift the pick-and-place device 300 to enable the first rolling member to be separated from the first rail 240a from the rail opening 2403, so that the pick-and-place device 300 can be disassembled. When the pick-and-place device 300 needs to be assembled, only a worker lifts the pick-and-place device 300 to enable the first rolling member to enter the first track 240a from the track opening 2403, so that the assembly of the pick-and-place device 300 can be realized, and the whole dismounting process is convenient and quick.

In some examples, the track opening 2403 of the first track 240a may also be oriented laterally, i.e., in the Y-axis direction, such that the bottom surface is disposed perpendicular to the ground, the two sides may be opposite in the Z-axis direction, e.g., the two sides may be disposed parallel to the ground, and the first rolling member, e.g., roller, may roll within the first track 240a along the upper and lower sides. It will be appreciated that in this example, a stop wall may be provided at the track opening 2403 to avoid derailment of the first rolling member from the track opening 2403 in the Y-axis direction.

Thus, in this example, when the pick-and-place apparatus 300 needs to be disassembled, it is necessary to move the pick-and-place apparatus 300 to the end of the first rail 240a and disengage the first rail 240a from the end opening of the first rail 240a, so as to achieve the disassembly of the pick-and-place apparatus 300.

In order to improve the support stability of the pick-and-place device 300 on the support frame 200, in some examples, a first auxiliary support 330 may be further fixed on the pick-and-place device 300, where the first auxiliary support 330 is embedded in the first rail 240a and moves along the first rail 240a along with the first rolling element. For example, the first auxiliary supporting member 330 has one end fixed to the device body 320 and the other end slidably disposed on the first rail 240a to stably suspend the device body 320 in the first rail 240 a.

Illustratively, the first auxiliary support 330 may include a second rolling member 332; the first rolling member rolls along a first inner surface 2401 of the first track 240a, the second rolling member 332 contacts along a second inner surface 2402 of the first track 240a, the first inner surface 2401 facing different than the second inner surface 2402.

One of the first inner surface 2401 and the second inner surface 2402 is a bottom surface of the first rail 240a, and the other may be a side surface of the first rail 240 a. For example, when the track opening 2403 is facing upward, the first inner surface 2401 is a bottom surface of the first track 240a, the first rolling member rolls along the first inner surface 2401 of the first track 240a, that is, the first rolling member rolls along the bottom surface of the first track 240a, the second inner surface 2402 is a side surface of the first track 240a, for example, two second inner surfaces 2402 are disposed opposite to each other in the Y-axis direction, and the second rolling member 332 rolls along the two second inner surfaces 2402.

In this manner, on the one hand, by providing the first auxiliary support 330 to include the second rolling member 332 such that the friction force of the first auxiliary support 330 with the inner surface of the first rail 240a is rolling friction force, thereby reducing the friction force of the first auxiliary support 330 with the inner surface of the first rail 240a, ensuring smooth running of the first auxiliary support 330 along the first rail 240 a. On the other hand, the first rolling member and the second rolling member 332 roll along different surfaces respectively, so that the first rolling member and the second rolling member 332 are mutually constrained, and the condition that the first rolling member shakes left and right in the direction perpendicular to the first rail 240a in the process of fast running along the first rail 240a under the driving of the driving member 311 is improved or avoided.

Through detection, the walking assembly 310 can drive the whole pick-and-place device 300 to walk on the supporting frame 200 at a speed of more than 2 m/s.

When the first auxiliary supporting member 330 is disposed, the first auxiliary supporting member 330 may include a supporting seat, such as a first supporting seat 331, the first supporting seat 331 is fixed on the device body 320, and the second rolling member 332 is movably disposed on the first supporting seat 331, for example, may be fixed on the first supporting seat 331 through a connecting shaft, so that the second rolling member 332 is stably connected to the device body 320. Illustratively, the second rolling member 332 may be a second roller, and the first rolling member may be a first roller, an axis of the first roller intersecting an axis of the second roller, e.g., the axis of the first roller extending in the Y-axis direction, and the axis of the second roller extending in the Z-axis direction.

Referring to fig. 4, in order to continuously supply power to the driving member 311 of the walking assembly 310, in some examples, the pick-and-place device 300 may further include a trolley wire 350, where the trolley wire 350 may include an electrical conductor and a current collector, and the electrical conductor may be a copper body wrapped by a protective sleeve, and an end of the electrical conductor is connected to a power source, and the current collector is in electrical contact with the electrical conductor, so that an electrical signal on the electrical conductor may be transmitted to the current collector.

When the sliding contact wire 350 is arranged, the conductor of the sliding contact wire 350 is arranged on the first track 240a, the current collector of the sliding contact wire 350 is arranged on the driving piece 311 and is electrically connected with the driving piece 311, and the current collector is configured to be in contact with the conductor when the driving piece 311 drives the walking piece 312, such as the first rolling piece, to move along the first track 240a, so that the current collector can continuously receive power in the process of moving along the first track 240a under the driving of the driving piece 311, to provide electric energy for the driving piece 311, and ensure that the driving piece 311 works normally.

Through the setting of wiping line 350, reduced the quantity of cable, reduced the cable to get the load of putting device 300 to reduced the cable to get the life-span influence of putting device 300, guaranteed to get and put the setting steady operation. In addition, the number of cables is reduced, and a drag chain is not required, so that the structural stability of the pick-and-place device 300 is ensured.

When the current collector is disposed, the current collector may be fixed to the inner surface of the first rail 240a or may be fixed to the outer surface of the first rail 240a, which is not limited herein, as long as it is ensured that the current collector disposed on the driving member 311 is continuously in contact with the current collector.

Referring to fig. 2, in the embodiment of the application, at least one group of walking components 310 is provided, at least one group of walking components 310 is disposed at a first position of the device body 320, and a distance between the first position and a top of the device body 320 is smaller than a distance between the first position and a bottom of the device body 320, that is, at least one group of walking components 310 is disposed at a position of the device body 320 near the top. For example, the first position is less than or equal to one third of the overall height of the device body 320 from the top of the device body 320. Illustratively, at least one set of walking assemblies 310 may be disposed at 1/3, 1/4, 1/5, etc. suitable locations of the device body 320.

By arranging at least one group of walking components 310 at the position of the device body 320 near the top, on one hand, the gravity center of at least one position of the pick-and-place device 300 connected with the support frame 200 is guaranteed to be near the top of the pick-and-place device 300, so that the suspension stability of the pick-and-place device 300 on the support frame 200 is improved, on the other hand, the dead weight of the pick-and-place device 300 cannot be completely loaded on the walking components 310 near the top, so that the structural stability of the walking components 310 is guaranteed, for example, the walking components 310 are in a group, the group of walking components 310 are arranged at the position near the top of the device body 320, and the situation that the walking components 310 deform due to the dead weight of the device body 320 when the walking components 310 are located near the bottom of the device body 320 is avoided, so that the pick-and-place device 300 moves along the support frame 200 stably through the walking components 310.

Referring to fig. 2, in other examples, the walking members 310 may be multiple groups, and the multiple groups of walking members 310 may be spaced apart along the height direction of the device body 320. For example, the walking components 310 are two groups, wherein one group of walking components 310 is disposed at a first position of the device body 320, and the other group of walking components 310 is disposed at a second position of the device body 320, and a distance between the second position and the bottom of the device body 320 is smaller than a distance between the second position and the top of the device body 320, for example, a distance between the second position and the bottom of the device body 320 is smaller than or equal to one third of the overall height of the device body 320. In this way, the pick-and-place device 300 can be stably arranged on the support frame 200.

It will be appreciated that each set of walking assemblies 310 is mounted on the support frame 200 via the first rail 240a, for example, one first rail 240 may be disposed on the beam 210 of the support frame 200 near the top for the top walking assembly 310 to run, and another first rail 240 may be disposed on the beam 210 of the support frame 200 near the bottom for the bottom walking assembly 310 to move.

It should be noted that, in the above example, since the pick-and-place device 300 is of an independent integral structure relative to the support frame 200, the travelling members 312 of the travelling assemblies 310 are directly detachably mounted on the first rail 240a of the support frame 200, the driving member 311, such as a motor, is connected to the travelling members 312 and is fixed on the device body 320, and the travelling members 312 are driven to operate so as to drive the whole device body 320 to move, and the problem of driving synchronicity of the plurality of travelling assemblies 310 is not considered, for example, even if the plurality of travelling assemblies 310 are driven asynchronously, the device body 320 is inclined when travelling along the support frame 200, but each travelling member 312 is not blocked in the first rail 240a, and only the target travelling path of each travelling assembly 310 is ensured to be consistent, that is, each travelling assembly 310 finally reaches the target position, so that the pick-and-place device 300 can be in a vertical state when reaching the target position.

Referring to fig. 1 to 4, in some examples, the device body 320 may include at least one stand 321, each stand 321 may extend in a second direction, for example, a height direction Z of the support frame 200, and the walking assembly 310 is disposed on the at least one stand 321 to move the stand 321 along the support frame 200, thereby moving the entire device body 320 along the support frame 200. The picking and placing mechanism 322 is movably disposed on at least one upright 321, for example, the picking and placing mechanism 322 can be slidably disposed on the upright 321.

Referring to fig. 2, the device body 320 may further include a longitudinal driving structure 323 connected to the picking and placing mechanism 322, where the longitudinal driving structure 323 is configured to drive the picking and placing mechanism 322 to move along the height direction of the upright 321, so that the picking and placing mechanism 322 performs butt-joint transfer of the target object 400 to the target position of each layer on the carrier or the supporting frame 200.

The longitudinal driving structure 323 may be disposed on the upright post 321 or on the picking and placing mechanism 322, which is not limited in the embodiment of the present application, so long as the longitudinal driving structure 323 can be ensured to drive the picking and placing mechanism 322 to move along the upright post 321.

The longitudinal driving structure 323, the picking and placing mechanism 322 and the walking assembly 310 form a modularized structure, so that the picking and placing device 300 can be replaced quickly.

It should be noted that, when the number of the picking and placing mechanisms 322 is plural, the picking and placing mechanisms 322 may be sequentially disposed along the height direction of the upright post 321, or may be sequentially disposed along the first direction, for example, the X-axis direction, for example, a base may be disposed on the upright post 321, and the picking and placing mechanisms 322 disposed along the X-axis direction may be disposed on the base to stabilize the picking and placing mechanisms 322. In this way, the plurality of picking and placing mechanisms 322 can simultaneously transfer the target objects 400 on the carriers, such as the racks, in the docking area M, so as to improve the unloading efficiency. In addition, one of the picking and placing mechanisms 322 can transfer the target article 400 from the shelf to the support frame 200, while another picking and placing mechanism 322 can transfer the target article 400 from the support frame 200 to the shelf, or move the target article 400 on the support frame 200, i.e. each picking and placing mechanism 322 can simultaneously perform a plurality of different tasks, so that the operation efficiency of the picking system is higher even the whole warehousing system.

In some examples, the device body 320 may include a stand 321, where the pick-and-place mechanism 322 is movably disposed on the stand 321, and the stand 321 is driven by the walking assembly 310 to move on the support frame 200 along the X-axis direction, and the pick-and-place mechanism 322 is driven by the longitudinal driving structure 323 to move along the Z-axis direction, so as to implement docking transfer of the target object 400 between the pick-and-place device 300 and the storage locations 230 of each layer and each column on the support frame 200, and in addition, one stand 321 also simplifies the structure of the pick-and-place device 300, so that the pick-and-place device 300 is convenient to be detached and assembled from the support frame 200.

Of course, in other examples, the stand columns 321 may have two stand columns 321 spaced apart, for example, the two stand columns 321 are spaced apart along the X-axis direction, and the picking and placing mechanism 322 is movably disposed between the two stand columns 321, so that the structural stability of the picking and placing mechanism 322 on the stand columns 321 is improved, and the stable up-and-down movement of the picking and placing mechanism 322 along the stand columns 321 is ensured. For convenience of description, the two stand columns 321 are respectively a first stand column and a second stand column, and when the two stand columns 321 are specifically assembled, in some examples, each stand column 321 may be provided with a walking assembly 310, and the two stand columns 321 are driven by the corresponding walking assembly 310 to move along the support frame 200, so that the assembly manner between each walking assembly 310 and the support frame 200 may be the same. For example, a first walking component 310, such as a first walking component, may be disposed on a first upright, the first walking component may drive the first upright to move along a first track 240a on the support frame 200, a second walking component 310, such as a second walking component, may drive a second upright to move along the first track 240a on the support frame 200, and by controlling the two second walking components to operate synchronously, the two uprights 321 may be ensured to move synchronously along the X-axis direction.

In other examples, one of the uprights 321 is provided with a walking assembly 310, and the walking assembly 310 is configured to drive one of the uprights 321 to move along the support frame 200 to drive the other upright 321 to move.

For example, the first upright may be erected within the first track 240a by the walking assembly 310 such that the walking assembly 310 drives the first upright to travel along the first track 240 a. The second upright post can move along the X-axis direction under the drive of the first upright post.

Wherein, because the picking and placing mechanism 322 is arranged between the first upright post and the second upright post, the first upright post can indirectly drive the second upright post to move through the picking and placing mechanism 322. In some examples, a cross-connect may be connected between the first and second uprights such that the first, second and cross-connect form a support structure for the pick-and-place device 300 to support the pick-and-place mechanism 322. The first upright may move along the support frame 200 via the transverse connection. The transverse connection also provides greater structural stability between the two uprights 321.

In this example, the first upright may be erected within the first track 240a by the walking assembly 310 such that the walking assembly 310 drives the first upright to travel along the first track 240 a. The second upright may be disposed in the track of the first track 240a through the second auxiliary support 340, and when the second upright moves along with the first upright, the second upright drives the second auxiliary support 340 to move along the first track 240 a. That is, the walking assembly 310 drives the first upright to move along the first track 240a, the second upright is driven by the first upright to move along the supporting frame 200, and the second upright is connected with the second auxiliary support 340, so that the second upright drives the second auxiliary support 340 to move along the first track 240a during the movement process.

Through two stand 321 all set up on braced frame 200, improved the assembly steadiness between getting and putting device 300 and braced frame 200, in addition, set up running assembly 310 on only a stand 321, drive a stand 321 walking through running assembly 310 to make whole device body 320 walk along braced frame 200, practiced thrift running assembly 310's quantity, reduced whole warehouse system's consumption, thereby practiced thrift running cost.

Referring to fig. 4, in some examples, the second auxiliary support 340 may include:

The supporting seat, for example, the second supporting seat 341 and the first rolling component 342, the second supporting seat 341 is connected with the second upright, the first rolling component 342 is movably connected with the second supporting seat 341, and is rolling-arranged on the supporting frame 200, for example, the first rolling component 342 is rolling-arranged in the first track 240a on the supporting frame 200.

By providing the second auxiliary support 340 to include the first rolling assembly 342 such that the frictional force of the second auxiliary support 340 with the inner surface of the first rail 240a is rolling frictional force, the frictional force of the second auxiliary support 340 with the inner surface of the first rail 240a is reduced, and smooth movement of the second auxiliary support 340 along the first rail 240a is ensured.

For example, the first rolling member 342 may include a rolling member such as a roller, which is fixed to the second supporting seat 341 through a connection shaft, and rolls along the bottom surface of the first rail 240 a.

In some examples, the first rolling assembly 342 may include a third rolling member 3421 and a fourth rolling member 3422. Wherein the third rolling member 3421 rolls along the first inner surface 2401 of the first track 240a, the fourth rolling member 3422 contacts along the second inner surface 2402 of the first track 240a, and the first inner surface 2401 and the second inner surface 2402 face different.

For example, when the track opening 2403 is directed upward, the first inner surface 2401 is a bottom surface of the first track 240a, the third rolling member 3421 rolls along the first inner surface 2401 of the first track 240a, that is, the third rolling member 3421 rolls along the bottom surface of the first track 240a, the second inner surface 2402 is a side surface of the first track 240a, for example, two second inner surfaces 2402 are disposed opposite to each other in the Y-axis direction, and the fourth rolling member 3422 rolls along the two second inner surfaces 2402.

The third rolling member 3421 and the fourth rolling member 3422 roll along different surfaces, respectively, so that the third rolling member 3421 and the fourth rolling member 3422 are constrained to each other, thereby ensuring that the first rolling assembly 342 does not shake left and right in a direction perpendicular to the first rail 240a during fast traveling along the first rail 240 a.

The third rolling element 3421 may be a third roller, a bearing, a ball, or the like, for example, the third rolling element 3421 is a third roller, and the third roller is movably disposed on the second supporting seat 341 through a connecting shaft. Similarly, the fourth rolling element 3422 may be a fourth roller, a bearing, or a ball, for example, the fourth rolling element 3422 is a fourth roller, and the fourth roller is movably disposed on the second supporting seat 341 through a connecting shaft. Illustratively, the third roller and the fourth roller are disposed at intervals along the extending direction of the first rail 240a, and axes of the third roller and the fourth roller, for example, extending directions of the connecting shafts intersect, wherein the axis of the third roller extends in the Y-axis direction and the axis of the fourth roller extends in the Z-axis direction.

Referring to fig. 1 to 3, in some examples, the top end of each upright 321 (e.g., the top end of each upright 321) may extend out of the beam 210 at the top of the support frame 200, and the pick-and-place mechanism 322 may be moved to the top end of the upright 321, so that the pick-and-place mechanism 322 may move to a position corresponding to the top of the support frame 200 along the upright 321, and perform docking transfer of the target article 400 with the storage location 230 at the top of the support frame 200, so that the space at the top of the support frame 200 may be fully utilized and used as the storage location 230 for storing the target article 400, thereby increasing the storage density of the picking system and even the warehouse system, and improving the operation efficiency of the workstation.

Similarly, the bottom end of each upright 321 (e.g., the bottom end of each upright 321) may be lower than the beam 210 at the bottom of the support frame 200, and the pick-and-place mechanism 322 may be moved to the bottom end of the upright 321, so that the pick-and-place mechanism 322 may move to a position corresponding to the bottom of the support frame 200 along the upright 321, and perform docking transfer of the target article 400 with the storage location 230 at the bottom of the support frame 200, so that the space at the bottom of the support frame 200 may be fully utilized and used as the storage location 230 for storing the target article 400, thereby increasing storage density of the warehouse system, e.g., workstation, and improving operation efficiency of the warehouse system, e.g., workstation.

That is, in the embodiment of the present application, only the overall height of the upright post 321 needs to be adjusted, so that each space of the supporting frame 200 along the height direction can be fully utilized, and the space utilization rate of the supporting frame 200 and even the whole warehouse system is improved to a greater extent, so that the overall size of the warehouse system can be properly reduced, the occupied space size in the whole warehouse system is saved, and the storage density of the warehouse system is increased.

In one implementation, the longitudinal driving structure 323 may include a longitudinal driving member 3231 and a longitudinal transmission member 3232, where the longitudinal driving member 3231 is connected to the longitudinal transmission member 3232 to drive the longitudinal transmission member 3232 to move, and the picking and placing mechanism 322 is connected to the longitudinal transmission member 3232 to move under the drive of the longitudinal transmission member 3232.

The longitudinal transmission 3232 may be a pulley structure, for example, the longitudinal transmission 3232 includes: longitudinal driving wheels 32321 and longitudinal driven wheels 32322 which are arranged at intervals along the height direction of the upright post 321, and a longitudinal driving piece 3231 is connected with the longitudinal driving wheels 32321 to drive the longitudinal driving wheels 32321 to rotate; the longitudinal driving member 3232 may further include a longitudinal driving belt 32323 sleeved on the longitudinal driving wheel 32321 and the longitudinal driven wheel 32322, where the longitudinal driving belt 32323 and the longitudinal driven wheel 32322 are driven by the longitudinal driving wheel 32321 to move, and the picking and placing mechanism 322 is connected to the longitudinal driving belt 32323 to move under the movement of the longitudinal driving belt 32323.

Illustratively, the driving and driven pulleys in the pulley structure may be sprockets, and accordingly, the longitudinal transmission belt 32323 may be a chain belt, which is geared with the sprockets, and of course, the driving and driven pulleys in the pulley structure may be pulleys, and accordingly, the longitudinal transmission belt 32323 may be a belt, which is driven by friction.

By arranging the longitudinal transmission member 3232 into a belt wheel structure, the picking and placing mechanism 322 is flexibly connected with the longitudinal driving structure 323, so that the flexible operation of the picking and placing mechanism 322 driven by the longitudinal driving structure 323 is realized.

When the vertical driving structure 323 is arranged, two groups of vertical driving structures 323 can be arranged, wherein the vertical driving members 3232 of one group of vertical driving structures 323 are arranged on one stand column 321, such as a first stand column, and are connected with the side wall, close to the first stand column, of the picking and placing mechanism 322, the vertical driving members 3232 of the other group of vertical driving structures 323 are arranged on the other stand column 321, such as a second stand column, and are connected with the side wall, close to the second stand column, of the picking and placing mechanism 322, so that the vertical driving members 3231 of the two vertical driving structures 323 respectively drive the corresponding vertical driving members 3232 to move, and the picking and placing mechanism 322 is driven to move up and down along the height direction of the stand column 321 through the two side walls of the picking and placing mechanism 322.

The two longitudinal driving structures 323 are arranged, so that the movement of the picking and placing mechanism 322 along the height direction of the stand 321 is more stable and controllable.

In other examples, the longitudinal driving structures 323 may be a set, for example, when there are two of the stand columns 321, the longitudinal driving structures 323 may be provided on any one of the stand columns 321 to drive the pick-and-place mechanism 322 to move in the height direction of the stand columns 321. In addition, when the longitudinal transmission member 3232 of the longitudinal driving structure 323 is of a belt wheel structure, the picking and placing mechanism 322 is flexibly connected with the longitudinal driving structure 323, so that the driving synchronicity of the two longitudinal driving structures 323 to the picking and placing mechanism 322 can be improved, the picking and placing mechanism 322 is in a horizontal state when moving up and down, no inclination occurs, and stable operation of the picking and placing mechanism 322 is ensured.

In some examples, the longitudinal transmission member 3232 may also be a rack and pinion mating structure, for example, a gear is connected to the longitudinal driving member 3231 to rotate under the driving of the longitudinal driving member 3231, a rack is meshed with the gear to move up and down during the rotation of the gear, and the picking and placing mechanism 322 may be connected to the rack to move up and down under the driving of the rack. The embodiment of the present application does not limit the structure of the longitudinal transmission member 3232.

The longitudinal driving member 3231 may be a driving motor, a hydraulic cylinder, or the like, and the longitudinal driving member 3231 may be disposed at an end of the upright post 321 when disposed, so as to save space in a middle area of the upright post 321 and provide enough space for the movement of the picking and placing mechanism 322.

For example, the longitudinal driver 3231 may be provided at the top end of the upright 321. For example, two longitudinal driving members 3231 may be disposed on the transverse connection member disposed between the top ends of the two upright posts 321, so that the longitudinal driving members 3231 can be prevented from occupying the space at the bottom of the upright posts 321, and the picking and placing mechanism 322 can be lowered to the bottommost portion of the upright posts 321 to be in butt joint with the storage position 230 at the bottom of the supporting frame 200, thereby realizing reasonable utilization of the space at the bottom of the supporting frame 200.

Of course, in other examples, the longitudinal driving member 3231 may be disposed at the bottom end of the upright 321, and the embodiment of the present application is not limited to the specific location of the longitudinal driving member 3231.

Fig. 5 is a schematic view of the structure of the connector of fig. 1. Referring to fig. 4 and 5, in some examples, when the pick-and-place mechanism 322 is specifically connected to the longitudinal driving structure 323, a connecting member 3233 may be fixed on a side wall of the pick-and-place mechanism 322, where the connecting member 3233 is connected to the longitudinal driving structure 323, for example, the longitudinal driving member 3232, that is, the pick-and-place mechanism 322 is connected to the longitudinal driving structure 323 through the connecting member 3233, so as to improve connection stability between the pick-and-place mechanism 322 and the longitudinal driving structure 323.

In addition, the pick-and-place device 300 may further include a second rolling assembly 3234, where the second rolling assembly 3234 is connected to the pick-and-place mechanism 322, and a second track 3211 is disposed on the stand 321, and the second rolling assembly 3234 is disposed in the second track 3211 in a rolling manner.

The second track 3211 may be formed by directly opening on the upright 321, or may be formed by fixing a second guide rail on the upright 321, where the second track 3211 is formed on the second guide rail, which is not limited in the embodiment of the present application.

The cooperation of the second rolling assembly 3234 and the second track 3211 serves as a guide for the up-and-down movement of the pick-and-place mechanism 322, and prevents the pick-and-place mechanism 322 from moving in a direction offset from the Z-axis. In addition, the second rolling assembly 3234 is arranged to make the contact friction force between the picking and placing mechanism 322 and the upright post 321 be rolling friction force, so that the friction resistance between the picking and placing mechanism 322 and the upright post 321 is reduced, and the stable operation of the picking and placing mechanism 322 along the first track 240a on the upright post 321 is ensured.

When the second rolling assembly 3234 is specifically disposed, the number of parts of the second rolling assembly 3233 can be reduced, and the connection stability of the second rolling assembly on the pick-and-place mechanism 322 can be improved.

The connecting piece 3233 may be a plate, and a side of the plate facing away from the pick-and-place mechanism 322 may be slidably disposed on the upright 321 to further perform a guiding function.

Illustratively, the second rail 3211 may include a bottom surface and side surfaces surrounding the periphery of the bottom surface, for example, the side surfaces may be two, the two side surfaces are disposed opposite to each other, and the bottom surface and the side surfaces enclose a movable space of the first rail 240 a.

Wherein the second rail 3211 has a rail opening opposite to the bottom surface, through which the second rolling assembly 3234 may extend into the interior of the second rail 3211 to roll along the bottom surface or side surface of the second rail 3211.

In some examples, the track opening faces up one side of the pick-and-place mechanism 322, i.e., the track opening faces in the X-axis direction toward the space between the two posts 321, such that the bottom surface may be perpendicular to the ground, e.g., toward the pick-and-place mechanism 322, and the two sides are oppositely disposed in the Y-axis direction, e.g., both perpendicular to the ground.

In some examples, second rolling assembly 3234 may include fifth rolling element 32341 and sixth rolling element 32342; the fifth rolling member 32341 rolls along a third inner surface of the second rail 3211, and the sixth rolling member 32342 contacts along a fourth inner surface of the second rail 3211, the third inner surface facing different from the fourth inner surface.

One of the third inner surface and the fourth inner surface is a bottom surface of the second rail 3211, and the other may be a side surface of the second rail 3211. For example, when the track opening faces the pick-and-place mechanism 322, the third inner surface is the bottom surface of the second track 3211, the fifth rolling element 32341 rolls along the third inner surface of the second track 3211, that is, the fifth rolling element 32341 rolls along the bottom surface of the second track 3211, the fourth inner surface is the side surface of the second track 3211, for example, the fourth inner surface is two, the two fourth inner surfaces are oppositely disposed along the Y-axis direction, and the sixth rolling element 32342 rolls along the two fourth inner surfaces.

The fifth rolling member 32341 and the sixth rolling member 32342 roll along different surfaces, respectively, such that the fifth rolling member 32341 and the sixth rolling member 32342 are constrained to each other, thereby ensuring that the second rolling assembly 3234 does not shake left and right in a direction perpendicular to the second rail 3211 during fast driving along the second rail 3211.

The fifth rolling element 32341 may be a fifth roller, a bearing, a ball, or the like, for example, the fifth rolling element 32341 is a fifth roller, and the fifth roller is movably disposed on a mounting seat on the connecting element 3233 through a connecting shaft. Similarly, the sixth rolling element 32342 may be a sixth roller, a bearing, or a ball, for example, the sixth rolling element 32342 is a sixth roller, and the sixth roller is movably disposed on the connecting element 3233 through a connecting shaft. Illustratively, the fifth roller and the sixth roller are disposed at intervals along the extending direction of the second rail 3211, and axes of the fifth roller and the sixth roller, for example, extending directions of the connecting shafts intersect, wherein the axis of the fifth roller extends in the Y-axis direction and the axis of the sixth roller extends in the X-axis direction.

Referring to fig. 5, in the second rolling assembly 3234, there may be two sixth rolling members 32342, two sixth rolling members 32342 are respectively disposed at the upper and lower ends of the connecting member 3233, and the fifth rolling member 32341 is disposed between the two sixth rolling members 32342, so that the upper and lower ends of the connecting member 3233 stably move along the second rail 3211 by the two sixth rolling members 32342.

Referring to fig. 4, in some examples, two second rails 3211 may be provided, and the two second rails 3211 may be disposed at intervals along the Y axis direction, and accordingly, the second rolling assemblies 3234 may be provided with two groups, where two groups of second rolling assemblies 3234 are disposed in the corresponding second rails 3211 in a rolling manner, for example, one group of second rolling assemblies 3234 is disposed in one of the second rails 3211, and the other group of second rolling assemblies 3234 is disposed in the other second rail 3211 in a rolling manner, so that the assembly stability of the connecting member 3233 and the upright 321 may be improved, and the limiting effect of the connecting member 3233 in the Y axis direction may be better, so as to ensure that the pick-and-place mechanism 322 runs stably on the upright 321 through the connecting member 3233 and the second rolling assemblies 3234.

Referring to fig. 1, the support frames 200 according to the embodiment of the present application have at least one, at least two pick-and-place devices 300 disposed on one side of each support frame 200, for example, a certain number of pick-and-place devices 300 may be installed according to actual operation requirements, so that different pick-and-place devices 300 may each independently perform different pick-and-place tasks, for example, one of the pick-and-place devices 300 performs a task of picking up a target object 400 from a shelf in a docking area M and transferring the target object 400 to the support frame 200, while another one of the pick-and-place devices 300 performs a task of picking up a target object 400 from the support frame 200 and transferring the target object 400 to a shelf in the docking area M.

The arrangement of the plurality of pick-and-place devices 300 can provide the working efficiency of the whole warehouse system.

In addition, when one of the picking and placing devices 300 fails, the picking and placing device 300 can be removed from the supporting frame 200 and maintained at other stations, and other picking and placing devices 300 on the supporting frame 200 can normally operate, compared with the prior art that a worker needs to maintain at the working platform 100 and stop the operation of other picking and placing mechanisms 322, the overall working efficiency of the warehouse system is improved.

In some examples, the support frames 200 may be one or a plurality (not shown), and when the support frames 200 are a plurality, the plurality of support frames 200 may be sequentially disposed along the traveling direction (e.g., the X-axis direction) of the pick-and-place apparatus 300. It should be understood that the supporting frames 200 and the working platforms 100 may be in one-to-one correspondence, i.e. one side of each supporting frame 200 has one working platform 100, and of course, the supporting frames 200 and the working platforms 100 may be in one-to-many correspondence, for example, one side of one supporting frame 200 may be provided with a plurality of working platforms 100, and the supporting frames 200 and the working platforms 100 may be in many-to-one correspondence, for example, one side of one working platform 100 may be corresponding to a plurality of supporting frames 200. The number of the supporting frames 200 can be adjusted according to actual requirements.

When the device is arranged, the first rails 240a on at least two support frames 200 can be communicated, and the at least two support frames 200 share the picking and placing device 300. For example, the pick-and-place device 300 may run between the plurality of support frames 200 along the first rail 240a to achieve a docking with each support frame 200.

Illustratively, the number of first rails 240 located at the same height of the support frames 200 may be 1, and one first rail 240 is fixed to a plurality of support frames 200 such that the same pick-and-place device 300 may move on a plurality of support frames 200 along a first track 240a of the first rail 240.

By sharing the pick-and-place device 300 with a plurality of support frames 200, on one hand, the number of pick-and-place devices 300 can be saved, thereby saving the manufacturing cost of a warehouse system such as a workstation, on the other hand, the space size of the warehouse system can be saved, so as to provide a greater storage density for the workstation, and on the other hand, the occupation size of the workstation can be reduced, so as to provide a greater storage space for other areas such as the storage area of the storage system.

Fig. 6 is a schematic structural diagram of a pick-and-place mechanism at a first view angle according to an embodiment of the present application, and fig. 7 is a schematic structural diagram of a pick-and-place mechanism at a second view angle according to an embodiment of the present application. Referring to fig. 4, 6 and 7, the pick-and-place mechanism 322 according to the embodiment of the present application includes a carrier assembly 3222, a pick-and-place assembly 3224 and a moving assembly 3223. Wherein the carrier assembly 3222 is configured to carry the target article 400. The pick and place assembly 3224 is configured to pick up a target item 400 from a first target location and load onto the carrier assembly 3222, or is configured to unload a target item 400 from the carrier assembly 3222 and place at a second target location. In the embodiment of the present application, the first target position and the second target position may be carriers, such as shelves or transfer robots, located in the docking area M, or may be storage positions 230 on the support frame 200. In addition, the first target position and the second target position may be the same position or different positions.

The motion assembly 3223 is configured to drive the pick-and-place assembly 3224 to move in a first motion track and a second motion track;

Within the first motion trajectory, the motion assembly 3223 is configured to drive the pick-and-place assembly 3224 to move along the pick-and-place direction (e.g., the Y-axis direction) to load and unload the target object 400;

Within the second motion profile, the motion assembly 3223 is configured to drive the pick-and-place assembly 3224 to move upward away from the carrier assembly 3222 or downward away from the carrier assembly 3222 so as to deviate the pick-and-place assembly 3224 from the pick-and-place direction.

The picking direction of the picking and placing assembly 3224 includes two opposite directions, wherein one direction is a positive direction of the picking direction, for example, a positive direction of the Y-axis direction, and the other direction is a negative direction of the picking direction, for example, a negative direction of the Y-axis direction.

Referring to fig. 4 and 7, the pick-and-place mechanism 322 may further include a base 3221, the pick-and-place assembly 3224, the moving assembly 3223 and the bearing assembly 3222 are all located on the base 3221, and the longitudinal driving structure 323 may be connected with the base 3221 to drive the whole pick-and-place mechanism 322 to move up and down along the Z-axis direction.

Wherein, an accommodating space 3221a accommodating the target article 400 is formed above the carrier assembly 3222 (the accommodating space 3221a refers to a minimum space capable of accommodating the target article 400).

The pick-and-place assembly 3224 may further include a driving assembly 3225, where the driving assembly 3225 drives the moving assembly 3223 to move in the first movement track, so as to drive the pick-and-place assembly 3224 to move in the accommodating space 3221a of the carrying assembly 3222, and load the target object 400 located at the first target position onto the carrying assembly 3222 through the reciprocating movement of extension, retraction, etc., or unload the target object 400 from the carrying assembly 3222 and place the target object 400 at the second target position.

It is understood that the direction of the first motion track is the fetching direction of the fetching assembly 3224, and the fetching direction may be a third direction, such as a Y-axis direction.

When the driving assembly 3225 drives the moving assembly 3223 to move within the second movement track, the moving assembly 3223 is configured to drive the pick-and-place assembly 3224 to leave the accommodating space 3221a of the carrying assembly 3222, so that the target object 400 can enter the accommodating space 3221a of the carrying assembly 3222 and be carried on the carrying assembly 3222, and simultaneously drive the pick-and-place assembly 3224 to deviate from the first movement track, so that the target object 400 at the first target position can smoothly move to the other end of the carrying assembly 3222 after entering the carrying assembly 3222 from the opening at one end of the carrying assembly 3222.

Referring to fig. 4, as a first implementation manner, when the moving assembly 3223 moves in the second movement track, the moving assembly 3224 may be driven to move above the accommodating space 3221a, for example, may move obliquely upward along the Z-axis direction, so as to deviate from the fetching direction, and thus deviate from the accommodating space 3221a. Of course, in other examples, when the moving component 3223 moves in the second movement track, the pick-and-place component 3224 may be driven to move below the accommodating space 3221a, for example, may move obliquely downward along the Z-axis direction, so as to deviate from the object taking direction, so as to deviate from the accommodating space 3221a, for example, an avoidance space 3222b may be formed on the carrying component 3222, and the pick-and-place component 3224 is driven by the moving component 3223 to move to the bottom of the carrying component 3222 through the avoidance space 3222b, so as to provide a movement space for the target object 400 to move on the carrying component 3222.

Referring to FIG. 4, in this example, the motion assembly 3223 may include a guide mechanism 32232 and a sliding mechanism 32231. The guiding mechanism 32232 includes a first guiding portion 3223a and a second guiding portion 3223b that are connected together, and the first guiding portion 3223a and the second guiding portion 3223b define a first movement track and a second movement track of the movement assembly 3223, respectively. That is, the slide mechanism 32231 moves along the extending direction of the first guide portion 3223a, the second guide portion 3223b, and can move along the first guide portion 3223a to be engaged with the second guide portion 3223 b.

For example, the slide mechanism 32231 is engaged with the guide mechanism 32232, and the slide mechanism 32231 is configured to move along the first guide portion 3223a and the second guide portion 3223 b. The pick-and-place assembly 3224 is connected to the sliding mechanism 32231, and when the sliding mechanism 32231 moves along the first guide portion 3223a and the second guide portion 3223b, the pick-and-place assembly 3224 is driven to move along the first movement track and the second movement track.

In one embodiment, the first guide portion 3223a may extend straight in a horizontal direction, and the second guide portion 3223b is located in a different direction from the first guide portion 3223 a. The slide mechanism 32231 is configured to move in a linear direction in the accommodating space 3221a of the carrier assembly 3222 during movement along the first guide portion 3223 a. When the sliding mechanism 32231 moves along the first guiding portion 3223a, the pick-and-place assembly 3224 can be driven to load the object to be picked and placed onto the carrying assembly 3222 along the horizontal direction.

Further, the sliding mechanism 32231 is configured to move the pick-and-place assembly 3224 gradually away from the accommodating space 3221a after moving along the first guide portion 3223a to the second guide portion 3223b until the pick-and-place assembly 3224 is located outside the accommodating space 3221a of the carrier assembly 3222.

Referring to fig. 4 and 7, when the sliding mechanism is configured, the first guide portion 3223a and the second guide portion 3223b may be bar-shaped grooves formed on the guide plate, and at least a portion of the sliding mechanism 32231 is slidably disposed in the bar-shaped grooves to implement movement along the first movement track and the second movement track.

Referring to fig. 7, to move the target article 400 from one end of the pick-and-place mechanism 322 to the other, in some examples, the carrier assembly 3222 is configured to be capable of transporting an object to be picked and placed, and both ends of the carrier assembly 3222 may be referred to as a first open end a and a second open end B, respectively. The carrier assembly 3222 is capable of transporting the target article 400 between its first open end a and second open end B, thereby effecting transfer of the target article 400 from the first target position to the second target position via the pick-and-place mechanism 322.

For example, the carrier assembly 3222 may include a conveyor belt 3222a and a driving roller driving the conveying motion, the surface of the conveyor belt 3222a being formed as a carrying surface for carrying the target article 400, the driving roller driving the conveyor belt 3222a to move during rotation such that the conveyor belt 3222a transports the target article 400.

Illustratively, two conveyor belts 3222a may be provided, the two conveyor belts 3222a may be disposed at intervals along the X-axis direction and on the same horizontal plane, and the pick-and-place assembly 3224 and the movement assembly 3223 may be disposed between the two conveyor belts 3222 a. The two conveyor belts 3222a move synchronously while transporting the target article 400.

For another example, the carrier assembly 3222 may include a plurality of driving rollers spaced apart along the picking direction, the surfaces of the driving rollers forming a carrying surface, and the target object 400 on the surfaces of the driving rollers is moved along the picking direction by the rotation of the plurality of driving rollers.

Fig. 8 is a schematic view of a part of a pick-and-place mechanism according to another embodiment of the present application. As a second implementation, the motion assembly 3223 is at least configured to drive the pick-and-place assembly 3224 to rotate, for example, the motion assembly 3223 may drive the pick-and-place assembly 3224 to rotate upward along the direction a perpendicular to the carrier assembly 3222, so as to switch the pick-and-place assembly 3224 between the pick-and-place position and the avoidance position. It should be noted that, the pick-and-place position is a position in which the extension direction of the pick-and-place assembly 3224 is the pick-and-place direction, that is, the pick-and-place end of the pick-and-place assembly 3224 faces the first opening end a or the second opening end B, and it can be understood that when the pick-and-place assembly 3224 is located at the pick-and-place position, the pick-and-place of the target object can be achieved by extending back and forth along the pick-and-place direction.

In this example, the motion assembly 3223 may include a rotation assembly and a mount, the rotation assembly being coupled to the pick-and-place assembly 3224 and disposed on the mount, the mount being secured to the drive assembly 3225. Wherein, the driving assembly 3225 can drive the mounting seat to horizontally reciprocate along the fetching direction, so that the mounting seat drives the fetching and placing assembly 3224 to reciprocate along the fetching direction (Y-axis direction) to fetch and place the target object. The rotating assembly may drive the pick-and-place assembly 3224 to rotate, for example, along the direction a, so that the pick-and-place assembly 3224 rotates between the pick-and-place position and the avoiding position.

The avoiding position is other positions deviating from the object taking direction except the taking and placing position, and when the taking and placing assembly 3224 is in the avoiding position, the object taking end of the taking and placing assembly 3224 deviates from the object taking direction, so that the target object can move from the first opening end A to the second opening end B.

When the pick-and-place assembly 3224 is at the avoiding position, an included angle between the pick-and-place assembly 3224 and the object picking direction may be greater than 0 degrees. The pick-and-place assembly 3224 is configured to rotate between a pick-and-place position and an avoidance position. For example, when the pick-and-place assembly 3224 is in the avoidance position, the extension direction of the pick-and-place assembly 3224 may be perpendicular to the bearing surface, i.e., the included angle between the pick-and-place assembly 3224 and the pick-and-place direction is 90 degrees. Also for example, when the pick-and-place assembly 3224 is in the avoidance position, the angle between the pick-and-place assembly 3224 and the pick-and-place direction may be 45 degrees. The embodiment of the present application is not particularly limited thereto.

Referring to fig. 8, for example, when the pick-and-place assembly 3224 needs to transfer the target object 400 on the shelf of the docking area M, the pick-and-place assembly 3224 is rotated to the pick-and-place position (the pick-and-place end faces the target position), then the movement assembly 3223 drives the pick-and-place assembly 3224 to move in the forward direction of the pick-and-place direction (refer to the Y-axis direction in fig. 8) and approach the target object 400, the pick-and-place assembly 3224 is engaged with the target object 400, then the movement assembly 3223 drives the target object 400 to move in the reverse direction of the pick-and-place direction (refer to the Y-axis direction in fig. 8) to convey the target object 400 onto the carrier assembly 3222, finally the pick-and-place assembly 3224 is disengaged from the pick-and-place position to the avoiding position to rapidly pull the distance from the target object 400, and the driving assembly 3225 drives the pick-and-place assembly 3224 to retract in the reverse direction of the pick-and-place direction (refer to the Y-direction in fig. 8) and simultaneously move upwards to move the path of the target object 400 on the carrier assembly 3222.

Therefore, the taking and placing assembly 3224 is stopped at the avoiding position perpendicular to the bearing surface, and the state in the avoiding position is determined to be the avoiding state, so that when the object is taken in the same direction or in the opposite direction again, the taking and placing assembly 3224 can realize steering only by rotating by 90 degrees, the efficiency is high, the realization is more convenient, and compared with the rotation along other directions, the taking and placing assembly does not occupy any space in the width direction (namely, the X-axis direction in fig. 8), and the structure compactness and the rotating stability are facilitated.

In addition, in other possible embodiments, the pick-and-place assembly 3224 may also be rotated by any angle and the position at this time is determined as the stop position, which is not particularly limited in the embodiment of the present application.

To enable the pick-and-place mechanism 322 to handle different sides of the target article 400, in some examples, one pick-and-place assembly 3224 may be one, one pick-and-place assembly 3224 being switchable between a third position and a fourth position, wherein the third position and the fourth position are both pick-and-place positions. For example, the moving unit 3223 drives the pick-and-place unit 3224 to rotate so as to switch between the third position and the fourth position, the pick-and-place unit 3224 rotates to the third position to be engaged with the target article 400 on the corresponding side along the positive direction of the pick-and-place direction, and the pick-and-place unit 3224 rotates to the fourth position to be engaged with the target article 400 on the corresponding side along the opposite direction of the pick-and-place direction.

With continued reference to fig. 8, for example, when the pickup assembly 3224 needs to transfer the first target object on the shelf of the docking area M, the pickup assembly 3224 is rotated to the third position (the pickup end faces the first target position), then the movement assembly 3223 drives the pickup assembly 3224 to move in the forward direction of the pickup direction (refer to the direction Y in fig. 8) and approach the first target object, the pickup assembly 3224 is engaged with the first target object, then the movement assembly 3223 drives the first target object to move in the reverse direction of the pickup direction to convey the first target object onto the carrier assembly 3222, finally the pickup assembly 3224 is disengaged from the first target object 400 and rotated from the third position to the avoidance position to rapidly pull the distance from the first target object, and simultaneously the movement assembly 3223 drives the pickup assembly 3224 to retract in the reverse direction of the pickup direction (refer to the reverse direction Y in fig. 8) and simultaneously move upward to avoid the movement path of the first target object on the carrier assembly 3222.

With continued reference to fig. 8, when the pickup assembly 3224 needs to transfer the second target object on the support frame 200, the pickup assembly 3224 may be rotated from the avoidance position to a fourth position (the pickup end faces the second target position), for example, located at the left side of fig. 8, then the movement assembly 3223 drives the pickup assembly 3224 to descend and move in the opposite direction of the pickup direction (refer to the opposite direction of the Y axis in fig. 8) to approach the second target object, after the pickup assembly 3224 is engaged with the second target object, then the movement assembly 3223 drives the pickup assembly 3224 to move in the positive direction of the pickup direction (refer to the Y axis direction in fig. 8) to convey the second target object onto the carrier assembly 3222, finally the pickup assembly 3224 is disengaged from the second target object and rotated from the fourth position to the avoidance position, so as to rapidly pull the distance from the second target object, and simultaneously drive the pickup assembly 3224 to retract and simultaneously move upwards in the positive direction of the pickup assembly 3224 in the pickup direction to avoid the movement path of the second target object on the carrier assembly 3222.

Wherein, the rotation direction of the motion assembly 3223 drives the pick-and-place assembly 3224 may be the direction perpendicular to the bearing assembly 3222, so that the space of the width direction (X-axis direction) of the pick-and-place mechanism 322 is not occupied, and the pick-and-place assembly 3224 can realize bidirectional pick-and-place through rotation, so that the pick-and-place mechanism 322 does not need to integrally rotate, and the operation efficiency is higher, and the structural stability is good.

Referring to fig. 6, in other examples, two pick-and-place assemblies 3224 may be provided, wherein one pick-and-place assembly 3224 has a pick-and-place end facing in a forward direction (refer to a Y direction in fig. 6) of the third direction, the other pick-and-place assembly 3224 has a pick-and-place end facing in an opposite direction (refer to an opposite direction of Y in fig. 6), and the pick-and-place ends of the two pick-and-place assemblies 3224 are disposed opposite to each other in the third direction. The two pick-and-place assemblies 3224 may be arranged in a collinear manner along the third direction or may be arranged at intervals along the X-axis direction, which is not particularly limited in the embodiment of the present application. Thus, the two picking and placing assemblies 3224 can be respectively responsible for picking and placing objects in corresponding directions, so that repeated rotation and reversing are not needed, and the operation efficiency is further improved.

Referring to fig. 6 and 8, in some examples, the pick-and-place assembly 3224 may include a pick-and-place portion 32241 and a securing portion 32242. The pickup portion 32241 is connected to the movement assembly 3223 through the fixing portion 32242. Wherein the pick up section 32241 includes a suction cup structure 3224a and a connecting rod 3224b, the suction cup structure 3224a configured to attract the target article 400 to carry the target article 400 for movement.

Wherein, the one end and the fixed part 32242 of connecting rod 3224b are connected, and sucking disc structure 3224a is connected to the other end of connecting rod 3224b, is formed with the passageway in the connecting rod 3224b, and the other end of passageway specifically can be through vacuum tube and air source equipment intercommunication, like this, when air source equipment operation, air source equipment reduces the pressure of passageway and sucking disc structure 3224a inner chamber through the vacuum tube to make outside atmospheric pressure drop target article 400 pressfitting adsorb on sucking disc structure 3224 a.

In some possible examples, the air source device may specifically be an air source device capable of rotating forward and backward, for example, when the air source device rotates forward, the vacuum tube pumps the channel and the inner cavity of the suction cup structure 3224a to reduce the pressure of the inner cavity of the suction cup structure 3224a, so as to facilitate the absorption of the target article 400; when the air source device is reversed, the air source device inflates the channel and the inner cavity of the sucker structure 3224a through the vacuum tube, thereby releasing the suction force of the sucker structure 3224a on the target object 400 and facilitating the removal of the target object 400 from the sucker structure 3224 a.

Illustratively, one end of the connecting rod 3224b may be movably connected to the fixing portion 32242, and the connecting rod 3224b may be movable relative to the fixing portion 32242 along a third direction, for example, a Y-axis direction, the fetching portion 32241 may further include an elastic member 3224c, the elastic member 3224c is sleeved on the connecting rod 3224b, and both ends of the elastic member 3224c may be respectively fixed on the connecting rod 222 and the fixing portion 32242, wherein the elastic member 3224c may be in an elongated state when the suction cup structure 3224a is engaged with the target object 400 on the corresponding side, and the suction cup structure 3224a and the connecting rod 3224b are configured to be movable relative to the fixing portion 32242 in a direction away from the target object 400 by an elastic force of the elastic member 3224c when the suction cup structure 3224a is disengaged from the target object 400 on the corresponding side.

Wherein the elastic member 3224c may be a spring.

In this way, the elastic force of the elastic member 3224c can enable the sucker structure 3224a to be quickly disengaged from the target article 400, and can enable the connecting rod 3224b to be quickly stretched and contracted with the fixing portion 32242, so that the distance between the fetching portion 32241 and the target article 400 is further increased, and the avoidance speed of the fetching portion 32241 to the path of the target article 400 is improved.

The foregoing detailed description of the embodiments of the present application further illustrates the purposes, technical solutions and advantageous effects of the embodiments of the present application, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. A warehousing system, comprising:

a work platform (100) configured for picking objects to sort or pick target items (400);

A support frame (200) located at one side of the work platform (100) and formed with a storage location (230);

-a pick-and-place device (300) located on one side of the support frame (200) and configured at least to pick and place a target item on at least one of the storage location (230) and the work platform (100);

Wherein, get put device (300) have walking subassembly (310), walking subassembly (310) at least part detachably set up on braced frame (200) and follow braced frame (200) motion to get put device (300) along braced frame (200) motion.

2. The warehousing system of claim 1 wherein the pick and place device comprises at least one of a first pick and place device and a second pick and place device;

The first picking and placing device is positioned on one side of the supporting frame (200) facing the working platform (100), and the first picking and placing device is configured to pick and place target objects on at least one of the storage position (230) and the working platform (100);

The second picking and placing device is located at one side of the supporting frame (200) facing away from the working platform (100), and the second picking and placing device is configured to pick and place a target object on at least one of the storage position (230), the working platform (100) and the carrier.

3. The warehousing system according to claim 1, characterized in that the support frame (200) is provided with a first track (240 a);

the walking assembly (310) comprises a walking piece (312) and a driving piece (311), wherein the walking piece (312) comprises a first rolling piece, and at least part of the first rolling piece is embedded in the first track (240 a);

the first rolling element is connected with the driving element (311) so as to roll along the first track (240 a) under the driving of the driving element (311).

4. A warehousing system according to claim 3, characterized in that the first rail (240 a) has a rail opening through which a portion of the first rolling element is exposed to the first rail (240 a) for connection with the drive element (311);

Wherein the track opening is upward.

5. A warehousing system according to claim 3, wherein the pick-and-place device (300) is further provided with a first auxiliary support (330), and the first auxiliary support (330) is embedded in the first rail (240 a) and moves along the first rail (240 a) along with the first rolling element.

6. The warehousing system according to claim 5, wherein the first auxiliary support (330) comprises a second roller (332); the first rolling member rolls along a first inner surface of the first track (240 a), and the second rolling member (332) contacts along a second inner surface of the first track (240 a), the first inner surface facing different than the second inner surface.

7. A warehousing system according to claim 3, characterized in that the pick-and-place device (300) further comprises a trolley line (350);

The conductor of the sliding contact line (350) is arranged on the first track (240 a), the current collector of the sliding contact line (350) is arranged on the driving piece (311) and is electrically connected with the driving piece (311), and the current collector is configured to be contacted with the conductor when the driving piece (311) drives the first rolling piece to move along the first track (240 a).

8. The warehousing system according to claim 2, wherein the pick and place device (300) further comprises a device body (320), the walking assembly (310) being disposed on the device body (320), the device body (320) being configured to handle a target item (400), the walking assembly (310) being configured to move the device body (320) along the support frame (200);

The walking components (310) are at least one group, at least one group of the walking components (310) are arranged at a first position of the device body (320), and the distance between the first position and the top of the device body (320) is smaller than the distance between the first position and the bottom of the device body (320).

9. The warehousing system according to claim 8, wherein the plurality of sets of walking assemblies (310) are provided, the plurality of sets of walking assemblies (310) being arranged at intervals along the height direction of the device body (320);

At least one group of walking components (310) is arranged at a second position of the device body (320), and the distance between the second position and the bottom of the device body (320) is smaller than the distance between the second position and the top of the device body (320).

10. The warehousing system of claim 8, wherein the device body (320) includes:

At least one upright post (321), wherein each upright post (321) extends along the height direction of the supporting frame (200), and the walking assembly (310) is arranged on at least one upright post (321) so as to drive the upright post (321) to move along the supporting frame (200);

The picking and placing mechanism (322) is movably arranged on at least one upright post (321);

And the longitudinal driving structure (323) is connected with the picking and placing mechanism (322), and the longitudinal driving structure (323) is configured to drive the picking and placing mechanism (322) to move along the height direction of the upright post (321).

11. The warehousing system according to claim 10, wherein two of the upright posts (321) are spaced apart, and the pick-and-place mechanism (322) is movably disposed between the two upright posts (321);

each upright post (321) is provided with the walking assembly (310), and the two upright posts (321) move along the supporting frame (200) under the driving of the corresponding walking assemblies (310);

Or one of the upright posts (321) is provided with the walking assembly (310), and the walking assembly (310) is configured to drive the one of the upright posts (321) to move along the supporting frame (200) so as to drive the other upright post (321) to move.

12. The warehousing system according to claim 11, wherein the two upright posts (321) are a first upright post (321) and a second upright post (321), the first upright post (321) is arranged in a first track (240 a) on the support frame (200) through the walking assembly (310), the second upright post (321) is arranged in the first track (240 a) through a second auxiliary support (340), and the second upright post (321) is configured to move under the driving of the first upright post (321) so as to drive the second auxiliary support to move along the first track (240 a).

13. The warehousing system of claim 12, wherein the second auxiliary support (340) includes:

the support seat is connected with the second stand column (321);

The first rolling component (342) is movably connected with the supporting seat and is arranged on the supporting frame (200) in a rolling mode.

14. The warehousing system according to claim 13, wherein the first rolling assembly (342) includes a third rolling member (3421) and a fourth rolling member (3422); the third rolling member (3421) rolls along a first inner surface of the first track (240 a), and the fourth rolling member (3422) contacts along a second inner surface of the first track (240 a), the first inner surface facing different than the second inner surface.

15. The warehousing system according to claim 10, characterized in that the top end of the upright (321) protrudes beyond the beam (210) at the top of the support frame (200) and the pick-and-place mechanism (322) is movable to the top end of the upright (321); the bottom end of the upright post (321) is lower than the cross beam (210) at the bottom of the supporting frame (200), and the picking and placing mechanism (322) can move to the bottom end of the upright post (321).

16. The warehousing system according to claim 10, wherein the longitudinal driving structure (323) is disposed on the upright (321) and comprises a longitudinal driving member (311) and a longitudinal transmission member (3232), the longitudinal driving member (311) is connected with the longitudinal transmission member (3232) to drive the longitudinal transmission member (3232) to move, and the picking and placing mechanism (322) is connected with the longitudinal transmission member (3232) to move under the drive of the longitudinal transmission member (3232);

Wherein the longitudinal driving piece (311) is arranged at the end part of the upright post (321).

17. The warehousing system according to claim 16, characterized in that the longitudinal drive (311) is arranged at the top end of the upright (321).

18. The warehousing system according to claim 10, wherein the pick and place device (300) further comprises:

A connecting piece (3233), wherein the picking and placing mechanism (322) is connected with the longitudinal driving structure (323) through the connecting piece (3233);

The second rolling assembly (3234) is connected with the picking and placing mechanism (322), a second track (3211) is arranged on the upright post (321), and the second rolling assembly (3234) is arranged in the second track (3211) in a rolling mode.

19. The warehousing system according to claim 18, wherein the second rolling assembly (3234) is disposed on the connection (3233);

the second rolling assembly (3234) comprises a fifth rolling element (32341) and a sixth rolling element (32342); the fifth rolling element (32341) rolls along a third inner surface of the second track (3211), the sixth rolling element (32342) contacts along a fourth inner surface of the second track (3211), the third inner surface facing different than the fourth inner surface.

20. The warehousing system according to claim 16, wherein the longitudinal transmission member (3232) comprises:

A longitudinal driving wheel (32321) and a longitudinal driven wheel (32322) which are arranged at intervals along the height direction of the upright post (321), wherein the longitudinal driving piece (311) is connected with the longitudinal driving wheel (32321) so as to drive the longitudinal driving wheel (32321) to rotate;

The longitudinal driving belt (32323) is sleeved on the longitudinal driving wheel (32321) and the longitudinal driven wheel (32322), the longitudinal driving belt (32323) and the longitudinal driven wheel (32322) move under the driving of the longitudinal driving wheel (32321), and the picking and placing mechanism (322) is connected with the longitudinal driving belt (32323) so as to move under the movement of the longitudinal driving belt (32323).

21. The warehousing system according to any one of claims 1-20, characterized in that the support frames (200) have at least one, and that one side of each support frame (200) is provided with at least two pick-and-place devices (300).

22. The warehousing system according to claim 21, characterized in that the support frames (200) are provided in plurality, the plurality of support frames (200) being arranged in sequence along the travelling direction of the pick-and-place device (300);

the first rails (240 a) on at least two support frames (200) are communicated, and the pick-and-place device (300) is shared by the at least two support frames (200).

23. The warehousing system according to any one of claims 10-20, wherein the pick and place mechanism (322) includes:

A carrier assembly (3222) configured to carry a target item (400);

a pick-and-place assembly (3224), the pick-and-place assembly (3224) configured to retrieve a target item (400) from a first target location and load onto the carrier assembly (3222), or to unload a target item (400) from the carrier assembly (3222) and place in a second target location;

A motion assembly (3223), the motion assembly (3223) configured to drive the pick-and-place assembly (3224) to move in a first motion trajectory and a second motion trajectory;

Within a first motion trajectory, the motion assembly (3223) is configured to drive the pick-and-place assembly (3224) to move along an object-picking direction to load and unload a target object (400);

Within a second motion profile, the motion assembly (3223) is configured to drive the pick-and-place assembly (3224) away from a pick-and-place direction.

24. The warehousing system according to claim 23, wherein within the second motion profile, the motion assembly (3223) is configured to move the pick and place assembly (3224) obliquely upward or obliquely downward away from the carrier assembly (3222);

Or in the second motion track, the motion assembly (3223) is at least configured to drive the pick-and-place assembly (3224) to rotate, so that the pick-and-place assembly (3224) is switched between a pick-and-place position and an avoidance position.

25. The warehousing system according to claim 23, wherein the pick and place assemblies (3224) are one, one of the pick and place assemblies (3224) being switchable between a third position and a fourth position, the pick and place assembly (3224) being rotated to the third position to engage the target item (400) on the opposite side in the forward direction of the pick and place direction, the pick and place assembly (3224) being rotated to the fourth position to engage the target item (400) on the opposite side in the reverse direction of the pick and place direction; the third position and the fourth position are picking and placing positions;

Or the number of the picking and placing components (3224) is two, wherein the picking end of one picking and placing component (3224) faces to the positive direction of the picking and placing direction, and the picking end of the other picking and placing component (3224) faces to the opposite direction of the picking and placing direction.

26. The warehousing system of claim 23, wherein the pick and place assembly (3224) includes a suction cup structure (3224 a), the suction cup structure (3224 a) configured to suction the target item (400).