CN215853232U

CN215853232U - Tray assembly, transfer robot and warehousing system

Info

Publication number: CN215853232U
Application number: CN202122355169.7U
Authority: CN
Inventors: 罗宇力
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-02-18
Anticipated expiration: 2031-09-27

Abstract

The application provides a tray assembly, a carrying robot and a warehousing system, wherein the tray assembly comprises a tray, a first adjusting device and two second adjusting devices, and one end of the tray along a first direction is provided with a goods taking and placing opening; the first adjusting device is arranged on the tray and is arranged opposite to the goods taking and placing opening along a first direction, and the first adjusting device can slide along the first direction; the two second adjusting devices are arranged on two sides of the tray along a second direction, the second adjusting devices can slide along the second direction, and the sliding directions of the two second adjusting devices are opposite; wherein the first direction and the second direction are perpendicular to each other. This application can the multiple not unidimensional packing box of adaptation, and is favorable to improving transfer robot's efficiency and precision.

Description

Tray assembly, transfer robot and warehousing system

Technical Field

The application relates to an intelligent warehouse logistics technology, in particular to a tray assembly, a carrying robot and a warehousing system.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of end logistics is also increasing, and intelligent warehouse logistics has become the inevitable trend of end logistics development. The carrying robot is used as main equipment for realizing automatic carrying operation in intelligent warehouse logistics, and heavy physical labor of human can be greatly reduced.

In the related art, the carrier robot may pick and place the container on the rack. The transfer robot generally comprises a body, wherein a fork and a pack basket are arranged on the body, trays are arranged in the fork and the pack basket, and the fork can be lifted along the vertical direction and can also be stretched along the horizontal direction, so that a container is taken out of a goods shelf or is transferred to the goods shelf; the pack basket can temporarily store the packing box on the transfer robot.

However, by adopting the technical scheme, the tray assembly cannot adapt to containers with different sizes, and the efficiency and the precision of the transfer robot are not improved.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned defect under the correlation technique, the utility model aims to provide a tray subassembly, transfer robot and warehouse system to solve the problem that the tray can not adapt to not unidimensional packing box among the correlation technique, is unfavorable for improving transfer robot's efficiency and precision.

An embodiment of the present application provides a tray assembly, including:

the tray is provided with a goods taking and placing opening at one end along a first direction;

the first adjusting device is arranged on the tray and is opposite to the goods taking and placing opening along the first direction, and the first adjusting device can slide along the first direction;

the two second adjusting devices are arranged on two sides of the tray along a second direction, can slide along the second direction, and are opposite to each other in sliding direction;

wherein the first direction and the second direction are perpendicular to each other.

Optionally, the first adjusting device includes a first baffle and a first guide rail, the first baffle is disposed on the tray along the second direction, the first guide rail is disposed on the tray along the first direction, a first slider is disposed in the first guide rail, and the first baffle is fixedly connected to the first slider.

Optionally, the first adjusting device further includes a first elastic member disposed along the first direction, and two ends of the first elastic member are respectively connected to the first baffle and the tray.

As above, optionally, a first through groove is formed in the tray and arranged along the first direction, the first guide rail is arranged in the first through groove, the first elastic member is arranged on one side of the tray, which is away from the first baffle, one end of the first elastic member is connected to the first slider, and the other end of the first elastic member is connected to one side of the tray, which is close to the pick-and-place opening.

Optionally, the first baffle, the first guide rail and the first elastic element are disposed on the same side of the tray, and two ends of the first elastic element are respectively connected to the first baffle and a side of the tray away from the pick-and-place goods opening.

The tray assembly as described above, optionally, the first elastic member is a spring.

Optionally, the second adjusting device includes a second baffle, a third baffle, and a second through groove, the second baffle is disposed along the first direction, and the third baffle and the second through groove are both disposed obliquely to the second baffle; one end, back to the goods taking and placing opening, of the second baffle is rotatably connected with the third baffle through a first rotating piece, and the first rotating piece penetrates through the second through groove and can slide along the second through groove.

The tray assembly as described above, optionally, a projection of the second through groove in a plane parallel to the first direction and the second direction is arc-shaped.

The tray assembly as described above, optionally, further comprising a synchronous moving mechanism, the synchronous moving mechanism being disposed on a side of the tray facing away from the second baffle;

the synchronous movement mechanism comprises a second guide rail and four connecting rods, the four connecting rods are sequentially hinged end to form a quadrilateral, two second sliding blocks arranged at intervals are arranged in the second guide rail, a first vertex and a third vertex which are opposite to the quadrilateral are respectively connected with the two second sliding blocks, and the second vertex and the fourth vertex which are opposite to the quadrilateral are respectively connected with the two first rotating pieces.

The tray assembly as described above, optionally, further includes a second elastic member, the second elastic member is disposed on a side of the tray facing away from the second baffle, and two ends of the second elastic member are respectively connected to the second vertex and the fourth vertex, which are opposite to the quadrangle.

The tray assembly as described above, optionally, the second elastic member is a spring.

Optionally, the second adjusting device further includes a fourth blocking plate, and an end of the second blocking plate facing the pick-and-place goods opening is rotatably connected to the fourth blocking plate through a second rotating member.

The tray assembly as described above, optionally, the first rotating member and the second rotating member are both pin shafts.

The tray assembly as described above, optionally, the tray is further provided with a guide surface connected with the pick-and-place goods opening, and the guide surface is arranged obliquely to the tray.

Another embodiment of this application provides a transfer robot, base, stand, elevating gear, fork and a plurality of tray subassembly, the stand is vertical to be set up on the base, elevating gear sets up on the stand, the fork sets up one side of stand and with elevating gear is connected, the fork can move along vertical direction under elevating gear's the drive, and is a plurality of the tray subassembly sets up the opposite side of stand, and is a plurality of at least one of tray subassembly adopts as above the tray subassembly.

The transfer robot as described above, optionally, the pallet assembly as described above is provided in the fork.

Yet another embodiment of the present application provides a storage system, which includes a rack, a transfer robot as described above, and a passage for the transfer robot to move, wherein the transfer robot can move along the passage to the side of the rack to pick and place a container.

The application provides a tray assembly, a carrying robot and a warehousing system, wherein the tray assembly comprises a tray, a first adjusting device and two second adjusting devices, and one end of the tray along a first direction is provided with a goods taking and placing opening; the first adjusting device is arranged on the tray and is arranged opposite to the goods taking and placing opening along a first direction, and the first adjusting device can slide along the first direction; the two second adjusting devices are arranged on two sides of the tray along a second direction, the second adjusting devices can slide along the second direction, and the sliding directions of the two second adjusting devices are opposite; wherein the first direction and the second direction are perpendicular to each other. According to the tray, the first adjusting device opposite to the taking and placing opening is arranged on the tray, and the first adjusting device can slide on the tray along the first direction, so that the size of the tray in the first direction can be adjusted; two second adjusting devices which are oppositely arranged are arranged on the tray, the two second adjusting devices can slide on the tray along a second direction, and the sliding directions of the two second adjusting devices are opposite, so that the size of the tray in the second direction can be adjusted. Through the arrangement, the positions of the first adjusting device and the two second adjusting devices on the tray can be adjusted according to the size of the container, so that the tray can be adapted to containers of various sizes; first adjusting device and two second adjusting device can also carry on spacingly to the packing box of putting into in the tray, prevent that the packing box from removing, improve the accuracy of location, and the effectual inertia that reduces when equipment opens and stops and the amount of movement that vibrations brought for the packing box is favorable to improving transfer robot's efficiency and precision.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a simplified structural diagram of a tray assembly according to an embodiment of the present application from a first perspective;

FIG. 2 is a simplified structural diagram of a tray assembly according to an embodiment of the present application from a second perspective;

fig. 3 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure.

Reference numerals:

1-upright column;

2-a pallet fork;

10-a tray; 11-a guide surface;

20-a first adjustment device; 21-a first baffle; 22-a first guide rail; 23-a first slider; 24-a first elastic member; 25-a first through slot;

30-a second adjustment device; 31-a second baffle; 32-a third baffle; 33-a second through slot; 34-a first rotating member; 35-a second guide rail; 36-a connecting rod; 37-a second elastic member; 38-a fourth baffle; 39-a second rotating member;

x-a first direction; y-second direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In the related art, the carrier robot may pick and place the container on the rack. The transfer robot generally comprises a body, wherein a fork and a pack basket are arranged on the body, trays are arranged in the fork and the pack basket, and the fork can be lifted along the vertical direction and can also be stretched along the horizontal direction, so that a container is taken out of a goods shelf or is transferred to the goods shelf; the pack basket can temporarily store the packing box on the transfer robot. However, adopt above-mentioned technical scheme, the size of tray is fixed unchangeable among the tray subassembly, can not adapt to not unidimensional packing box, when the less packing box of size was placed on the tray, because lack stop gear and carry on spacingly to the packing box, probably caused rocking of packing box to be unfavorable for improving transfer robot's efficiency and precision.

In view of this, the present application aims to provide a pallet assembly, a transfer robot and a warehousing system, wherein a first adjusting device and two second adjusting devices are arranged on the pallet, the first adjusting device can slide along a first direction, the two second adjusting devices can slide along a second direction in opposite directions, and the sliding directions of the two second adjusting devices are opposite, so that the positions of the first adjusting device and the second adjusting device can be adjusted according to the size of a container, so as to adapt to containers with different sizes.

The following detailed description of the embodiments of the present application will be provided in conjunction with the accompanying drawings to enable those skilled in the art to more fully understand the contents of the present application.

Example one

FIG. 1 is a simplified structural diagram of a tray assembly according to an embodiment of the present application from a first perspective; FIG. 2 is a simplified structural diagram of a tray assembly according to an embodiment of the present application from a second perspective;

referring to fig. 1-2, the present embodiment provides a tray assembly, including:

tray 10, tray 10 is equipped with along the one end of first direction X and gets and put the goods mouth. In this embodiment, the tray 10 has a square shape on the whole for storing the container, for example, a rectangular shape; the access opening may be provided at either end of the tray 10, for example at the end of the shorter side of a rectangular tray. Accordingly, in the present embodiment, the first direction X may be parallel to a longer side of the rectangular tray, the second direction Y may be parallel to a shorter side of the rectangular tray, and the first direction X and the second direction Y are perpendicular to each other.

The first adjusting device 20 is arranged on the tray 10, the first adjusting device 20 is arranged opposite to the pick-and-place goods opening along the first direction X, and the first adjusting device 20 can slide along the first direction X. For example, the first adjusting device 20 may slide with the tray 10 through a structure of a slider and a guide rail. By providing the first adjusting device 20, the size of the pallet 10 in the first direction X can be more matched with the size of a container placed on the pallet 10, so that the container can be prevented from moving in the first direction X during the process of taking and placing the container by the transfer robot.

Two second adjusting devices 30, two second adjusting devices 30 are arranged on two sides of the tray 10 along the second direction Y, the second adjusting devices 30 can slide along the second direction Y, and the sliding directions of the two second adjusting devices 30 are opposite. For example, the second adjusting device 30 may also slide with the tray 10 through a structure of a slider and a guide rail; alternatively, the sliding movement with the tray 10 may be realized by means of a guide groove, which may be provided on the tray 10, and the second adjusting means 30 may realize the sliding movement along the guide groove by means of a guide member provided in the guide groove. When sliding, the sliding directions of the two second adjusting devices 30 are opposite; when the two second adjusting devices 30 slide relative to each other, the size of the tray 10 in the second direction Y may be reduced, and when the two second adjusting devices 30 slide relative to each other, the size of the tray 10 in the second direction Y may be increased. By providing two second adjusting devices 30, the size of the pallet 10 in the second direction Y can be more consistent with the size of a container placed on the pallet 10, so that the container can be prevented from moving in the second direction Y during the process of taking and placing the container by the transfer robot.

As can be seen from the above description, the present application can adjust the positions of the first adjusting device 20 and the two second adjusting devices 30 on the pallet 10 according to the size of the container, so that the pallet 10 can be adapted to containers of a plurality of different sizes; the first adjusting device 20 and the two second adjusting devices 30 can also limit the containers placed in the pallet 10, so that the containers are prevented from moving, the positioning accuracy is improved, the movement amount of the containers caused by inertia and vibration when the equipment is started and stopped is effectively reduced, and the efficiency and the precision of the transfer robot are improved.

In one possible embodiment, as shown in fig. 1 and 2, the first adjusting device 20 of the present embodiment includes a first shutter 21 and a first guide rail 22; the first stop 21 is arranged on the pallet 10 in the second direction Y and is operable to limit the position of a container in the first direction X. The first guide rail 22 is disposed on the tray 10 along the first direction X, the first slider 23 is disposed in the first guide rail 22, and the first blocking plate 21 is fixedly connected to the first slider 23 so as to slide along with the first slider 23 in the first guide rail 22, thereby achieving movement in the first direction X.

Further, the first adjusting device 20 further includes a first elastic member 24, the first elastic member 24 is disposed along the first direction X, and two ends of the first elastic member 24 are respectively connected to the first baffle 21 and the tray 10. The first resilient member 24 may store a portion of the energy to assist the first adjustment device 20 in resetting as quickly as possible. When the first adjusting device 20 is in the initial position, the first elastic member 24 is in a free state; when the first adjusting device 20 slides in the first direction X to increase the size of the tray 10 in the first direction X, the first elastic member 24 is compressed or stretched, thereby storing a part of energy; upon release of the push on the first adjustment device 20, the first resilient member 24 may release the stored energy, thereby assisting in resetting the first adjustment device 20.

In this embodiment, the relative positions of the first baffle 21, the tray 10 and the first elastic member 24 can be determined as required.

For example, a first through groove 25 is formed in the tray 10 of this embodiment along the first direction X, a first guide rail 22 is disposed in the first through groove 25, a first elastic member 24 is disposed on one side of the tray 10 away from the first baffle 21, one end of the first elastic member 24 is connected to the first slider 23, and the other end of the first elastic member 24 is connected to one side of the tray 10 close to the pick-and-place opening.

For another example, the first baffle 21, the first guide rail 22 and the first elastic member 24 of the present embodiment are all disposed on the same side of the tray 10, and two ends of the first elastic member 24 are respectively connected to the first baffle 21 and one side of the tray 10 away from the pick-and-place opening.

Alternatively, the first elastic member 24 of the present embodiment may be a spring.

With continued reference to fig. 1 and 2, in a possible embodiment, the second adjusting device 30 of the present embodiment includes a second baffle 31, a third baffle 32 and a second through slot 33, and the second baffle 31 is disposed along the first direction X and can be used for limiting the container in the second direction Y. The third baffle 32 and the second through groove 33 are both arranged obliquely to the second baffle 31; one end of the second baffle 31 departing from the pick-and-place port is rotatably connected with the third baffle 32 through a first rotating member 34, and the first rotating member 34 penetrates through the second through groove 33 and can slide along the second through groove 33. In this embodiment, the second through slot 33 is a guide slot for the second adjusting device 30 to slide, the first rotating member 34 is a guide member, and the second shutter 31 can slide in the second direction Y through the first guide member 34.

Further, in a plane parallel to the first direction X and the second direction Y, the projection of the second through groove 33 is arc-shaped, and the second through groove 33 is arc-shaped, so that the sliding of the second baffle 31 is smoother, and the blocking phenomenon of the second baffle 31 during sliding is reduced.

Optionally, the present embodiment further comprises a synchronous movement mechanism, which is arranged on the side of the tray 10 facing away from the second baffle 31, for ensuring the consistency of the movement of the two second adjusting devices 30.

The synchronous movement mechanism comprises a second guide rail 35 and four connecting rods 36, the four connecting rods 36 are sequentially hinged end to form a quadrangle, two second sliding blocks arranged at intervals are arranged in the second guide rail 35, a first vertex and a third vertex which are opposite to the quadrangle are respectively connected with the two second sliding blocks, and the second vertex and the fourth vertex which are opposite to the quadrangle are respectively connected with the two first rotating pieces 34. The first vertex and the third vertex which are opposite to each other in the quadrangle can slide in the second guide rail 35 through the second sliding block, and the second vertex and the fourth vertex which are opposite to each other in the quadrangle are respectively connected with the first rotating pieces 34 of the two second adjusting devices 30, so that the movement synchronism of the two second adjusting devices 30 can be ensured, and the self-adaptive adjustment can be realized. When the two second adjusting devices 30 move relatively, the two second sliding blocks can be driven to slide relatively to increase the distance between the two second sliding blocks; when the two second adjusting devices 30 move towards each other, the two second sliding blocks can be driven to slide relatively, so as to reduce the distance between the two second sliding blocks.

Furthermore, the second adjusting device 30 of the present embodiment further includes a second elastic member 37, the second elastic member 37 is disposed on a side of the tray 10 away from the second baffle 31, and two ends of the second elastic member 37 are respectively connected to the second vertex and the fourth vertex of the quadrangle, which are opposite to each other. The second elastic element 27 may store a part of the energy to assist the second adjustment device 30 to reset as soon as possible. When the two second adjustment devices 30 are in the initial position, the second elastic member 37 is in a free state; when the two second adjusting devices 30 slide toward each other in the second direction Y to increase the size of the tray 10 in the second direction Y, the second elastic member 37 is stretched, thereby storing a part of energy; after releasing the pushing of the two second adjustment devices 30, the second elastic member 37 may release the stored energy, thereby assisting the resetting of the two second adjustment devices 30.

Alternatively, the second elastic member 37 may be a spring in the present embodiment.

Optionally, the second adjusting device 30 of the present embodiment further includes a fourth blocking plate 38, and an end of the second blocking plate 31 facing the pick-and-place port is rotatably connected to the fourth blocking plate 38 through a second rotating member 39. The two fourth flaps 38 can guide the container into between the two second flaps 31 preventing jamming of the container.

Alternatively, the first rotating member 34 and the second rotating member 39 in this embodiment are both pin shafts.

Further, the tray 10 of the embodiment is further provided with a guide surface 11 connected with the goods taking and placing opening, the guide surface 11 is arranged obliquely to the tray 10, and the guide surface 11 can guide a container to enter the goods taking and placing opening, so that the difficulty of the container entering the tray 10 is reduced, and collision is prevented.

In summary, the present application can adjust the positions of the first adjusting device 20 and the two second adjusting devices 30 on the pallet 10 according to the size of the container, so that the pallet 10 can be adapted to containers with different sizes; the first adjusting device 20 and the two second adjusting devices 30 can also limit the containers placed in the pallet 10, so that the containers are prevented from moving, the positioning accuracy is improved, the movement amount of the containers caused by inertia and vibration when the equipment is started and stopped is effectively reduced, and the efficiency and the precision of the transfer robot are improved.

Example two

Fig. 3 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure. Referring to fig. 3, the present embodiment provides a transfer robot, including a base, a column 1, a lifting device, a fork 2 and a plurality of tray assemblies, where the column 1 is vertically disposed on the base, the lifting device is disposed on the column 1, the fork 2 is disposed on one side of the column 1 and connected to the lifting device, the fork can move in a vertical direction under the driving of the lifting device, the plurality of tray assemblies are disposed on the other side of the column 1, and at least one of the plurality of tray assemblies is the tray assembly according to the first embodiment.

Specifically, the transfer robot of the present embodiment includes a base (not shown in the drawings), and the base is vertically and fixedly connected with the column 1. The lifting device is arranged on the upright post 1, for example, the lifting device can be arranged on the upright post 1 along the vertical direction; the lifting device may for example comprise a drive device for driving the transport device in a vertical direction, the drive device may for example be a motor or the like, and the transport device may for example be a gear, a chain structure or the like. The forks 2 are arranged on one side of the mast 1 and provided with a tray assembly for picking and placing goods, for example the forks 2 may be arranged on a conveyor, moving in a vertical direction with the conveyor. A plurality of pallet assemblies are provided at the other side of the column 1 opposite to the forks 2 to temporarily store the goods. Wherein, at least one of the plurality of tray assemblies can adopt the tray assembly of the first embodiment.

Further, the pallet assembly in the pallet fork 2 may also be the pallet assembly of the first embodiment above.

According to the carrying robot of the embodiment, as the tray assembly of the first embodiment is arranged, the positions of the first adjusting device and the two second adjusting devices on the tray can be adjusted according to the size of the containers, so that the tray can be adapted to containers of various sizes; first adjusting device and two second adjusting device can also carry on spacingly to the packing box of putting into in the tray, prevent that the packing box from removing, improve the accuracy of location, and the effectual inertia that reduces when equipment opens and stops and the amount of movement that vibrations brought for the packing box is favorable to improving transfer robot's efficiency and precision.

EXAMPLE III

In another embodiment of the present application, a storage system is provided, which includes a rack, a transfer robot as in the second embodiment, and a passage for the transfer robot to move, and the transfer robot can move along the passage to a side of the rack to pick and place a cargo box.

The warehousing system of the embodiment adopts the transfer robot of the second embodiment, so that goods taking and placing operations can be performed on containers with different sizes, and the efficiency and the precision of the transfer robot are improved.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that, in the description of the present application, the terms "first" and "second" are used merely for convenience in describing different components, and are not to be construed as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

The embodiments or implementation manners in the present application are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments can be referred to each other.

In the description of the present application, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this application, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tray assembly, comprising:

2. The tray assembly of claim 1, wherein the first adjustment device comprises a first baffle disposed on the tray in the second direction and a first guide disposed on the tray in the first direction, wherein a first slider is disposed within the first guide, and wherein the first baffle is fixedly coupled to the first slider.

3. The tray assembly of claim 2, wherein the first adjustment device further comprises a first elastic member disposed along the first direction, and both ends of the first elastic member are connected to the first baffle and the tray, respectively.

4. The tray assembly according to claim 3, wherein a first through groove is formed in the tray and arranged along the first direction, the first guide rail is arranged in the first through groove, the first elastic member is arranged on one side, away from the first baffle, of the tray, one end of the first elastic member is connected with the first sliding block, and the other end of the first elastic member is connected with one side, close to the goods taking and placing opening, of the tray.

5. The tray assembly according to claim 3, wherein the first baffle, the first guide rail and the first elastic member are disposed on the same side of the tray, and two ends of the first elastic member are respectively connected to the first baffle and a side of the tray away from the pick-and-place goods opening.

6. The tray assembly of claim 3, wherein the first resilient member is a spring.

7. The tray assembly of claim 1, wherein the second adjustment device comprises a second baffle disposed along the first direction, a third baffle, and a second through slot, the third baffle and the second through slot both disposed oblique to the second baffle; one end, back to the goods taking and placing opening, of the second baffle is rotatably connected with the third baffle through a first rotating piece, and the first rotating piece penetrates through the second through groove and can slide along the second through groove.

8. The tray assembly of claim 7, wherein a projection of the second channel is arcuate in shape in a plane parallel to the first and second directions.

9. The tray assembly of claim 7, further comprising a synchronous motion mechanism disposed on a side of the tray facing away from the second baffle;

10. The tray assembly of claim 9, further comprising a second resilient member disposed on a side of the tray facing away from the second baffle, wherein two ends of the second resilient member respectively connect the second and fourth opposite vertices of the quadrilateral.

11. The tray assembly of claim 10, wherein the second resilient member is a spring.

12. The tray assembly of claim 7, wherein the second adjusting device further comprises a fourth baffle, and an end of the second baffle facing the pick-and-place port is rotatably connected to the fourth baffle via a second rotating member.

13. The tray assembly of claim 12, wherein the first and second rotating members are each a pin.

14. The tray assembly of claim 1, wherein the tray is further provided with a guide surface connected to the access opening, the guide surface being disposed obliquely to the tray.

15. A transfer robot comprising a base, a column vertically disposed on the base, a lifting device disposed on the column, a fork disposed on one side of the column and connected to the lifting device, the fork being vertically movable by the lifting device, a plurality of tray assemblies disposed on the other side of the column, at least one of the plurality of tray assemblies including the tray assembly of any one of claims 1 to 14.

16. A transfer robot as claimed in claim 15, wherein the forks are provided with tray assemblies as claimed in any one of claims 1 to 14 therein.

17. A storage system comprising a pallet, a transfer robot as claimed in claim 15 or 16 and a walkway for movement of the transfer robot, the transfer robot being movable along the walkway to alongside the pallet to access a container.