CN217497370U - Goods taking and placing device, carrying device and logistics system - Google Patents

Abstract

The application provides a get and put goods device, handling device and logistics system. The utility model provides a get and put goods device, a logistics system, logistics system includes handling device, should get and put goods device includes first chassis, a detecting element and main part, the main part sets up on first chassis, the main part includes the portal, a lifting element and a fork, a fork is connected with a lifting element, a lifting element is configured to the direction of height removal along the portal, a detecting element sets up on a chassis, a detecting element is used for detecting the relative position of a chassis on the ground, so that get and put goods device and butt joint with handling device according to the information that detects, in order to transport the goods, thereby the space utilization of warehouse has been improved.

Description

Goods taking and placing device, carrying device and logistics system

Technical Field

The application relates to the technical field of storage logistics, in particular to a goods taking and placing device, a carrying device and a logistics system.

Background

The storage mode of stereoscopic warehouse is widely used in the field of warehouse logistics because of its great storage capacity, and along with the development of artificial intelligence and automation technology, logistics system's degree of automation is higher and higher, and stereoscopic warehouse can realize getting of automation of goods with the external equipment butt joint and put.

In the related art, a stereoscopic warehouse is generally composed of a plurality of shelves, a goods taking and placing device which moves in a fixed rail manner is arranged between the shelves, goods are taken and placed on the shelves, and a conveying line or a special butt joint device needs to be arranged on the periphery of the shelves to transfer the goods when the goods come in and go out of the stereoscopic warehouse.

However, the existing warehouse entry and exit equipment and method occupy a large warehouse space, resulting in a low space utilization rate of the warehouse.

SUMMERY OF THE UTILITY MODEL

The application provides a get and put goods device, handling device and logistics system to solve present warehouse entry equipment and occupy great warehouse space, lead to the technical problem that the space utilization in warehouse is low.

In a first aspect, the present application provides a goods taking and placing device for a logistics system, the logistics system includes a carrying device, the goods taking and placing device includes a first chassis, a first detecting unit and a main body, the main body is disposed on the first chassis, the main body includes a gantry, a first lifting unit and a first fork, the first fork is connected with the first lifting unit, the first lifting unit is configured to move along a height direction of the gantry, the first detecting unit is disposed on the first chassis, and the first detecting unit is configured to detect a relative position of the first chassis on the ground, so that the goods taking and placing device is docked with the carrying device according to detected information.

As an alternative embodiment, the first detection unit is located on a side of the first chassis facing the ground, and the first detection unit corresponds to an identifiable mark on the ground.

As an alternative embodiment, the first detection unit includes two detection cameras, the two detection cameras are respectively located at two opposite sides of the first chassis, the identifiable mark includes a plurality of identification codes arranged at intervals along the moving direction of the first chassis, and the interval between the two detection cameras is configured to match the interval between adjacent identification codes.

As an alternative embodiment, the first detection unit may comprise a magnetic sensor, and the identifiable identifier comprises a magnetic strip extending in the moving direction of the first chassis, the magnetic sensor being opposite to the magnetic strip.

As an optional implementation manner, the first fork may include a fixed arm and a telescopic arm, the fixed arm is connected with the first lifting unit, the telescopic arm is movably connected with the fixed arm, and the telescopic arm is capable of extending and retracting in both directions along the width direction of the roadway.

In a second aspect, the application further provides a carrying device, which is used for a logistics system, the logistics system can comprise a goods taking and placing device, the carrying device comprises a second chassis, a second lifting unit, a second detection unit and a second fork, the second lifting unit is arranged at the first end of the second chassis, the second fork is connected with the second lifting unit, and the second detection unit is used for detecting a detection mark on the goods taking and placing device, so that when the carrying device is in butt joint with the goods taking and placing device, the second end of the second chassis faces the goods taking and placing device.

As an alternative embodiment, the second detection unit comprises a visual detection unit configured to identify the detection identifier.

As an optional implementation manner, the second detection unit includes a radar, and the radar is disposed on the second chassis and located at a front end or a rear end of the moving direction of the second chassis, and is used for recognizing the posture of the second chassis relative to the pick-and-place device.

As an optional implementation manner, the second fork includes a connection portion and an insertion portion, the connection portion is connected with the second lifting unit, the insertion portion is connected with the connection portion, and the insertion portion extends toward the second end of the second chassis; the second chassis is provided with a containing groove, the inserting part is opposite to the containing groove, and when the second fork is driven by the second lifting unit to lift, the inserting part is contained in the containing groove or extends out of the containing groove.

As an optional implementation manner, when the insertion part is accommodated in the accommodating groove, the insertion part is lower than the surface of the second chassis; when the inserting part extends out of the containing groove, the inserting part is higher than the surface of the second chassis.

In an alternative embodiment, when the goods taking and placing device is docked with the carrying device, the opening of the accommodating groove faces the goods taking and placing device, and the accommodating groove is configured to accommodate at least part of the structure of the goods taking and placing device.

In a third aspect, the present application provides a logistics system, which includes a storage device, a goods taking and placing device, and a carrying device, wherein the storage device includes a plurality of shelves arranged at intervals, a roadway is provided between adjacent shelves, the goods taking and placing device is configured to be movable along an extending direction of the roadway to take and place goods on the shelves, the carrying device is moved at the periphery of the storage device, and the carrying device can be docked with the goods taking and placing device to transfer goods.

The logistics system provided by the application displays the transportation of goods in and out of a warehouse through the flexible butt joint mode of the goods taking and placing device and the carrying device, so that a conveying line or a special butt joint device is not required to be arranged for the goods in and out of the warehouse, the space occupied by the warehouse is small, the space utilization rate of the warehouse is improved, other goods carrying tasks can be executed when the goods taking and placing device and the carrying device do not execute the warehouse out task, and the efficiency of the logistics system is improved.

As an alternative embodiment, the goods taking and placing device may include a first chassis and a main body, the main body is disposed on the first chassis, the main body may include a gantry, a first lifting unit and a first fork, the first fork is connected with the first lifting unit, the first lifting unit is configured to move in a height direction of the gantry, so as to take and place goods at different height positions of the shelf, and the first fork may be docked with the carrying device.

As an optional implementation manner, the first fork may include a fixed arm and a telescopic arm, wherein the fixed arm is connected with the first lifting unit, and the telescopic arm may be movably connected with the fixed arm, and the telescopic arm may be bi-directionally telescopic along a width direction of a roadway to pick and place goods on adjacent shelves, thereby realizing a function of bi-directionally picking and placing goods.

As an alternative embodiment, the carrying device may include a second chassis, a second lifting unit and a second fork, the second lifting unit may be disposed at a first end of the second chassis, the second fork is connected with the second lifting unit, and when the carrying device is docked with the pick-and-place device, a second end of the second chassis faces the carrying device, so that the pick-and-place device can place the goods on the carrying device from the side or take the goods off the carrying device.

As an alternative embodiment, the second fork may include a connection part connected with the second lifting unit and an insertion part connected with the connection part, and the insertion part extends toward the second end of the second chassis.

The second chassis can be provided with a containing groove, the inserting part is opposite to the containing groove, and when the second fork is driven to lift by the second lifting unit, the inserting part can be contained in the containing groove, or the inserting part can extend out of the containing groove.

As an alternative embodiment, when the inserting part is accommodated in the accommodating groove, the inserting part may be lower than the surface of the second chassis; when the inserting part extends out of the containing groove, the inserting part can be higher than the surface of the second chassis, so that on one hand, when goods are taken and placed, the second fork can lift the goods on the second chassis, and therefore the goods can be placed on the second chassis in the conveying process, and the stability of the conveying process is guaranteed.

As an optional implementation manner, when the goods taking and placing device is in butt joint with the carrying device, the notch of the accommodating groove faces the telescopic arm, and the telescopic arm can be inserted into the accommodating groove, so that the butt joint convenience of the goods taking and placing device and the carrying device can be realized, and the interference generated in the goods taking and placing process is avoided.

As an optional implementation manner, the storage device may further include a rail assembly, the rail assembly is disposed in the roadway and extends along a length direction of the roadway, and the goods taking and placing device may be in butt joint with the rail assembly and move along the rail assembly, so as to achieve stability and smoothness of movement of the goods taking and placing device in the roadway. As an optional implementation manner, the rail assembly may include a first rail, the first rail extends along a length direction of the shelf, the first rail may be located on a side of a bottom of the shelf, the first rail is disposed on both sides of the roadway, and both sides of the bottom of the goods taking and placing device are respectively in butt joint with the first rails on both sides of the roadway, so as to realize guidance of the goods taking and placing device when moving in the roadway.

As an optional implementation manner, the opposite sides of the first chassis facing the goods shelf may be provided with guide portions, and the first rail includes a guide plate, and the guide portions are abutted against the guide plate, so that the guide portions can move along the guide plate, and the smoothness of movement of the goods taking and placing device is ensured.

As an alternative embodiment, the guiding plate may include a first extending section and a second extending section, the first extending section is connected to the shelf, the second extending section extends towards the first chassis, and the guiding portion abuts against a side of the second extending section facing the ground to prevent the goods taking and placing device from falling out of the first track.

As an optional implementation manner, the rail assembly may further include a second rail, the second rail is located at the top of the tunnel, two sides of the second rail are respectively connected to the tops of the shelves on two sides of the tunnel, and the top of the main body is butted with the second rail, so that when the height of the shelf is high, the top of the goods taking and placing device may be guided and stabilized to avoid sliding or toppling.

As an optional implementation manner, the top of the portal frame may be provided with a sliding portion, the second rail includes a sliding groove, the sliding groove may extend along the length direction of the roadway, and the sliding portion is inserted into the sliding groove, so that when the goods taking and placing device moves along the roadway, the sliding portion may slide along the sliding groove to guide the goods taking and placing device.

As an optional implementation manner, the goods taking and placing device may further include an electronic control module, the first chassis may be provided with the first conductive portions on opposite sides facing the goods shelf, the first rails on two sides of the roadway are provided with first sliding contact lines, the first conductive portions on two sides of the first chassis are respectively in contact with the first sliding contact lines on two sides of the roadway, the first conductive portions are electrically connected with the electronic control module, and the first sliding contact lines are electrically connected with an external power supply to form a power supply loop and provide electric energy for the electronic control module.

In addition, the top of the portal frame can be provided with at least two second conductive parts, the second track is provided with two second sliding contact lines, the two second sliding contact lines are respectively positioned on the groove walls on two sides of the sliding groove, the two second conductive parts are respectively contacted with the two second sliding contact lines, the two second conductive parts are electrically connected with the electronic control module, the two second sliding contact lines are electrically connected with an external power supply, a power supply loop can be formed similarly, and electric energy is provided for the electronic control module.

As an alternative, the first and second conductive parts may be conductive carbon brushes, so as to ensure good electrical contact and reduce or eliminate wear during sliding.

As an optional implementation manner, the logistics system provided by the application may further include a buffer rack, the buffer rack is disposed at an end of the storage rack, and both the goods taking and placing device and the carrying device may be in butt joint with the buffer rack, so that when the goods taking and placing device or the carrying device is saturated in task and cannot be adjusted, the buffer rack may temporarily buffer the goods, and the overall logistics efficiency is improved.

As an optional implementation manner, the buffer rack comprises two bearing parts arranged at intervals, and the distance between the two bearing parts is greater than the width of the carrying device, so that when the carrying device takes away goods on the buffer rack, the goods can directly pass through the buffer rack to move away, thereby avoiding retreating or turning around, and improving the logistics efficiency.

In addition to the technical problems, technical features constituting technical aspects, and advantageous effects of the technical features solved by the embodiments of the present application described above, other technical problems, technical features included in the technical aspects, and advantageous effects of the technical features that can be solved by the pick-and-place device, the carrying device, and the logistics system provided by the present application will be further described in detail in the detailed description.

Drawings

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

Fig. 1 is a schematic structural diagram of a logistics system provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a storage device in a logistics system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a cargo taking and placing device in a logistics system according to an embodiment of the present application;

FIG. 4 is a partial view of position A of FIG. 2;

FIG. 5 is a partial view of position B of FIG. 2;

fig. 6 is a schematic structural diagram of a handling device in a logistics system according to an embodiment of the present application;

fig. 7a is a schematic diagram of a first state in a workflow of a logistics system according to an embodiment of the application;

fig. 7b is a schematic diagram of a second state in the workflow of the logistics system provided by the embodiment of the application;

fig. 7c is a schematic diagram of a third state in the workflow of the logistics system provided by the embodiment of the application;

fig. 7d is a schematic diagram of a fourth state in the workflow of the logistics system provided by the embodiment of the application;

fig. 7e is a schematic diagram of a fifth state in the workflow of the logistics system provided in the embodiment of the application;

fig. 7f is a schematic diagram of a sixth state in the workflow of the logistics system provided by the embodiment of the application;

FIG. 8a is a schematic diagram of a first state in another workflow of a logistics system provided in an embodiment of the present application;

FIG. 8b is a schematic diagram of a second state in another workflow of a logistics system provided in an embodiment of the subject application;

fig. 8c is a schematic diagram of a third state in another workflow of the logistics system according to the embodiment of the application.

Description of reference numerals:

100-a storage device; 110-a shelf; 120-a track assembly; 121-a first track; 1211-guide plate; 1212-first trolley line; 122-a second track; 1221-a cross-beam; 1222-longitudinal beams; 1223-a chute; 1224-second trolley line; 130-roadway;

200-a goods taking and placing device; 210-a first chassis; 211-a guide; 212-a first conductive portion; 220-a body; 221-a portal; 2211-sliding part; 2212-a second conductive portion; 222-a first lifting unit; 223-a first fork; 2231-a stationary arm; 2232-telescopic arm;

300-a handling device; 310-a second chassis; 311-a receiving groove; 320-a second lifting unit; 330-a second fork; 331-a connecting portion; 332-a plug-in part;

400-cargo;

500-cache shelf; 510-a carrier.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the attached drawings in the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. And can be adjusted as needed by those skilled in the art to suit particular applications.

Next, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

Furthermore, it should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; there may be communication between the interiors of the two members. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to specific situations.

In the description of the present specification, reference to the description of "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 disclosure. In this specification, 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.

Stereoscopic warehouse is widely used in the field of warehouse logistics because of its large storage capacity, and is generally composed of a plurality of shelves, a goods taking and placing device which is moved in a fixed track is arranged between the shelves, goods are taken and placed on the shelves, and in order to enable the stereoscopic warehouse to be in butt joint with external equipment to achieve automatic taking and placing of the goods, a conveying line or a special butt joint device is required to be arranged at the periphery of the shelves for transferring the goods, for example, after the goods are taken out by the goods taking and placing device, the goods need to be placed on a conveying line or the butt joint device, and then the goods are transferred to a special conveying robot by the conveying line or the butt joint device. However, equipment and mode in warehouse entry and exit at present can fix certain warehouse space of taking up in practical application for the storage space of goods shelves is occupied, thereby leads to the space utilization in warehouse lower, in addition, goes out the warehouse entry through transfer chain and relatively fixed interfacing apparatus, can lead to the transportation process of goods complicated, reduces holistic logistics efficiency.

To above-mentioned problem, this application embodiment provides a logistics system, and this logistics system carries out the mode of butt joint through utilizing two handling devices that can independently remove, avoids setting up occupation space's fixed conveyer line or butt joint device in the storage region to make the regional bigger area of storage can be used for arranging the goods shelves, be used for storing the goods, improve the space utilization in warehouse, through mode and the step of the warehouse entry of simplifying the goods simultaneously, improve logistics efficiency.

For ease of understanding, an application scenario to which the embodiments of the present application are applied will be described below.

First, for an application scenario of the embodiment of the present application, the logistics system provided in the embodiment of the present application may be applied to warehousing and ex-warehouse of stock products in a manufacturing factory, warehousing and ex-warehouse of stock products in a retail industry, and also may be applied to different fields such as sorting of express warehousing and ex-warehouse of e-commerce logistics, and products related to transportation and warehousing may be industrial parts, electronic accessories or products, medicines, clothing accessories, foods, books, and the like, and goods referred to in the present application may be the above listed products themselves, or material boxes or trays loaded with the above mentioned products, and the embodiment of the present application is not particularly limited thereto, and hereinafter, "goods" will be referred to as transportation objects of the logistics system, and no specific examples are given.

Fig. 1 is a schematic structural diagram of a logistics system according to an embodiment of the present application, fig. 2 is a schematic structural diagram of a storage device in the logistics system according to the embodiment of the present application, fig. 3 is a schematic structural diagram of a pick-and-place device in the logistics system according to the embodiment of the present application, fig. 4 is a partial view of a position a in fig. 2, fig. 5 is a partial view of a position B in fig. 2, and fig. 6 is a schematic structural diagram of a handling device in the logistics system according to the embodiment of the present application.

Referring to fig. 1 to 6, the present application provides a pick-and-place device 200 for a logistics system, the logistics system including a carrying device 300, the pick-and-place device 200 including a first chassis 210, a first detecting unit (not shown) and a main body 220, the main body 220 being disposed on the first chassis 210, the main body 220 including a mast 221, a first lifting unit 222 and a first fork 223, the first fork 223 being connected to the first lifting unit 222, the first lifting unit 222 being configured to move along a height direction of the mast 221, the first detecting unit being disposed on the first chassis 210, the first detecting unit being configured to detect a relative position of the first chassis 210 on the ground, so that the pick-and-place device 200 is docked with the carrying device 300 according to the detected information.

In a possible implementation manner, the first detection unit is located on a side of the first chassis 210 facing the ground, and the first detection unit corresponds to an identifiable identifier (not shown) on the ground, so that guidance of the moving direction of the first chassis 210 can be achieved through detection of the identifiable identifier by the first detection unit.

Different implementations of the detection mode of the first detection unit are explained below.

In a first implementation manner, the first detection unit may include two detection cameras, the two detection cameras are respectively located at two opposite sides of the first chassis 210, the identifiable mark includes a plurality of identification codes arranged at intervals along the moving direction of the first chassis 210, and the distance between the two detection cameras is configured to match the distance between adjacent identification codes.

Taking the dual-identification-code positioning as an example, the identification codes can be two-dimensional codes, bar codes and the like, and the dual-identification-code scheme can adopt a dual-code positioning mode, namely two identification codes need to be detected simultaneously. With the arrangement, the thickness of the first chassis 210 of the projection surface can be reduced, the lowest goods taking height of the first fork 223 can be reduced, the two identification codes can be used for walking positioning, and the angle error generated during moving is eliminated, so that the precision of the goods taking and placing device 200 in the running angle is ensured.

In a second implementation, the first detection unit may include a magnetic sensor, and the identifiable identifier includes a magnetic stripe extending along a moving direction of the first chassis 210, and the magnetic sensor is opposite to the magnetic stripe.

In addition, it should be noted that the first fork 223 may include a fixed arm 2231 and a telescopic arm 2232, the fixed arm 2231 is connected to the first lifting unit 222, the telescopic arm 2232 is movably connected to the fixed arm 2231, and the telescopic arm 2232 can be extended and retracted in both directions, and the docking of the pick-and-place device 200 and the carrying device 300 and the transfer of the cargo 400 therebetween may be achieved by extending and retracting the telescopic arm 2232.

Referring to fig. 1 to 6, an embodiment of the present invention further provides a carrying device 300 for a logistics system, where the logistics system may include a cargo picking and placing device 200, where the carrying device 300 includes a second chassis 310, a second lifting unit 320, a second detecting unit (not shown) and a second fork 330, the second lifting unit 320 is disposed at a first end of the second chassis 310, the second fork 330 is connected to the second lifting unit 320, and the second detecting unit is configured to detect a detection identifier on the cargo picking and placing device 200, so that when the carrying device 300 is docked with the cargo picking and placing device 200, a second end of the second chassis 310 faces the cargo picking and placing device 200.

Different implementations of the detection mode of the second detection unit are explained below.

In one possible implementation, the second detection unit includes a visual detection unit configured to recognize the detection flag. Illustratively, the visual detection unit may be a camera.

It is understood that the second detecting unit may guide the second chassis 310 to move through the detection result in a similar manner to the first detecting unit, and details thereof are not repeated herein. In addition, a detection mark (two-dimensional code, bar code, etc.) may be disposed at the center of both sides of the pick-and-place device 200, after both the pick-and-place device 200 and the carrying device 300 reach the docking position, the carrying device 300 first detects the detection mark of the pick-and-place device by using a visual detection unit to obtain an angle deviation between the pick-and-place device 200 and the carrying device 300, then the carrying device 300 rotates in situ to eliminate the angle deviation, so as to achieve the purpose that the traveling direction of the carrying device 300 is perpendicular to the traveling direction of the pick-and-place device 200, and then the pick-and-place device 200 feeds back a distance deviation between a center line of the traveling direction of the carrying device 300 and a center line of the first fork 223 of the pick-and-place device 200 in the extending direction after the angle deviation is eliminated, and the pick-and-place device 200 moves back and forth to eliminate the distance deviation.

In one possible implementation manner, the second detection unit includes a radar disposed on the second chassis 310 and located at a front end or a rear end of the moving direction of the second chassis 310, and the radar is used for recognizing an attitude of the second chassis 310 relative to the pick-and-place device 200. For example, the second chassis 310 may be moved by way of location and mapping (SLAM) navigation.

It is understood that the docking calibration of the carrying device 300 can utilize radar to eliminate the angle deviation, and similarly to the former method, the carrying device 300 can also be responsible for eliminating the angle deviation, and the pick-and-place device 200 can be responsible for eliminating the distance error, which will not be described herein again. By such arrangement, the flexibility of the carrying device 300 and the moving precision of the goods taking and placing device 200 can be fully utilized, and the efficiency and precision of butt joint of the carrying device and the goods taking and placing device are ensured.

As shown in fig. 1 to fig. 6, the present application provides a logistics system, which includes a storage device 100, a goods taking and placing device 200, and a carrying device 300, wherein the storage device 100 includes a plurality of shelves 110 for storing goods 400, the shelves 110 are spaced apart, a roadway 130 is provided between adjacent shelves 110, the goods taking and placing device 200 is used for taking and placing the goods 400 from the shelves 110 and can move in the roadway 130, and the carrying device 300 is used for interfacing with the goods taking and placing device 200 to transfer the goods 400, so as to realize warehousing and ex-warehouse of the goods 400.

It can be understood that the goods taking and placing device 200 and the carrying device 300 can be directly butted, and the device has higher flexibility, so that a conveying line or a special butting device is not required to be arranged for the goods 400 to enter and exit the warehouse, when the goods taking and placing device 200 and the carrying device 300 do not occupy the corresponding warehouse space, therefore, the space occupied by the warehouse is small, the space utilization rate of the warehouse is improved, and when the goods taking and placing device 200 and the carrying device 300 do not execute the warehouse exit task, other goods 400 carrying tasks can be executed, and the efficiency of the logistics system is improved.

The cargo handling device 200 may be trackless to move in the roadway 130, i.e., the cargo handling device 200 may be guided to move, or the cargo handling device 200 may be tracked to move, and the following description will be given in detail by way of example of a tracked system.

In a possible implementation manner, the storage device 100 may further include a rail assembly 120, the rail assembly 120 may be disposed in the tunnel 130, the cargo picking and placing device 200 is abutted with the rail assembly 120, and the cargo picking and placing device 200 may move along an extending direction of the tunnel 130, so as to pick and place the cargo 400 at different positions of the shelf 110 along a length direction thereof, the carrying device 300 may move around the storage device 100, that is, when the cargo picking and placing device 200 is abutted with the carrying device 300, the cargo picking and placing device 200 moves to one end of the tunnel 130, and the carrying device 300 moves to a position of an end of the shelf 110 opposite to the cargo picking and placing device 200, and then one of the cargo picking and placing device 200 and the carrying device 300 shifts the position of the cargo 400.

It can be understood that, during warehousing, the transporting device 300 transports the goods 400 to the pick-and-place device 200 from other nodes in the logistics process, and then the pick-and-place device 200 transports the goods 400 to the corresponding storage positions of the corresponding shelves 110 along the roadway 130, while during ex-warehousing, the pick-and-place device 200 takes out the goods 400 from the corresponding positions on the shelves 110, and then the pick-and-place device 200 can move to the end of the roadway 130, after the transporting device 300 is butted with the pick-and-place device 200, the transporting device 300 removes the goods 400 from the pick-and-place device 200, or the pick-and-place device 200 places the goods 400 on the transporting device 300, and the transporting device 300 transports the goods 400 to the next logistics nodes, for example, sorting, packaging, and the like.

Since there may be a plurality of shelves 110, and the track assemblies 120 may be disposed between adjacent shelves 110, the specific structure of the track assemblies 120 and the matching manner of the goods taking and placing device 200 and the track assemblies 120 will be described in detail below by taking two shelves 110 and the track assemblies 120 between two shelves 110 as examples.

First, the length direction of the shelf 110 and the lane 130 is defined as the X direction, the width direction of the shelf 110 and the lane 130 is defined as the Y direction, and the height direction of the shelf 110 and the lane 130 is defined as the Z direction.

With continued reference to fig. 1 to fig. 6, in a possible implementation manner, the rail assembly 120 may include a first rail 121, the first rail 121 extends along a length direction of the shelf 110, that is, along the X direction, and a length of the first rail 121 may match a length of the shelf 110, that is, a length of the first rail 121 matches a length of the lane 130, so that the pick-and-place device 200 may be guided by the first rail 121 when moving from one end of the lane 130 to the other end.

Wherein, first track 121 can be located goods shelves 110's bottom side, and the both sides of tunnel 130 all are provided with this first track 121, get the butt joint of the bottom both sides of putting goods device 200 with the first track 121 of tunnel 130 both sides respectively, get the width of the bottom of putting goods device 200 and the width phase-match of tunnel 130 promptly to the direction when realizing getting to put goods device 200 and moving in tunnel 130.

It can be understood that the shelves 110 have a plurality of columns of storage positions for storing the goods 400 along the X direction, each column has a plurality of layers of storage positions arranged along the Z direction, the goods 400 can be picked and placed at the storage positions at different positions when the goods picking and placing device 200 moves along the roadway 130, and the goods 400 can be picked and placed on two shelves 110 located at the intersection of the roadway 130 when the goods picking and placing device 200 moves in the roadway 130.

In some embodiments, the pick-and-place device 200 may include a first chassis 210 and a main body 220, the main body 220 is disposed on the first chassis 210, the first chassis 210 is used for moving, and the main body 220 may perform a pick-and-place operation of the goods 400.

The first chassis 210 may be matched with the first rail 121, two opposite sides of the first chassis 210 facing the shelf 110 may be provided with a guide portion 211, the first rail 121 includes a guide plate 1211, the guide portion 211 may be matched with the guide plate 1211, the guide plate 1211 may be detachably or welded to be installed on the shelf 110, or the guide plate 1211 may also be integrally formed with a corresponding structure at the bottom of the shelf 110, which is not limited in this embodiment.

It can be understood that the guiding portion 211 may be a structure protruding from a sidewall of the first chassis 210, and the guiding portion 211 abuts against the guiding plate 1211, so that when the pick-and-place device 200 moves along the roadway 130, the guiding portion 211 can move along the guiding plate 1211, thereby ensuring the smoothness of the movement of the pick-and-place device 200.

For example, the guiding portion 211 may be a roller, and the surface of the guiding plate 1211 may be a light plate structure, and the roller may roll on the surface of the guiding plate 1211 when the pick-and-place device 200 moves along the roadway 130, so as to guide the pick-and-place device 200 and reduce the friction force; alternatively, the guide portion 211 may be a gear, and the surface of the guide plate 1211 may have a rack structure, so that the gear may engage with the surface of the guide plate 1211 when the pick-and-place apparatus 200 moves along the roadway 130.

In addition, the guide 1211 may include a first extension section and a second extension section, wherein the first extension section may be connected to the storage rack 110, the second extension section extends toward the first chassis 210, that is, the guide 1211 is L-shaped, and the guide portion 211 may abut against a side of the second extension section facing the ground, so as to prevent the pick-and-place device 200 from falling out of the first rail 121, thereby providing a good limiting effect.

Since the movement of the pick-and-place device 200 is realized by means of the first chassis 210, the first chassis 210 may be provided with driving wheels to drive the pick-and-place device 200 to move integrally. The driving wheels on the first chassis 210 may be steering wheels, and the steering wheels may be driving wheel trains that can steer independently and rotate, that is, the first chassis 210 may be understood as being driven by a universal wheel that operates by active rotation, so that the moving direction of the first chassis 210 may be changed without changing the posture and orientation of the first chassis 210.

In a specific application scenario, due to different work tasks of picking and placing goods, the picking and placing device 200 may need to move between different tunnels 130, and therefore, when the picking and placing device 200 is driven by the steering wheel to move, the picking and placing device 200 does not need to change its orientation in the process of replacing the tunnels 130, that is, the picking and placing device moves in the X direction in the tunnels 130, and moves in the Y direction in the process of switching to different tunnels 130, and the orientation of the picking and placing device 200 is unchanged in the process, and meanwhile, the tunnel 130 can be replaced under the condition that the picking and placing direction is always consistent with the Y direction.

It should be noted that the first rails 121 on both sides of the tunnel 130 define a moving path of the goods taking and placing device 200 in the tunnel 130 to provide guidance for the goods taking and placing device 200, and when the height of the shelf 110 is high, in order to achieve the goods 400 taking and placing on the storage positions of each layer of the shelf 110 in the Z direction, the main body 220 of the goods taking and placing device 200 also needs to have a corresponding height, and when the goods 400 at a high position is taken and placed, the center of gravity of the whole goods taking and placing device 200 is high, so in order to improve stability during operation and avoid shaking or toppling, the rail assembly 120 may further include a second rail 122 to stabilize the top of the goods taking and placing device 200, which will be described in detail below.

Referring to fig. 1 to 6, in a possible implementation manner, the second rail 122 may be disposed at the top of the tunnel 130, two sides of the second rail 122 are respectively connected to the tops of the shelves 110 at two sides of the tunnel 130, and the top of the main body 220 is butted with the second rail 122, so that when the height of the shelf 110 is high, the top of the goods picking and placing device 200 may be guided and stabilized to prevent the shelf from sliding or falling.

It is understood that the second rail 122 may include a cross beam 1221 and a longitudinal beam 1222, the cross beam 1221 extends along the Y direction, the longitudinal beam 1222 extends along the X direction, wherein the cross beam 1221 is used for mounting and connecting with the shelves 110 on both sides of the roadway 130, and the cross beam 1221 may be provided with a plurality of cross beams 1221 arranged at intervals along the X direction, and the longitudinal beam 1222 may be connected with the cross beam 1221, and the longitudinal beam 1222 is used for abutting with the top of the pick-and-place device 200, so as to form a structure similar to a sky rail on the top of the roadway 130.

For example, the cross beam 1221 may be connected to the shelf 110 by a fastener such as a bolt, or may be connected by welding, which is not specifically limited in this embodiment of the present invention.

In some embodiments, the main body 220 may include a gantry 221, a first lifting unit 222, and a first fork 223, the first fork 223 being connected to the first lifting unit 222, the first lifting unit 222 being configured to move in a height direction of the gantry 221 so as to pick and place goods at different height positions of the shelf 110.

The top of the portal 221 may be provided with a sliding portion 2211, the second rail 122 includes a sliding slot 1223, the sliding slot 1223 may extend along the length direction of the roadway 130, that is, along the X direction, the sliding portion 2211 may be inserted into the sliding slot 1223, so that when the goods taking and placing device 200 moves along the roadway 130, the sliding portion 2211 may slide along the sliding slot 1223 to guide the goods taking and placing device 200, and when the goods taking and placing device 200 takes and places goods at a high-height storage location, the cooperation of the sliding portion 2211 and the sliding slot 1223 may play a role of stability and limitation, thereby preventing the portal 221 from shaking.

It can be understood that the sliding grooves 1223 may be disposed on the longitudinal beams 1222, the notches of the sliding grooves 1223 face the ground, i.e., the pick-and-place device 200, and in order to improve the smoothness of the cooperation between the guiding portion 211 and the sliding grooves 1223 and avoid the jamming during the moving process, the size of the sliding portion 2211 facing one end of the sliding grooves 1223 may be larger than the size of the sliding portion 2211 connected to the main body 220, and the size of the sliding portion 2211 facing one end of the sliding grooves 1223 matches the size of the notches of the sliding grooves 1223.

It should be noted that the sliding portion 2211 may be a protrusion protruding from the top of the gantry 221, or may be a rolling-type guiding structure such as a roller or a gear, and the manner of the sliding portion 2211 engaging with the sliding slot 1223 may be similar to the manner of the guiding portion 211 engaging with the guiding plate 1211, which is not described herein again.

Since the movement of the article picking and placing device 200, the movement of the first lifting unit 222 and the picking and placing of the first fork 223 all require electric power to drive, a power supply may be provided on the first chassis 210 or the main body 220 to supply power, or an external power supply may continuously supply power during the movement of the article picking and placing device 200, and the latter implementation will be described below.

Referring to fig. 1 to 5, in a possible implementation manner, the pick-and-place device 200 may further include an electronic control module (not shown), which may further include one or more electronic control units for controlling the movement of the first chassis 210, the lifting operation of the first lifting unit 222, and the pick-and-place operation of the first fork 223.

The opposite two sides of the first chassis 210 facing the shelf 110 may be provided with the first conductive portion 212, the first rails 121 on the two sides of the roadway 130 are provided with first sliding contact lines 1212, the first sliding contact lines 1212 extend along the X direction, the first conductive portions 212 on the two sides of the first chassis 210 are respectively in contact with the first sliding contact lines 1212 on the two sides of the roadway 130, the first conductive portion 212 is electrically connected with the electronic control module, and the first sliding contact lines 1212 are electrically connected with an external power supply, so as to form a power supply loop and provide electric energy for the electronic control module.

It can be understood that, taking dc power as an example, the first trolley lines 1212 on both sides of the roadway 130 are respectively connected to the positive and negative electrodes of the external power source, and the first conductive portions 212 on both sides of the first chassis 210 are respectively connected to both ends of the power interface of the electronic control unit.

In order to ensure good electrical contact, a plurality of first conductive portions 212, for example, two, three or more first conductive portions 212, may be disposed on both sides of the first chassis 210, so as to avoid poor contact and ensure stability of power supply.

In some embodiments, the top of the gantry 221 may be provided with a second conductive portion 2212, the second track 122 is provided with a second trolley line 1224, the second trolley line 1224 may be disposed on a groove wall of the sliding groove 1223, and the second conductive portion 2212 may be in contact with the second trolley line 1224, the second conductive portion 2212 is electrically connected with the electronic control module, and the second trolley line 1224 is electrically connected with an external power source, which may also form a power supply loop to provide power for the electronic control module.

It can be understood that there may be two second conductive portions 2212, there may also be two second trolley lines 1224, two second conductive portions 2212 may respectively contact with two second trolley lines 1224, two second trolley lines 1224 may respectively be located on two side groove walls of the sliding groove 1223, and the manner of implementing power supply by the second conductive portions 2212, the second trolley lines 1224, the external power source and the electronic control module may be similar to the manner of implementing power supply by the first conductive portions 212 and the second trolley lines 1224, and is not described herein again.

For example, the first conductive portion 212 and the second conductive portion 2212 may be conductive carbon brushes, so as to ensure good electrical contact and reduce or eliminate wear during sliding.

It should be noted that the cooperation of the first conductive portion 212 at the bottom of the pick-and-place device 200 and the first trolley wire 1212, and the cooperation of the second conductive portion 2212 and the second trolley wire 1224 at the top of the pick-and-place device 200 may respectively supply power to different electronic control units, for example, the cooperation of the first conductive portion 212 and the first trolley wire 1212 may supply power to the first chassis 210, and the cooperation of the second conductive portion 2212 and the second trolley wire 1224 may supply power to the first lifting unit 222 or the first fork 223, which may be specifically designed according to the arrangement position of the electronic control unit of the pick-and-place device 200, and is not limited herein.

In the process of loading and unloading the cargo 400, the pick-and-place device 200 and the conveying device 300 need to be docked to transfer the cargo 400, that is, from the pick-and-place device 200 to the conveying device 300 or from the conveying device 300 to the pick-and-place device 200, and the specific docking structure and docking method for docking both will be described in detail below.

With reference to fig. 1 to fig. 6, in a possible implementation manner, the first fork 223 of the goods taking and placing device 200 may include a fixed arm 2231 and a telescopic arm 2232, wherein the fixed arm 2231 is connected to the first lifting unit 222, the telescopic arm 2232 may be movably connected to the fixed arm 2231, and the telescopic arm 2232 may be bidirectionally telescopic along the width direction of the roadway 130, so as to take and place the goods 400 on the adjacent shelf 110, thereby achieving a bidirectional goods taking and placing function.

The carrying device 300 may include a second chassis 310, a second lifting unit 320, and second forks 330, wherein the second lifting unit 320 may be disposed at a first end of the second chassis 310, the second forks 330 are connected to the second lifting unit 320, the second chassis 310 is configured to move, and the second lifting unit 320 may drive the second forks 330 to lift.

In some embodiments, in order to realize the goods placing operation of the carrying device 300, a moving unit is further disposed on the second chassis 310, and is used for driving the second fork 330 to extend forward in one direction, so that the second fork 330 can be used to lift the goods 400 on the second chassis 310 to be placed on other equipment or devices in cooperation with the second lifting unit 320.

It is understood that the driving wheels of the second chassis 310 may be in a differential wheel structure, that is, the rotation speed or the steering of the driving wheels on both sides of the second chassis 310 may be different, so as to achieve the operation of steering or pivot rotation when the second chassis 310 moves.

When the carrying device 300 is docked with the pick-and-place device 200, the second end of the second chassis 310 faces the carrying device 300, so that the pick-and-place device 200 can place the cargo 400 on the carrying device 300 from the side or remove the cargo 400 from the carrying device 300.

For example, the second fork 330 may include a connection portion 331 and a plug portion 332, the connection portion 331 is connected to the second lifting unit 320, the plug portion 332 is connected to the connection portion 331, and the plug portion 332 extends toward the second end of the second chassis 310, the second fork 330 forms an "L" shape from a side view of the second fork 330, and the plug portion 332 may play a role of lifting the cargo 400 during the lifting of the second fork 330.

In addition, the second chassis 310 may be provided with a receiving groove 311, the inserting portion 332 is opposite to the receiving groove 311, and when the second fork 330 is driven to lift by the second lifting unit 320, the inserting portion 332 may be received in the receiving groove 311, or the inserting portion 332 may extend out of the receiving groove 311.

Illustratively, the number of the receiving grooves 311 may be two, and the two receiving grooves 311 are arranged in parallel, and correspondingly, the number of the inserting portions 332 may be two, and the two inserting portions 332 correspond to the two receiving grooves 311 one to one, so that the second chassis 310 forms a "chuan" shaped structure, and the two inserting portions 332 may be connected to two sides of the connecting portion 331 respectively.

It is understood that when the inserting portion 332 is received in the receiving groove 311, the inserting portion 332 may be lower than the surface of the second chassis 310, that is, the second fork 330 is in a descending state, and if there is a cargo 400 on the carrying device 300, the cargo 400 is carried by the second chassis 310. When the inserting portion 332 extends out of the accommodating slot 311, the inserting portion 332 may be higher than the surface of the second chassis 310, that is, the cargo 400 is carried by the second fork 330, so that on one hand, when the cargo is taken and placed, the second fork 330 may lift the cargo 400 and thus the second chassis 310, and during the transportation process, the cargo 400 may be placed on the second chassis 310, thereby ensuring the stability of the transportation process.

In some embodiments, when the goods taking and placing device 200 is docked with the carrying device 300, the slot of the accommodating slot 311 faces the telescopic arm 2232, and the telescopic arm 2232 can be inserted into the accommodating slot 311, so that the docking convenience of the goods taking and placing device 200 and the carrying device 300 can be realized, and interference in the goods taking and placing process can be avoided.

It can be understood that the number of the telescopic arms 2232 matches the number of the receiving slots 311, for example, when there are two receiving slots 311, two synchronously telescopic arms 2232 may be disposed on the fixing portion, when the cargo 400 is placed on the carrying device 300, the telescopic arms 2232 may extend the cargo 400 to above the second chassis 310, and then the first lifting unit 222 is lowered, and when the height of the telescopic arms 2232 is lower than the surface of the second chassis 310, the cargo 400 is carried by the second chassis 310, and at this time, the telescopic arms 2232 may be retracted, so as to complete the transfer of the cargo 400 from the pick-and-place device 200 to the carrying device 300. The transfer of the cargo 400 from the carrying device 300 to the pick-and-place device 200 can be realized by the reverse process, which is not described herein.

It should be noted that, when there are three or more shelves 110 in the embodiment of the present application, there may be a plurality of lanes 130, and therefore, there may be one or more pick-and-place devices 200 in the logistics system, and each of the conveying devices may move in different lanes 130, that is, may move from one lane 130 to another lane 130 according to an actual pick-and-place task, so as to improve logistics efficiency, of course, there may be a plurality of conveying devices 300, and a moving path and a docking position thereof may be planned according to an actual task of picking and placing goods 400 in and out of a warehouse, which is not specifically limited in the embodiment of the present application.

Fig. 7a is a schematic diagram of a first state in a workflow of a logistics system provided in an embodiment of the present application, fig. 7b is a schematic diagram of a second state in the workflow of the logistics system provided in the embodiment of the present application, fig. 7c is a schematic diagram of a third state in the workflow of the logistics system provided in the embodiment of the present application, fig. 7d is a schematic diagram of a fourth state in the workflow of the logistics system provided in the embodiment of the present application, fig. 7e is a schematic diagram of a fifth state in the workflow of the logistics system provided in the embodiment of the present application, and fig. 7f is a schematic diagram of a sixth state in the workflow of the logistics system provided in the embodiment of the present application.

The following description will take a specific flow of ex-warehouse as an example.

As shown in fig. 7a, the pick-and-place device 200 may pick up the goods 400 on the shelf 110 first, and the handling device 300 may wait at the end of the shelf 110.

As shown in fig. 7b, the pick-and-place device 200 picks up the corresponding article 400, moves to the end of the shelf 110, and is docked with the carrying device 300.

As shown in fig. 7c, after the pick-and-place device 200 and the carrying device 300 are docked, the first fork 223 takes the cargo 400 to the upper side of the carrying device 300, and the cargo 400 is still carried by the first fork 223.

As shown in fig. 7d, thereafter, the first fork 223 is lowered until the load 400 is placed on the handling device 300, i.e. the load 400 is carried by the handling device 300.

As shown in fig. 7e, after that, the first fork 223 is retracted, and the pick-and-place device 200 and the carrying device 300 complete the transfer operation of the cargo 400.

As shown in fig. 7f, the pick-and-place device 200 may finally leave to perform other pick-and-place tasks, and the handling device 300 may transport the goods 400 to the next node of the logistics process.

In a possible implementation manner, the logistics system provided in the embodiment of the application may further include a buffer rack 500, the buffer rack 500 is disposed at an end of the shelf 110, and both the goods pick-and-place device 200 and the carrying device 300 may be in butt joint with the buffer rack 500, so that when the tasks of the goods pick-and-place device 200 or the carrying device 300 are saturated and cannot be adjusted, the buffer rack 500 may temporarily buffer the goods 400, thereby improving the overall logistics efficiency.

Fig. 8a is a schematic diagram of a first state in another workflow of a logistics system provided in an embodiment of the application, fig. 8b is a schematic diagram of a second state in another workflow of a logistics system provided in an embodiment of the application, and fig. 8c is a schematic diagram of a third state in another workflow of a logistics system provided in an embodiment of the application.

As shown in fig. 8a to 8c, it can be understood that the buffer rack 500 may include two carriers 510 disposed at an interval, and the distance between the two carriers 510 is greater than the width of the carrying device 300, so that when the carrying device 300 takes away the goods 400 on the buffer rack 500, the goods can directly pass through the buffer rack to move away, thereby avoiding retreating or turning around, and improving the logistics efficiency.

For example, when the goods 400 are taken out of the warehouse, the goods 400 may be taken from the shelf 110 onto the buffer rack 500 by the goods taking and placing device 200, when the carrying device 300 is idle or performs a corresponding goods taking and taking task, the carrying device may move to a position corresponding to the buffer to take the goods 400, when the goods 400 are taken out of the warehouse, the goods 400 may be placed onto the buffer rack 500 by the carrying device 300, and when the goods taking and placing device 200 performs a warehousing task, the corresponding goods 400 may be taken from the buffer rack 500 by moving to the end of the roadway 130 and stored in a corresponding warehouse position of the shelf 110.

The logistics system provided by the embodiment of the application comprises a storage device, a goods taking and placing device and a carrying device, wherein the storage device comprises a plurality of shelves arranged at intervals, a roadway is arranged between the adjacent shelves, the goods taking and placing device is configured to move along the extending direction of the roadway, so as to pick and place the goods on the goods shelf, the carrying device moves at the periphery of the storage device, and the carrying device can be butted with the goods picking and placing device to transfer the goods, thereby displaying the transportation of the goods in and out of the warehouse in a flexible butt joint mode of the goods taking and placing device and the carrying device, needing no arrangement of a conveying line or a special butt joint device for the goods in and out of the warehouse, occupying small space of the warehouse, improving the space utilization rate of the warehouse, and when the goods taking and placing device and the carrying device do not execute the warehousing and ex-warehousing task, other goods carrying tasks can be executed, and the efficiency of the logistics system is further improved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled 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; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims (22)

1. The goods taking and placing device is used for a logistics system, the logistics system comprises a carrying device, the goods taking and placing device comprises a first chassis, a first detection unit and a main body, the main body is arranged on the first chassis, the main body comprises a gantry, a first lifting unit and a first fork, the first fork is connected with the first lifting unit, the first lifting unit is configured to move in the height direction of the gantry, the first detection unit is arranged on the first chassis, and the first detection unit is used for detecting the relative position of the first chassis on the ground so that the goods taking and placing device can be in butt joint with the carrying device according to detected information.

2. The device according to claim 1, wherein the first detecting unit is located on a side of the first chassis facing the ground, and the first detecting unit corresponds to an identifiable mark on the ground.

3. The pick-and-place device as claimed in claim 2, wherein the first inspection unit comprises two inspection cameras respectively located at two opposite sides of the first chassis, the identifiable feature comprises a plurality of identification codes spaced along the moving direction of the first chassis, and the spacing between the two inspection cameras is configured to match the spacing between adjacent identification codes.

4. The pick-and-place device as claimed in claim 2, wherein the first detection unit comprises a magnetic sensor, and the identifiable identifier comprises a magnetic strip extending along a moving direction of the first chassis, the magnetic sensor being opposite to the magnetic strip.

5. The pick and place device as claimed in any one of claims 1 to 4, wherein the first fork comprises a fixed arm and a telescopic arm, the fixed arm is connected with the first lifting unit, the telescopic arm is movably connected with the fixed arm, and the telescopic arm can be extended and retracted in two directions along the width direction of the telescopic arm.

6. A carrying device, which is used for a logistics system, and comprises a second chassis, a second lifting unit, a second detection unit and a second fork, wherein the second lifting unit is arranged at a first end of the second chassis, the second fork is connected with the second lifting unit, and the second detection unit is used for detecting a detection mark on the goods taking and placing device according to any one of claims 1-5, so that when the carrying device is butted with the goods taking and placing device, a second end of the second chassis faces the goods taking and placing device.

7. The handling device according to claim 6, wherein the second detection unit includes a visual detection unit configured to recognize the detection flag.

8. The carrying device according to claim 6, wherein the second detection unit includes a radar provided on the second chassis at a front end or a rear end in a moving direction of the second chassis, the radar being configured to recognize an attitude of the second chassis with respect to the pick-and-place device.

9. The handling device of any of claims 6 to 8, wherein the second pallet fork comprises a connecting portion and a plug portion, the connecting portion being connected to the second lifting unit, the plug portion being connected to the connecting portion and extending towards the second end of the second chassis;

the second chassis is provided with a containing groove, the inserting part is opposite to the containing groove, and when the second fork is driven by the second lifting unit to lift, the inserting part is contained in the containing groove, or the inserting part extends out of the containing groove.

10. The carrying device as claimed in claim 9, wherein when the insertion portion is received in the receiving slot, the insertion portion is lower than a surface of the second chassis;

when the inserting part extends out of the accommodating groove, the inserting part is higher than the surface of the second chassis.

11. The handling device of claim 10, wherein the pockets face the pick-and-place device when the pick-and-place device is docked with the handling device, and the pockets are configured to receive at least a portion of the pick-and-place device.

12. A logistics system, comprising: a storage device, a pick and place device as claimed in any one of claims 1 to 5 and a handling device as claimed in any one of claims 6 to 11, the storage device comprising a plurality of spaced apart racks with a roadway between adjacent racks;

the goods taking and placing device is configured to be movable along the extending direction of the roadway to take and place goods on the goods shelf;

the carrying device moves at the periphery of the storage device, and the carrying device can be butted with the goods taking and placing device to transfer the goods.

13. The logistics system of claim 12 wherein the storage device further comprises a track assembly disposed within the roadway and extending along a length of the roadway, wherein the pick-and-place device is capable of interfacing with and moving along the track assembly.

14. The logistics system of claim 13, wherein the track assembly comprises a first track extending along a length of the rack; the first track is located the bottom side of goods shelves, just the both sides in tunnel all are provided with first track, get put the bottom both sides of goods device respectively with the tunnel both sides first track butt joint.

15. The logistics system of claim 14, wherein the first chassis is provided with guides facing opposite sides of the rack, the first track comprising a guide plate, the guides abutting the guide plate.

16. The logistics system of claim 15, wherein the guide plate comprises a first extension section and a second extension section, the first extension section is connected to the shelf, the second extension section extends in a direction of the first chassis, and the guide portion abuts a side of the second extension section facing the ground.

17. The logistics system of claim 14 wherein the track assembly further comprises a second track positioned at the top of the roadway and wherein two sides of the second track are connected to the tops of the shelves on two sides of the roadway, respectively, and wherein the top of the body is in abutting engagement with the second track.

18. The logistics system of claim 17 wherein the top of the door frame is provided with a sliding portion, the second track comprises a sliding slot extending along the length of the roadway, and the sliding portion is inserted into the sliding slot.

19. The logistics system of claim 18 wherein the pick-and-place device further comprises an electronic control module;

the opposite two sides of the first chassis facing the goods shelf are provided with first conductive parts, the first tracks on the two sides of the roadway are provided with first sliding contact lines, the first conductive parts on the two sides of the first chassis are respectively contacted with the first sliding contact lines on the two sides of the roadway, the first conductive parts are electrically connected with the electric control module, and the first sliding contact lines are electrically connected with an external power supply to form a power supply loop; and/or the presence of a gas in the gas,

the top of the portal frame is provided with at least two second conductive parts, the second track is provided with two second sliding contact lines, the two second sliding contact lines are respectively positioned on the groove walls on the two sides of the sliding groove, the two second conductive parts are respectively contacted with the two second sliding contact lines, the two second conductive parts are electrically connected with the electric control module, and the two second sliding contact lines are electrically connected with an external power supply to form a power supply loop.

20. The logistics system of claim 19, wherein the first electrically conductive portion and the second electrically conductive portion are each an electrically conductive carbon brush.

21. The logistics system of any one of claims 12-20 further comprising a buffer rack disposed at an end of the shelf, the pick-and-place device and the handling device each being dockable with the buffer rack.

22. The logistics system of claim 21, wherein the buffer rack comprises two spaced apart carriers, and wherein the distance between the two carriers is greater than the width of the handling device.

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