CN223949967U

CN223949967U - Drive units, load-bearing devices, storage equipment and storage systems

Info

Publication number: CN223949967U
Application number: CN202520423358.9U
Authority: CN
Inventors: 闫杰
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2024-10-22
Filing date: 2025-03-11
Publication date: 2026-02-27
Anticipated expiration: 2035-03-11
Also published as: CN224014555U; CN223949968U

Abstract

This disclosure presents a driving device, a carrying device, a storage equipment, and a storage system. The driving device of this disclosure includes: two actuating components; a transmission component connected to each of the two actuating components; and a driving member connected to the transmission component to drive the actuating components to operate synchronously. The driving device of this invention has advantages such as simple structure, low manufacturing cost, and good synchronization.

Description

Driving device, bearing device, storage equipment and storage system

Technical Field

The embodiment of the disclosure relates to the technical field of warehouse logistics, in particular to a driving device, and a bearing device, warehouse equipment and a warehouse system with the driving device.

Background

The box taking device is arranged on two executing components of the bearing device (such as a portal frame). In the related art, two driving parts are used for respectively driving two execution assemblies, and then the two execution assemblies drive the box taking device to move along the up-down direction or the horizontal direction. The related art has a disadvantage that the synchronization of two execution components is poor.

Disclosure of utility model

Embodiments of the present disclosure aim to solve one of the technical problems in the related art at least to some extent. For this purpose, the embodiments of the present disclosure propose a drive, a carrier, a warehouse facility and a warehouse system.

The driving device of the embodiment of the disclosure comprises two execution assemblies, a transmission assembly and a driving piece, wherein the transmission assembly is respectively connected with the two execution assemblies, and the driving piece is connected with the transmission assembly to drive the execution assemblies to synchronously operate through the transmission assembly.

The driving device of the embodiment of the disclosure has the advantages of simple structure, low manufacturing cost, good synchronism and the like.

Optionally, the transmission assembly comprises a speed reducer, an input shaft of the speed reducer is connected with the driving piece, and the two execution assemblies are respectively and detachably connected with an output shaft of the speed reducer.

Optionally, the transmission assembly further comprises a transmission shaft, and at least one of the two execution assemblies is detachably connected with the output shaft of the speed reducer through the transmission shaft.

Optionally, each execution assembly includes a first rotating member, a second rotating member and a first connecting member, the first rotating member and the second rotating member are arranged at intervals, the first connecting member is wound around the first rotating member and the second rotating member, and the transmission assembly is respectively connected with the first rotating members of the two execution assemblies.

The bearing device of the embodiment of the disclosure comprises two bearing pieces and a driving device, wherein the bearing pieces are arranged at intervals, the driving device is the driving device of the embodiment of the disclosure, and two execution assemblies of the driving device are respectively arranged on the two bearing pieces.

The bearing device disclosed by the embodiment of the disclosure has the advantages of simple structure, low manufacturing cost and good synchronism.

Optionally, the executing component is embedded in the bearing piece.

Optionally, the bearing part is provided with a first limit groove and a second limit groove, the opening of the first limit groove and the opening of the second limit groove are relatively open in a first direction, the bearing device further comprises a limit assembly, the limit assembly is arranged on the first connecting part of the executing assembly, and the limit assembly is movably matched in the first limit groove and the second limit groove.

Optionally, the spacing subassembly includes the spacing body, first locating part and second locating part, the spacing body with first connecting piece links to each other, first locating part with the second locating part is located the spacing body, first locating part movably with the diapire face cooperation of first spacing groove just the second locating part movably with the diapire face cooperation of second spacing groove is in order to carry out spacingly in the first direction.

Optionally, the first limiting groove is provided with two opposite side wall surfaces in a second direction, the second limiting groove is provided with two opposite side wall surfaces in the second direction, the second direction and the first direction form a preset included angle, the limiting assembly comprises a limiting body, a third limiting piece and a fourth limiting piece, the limiting body is connected with the first connecting piece, the third limiting piece and the fourth limiting piece are arranged on the limiting body, the third limiting piece is movably matched with the two side wall surfaces of the first limiting groove, and the fourth limiting piece is movably matched with the two side wall surfaces of the second limiting groove so as to limit in the second direction.

Optionally, the limiting body comprises a bearing part, a first installation part and a second installation part, wherein the first installation part and the second installation part are connected with the bearing part and are spaced from each other along the first direction, the execution assembly is positioned between the first installation part and the second installation part, the first limiting piece is arranged on the first installation part, and the second limiting piece is arranged on the second installation part.

Optionally, the bearing device further includes a bearing seat, the bearing seat is disposed on the bearing member, and the first rotating member of the executing assembly is rotatably disposed on the bearing seat.

Optionally, the bearing seat comprises a seat body, a first rotating piece and a first limiting convex part and a second limiting convex part, wherein the first rotating piece is rotatably arranged on the seat body, the first limiting convex part and the second limiting convex part are arranged on the seat body, the first limiting convex part stretches into the first limiting groove and is attached to one side wall surface of the first limiting groove, and the second limiting convex part stretches into the second limiting groove and is attached to one side wall surface of the second limiting groove.

Optionally, the bearing member is provided with a positioning groove, the positioning groove is provided with two side wall surfaces opposite to each other in the first direction, the bearing seat is provided with a positioning part, and the positioning part is matched in the positioning groove.

Optionally, the carrier extends along a third direction, and a reinforcement member is disposed on the carrier.

The warehousing equipment comprises a bearing device and a picking and placing device, wherein the bearing device is the bearing device disclosed by the embodiment of the disclosure, and the picking and placing device is movably arranged between adjacent bearing pieces of the bearing device.

The warehousing equipment disclosed by the embodiment of the disclosure has the advantages of simple structure, low manufacturing cost and good synchronism.

The warehousing system of the embodiment of the disclosure comprises a carrier and first warehousing equipment, wherein the first warehousing equipment is the warehousing equipment of the embodiment of the disclosure, and the first warehousing equipment is configured to drive the taking and placing device to move relative to the bearing device according to the conveying instruction so as to acquire a target object from the carrier or convey the target object to the carrier.

The warehousing system of the embodiment of the disclosure has the advantages of simple structure, low manufacturing cost and good synchronism.

Optionally, the warehouse equipment is configured to drive the pick-and-place device to move relative to the bearing device according to a conveying instruction, so as to acquire a target object from the carrier and convey the target object to a specified position, or acquire the target object from the specified position and convey the target object to the carrier.

Optionally, the warehousing system further includes a management system, the warehousing device is in communication connection with the management system, the management system is configured to send a handling instruction to the warehousing device, and the warehousing device is configured to drive the pick-and-place device to move according to the handling instruction.

Optionally, the carrier includes a shelf, and the storage device is configured to drive the pick-and-place device to move according to a conveying instruction, so as to acquire a target object from the shelf or convey the acquired target object to the shelf.

Optionally, the carrier includes a bin robot, and the storage device is configured to drive the pick-and-place device to move according to a conveying instruction, so as to acquire a target object from the bin robot or convey the acquired target object to the bin robot.

Optionally, the carrier includes a first shelf and a second shelf, and the storage device is configured to drive the pick-and-place device to move according to a conveying instruction, so as to acquire a target object located on at least one of the first shelf and the second shelf, or convey the acquired target object to at least one of the first shelf and the second shelf, or convey the target object of one of the first shelf and the second shelf to the other of the first shelf and the second shelf.

Optionally, the carrier includes a sorting apparatus, and the warehouse apparatus is configured to drive the pick-and-place device to move according to a conveying instruction, so as to acquire a target object from the sorting apparatus or convey the acquired target object to the sorting apparatus.

Optionally, the plurality of carriers are configured to drive the pick-and-place device to move according to a conveying instruction, so as to convey the target object located at the at least one carrier to at least one other carrier or a designated position, or convey the target object located at the designated position to at least one carrier, wherein the plurality of carriers comprise one or more of a goods shelf, a feed box robot, a sowing wall and a sorting device.

Optionally, the warehouse system further comprises a first warehouse equipment, wherein the first warehouse equipment is configured to convey the carrier to a working area of the warehouse equipment, the warehouse equipment is configured to acquire a target object from the carrier conveyed to the working area of the warehouse equipment or place the target object on the carrier conveyed to the working area of the warehouse equipment, or the warehouse equipment is configured to acquire the target object from the carrier or place the target object on the carrier, and the first warehouse equipment is configured to convey the carrier from the working area of the warehouse equipment.

Optionally, the warehouse system further includes a multi-layer platform and a first warehouse device, the multi-layer platform is spaced apart along the height direction, at least one carrier is disposed on each layer of the platform, the first warehouse device is configured to carry the target object or the carrier with the target object placed to the working area of the warehouse device, and the warehouse device is configured to acquire the target object and carry the target object to a specified position.

Optionally, the warehousing system further comprises a plurality of layers of platforms and first warehousing equipment, wherein the layers of platforms are spaced apart along the height direction, at least one first warehousing equipment is arranged on each layer of platform, and each layer of platform corresponds to at least one carrier;

The first warehouse equipment is configured to carry the object to the platform of the corresponding layer and to deliver the object to the first warehouse equipment, the first warehouse equipment is configured to carry the object acquired from the warehouse equipment to the carrier on the platform of the corresponding layer, or the first warehouse equipment is configured to carry the object acquired from the warehouse equipment to the carrier on the platform of the corresponding layer, and the warehouse equipment is configured to carry the carrier to a specified position.

Optionally, the warehousing system further comprises a workstation, an inventory area and warehousing equipment, wherein the inventory area and the warehousing equipment are located at the workstation, and the warehousing equipment is configured to carry the carrier containing the target object to a working area of the warehousing equipment and/or carry the carrier from the workstation to the inventory area.

Optionally, the warehouse equipment is configured to drive the picking and placing device to move along a second direction and/or move along a third direction to a position where a target container of the carrier is located, and drive the picking and placing device to move at least along a first direction so as to acquire the target container from the carrier and guide the target container into a containing space of the picking and placing device.

Optionally, the storage device is configured such that the accommodating space of the picking and placing device accommodates a target container, the picking and placing device is driven to move along the second direction and/or move along the third direction to the designated placing position of the carrier, and the picking and placing device is driven to move at least along the first direction to place the target container at the designated placing position of the carrier.

Optionally, the storage device is configured such that the accommodating space of the picking and placing device accommodates a target container, the picking and placing device is driven to move along the second direction and/or move along the third direction to a station of the workbench, and the picking and placing device is driven to move at least along the first direction so as to place the target container at the station of the workbench.

Drawings

Fig. 1 is a schematic structural view of a warehouse facility according to an embodiment of the present disclosure;

FIG. 2 is a partial structural schematic view of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 3 is a partial structural schematic diagram of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 4 is a partial structural schematic diagram of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural view of a carrier of a carrying device according to an embodiment of the present disclosure;

FIG. 6 is a partial structural schematic view of a carrier of a carrying device according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural view of a bearing housing of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural view of a bearing housing of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 9 is a partial structural schematic diagram of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 10 is a partial structural schematic view of a load bearing apparatus according to an embodiment of the present disclosure;

FIG. 11 is a partial structural schematic view of a load bearing apparatus according to an embodiment of the present disclosure;

fig. 12 is a schematic structural view of a warehousing system according to an embodiment of the disclosure;

FIG. 13 is a schematic view of a pick-and-place apparatus according to an embodiment of the present disclosure;

FIG. 14 is a schematic view of a pick-and-place apparatus according to an embodiment of the present disclosure;

FIG. 15 is a partial schematic view of a pick-and-place device according to an embodiment of the present disclosure;

fig. 16 is a partial structural schematic diagram of a pick-and-place apparatus according to an embodiment of the present disclosure.

FIG. 17 is a side view of a table according to an embodiment of the present disclosure;

FIG. 18 is a partial enlarged view of a table according to an embodiment of the present disclosure;

FIG. 19 is a partial schematic view of a stage according to an embodiment of the present disclosure;

FIG. 20 is a side view of a table according to an embodiment of the present disclosure;

FIG. 21 is a partial enlarged view of a table according to an embodiment of the present disclosure;

FIG. 22 is a schematic view of a partial structure of a table according to an embodiment of the disclosure;

FIG. 23 is a top view of a table according to an embodiment of the present disclosure;

FIG. 24 is a front view of a table according to an embodiment of the present disclosure;

fig. 25 is a schematic structural view of a warehousing system according to an embodiment of the disclosure;

Fig. 26 is a schematic structural view of a warehousing system according to an embodiment of the disclosure;

Fig. 27 is a schematic structural view of a warehousing system according to an embodiment of the disclosure;

fig. 28 is a schematic structural view of a warehousing system according to an embodiment of the disclosure;

Fig. 29 is a perspective view of a warehouse facility according to one embodiment of the present disclosure;

fig. 30 is a partial enlarged view at D in fig. 29;

FIG. 31 is an enlarged partial view at E in FIG. 29;

Fig. 32 is a front view of a warehouse facility from another perspective in accordance with one embodiment of the present disclosure;

Fig. 33 is a front view of a warehouse facility according to one embodiment of the present disclosure;

Fig. 34 is a left side view of a warehouse facility according to one embodiment of the present disclosure;

Fig. 35 is a top view of a warehouse facility according to one embodiment of the present disclosure;

Fig. 36 is a front view of a warehouse facility according to another embodiment of the present disclosure;

fig. 37 is a front view of a warehouse facility according to yet another embodiment of the present disclosure;

Fig. 38 is a front view of a warehouse facility according to yet another embodiment of the present disclosure;

Fig. 39 is a perspective view of a warehousing system according to yet another embodiment of the disclosure;

Fig. 40 is a right side view of a warehousing system according to yet another embodiment of the disclosure;

fig. 41 is a perspective view of a warehousing system according to one embodiment of the disclosure;

fig. 42 is a perspective view of another view of a warehousing system according to one embodiment of the disclosure;

fig. 43 is a left side view of a warehousing system according to one embodiment of the disclosure;

FIG. 44 is a top view of a warehousing system according to one embodiment of the disclosure;

Fig. 45 is a perspective view of a warehousing system according to another embodiment of the disclosure;

Fig. 46 is a left side view of a warehousing system according to another embodiment of the disclosure.

Detailed Description

Reference will now be made in detail to embodiments of the present utility model, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

A driving apparatus 10 according to an embodiment of the present disclosure is described below with reference to the accompanying drawings. As shown in fig. 1-11, a drive apparatus 10 according to an embodiment of the present disclosure includes two actuating assemblies 13, a transmission assembly 18, and a driver 15. The transmission assembly 18 is connected to the two actuating assemblies 13, respectively. The driving member 15 is connected with the transmission assembly 18 to drive the execution assembly 13 to run synchronously through the transmission assembly 18

The driving apparatus 10 according to the embodiment of the present disclosure drives two actuating components 13 by using the driving member 15, so that the two actuating components 13 can be simultaneously driven by the driving member 15. This simplifies the structure of the drive device 10, reduces the manufacturing costs of the drive device 10, and improves the synchronization of the two actuator assemblies 13.

Therefore, the driving device 10 according to the embodiment of the present disclosure has advantages of simple structure, low manufacturing cost, good synchronization, and the like.

As shown in fig. 1-28, a warehouse facility 100 according to an embodiment of the present disclosure includes a carrier 1 and a pick-and-place device 2.

The carrier 1 comprises at least two carriers 11, the carriers 11 being arranged at a distance from each other in the second direction. For example, the carriers 11 are arranged side by side in the second direction. The second direction is at a predetermined angle to the first direction, e.g., the second direction is orthogonal to the first direction.

Alternatively, the plurality of pick-and-place devices 2 may be provided, and the plurality of pick-and-place devices 2 are disposed between two adjacent carriers 11 and arranged in the third direction. Thereby enabling the warehouse facility 100 to achieve multiple picking and placing to improve the working efficiency.

At least three bearing pieces 11 are arranged, and one picking and placing device 2 or a plurality of picking and placing devices 2 arranged along a third direction are arranged between two adjacent bearing pieces 11. Thereby, the warehouse equipment 100 can realize multi-platform and multi-taking and placing to improve the working efficiency.

The carrier 1 further comprises an actuator assembly 13, a transmission assembly 18 and a drive member 15. The actuator assembly 13 is provided on the carrier 11. The transmission assembly 18 is connected to two actuating assemblies 13 on two adjacent carriers 11, respectively.

Two adjacent actuating assemblies 13 may be driven by a drive member 15 or by different drive members 15. The two actuating assemblies 13 are respectively driven to operate through the transmission assemblies 18 by respectively connecting different driving pieces 15 with the transmission assemblies 18, so that the structure is stable and no transmission error exists. The driving member 15 is connected to the transmission assembly 18 to drive the two actuating assemblies 13 to operate synchronously via the transmission assembly 18. By driving the two actuating assemblies 13 on the two adjacent carriers 11 with the driving member 15 to run synchronously, the structure of the carrier 1 and the stocker 100 can be simplified, the manufacturing costs of the carrier 1 and the stocker 100 can be reduced, and the synchronicity of the two actuating assemblies 13 on the two adjacent carriers 11 can be improved.

As shown in fig. 3, the transmission assembly 18 includes a decelerator 181 and a transmission shaft 182. The decelerator 181 has an input shaft and an output shaft, and the input shaft of the decelerator 181 is connected to the driving member 15. The two actuating components are detachably connected with the output shaft of the speed reducer 181, respectively. At least one of the two actuating assemblies is detachably connected to the output shaft of the reduction gear 181 by a transmission shaft 182.

The input shaft of the decelerator 181 is connected to the driving shaft of the driving member 15, and the output shaft of the decelerator 181 extends in the second direction. The output shaft of the reducer 181 is connected to both of the actuating assemblies 13 on the adjacent two carriers 11. Thereby, the two actuating assemblies 13 on the adjacent two carriers 11 can be controlled more precisely, so that the displacement of the pick-and-place device 2 in the third direction can be controlled more precisely.

Optionally, the driving member 15 comprises a motor. The rotation shaft axis of the driving member 15 extends in a third direction or a first direction, and the first direction, the second direction and the third direction are orthogonal to each other. For example, the first direction is shown by arrow a in fig. 1, 4, 5, 9, 12, 17 and 23, the second direction is shown by arrow C in fig. 2, 3, 14, 23 and 24, and the third direction is shown by arrow B in fig. 1 to 3, 12 and 17.

As shown in fig. 2 and 3, the actuator assembly 13 further includes a shaft 133, and the shaft 133 is coupled to the first rotary member 132 of the actuator assembly 13. A first end of the shaft 133 is detachably connected to a first end of an output shaft of the reduction gear 181. The transmission assembly 18 and the different actuating assemblies 13 can thereby be made to constitute relatively independent modular units, so that not only can the transmission assembly 18 and the different actuating assemblies 13 be conveniently connected together, but also at least one of the transmission assembly 18 and the different actuating assemblies 13 can be conveniently disassembled, transported, replaced, etc.

Optionally, the drive shaft 182 extends in a second direction. A first end of the transmission shaft 182 is detachably connected to a first end of the output shaft of the reduction gear 181, and a second end of the transmission shaft 182 is detachably connected to a first end of the shaft 133 of one of the actuator assemblies 13. By providing a drive shaft 182 that is connected to the decelerator 181 and the shaft 133 of one of the actuating assemblies 13, the length of the shaft 133 of the one actuating assembly 13 can be reduced so as to make the actuating assembly 13 more convenient to transport, disassemble, replace, etc.

Specifically, by connecting the shaft 133 of the one actuator 13 to the decelerator 181 via the transmission shaft 182, not only the length of the shaft 133 of the one actuator 13 can be reduced, but also the decelerator 181 can be disposed away from the shaft 133 of the one actuator 13 and close to the shaft 133 of the other actuator 13, and thus the length of the shaft 133 of the other actuator 13 can be reduced.

As shown in fig. 2 and 3, a first end of the transmission shaft 182 is detachably connected to a first end of the output shaft of the speed reducer 181 by a coupling 1343 (e.g., a quincuncial coupling), and a second end of the transmission shaft 182 is detachably connected to a first end of the shaft 133 of the one actuator assembly 13 by a coupling 1344 (e.g., a quincuncial coupling). The first end of the shaft 133 of the further actuator assembly 13 is detachably connected to the second end of the output shaft of the reducer 181 by a coupling 1345 (e.g. a quincuncial coupling).

Alternatively, the drive shaft of the drive member 15 extends in the second direction. This results in a more compact construction of the transmission assembly 18 and the drive element 15 and a smaller space occupation.

As shown in fig. 2 and 3, the frame body includes a connection beam 161 and a plurality of third bearing seats 162. The connection beam 161 extends in the second direction, and the connection beam 161 is connected to each of the adjacent two carriers 11. The decelerator 181 is provided to the connection beam 161 so as to more firmly and easily mount the decelerator 181 and the driving piece 15.

A plurality of bearing blocks 162 are provided at intervals in the second direction on the connection beam 161, each bearing block 162 is provided with a bearing, and the transmission shaft 182 is rotatably supported on the plurality of bearings. Thereby, the transmission shaft 182 can be more firmly installed, and the transmission shaft 182 can transmit power more stably.

As shown in fig. 2, 3 and 9-11, the actuator assembly 13 includes a first rotating member 132, a second rotating member 134 and a first connecting member 131. The first rotating member 132 and the second rotating member 134 are disposed on the carrier 11 at intervals along the third direction and rotatable relative to the carrier 11, and the driving member is connected to the first rotating member 132. The first connecting piece 131 is wound outside the first rotating piece 132 and the second rotating piece 134, and the first connecting piece 131 is connected with the picking and placing platform 28. The actuator assembly 13 is configured to drive the pick-and-place platform 28 to move in a third direction.

Optionally, the actuator assembly 13 is embedded within the carrier 11. Thereby, the structure of the executing assembly 13 and the bearing piece 11 can be more compact, the space occupied by the executing assembly 13 and the bearing piece 11 is reduced, and the space occupied by the bearing device 1 is further reduced.

The first connecting member 131 is configured as a belt, and the first rotating member 132 and the second rotating member 134 are each configured as pulleys. Or the first link 131 is configured as a chain, and the first rotating member 132 and the second rotating member 134 are each configured as a sprocket.

Alternatively, the driving member 15 and the transmission assembly 18 are adjacent to the upper end portion of the actuator assembly 13 in the up-down direction. That is, the driving member 15 and the transmission assembly 18 are adjacent to the upper end portion of the carrier 11 in the up-down direction. The active element (first rotary element 132) of the actuating element 131 can thereby be positioned above, so that the weight of the pick-and-place device 2 can be used to provide a tensioning force for the first connecting element 131 of the actuating element 13.

If the second rotating member 134 of the actuator assembly 13 is an active member, an upward tensioning force needs to be applied to the first connecting member 131, and the gravity of the pick-and-place device 2 will counteract the tensioning force of the first connecting member 131. Therefore, a large tension needs to be applied to the first connection member 131.

By making the first rotating member 132 of the actuator assembly 13 an active member, the tensioning force to which the first connecting member 131 is subjected can be effectively reduced. Thereby, not only the service life of the first connecting member 131 can be prolonged, but also the width of the first connecting member 131 can be reduced, so that the volume and the occupied space of the actuating assembly 13 can be reduced, and the manufacturing cost of the actuating assembly 13 can be reduced.

As shown in fig. 4 to 6 and 9, the carrier 11 has a first stopper groove 115 and a second stopper groove 116, and an opening 1153 of the first stopper groove 115 and an opening 1163 of the second stopper groove 116 are relatively opened in a first direction.

In order to make the technical solution of the present application easier to understand, the technical solution of the present application will be described below by taking the first direction as the front-back direction as an example. The first limiting groove 115 is located in front of the second limiting groove 116, the opening 1153 of the first limiting groove 115 is opened toward the rear, and the opening 1163 of the second limiting groove 116 is opened toward the front.

For example, the second direction is a left-right direction, and the third direction is an up-down direction. The first direction is shown by arrow a in fig. 1, the second direction is shown by arrow B in fig. 1, and the third direction is shown by arrow C in fig. 1.

As shown in fig. 9 to 11, the carrying device 1 further includes a limiting component 14, where the limiting component 14 is disposed on the first connecting member 131. The pick-and-place platform 28 is connected to at least one of the spacing assembly 14 and the first connector 131. The spacing assembly 14 is movably fitted within the first and second spacing slots 115, 116. By providing the first and second limit grooves 115 and 116 with openings relatively open, the limit assembly 14 can be located inside the carrier 1. The space occupied by the spacing assembly 14 in the first direction can thereby be reduced, and the space occupied by the carrying device 1 in the first direction can be further reduced.

As shown in fig. 9 to 11, the limiting assembly 14 includes a limiting body 141, a first limiting member 142, and a second limiting member 143. The limiting body 141 is connected to the first connecting member 131, so that the limiting body 141 moves under the driving of the first connecting member 131. The first limiting member 142 and the second limiting member 143 are disposed on the limiting body 141. The first stopper 142 is movably engaged with the bottom wall surface of the first stopper groove 115 and the second stopper 143 is movably engaged with the bottom wall surface of the second stopper groove 116 to perform the stopper in the first direction. Whereby the structure of the spacing assembly 14 can be made more reasonable.

As shown in fig. 9-11, the first limiting member 142 is configured as a first roller, and the first limiting member 142 is rollably abutted against the bottom wall surface of the first limiting groove 115, the second limiting member 143 is configured as a second roller, and the second limiting member 143 is rollably abutted against the bottom wall surface of the second limiting groove 116. Thereby making the structure of the spacing assembly 14 simpler and more reasonable.

Or the bottom wall surface of the first limiting groove 115 is provided with a first sliding rail, the first limiting piece 142 is provided with a first sliding groove matched with the first sliding rail, the bottom wall surface of the second limiting groove 116 is provided with a second sliding rail, and the second limiting piece 143 is provided with a second sliding groove matched with the second sliding rail. Thereby making the structure of the spacing assembly 14 simpler and more reasonable.

As shown in fig. 4 to 6 and fig. 9 to 11, the first limiting groove 115 has two opposite sidewall surfaces in the second direction, and the second limiting groove 116 has two opposite sidewall surfaces in the second direction, and the second direction forms a predetermined included angle with the first direction. The spacing assembly 14 includes a spacing body 141, a third spacing element 144, and a fourth spacing element 145.

The limiting body 141 is connected to the first connecting member 131, so that the limiting body 141 moves under the driving of the first connecting member 131. The third limiting member 144 and the fourth limiting member 145 are disposed on the limiting body 141, and the third limiting member 144 is movably matched with two side wall surfaces of the first limiting groove 115 and the fourth limiting member 145 is movably matched with two side wall surfaces of the second limiting groove 116 so as to limit in the second direction.

The third and fourth stoppers 144 and 145 may thereby be used to limit the movement of the stopper 141 in the second direction, so that the stopper 141 moves more precisely and more stably with the first connector 131, and the pick-and-place device 2 moves more precisely and more stably up and down with the actuator assembly 13.

As shown in fig. 9-11, the third stopper 144 is configured as a third roller, and the third stopper 144 is rollably abutted against both side wall surfaces of the first stopper groove 115, the fourth stopper 145 is configured as a fourth roller, and the fourth stopper 145 is rollably abutted against both side wall surfaces of the second stopper groove 116. Thereby making the structure of the spacing assembly 14 simpler and more reasonable.

Or the two side wall surfaces of the first limiting groove 115 are provided with third sliding rails, the third limiting piece 144 is provided with a third sliding groove matched with the third sliding rails, the two side wall surfaces of the second limiting groove 116 are provided with fourth sliding rails, and the fourth limiting piece 145 is provided with a fourth sliding groove matched with the fourth sliding rails. Thereby making the structure of the spacing assembly 14 simpler and more reasonable.

Alternatively, as shown in fig. 4 to 6 and 9, the first stopper groove 115 has a first side wall surface 1151 and a second side wall surface 1152 opposite in the second direction, and the second stopper groove 116 has a third side wall surface 1161 and a fourth side wall surface 1162 opposite in the second direction. The third stopper 144 is movably abutted against the first and second side wall surfaces 1151 and 1152, and the fourth stopper 145 is movably abutted against the third and fourth side wall surfaces 1161 and 1162.

As shown in fig. 9 to 11, the stopper 141 includes a bearing portion 1414, a first mounting portion 1411, and a second mounting portion 1412, and the pick-and-place platform 28 is provided on the bearing portion 1414. The first mounting portion 1411 and the second mounting portion 1412 are connected to the carrier portion 1414. The first mounting portion 1411 and the second mounting portion 1412 are spaced apart from each other in the first direction. The actuator 13 is located between the first mounting portion 1411 and the second mounting portion 1412 in a first direction. The first stopper 142 is provided in the first mounting portion 1411, and the second stopper 143 is provided in the second mounting portion 1412. Thereby, the structure of the limiting body 141 and the limiting assembly 14 can be more reasonable, and the structure of the limiting assembly 14 and the executing assembly 13 can be more compact.

Optionally, a third limiting member 144 is provided on the first mounting portion 1411, and a fourth limiting member 145 is provided on the second mounting portion 1412. Whereby the structure of the spacing assembly 14 can be made more reasonable.

As shown in fig. 9 to 11, the first connector 131 is located between the first mounting portion 1411 and the second mounting portion 1412 in the first direction, and the first stopper groove 115, the second stopper groove 116, the first connector 131, the first mounting portion 1411, and the second mounting portion 1412 are disposed opposite to each other in the first direction. This makes it possible to make the structure of the carrier 1 more rational.

As shown in fig. 10 and 11, the stopper 141 further includes a connection portion 1413, and the connection portion 1413 is connected to each of the first mounting portion 1411 and the second mounting portion 1412. The bearing portion 1414 is provided at the connection portion 1413. Thereby, the structure of the limiting body 141 and the limiting component 14 is more reasonable, and the loading and unloading platform 28 (loading and unloading device 2) is more convenient to install.

As shown in fig. 9 to 11, the first mounting portion 1411, the second mounting portion 1412, the connecting portion 1413, and the bearing portion 1414 are each plate-shaped. The first link 131 may be a belt (e.g., a timing belt), and a thickness direction of each of the first link 131, the first mounting portion 1411, and the second mounting portion 1412 coincides with the first direction. The thickness direction of the connection portion 1413 coincides with the second direction. The thickness direction of the bearing portion 1414 is perpendicular to the first direction and the second direction, for example, the thickness direction of the bearing portion 1414 coincides with the third direction. Thereby making the structure of the spacing assembly 14 and the carrier 1 more reasonable.

For example, the thickness direction of the carrier 1414 coincides with the up-down direction. The first connection member 131, the first mounting portion 1411, and the second mounting portion 1412 are parallel to each other, and the first connection member 131 (the first mounting portion 1411, the second mounting portion 1412), the connection portion 1413, and the bearing portion 1414 are perpendicular to each other.

As shown in fig. 9 to 11, the first limiting groove 115, the second limiting groove 116 and the actuating assembly 13 are disposed opposite to each other in the first direction, so that the first limiting piece 142, the second limiting piece 143 and the actuating assembly 13 are disposed opposite to each other in the first direction. This makes it possible to make the structure of the carrier 1 more rational.

As shown in fig. 10 and 11, the carrier 1 includes an adjustment assembly 12, and the adjustment assembly 12 includes a fixed connection 121, a movable connection 122, and a screw 123. Each of the fixed connection member 121 and the movable connection member 122 is connected to the first connection member 131, the fixed connection member 121 is disposed on the carrier 11, and the movable connection member 122 is disposed on the carrier 11 movably in the up-down direction, that is, the fixed connection member 121 cannot move in the up-down direction.

The screw 123 is rotatably provided to the carrier 11, and the screw 123 extends in the up-down direction. The movable coupling member 122 is provided with a screw hole, and a part of the screw member 123 is screw-fitted into the screw hole. Thereby, the movable coupling member 122 can be moved in the up-down direction by rotating the screw 123, thereby changing the tension of the first coupling member 131.

As shown in fig. 4, 7 and 8, the bearing device 1 further includes a bearing seat 136, the bearing seat 136 is disposed on the bearing member 11, and the first rotating member 132 is rotatably disposed on the bearing seat 136. Thereby, the first rotating member 132 can be more firmly mounted to the carrier 11.

The bearing seat 136 includes a seat body 1361, a first limit protrusion 1363 and a second limit protrusion 1364, and the first rotating member 132 is rotatably disposed on the seat body 1361. The first and second limit protrusions 1363 and 1364 are provided to the seat body 1361. The first limiting protrusion 1363 extends into the first limiting groove 115, and the first limiting protrusion 1363 is attached to one side wall surface of the first limiting groove 115. The second limiting protrusion 1364 extends into the second limiting groove 116, and the second limiting protrusion 1364 is attached to one side wall surface of the second limiting groove 116.

For example, first stop tab 1363 is attached to first side wall 1151 of first stop slot 115 and second stop tab 1364 is attached to third side wall 1161 of second stop slot 116. Thus, the bearing housing 136, and thus the first rotary member 132 and the shaft 133 thereof, can be more precisely and stably mounted, and the coaxiality of the shaft 133 and the transmission shaft 182 can be improved.

As shown in fig. 6, the carrier 11 is provided with a positioning groove 11851, the positioning groove 11851 has two side wall surfaces opposite in the first direction, the bearing housing has a positioning portion 1365, and the positioning portion 1365 is fitted in the positioning groove 11851. The positioning groove 11851 can be used for limiting the bearing 136 in the first direction, so that the structure of the bearing device 1 can be more reasonable, and the bearing seat 136 can be installed more accurately and stably.

Optionally, the carrier 11 extends in a third direction, and the carrier 11 is provided with a reinforcement. The carrier 11 and the carrier device 1 can thereby be made more structurally stable, so that the pick-and-place device 2 can be better supported.

In one example of the embodiment of the present disclosure, the first and second stopper grooves 115 and 116 each extend in a horizontal direction, and the stopper 141 is movably disposed in the horizontal direction. That is, the actuating assembly 13 can drive the limiting body 141 to move along the horizontal direction, the first limiting member 142 is movably engaged in the first limiting groove 115 along the horizontal direction, and the second limiting member 143 is movably engaged in the second limiting groove 116 along the horizontal direction.

In another example of the embodiment of the present disclosure, the first and second stopper grooves 115 and 116 each extend in the up-down direction, and the stopper 141 is movably provided in the up-down direction. That is, the executing component 13 can drive the limiting body 141 to move along the up-down direction, the first limiting member 142 is movably engaged in the first limiting groove 115 along the up-down direction, and the second limiting member 143 is movably engaged in the second limiting groove 116 along the up-down direction. Alternatively, the carrier 1 may be a portal, the carrier 11 comprising a column.

As shown in fig. 4-6 and 9, the carrier 11 of the carrier 1 includes a first portion 1171, a second portion 1172, a first limiting plate 1181, a second limiting plate 1182, a third limiting plate 1183 and a fourth limiting plate 1184. The first portion 1171 and the second portion 1172 are opposite and spaced apart in the first direction.

The first limiting plate 1181 and the second limiting plate 1182 are disposed on the first portion 1171 at intervals along the second direction, and a first limiting groove 115 is defined between the first portion 1171, the first limiting plate 1181 and the second limiting plate 1182. The third limiting plate 1183 and the fourth limiting plate 1184 are disposed at intervals along the second direction in the second portion 1172, and the second limiting groove 116 is defined between the second portion 1172, the third limiting plate 1183 and the fourth limiting plate 1184.

The first limiting protrusion 1363 extends into the first limiting groove 115, and the first limiting protrusion 1363 cooperates with the first limiting plate 1181 to limit the first limiting protrusion 1363 (the bearing housing 136) in the second direction by using the first limiting plate 1181. The second limiting protrusion 1364 extends into the second limiting groove 116, and the second limiting protrusion 1364 cooperates with the third limiting plate 1183 to limit the second limiting protrusion 1364 (the bearing housing 136) in the second direction by using the third limiting plate 1183.

Therefore, the first limiting plate 1181 and the third limiting plate 1183 can be matched with the limiting assembly 14 and the bearing seat 136, so that the structure of the bearing piece 11 is simpler and the manufacturing cost is lower. That is, the carrier 11 does not need to be provided with different structures in order to be engaged with the spacing assembly 14 and the bearing housing 136, respectively.

As shown in fig. 4, the seat 1361 is located between the second limiting plate 1182 and the fourth limiting plate 1184 in the first direction, and the seat 1361 is matched with the second limiting plate 1182 and the fourth limiting plate 1184. Therefore, the second limiting plate 1182 and the fourth limiting plate 1184 can be utilized to limit the seat 1361 (the bearing seat 136) in the first direction, so that the bearing seat 136 can be installed more accurately and stably, the first rotating member 132 and the shaft 133 thereof can be installed more accurately, and the coaxiality of the shaft 133 and the transmission shaft 182 is improved.

Moreover, the second limiting plate 1182 and the fourth limiting plate 1184 not only can be matched with the limiting assembly 14, but also can be matched with the bearing seat 136, so that the structure of the bearing 11 is simpler and the manufacturing cost is lower. That is, the carrier 11 does not need to be provided with different structures in order to be engaged with the spacing assembly 14 and the bearing housing 136, respectively.

As shown in fig. 4-6 and 9, the second limiting plate 1182 is L-shaped, and the second limiting plate 1182 includes a first sub-plate 11821 and a second sub-plate 11822 connected to each other. First portion 1171, first retainer plate 1181 and first daughter plate 11821 define therebetween a first retainer slot 115. The seat 1361 mates with the second child panel 11822. Thereby, the contact area between the seat body 1361 (the bearing seat 136) and the second sub-plate 11822 (the second limiting plate 1182) can be effectively increased, so that the seat body 1361 (the bearing seat 136) is more accurately and stably limited, and the bearing seat 136 is more accurately and stably installed.

The fourth limiting plate 1184 may be L-shaped, and the fourth limiting plate 1184 includes a third sub-plate 11841 and a fourth sub-plate 11842 connected to each other. Second portion 1172, third retainer plate 1183 and third daughter plate 11841 define therebetween second retainer slot 116. The seat 1361 is mated with the fourth sub-board 11842. Therefore, the contact area between the seat body 1361 (the bearing seat 136) and the fourth sub-board 11842 (the fourth limiting plate 1184) can be effectively increased, so that the seat body 1361 (the bearing seat 136) is more accurately and stably limited, and the bearing seat 136 is more accurately and stably installed.

As shown in fig. 5 and 6, the carrier 11 includes a support plate 1186, where the support plate 1186 is located between the second sub-plate 11822 and the fourth sub-plate 11842 in the first direction, and the support plate 1186 is connected to the second sub-plate 11822 and the fourth sub-plate 11842. The seat 1361 is supported by a support plate 1186, and the support plate 1186 is provided with a avoidance groove 11861 for avoiding the shaft 133 of the upper first rotating member 132. Whereby the bearing housing 136 can be mounted more stably.

As shown in fig. 4 to 6, the carrier 11 includes a fifth limiting plate 1185, a second limiting plate 1182 (a fourth limiting plate 1184) is located between the fifth limiting plate 1185 and the first limiting plate 1181 in the second direction, and the second limiting plate 1182 (the fourth limiting plate 1184) is located between the fifth limiting plate 1185 and the third limiting plate 1183 in the second direction.

At least a portion of the seat 1361 is located between the fifth limiting plate 1185 and the first and third limiting plates 1181, 1183 in the second direction, and the seat 1361 is engaged with the fifth limiting plate 1185. Therefore, the fifth limiting plate 1185, the first limiting plate 1181 and the third limiting plate 1183 can be utilized to limit the seat body 1361 (the bearing seat 136) in the second direction, so that the bearing seat 136 can be installed more accurately and stably, the first rotating member 132 and the shaft 133 thereof can be installed more accurately, and the coaxiality of the shaft 133 and the transmission shaft 182 can be improved.

As shown in fig. 6, the fifth limiting plate 1185 is provided with a positioning groove 11851, and the positioning groove 11851 has a fifth side wall surface 11852 and a sixth side wall surface 11853 that are opposite in the first direction. The positioning portion 1365 of the bearing housing 136 is fitted between the fifth side wall surface 11852 and the sixth side wall surface 11853 in the first direction. The positioning portion 1365 of the bearing housing 136 is supported by the bottom wall surface 11854 of the positioning groove 11851.

Thus, the bearing block 136 can be restrained in the first direction by the fifth side wall surface 11852 and the sixth side wall surface 11853, and the bearing block 136 can be restrained in the third direction by the bottom wall surface 11854 of the positioning groove 11851. The bearing housing 136 can thereby be mounted more precisely and more stably with a more rational structure of the carrier 1 and the carrier 11.

As shown in fig. 4-6, the fifth limiting plate 1185 includes a plate body 11855 and a third limiting boss 11856. The plate 11855 is provided with a positioning groove 11851. The third limiting protrusion 11856 is disposed on the plate 11855, and the seat 1361 is matched with the third limiting protrusion 11856. That is, the bearing housing 136 is limited in the second direction by the third limiting protrusion 11856 and the first and third limiting plates 1181 and 1183.

The bearing housing 136 may thus be mounted to the carrier 11 using fasteners (e.g., bolts, screws, etc.) that pass through the plate 11855 and the third limit projection 11856 and fit within the housing 1361. By providing the third stopper protrusion 11856 on the plate 11855, not only can the bearing housing 136 be restricted in the second direction by the third stopper protrusion 11856, but also the bearing housing 136 can be easily mounted to the carrier 11 by the fastener passing through the third stopper protrusion 11856. That is, the third limiting protrusion 11856 has both the limiting and mounting functions.

As shown in fig. 4, 7 and 8, the bearing housing 136 includes a first housing 13611, a second housing 13612, a first coupling portion 13613 and a second coupling portion 13614. The first and second seats 13611 and 13612 are disposed at intervals along the second direction, and bearings are disposed on the first and second connecting portions 13613 and 13614.

The first and second connecting portions 13613 and 13614 are located between the first and second bodies 13611 and 13612 in the second direction. The first and second coupling portions 13613 and 13614 are spaced apart in the first direction. The first connecting portion 13613 is connected to both the first body 13611 and the second body 13612, and the second connecting portion 13614 is connected to both the first body 13611 and the second body 13612. Thereby making the structure of the bearing housing 136 more reasonable and stable.

Alternatively, the bearing housing 136 may be integrally formed or of a split construction. When the bearing housing 136 is integrally formed, the first housing 13611, the second housing 13612, the first connecting portion 13613 and the second connecting portion 13614 are integrally formed. The bearing seat 136 can be stressed more uniformly, so that the bearing seat 136 is prevented from being stressed excessively locally, and the bearing seat 136 is unstable and even damaged. In addition, the bearing housing 136 may be a separate structure.

As shown in fig. 4, 7 and 8, the first limit protrusion 1363 is provided on the first seat body 13611 and/or the first connecting portion 13613, the second limit protrusion 1364 is provided on the first seat body 13611 and/or the second connecting portion 13614, and the positioning portion 1365 of the bearing seat 136 is provided on the second seat body 13612. Whereby the structure of the bearing housing 136 can be made more reasonable.

Optionally, the carrier 11 has a first side and a second side in the first direction. The first end 211 of the pick-and-place assembly 21 is connected to the pick-and-place platform 28, and the second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28, with the second end 212 of the pick-and-place assembly 21 being located on either the first side or the second side of the carrier 11.

The pick-and-place assembly 21 can thereby be extended from the carrier 11 in a direction away from the table 3, thereby avoiding the pick-and-place device 2 taking up space of the table 3, in order to reduce the volume and the space taken up by the table 3. Moreover, the size of the pick-and-place assembly 21 in the first direction can be effectively reduced, so that not only the volume and the occupied space of the pick-and-place assembly 21 can be greatly reduced, but also the time for conveying the object on the pick-and-place assembly 21 can be effectively reduced.

Optionally, the carrier 11 has a first side and a second side in a first direction, and the pick-and-place platform 28 is connected to a position between the first end 211 of the pick-and-place assembly 21 and the second end 212 of the pick-and-place assembly 21. The first end 211 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on a first side of the carrier 11. The second end 212 of the pick-and-place assembly 21 extends away from the carrier 11 beyond the pick-and-place platform 28 and is located on a second side of the carrier 11. Thereby making the construction of the warehouse facility 100 more reasonable.

The pick-and-place assembly 21 comprises a receiving space 213, the receiving space 213 being provided with an opening in a first direction. The pick-and-place assembly 21 is configured to pick up a target object from a specified position and place it in the accommodating space 213 or to pick up a target object from the accommodating space 213 and place it in a specified position. Thereby making the construction of the pick-and-place assembly 21 more reasonable.

As shown in fig. 12-16, the pick-and-place assembly 21 includes a first support 22, a second support 23, and a pick-and-place 263.

The first support 22 has a first end 221 and a second end 222 opposite in a first direction, the first end 221 of the first support 22 being connected to the pick-and-place platform 28. The second support 23 has a first end 231 and a second end 232 opposite in the first direction, the first end 231 of the second support 23 being connected to the pick-and-place platform 28. The first supporting member 22 and the second supporting member 23 are arranged at intervals along the second direction to form an accommodating space 213, the accommodating space 213 is provided with an opening along the first direction, and the second direction forms a preset included angle with the first direction.

The pick-and-place member 263 is located between the first support member 22 and the second support member 23 in the second direction. The pick-and-place member 263 and the opening are each at least one and the pick-and-place member 263 is configured to pass through any one of the at least one opening to acquire the target from the specified location or to place the target at the specified location. Or the pick-and-place member 263 and the opening are plural and the plurality of pick-and-place members 263 are configured to respectively pick up the target object from the specified position or place the target object at the specified position through the corresponding opening.

For example, the second end 222 of the first support 22 is distant from the table 3 in the first direction with respect to the first end 221 of the first support 22. The second end 232 of the second support 23 is remote from the table 3 in a first direction relative to the first end 231 of the second support 23. That is, the first support 22 extends in the first direction from the pick-and-place platform 28 in a direction away from the table 3, and the second support 23 extends in the first direction from the pick-and-place platform 28 in a direction away from the table 3.

In other words, the first end 221 of the first support 22 is located between the table 3 and the second end 222 of the first support 22 in the first direction. The first end 231 of the second support 23 is located between the table 3 and the second end 232 of the second support 23 in the first direction.

Optionally, the first end 221 of the first support 22 is located between the station of the table 3 and the second end 222 of the first support 22 in the first direction. The first end 231 of the second support 23 is located between the station of the table 3 and the second end 232 of the second support 23 in the first direction.

For example, the first end 221 of the first support 22 is a front end of the first support 22, and the second end 222 of the first support 22 is a rear end of the first support 22. The first end 231 of the second support 23 is a front end of the second support 23, and the second end 232 of the second support 23 is a rear end of the second support 23. The first support 22 and the second support 23 are disposed at intervals in the left-right direction.

As shown in fig. 13-16, the pick-and-place assembly 21 further includes a mounting base 29, and the mounting base 29 may be disposed on the pick-and-place platform 28. The first end 221 of the first support 22 and the first end 231 of the second support 23 are arranged on the mounting seat 29, i.e. the first end 221 of the first support 22 and the first end 231 of the second support 23 are arranged on the carrying device 1 via the mounting seat 29. Thereby making it easier and more robust to mount the pick-and-place assembly 21 to the pick-and-place platform 28.

Optionally, the mounting 29 is flat. Thereby, the mounting seat 29 can be more conveniently and firmly arranged on the picking and placing platform 28, and the first supporting piece 22 and the second supporting piece 23 can be more conveniently and firmly arranged on the mounting seat 29.

As shown in fig. 13 and 15, the first support 22 includes a first support beam 224, a first mounting portion 225, and a first connecting portion 226. The first support beam 224 is connected to the first mounting portion 225 by a first connection portion 226. The first mounting portion 225 is provided on the pick-and-place platform 28. The first mounting portion 225 has a dimension in the first direction that is smaller than the dimension of the first support beam 224 in the first direction. Thereby, the space occupied by the first mounting portion 225 and the first support 22 can be reduced, and the space where the first mounting portion 225 is not provided can be used for avoiding the cable. That is, by making the size of the first mounting portion 225 in the first direction smaller than the size of the first support beam 224 in the first direction, a space for avoiding the cable can be formed.

As shown in fig. 13, the first mounting portion 225 includes a first plate portion 2251 and a first stem portion 2252, the first stem portion 2252 being provided to the first plate portion 2251. The first stem 2252 is connected to the first support beam 224 by a first connection 226. The first plate 2251 is provided to the pick-and-place platform 28. For example, the first plate 2251 is provided to the mount 29. By connecting the first plate 2251 to the pick-and-place platform 28, the first support 22 can be more firmly and conveniently mounted to the pick-and-place platform 28.

As shown in fig. 13 and 16, the second support 23 includes a second support beam 234, a second mounting portion 235, and a second connecting portion 236, and the second support beam 234 is connected to the second mounting portion 235 through the second connecting portion 236. The second mounting portion 235 is provided on the pick-and-place platform 28. The second mounting portion 235 has a smaller dimension in the first direction than the second support beam 234. Thereby, the space occupied by the second mounting portion 235 and the second support 23 can be reduced, and the space where the second mounting portion 235 is not provided can be used for avoiding the cable. That is, by making the size of the second mounting portion 235 in the first direction smaller than the size of the second support beam 234 in the first direction, a space for avoiding the cable can be formed.

As shown in fig. 13, the second mounting portion 235 includes a second plate portion 2351 and a second lever portion 2352, and the second lever portion 2352 is provided to the second plate portion 2351. The second lever portion 2352 is connected to the second support beam 234 by a second connecting portion 236. The second plate portion 2351 is provided on the pick-and-place platform 28. For example, the second plate portion 2351 is provided to the mount 29. By connecting the second plate portion 2351 to the pick-and-place platform 28, the second support 23 can be more firmly and more conveniently mounted to the pick-and-place platform 28.

As shown in fig. 13 and 15, the first connection portions 226 are plural, and the plural first connection portions 226 are arranged at intervals along the first direction. Thereby, the first support beam 224 and the first mounting portion 225 can be more firmly coupled, thereby improving the structural strength of the first support 22. As shown in fig. 16, the second connection portions 236 are plural, and the plural second connection portions 236 are arranged at intervals along the first direction. Thereby, the second support beam 234 and the second mounting portion 235 can be more firmly coupled, thereby improving the structural strength of the second support 23.

Alternatively, an upper end portion of the first connection portion 226 is connected to the first support beam 224, and a lower end portion of the first connection portion 226 is connected to the first mounting portion 225. An upper end portion of the second connection portion 236 is connected to the second support beam 234, and a lower end portion of the second connection portion 236 is connected to the second mounting portion 235. The structure of the first support 22 and the second support 23 can thereby be made more rational.

As shown in fig. 12-15, the second end 222 of the first support 22 is a free end such that the first support 22 constitutes a first cantilever. Thereby making the structure of the pick-and-place assembly 21 simpler and more reasonable. As shown in fig. 12-14 and 16, the second end 232 of the second support 23 is a free end such that the second support 23 constitutes a second cantilever. Thereby making the structure of the pick-and-place device 2 simpler and more reasonable.

As shown in fig. 13, 15 and 16, the pick-and-place platform 28 includes a first guiding portion 281, the pick-and-place assembly 21 includes a second guiding portion 241, and the second guiding portion 241 cooperates with the first guiding portion 281 to guide the movement of the pick-and-place assembly 21 along a second direction, where the second direction forms a preset included angle with the first direction. Thereby enabling the pick-and-place assembly 21 to be moved in the second direction more accurately and more stably.

Optionally, one of the first guide portion 281 and the second guide portion 241 has a mating groove, and a dimension of the mating groove in the first direction is less than or equal to a second preset value, that is, a dimension of the other of the first guide portion 281 and the second guide portion 241 in the first direction is less than or equal to the second preset value. It is thereby possible to improve the stress of the one of the first guide portion 281 and the second guide portion 241 so that the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and the force of the first support 22 and the second support 23, and in particular, the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and the force of the first support 22 and the second support 23 constituting the cantilever, so that the pick-and-place assembly 21 is more stably mounted to the pick-and-place platform 28.

The dimension of the one of the first guide portion 281 and the second guide portion 241 in the first direction is equal to or greater than a third preset value. It is thereby possible to improve the stress of the one of the first guide portion 281 and the second guide portion 241 so that the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and the force of the first support 22 and the second support 23, and in particular, the one of the first guide portion 281 and the second guide portion 241 can withstand the structural deformation and the force of the first support 22 and the second support 23 constituting the cantilever, so that the pick-and-place assembly 21 is more stably mounted to the pick-and-place platform 28.

Alternatively, the first guide portions 281 are at least two and are arranged at intervals along the first direction, and the second guide portions 241 are at least two and are arranged corresponding to the first guide portions 281. Thereby not only allowing the pick-and-place assembly 21 to move more accurately and more stably in the second direction, but also allowing the pick-and-place assembly 21 to be more stably mounted to the pick-and-place platform 28.

The distance between adjacent first guide portions 281 is equal to or greater than a first preset value. The force applied to the second guide portion 241 is thereby improved, so that the second guide portion 241 can withstand structural deformation and force applied to the first support 22 and the second support 23, and in particular, the second guide portion 241 can withstand structural deformation and force applied to the first support 22 and the second support 23, which constitute a cantilever, so that the pick-and-place assembly 21 is more stably mounted on the pick-and-place platform 28.

For example, the first guide portion 281 may be a guide rail, and the second guide portion 241 may be a slider. The first guide portion 281 is a slider, and the second guide portion 241 is a rail.

As shown in fig. 13, 15 and 16, the pick-and-place platform 28 includes a rack 282 and the pick-and-place assembly 21 includes a gear 242. The racks 282 extend in the second direction, and the racks 282 are located between adjacent first guide portions 281 in the first direction. The gear 242 is engaged with the rack 282 such that rotation of the gear 242 causes the gear 242 to move in the second direction, thereby causing the gear 242 to move the pick-and-place assembly 21 in the second direction.

Alternatively, the motor 271 drives the gear 242 to rotate. The drive shaft of the motor 271 is connected to the input shaft of the speed reducer 272, and the output shaft of the speed reducer 272 is connected to the gear 242. Speed reducer 272 is provided on mount 29. Thereby making the construction of the pick-and-place assembly 21 more reasonable.

As shown in fig. 13 and 14, the pick-and-place assembly 21 further includes a first support portion 251 and a second support portion 252, the first support portion 251 and the second support portion 252 being disposed at intervals in the first direction. The first support 251 is connected to each of the first support 22 and the second support 23, and the second support 252 is connected to each of the first support 22 and the second support 23. The first conveying member 261 of the pick-and-place assembly 21 is supported by the first supporting portion 251 and the second supporting portion 252, and the second conveying member 262 of the pick-and-place assembly 21 is supported by the first supporting portion 251 and the second supporting portion 252. Thereby making the construction of the pick-and-place assembly 21 more reasonable.

Alternatively, the first support 251 is connected to the first end 221 of the first support 22 and the first end 231 of the second support 23, and the second support 252 is connected to the second end 222 of the first support 22 and the second end 232 of the second support 23.

For example, the first support 251 is located in front of the second support 252. The first support 251 is connected to the front end of the first support beam 224 and the front end of the second support beam 234, and the second support 252 is connected to the rear end of the first support beam 224 and the rear end of the second support beam 234.

Optionally, the pick-and-place member 263 is movably disposed in the first direction between a disengaged position and a pick-and-place position. The pick-and-place member 263 is movably provided between an extended position and a retracted position in the up-and-down direction. When the pick-and-place member 263 moves from the extended position to the retracted position, the pick-and-place member 263 moves from top to bottom. When the pick-and-place member 263 moves from the retracted position to the extended position, the pick-and-place member 263 moves upward from below.

When the object is conveyed by the pick-and-place member 263, the pick-and-place member 263 is moved from the disengaged position to the pick-and-place position and from the retracted position to the extended position. Subsequently, the pick-and-place member 263 conveys the target object to the first conveying member 261 and the second conveying member 262 so as to convey the target object using the first conveying member 261 and the second conveying member 262. After the first and second conveying members 261 and 262 are activated, the pick-and-place member 263 is moved from the extended position to the retracted position so as to avoid interference of the pick-and-place member 263 with the target.

The picking and placing member 263 of the picking and placing device 2 can comprise a sucker, a claw, a poking finger, a holding fork, a magnetic attraction and other structures. The force position of the suction cup and the container/cargo is not limited to the center line position of the side surface of the container/cargo, and the force position can be adjusted according to the gravity center of the container/cargo. The claw can hook the edge, top edge, bottom edge, bulge or handle on the container/goods, and the like of the side face of the container/goods, and can hook the groove, bulge or handle on the bottom face of the container/goods. The picking and placing device 2 can pick up and return the container/goods in a single extension position or in multiple extension positions. Taking the sucker as an example, the sucker can be a one-way sucker and can respectively take containers/goods in two directions by rotating the sucker, and the sucker can also be a two-way sucker and can respectively take containers/goods in two directions.

Alternatively, when the pick-and-place device 2 conveys the object on the carrier to the table 3, the pick-and-place member 263 is moved from the front-to-back so that the pick-and-place member 263 is moved from the detached position to the pick-and-place position. When the pick-and-place device 2 conveys the object on the table 3 to the carrier, the pick-and-place member 263 moves from the rear to the front so that the pick-and-place member 263 moves from the detached position to the pick-and-place position.

As shown in fig. 1, 12 and 17-24, the warehouse facility 100 further includes a table 3, the table 3 including a main body 31 and a detector 34. The body 31 includes a station 311. The detector 34 is disposed on the main body 31, and a minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction is greater than or equal to a preset value.

By making the minimum distance between the detector 34 and the pick-and-place assembly 21 in the first direction be equal to or greater than a preset value, the detector 34 is made closer to the operator and further away from the pick-and-place assembly 21. Therefore, when the body of the worker is erroneously extended to the direction close to the picking and placing assembly 21, the detector 34 can detect the body of the worker earlier and more timely, so that more time is provided for controlling the next operation of the picking and placing assembly 21, interference between the body of the worker and the picking and placing assembly 21 and the target on the picking and placing assembly 21 is effectively avoided, and further safety is improved.

Station 311 of table 3 may include rollers or conveyor lines to facilitate the transfer of containers/goods. Above, below or beside the table 3 there may also be provided a buffer position/buffer rack for buffering containers or goods. The containers/goods on the buffer storage position/buffer storage rack can be taken back by the box taking device 2 or manually. A conveyor line may also be provided alongside the station 311 of the table 3 for conveying the picked-up goods. A large piece, tray, special-shaped piece, conventional goods-format moving carrier parking area can be arranged beside the workbench 3 for manual picking.

As shown in fig. 23, the station 311 has a first end 3111 and a second end 3112 in a first direction. When a worker performs picking, sowing, or the like at the table 3, the first end 3111 is adjacent to the worker in the first direction with respect to the second end 3112. The pick-and-place assembly 21 conveys the objects to the station 311 through the second end 3112 and the operator picks up, sows, etc. the objects at the station 311. The object may be a cargo, a container containing cargo, or the like.

The minimum distance between the detector 34 and the second end 3112 of the station 311 in the first direction is greater than or equal to a preset value. Therefore, when the body of the worker is erroneously extended to the direction close to the picking and placing assembly 21, the detector 34 can detect the body of the worker earlier and more timely, so that more time is provided for controlling the next operation of the picking and placing assembly 21, interference between the body of the worker and the picking and placing assembly 21 and the target on the picking and placing assembly 21 is effectively avoided, and further safety is improved.

For example, the first end 3111 of the station 311 is forward of the second end 3112 of the station 311. The detector 34 is located rearward of the first end 3111.

As shown in fig. 17 to 24, the table 3 further includes a stopper provided on the main body 31 for stopping the access of the operator to the pick-and-place assembly 21. Through setting up the backstop, can utilize the backstop to carry out the backstop to staff's health to further prevent that staff's health mistake from stretching out to the direction that is close to getting and putting subassembly 21, so that avoid the staff's health more effectively and get and put subassembly 21, get the target on putting subassembly 21 and produce the interference, and then further improve the security.

As shown in fig. 17-24, the stopper includes a first stopper 321. The main body 31 has a first side 312 and a second side 313 in a second direction orthogonal to the first direction, i.e., the first side 312 and the second side 313 are opposite in the second direction. The station 311 is located between the first side 312 and the second side 313 in the second direction. The first stopper 321 is provided at the body 31 at least one of the first side 312 and the second side 313.

Through setting up first backstop 321, can utilize first backstop 321 to stop staff's health to further prevent that staff's health from stretching out from the side mistake direction of station 311 to being close to getting the direction of putting subassembly 21, so that avoid the staff's health to get to put subassembly 21, get the target on putting the subassembly 21 and produce the interference more effectively, and then further improve the security.

As shown in fig. 24, the table 3 further includes a second stopper 322 provided to the main body 31 and spaced apart from the work station 311 in a third direction orthogonal to the second direction and the first direction and opposite to each other. Through setting up second backstop piece 322, can utilize second backstop piece 322 to the health of staff to further prevent that the health mistake of staff from stretching out to the direction that is close to getting and putting subassembly 21, so that avoid the health of staff more effectively and get and put subassembly 21, get the target on putting subassembly 21 and produce the interference, and then further improve the security.

As shown in fig. 17, 19, 20 and 22-24, the main body 31 includes a table 314 and a mounting frame 315, the station 311 is disposed on the table 314, and the mounting frame 315 is connected to the table 314. The first stopper 321 is connected with the table body 314 and the mounting frame 315, the second stopper 322 is mounted on the mounting frame 315, and the detector 34 is provided on at least one of the mounting frame 315, the first stopper 321, and the second stopper 322. Thereby making the structures of the main body 31 and the table 3 more reasonable.

For example, the mounting bracket 315 is adjacent to the second end 3112 in the first direction. For example, the mounting 315 is located behind the table 314 (station 311).

The table 314 includes a first mounting portion 3141 and a second mounting portion 3142, and the station 311 is located between the first mounting portion 3141 and the second mounting portion 3142 in the second direction, that is, the first mounting portion 3141 and the second mounting portion 3142 are opposite in the second direction. The mounting 315 includes a third mounting portion 3153 and a fourth mounting portion 3154, with the station 311 being located between the third mounting portion 3153 and the fourth mounting portion 3154 in the second direction, i.e., the third mounting portion 3153 and the fourth mounting portion 3154 are opposite in the second direction.

One first stopper 321 is provided to at least one of the first mounting portion 3141 and the third mounting portion 3153, and the other first stopper 321 is provided to at least one of the second mounting portion 3142 and the fourth mounting portion 3154. That is, the first side 312 of the body 31 may include the first and third mounting portions 3141 and 3153, and the second side 313 of the body 31 may include the second and fourth mounting portions 3142 and 3154.

The station 311 is located between the two first stops 321 in the second direction. From this can utilize two first stoppers 321 to carry out the backstop to staff's health to further prevent that staff's health from following two sides misdirections of station 311 and being close to the direction of getting and putting subassembly 21 and stretch out, so that avoid more effectively that staff's health and get and put subassembly 21, get the target on putting subassembly 21 and produce the interference, and then further improve the security.

As shown in fig. 17 to 24, at least one of the first mounting portion 3141 and the third mounting portion 3153 is provided with a first mounting piece 331, the first mounting piece 331 having a first clamping groove in which one first stopper 321 is clamped. At least one of the second mounting portion 3142 and the fourth mounting portion 3154 is provided with a second mounting piece 332, the second mounting piece 332 has a second clamping groove, and the other first stopper 321 is clamped in the second clamping groove.

By providing the first mounting piece 331 having the first clamping groove and the second mounting piece 332 having the second clamping groove, it is possible to more firmly and more conveniently mount the two first stoppers 321 to the main body 31 of the table 3.

As shown in fig. 17 to 19 and fig. 23 and 24, the first mounting portion 3141 is provided with a first mounting piece 331, the third mounting portion 3153 is provided with a third mounting piece 333, the third mounting piece 333 has a third clamping groove, and one first stopper 321 is clamped in the first clamping groove and the third clamping groove.

As shown in fig. 20 to 24, the second mounting portion 3142 is provided with a second mounting piece 332, the fourth mounting portion 3154 is provided with a fourth mounting piece 334, the fourth mounting piece 334 has a fourth clamping groove, and the other first stopper 321 is clamped in the second clamping groove and the fourth clamping groove. Thereby, both the first stoppers 321 can be mounted to the table body 314 and the mounting frame 315, so that both the first stoppers 321 can be more firmly and conveniently mounted to the main body 31 of the table 3.

Alternatively, the first clamping groove penetrates the first mounting member 331 in the front-rear direction, and the second clamping groove penetrates the second mounting member 332 in the front-rear direction, and both the opening of the first clamping groove and the opening of the second clamping groove are opened upward. The third clamping groove penetrates the third mounting member 333 in the up-down direction, and the fourth clamping groove penetrates the fourth mounting member 334 in the up-down direction, and both the opening of the third clamping groove and the opening of the fourth clamping groove are opened forward. Thereby, it is possible to more conveniently clamp one first stopper 321 to the first clamping groove and the third clamping groove, and clamp the other first stopper 321 to the second clamping groove and the fourth clamping groove.

As shown in fig. 17, 20 and 23, the mounting bracket 315 has a third end 3151 and a fourth end 3152 opposite in the first direction, the fourth end 3152 being adjacent to the first end 3111 opposite the third end 3151 in the first direction. For example, the fourth end 3152 is a front end of the mounting bracket 315, and the third end 3151 is a rear end of the mounting bracket 315. The fourth end 3152 includes a third mounting portion 3153 and a fourth mounting portion 3154, i.e., the third mount 333 and the fourth mount 334 are each provided at the fourth end 3152 of the mounting bracket 315. This makes it possible to make the structure of the table 3 more rational.

As shown in fig. 24, the second stopper 322 is connected with at least one of the first stopper 321 and the fourth end 3152. Whereby the second stopper 322 can be more firmly and conveniently installed.

For example, the first mount 331 and the second mount 332 are each provided on the upper surface 3143 of the table body 314, and the third mount 333 and the fourth mount 334 are each provided on the front surface 3155 of the mount 315 (fourth end 3152). The second stoppers 322 are connected to each of the upper portion 3213 of each first stopper 321 and the front surface 3155 of the mounting frame 315 (fourth end 3152).

In one embodiment of the disclosed embodiments, the mounting 315 is provided with a detector 34. Optionally, the fourth end 3152 of the mounting block 315 is provided with a detector 34. Therefore, the detector 34 is closer to the staff and further away from the picking and placing component 21, so that the detector 34 can detect the body of the staff earlier and more timely, so that more time is provided for controlling the next operation of the picking and placing component 21 (for example, stopping the movement of the picking and placing component 21), interference between the body of the staff and the objects on the picking and placing component 21 are effectively avoided, and the safety is further improved.

Alternatively, the detector 34 is a grating detector or a radar detector. The transmitting end 341 and the receiving end 342 of the grating detector may be disposed at intervals in the second direction (e.g., the left-right direction) or may be disposed at intervals in the up-down direction. The transmitting end 341 and the receiving end 342 of the grating detector may be opposite in the second direction or in the up-down direction. The transmitting end 341 and the receiving end 342 of the grating detector may also be diagonally opposite in the second direction or in the up-down direction, e.g. the transmitting end 341 of the grating detector is located in front (behind) the receiving end 342 of the grating detector.

In another embodiment of the disclosed embodiments, the first stop 321 is provided with a detector 34. Therefore, the detector 34 is closer to the staff and further away from the picking and placing component 21, so that the detector 34 can detect the body of the staff earlier and more timely, so that more time is provided for controlling the next operation of the picking and placing component 21 (for example, stopping the movement of the picking and placing component 21), interference between the body of the staff and the objects on the picking and placing component 21 are effectively avoided, and the safety is further improved.

As shown in fig. 19, the transmitting end 341 of the grating detector is disposed on one first stopper 321 (the other first stopper 321), and as shown in fig. 22, the receiving end 342 of the grating detector is disposed on the other first stopper 321 (the one first stopper 321). For example, the first stopper 321 shown in fig. 19 is provided on the first side 312 of the table 3, and the first stopper 321 shown in fig. 22 is provided on the second side 313 of the table 3.

In yet another embodiment of the disclosed embodiments, the second stop 322 is provided with a detector 34. Therefore, the detector 34 is closer to the staff and further away from the picking and placing component 21, so that the detector 34 can detect the body of the staff earlier and more timely, so that more time is provided for controlling the next operation of the picking and placing component 21 (for example, stopping the movement of the picking and placing component 21), interference between the body of the staff and the objects on the picking and placing component 21 are effectively avoided, and the safety is further improved.

Alternatively, the detector 34 is a grating detector or a radar detector. The transmitting end 341 and the receiving end 342 of the grating detector may be disposed at intervals in the second direction (e.g., the left-right direction) or may be disposed at intervals in the up-down direction. The transmitting end 341 and the receiving end 342 of the grating detector may be opposite in the second direction or in the up-down direction. The transmitting end 341 and the receiving end 342 of the grating detector may also be diagonally opposite in the second direction or in the up-down direction, e.g. the transmitting end 341 of the grating detector is located in front (behind) the receiving end 342 of the grating detector. For example, the emitting end 341 of the grating detector is disposed on the second stopper 322 (the stage 314), and the receiving end 342 of the grating detector is disposed on the stage 314 (the second stopper 322).

As shown in fig. 17, 20 and 23, the main body 31 includes a plurality of stations 311, and the plurality of stations 311 are spaced apart in the second direction. The workbench 3 further comprises a shielding member 323, and the shielding member 323 is arranged between two adjacent stations 311. For example, the station 311 is located between the first stop 321 and the blinders 323 in the second direction, or the station 311 is located between two adjacent blinders 323 in the second direction.

By providing a shield 323 between adjacent stations 311, each station 311 can be independently inspected. When the body of the worker is erroneously extended from one or more of the stations 311 toward the pick-and-place assembly 21, the detector 34 may detect the body of the worker so that the pick-and-place assembly 21 no longer delivers the objects to the stations 311 and the objects to the stations 311 to other locations. The picking and placing assembly 21 can convey the target objects to other stations 311 (stations 311 where the bodies of the workers are not detected) and convey the target objects of other stations 311 to other positions, so that the working efficiency is improved.

Optionally, at least one of the first stopper 321 and the shutter 323 adjacent to each other is provided with a detector 34, and at least one of the shutters 323 adjacent to each other is provided with a shutter 323. That is, at least one of the first stopper 321 and the shutter 323 nearest to the first stopper 321 in the second direction is provided with the detector 34. Thereby, the accuracy of detection can be improved.

For example, at least one of the one first stopper 321 and the shutter 323 nearest to the one first stopper 321 in the second direction is provided with the detector 34, and at least one of the other first stopper 321 and the shutter 323 nearest to the other first stopper 321 in the second direction is provided with the detector 34.

The first stop 321 includes first and second edges 3215, 3216 opposite in the first direction, and the shield 323 includes first and second edges 3232, 3233 opposite in the first direction. The first edges 3215, 3232 are further from the pick-and-place assembly 21 in the first direction than the second edges 3216, 3233, i.e., the first edges 3215, 3232 are closer to the first end 3111 of the workstation 311 in the first direction than the second edges 3216, 3233. The detector 34 is disposed at the first edge 3215.

Therefore, the detector 34 can be closer to the staff and further away from the picking and placing component 21, so that the detector 34 can detect the body of the staff earlier and more timely, more time is provided for controlling the next operation of the picking and placing component 21, interference between the body of the staff and the object on the picking and placing component 21 is effectively avoided, and safety is further improved.

For example, the first edge 3215 of the first stopper 321 is a front edge and the second edge 3216 is a rear edge. The first edge 3232 of the shield 323 is the leading edge and the second edge 3233 of the shield 323 is the trailing edge.

For example, the first edge 3215, 3232 of the at least one of the one first stopper 321 and the shutter 323 nearest to the one first stopper 321 in the second direction is provided with a detector 34, and the first edge 3215, 3232 of the at least one of the other first stopper 321 and the shutter 323 nearest to the other first stopper 321 in the second direction is provided with a detector 34.

As shown in fig. 17-23, the first edges 3215, 3232 include angled segments 3217, 3234 that are angled away from the pick-and-place assembly 21 in a first direction, with the detector 34 being disposed on the angled segments 3217. That is, the first edge 3215 of the first stop 321 includes a sloped segment 3217 and the first edge 3232 of the shield 323 includes a sloped segment 3234.

For example, a lower portion of the inclined section 3217 of the first stopper 321 is adjacent to the first end 3111 in the first direction with respect to an upper portion of the inclined section 3217 of the first stopper 321, i.e., the inclined section 3217 of the first stopper 321 is inclined forward from top to bottom. The lower portion of the inclined section 3234 of the shield 323 is adjacent to the first end 3111 in a first direction opposite the upper portion of the inclined section 3234 of the shield 323, i.e. the inclined section 3234 of the shield 323 is inclined forwardly from top to bottom.

Optionally, the inclined segments 3217, 3234 of the at least one of the first stop 321 and the cooperating shield 323 are provided with a detector 34. The inclined section 3234 of the at least one of the two adjacent blinders 323 is provided with a detector 34.

Alternatively, the detector 34 is a radar detector. For example, the inclined section 3217 of one first stopper 321 is provided with a radar detector, or the inclined section 3234 of the shutter 323 nearest to the one first stopper 321 in the second direction is provided with a radar detector. The inclined section 3217 of the other first stop 321 is provided with a radar detector, or the inclined section 3234 of the shield 323 nearest to the other first stop 321 in the second direction is provided with a radar detector. The inclined section 3234 of one of the adjacent two blinders 323 is provided with a radar detector.

Optionally, the detector is a grating detector. For example, the inclined section 3234 of one of the two adjacent blinders 323 is provided with the emitting end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the other of the two adjacent blinders 323 is provided with the receiving end 342 (emitting end 341) of the grating detector.

The inclined section 3217 of one first stop 321 is provided with the emitting end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the shielding 323 nearest to the one first stop 321 in the second direction is provided with the receiving end 342 (emitting end 341) of the grating detector. The inclined section 3217 of the further first stop 321 is provided with an emission end 341 (receiving end 342) of the grating detector, and the inclined section 3234 of the shielding 323 of the further first stop 321, which is closest to the further first stop 321 in the second direction, is provided with a receiving end 342 (emission end 341) of the grating detector.

The embodiment of the disclosure also discloses a warehousing system. The warehousing system of the embodiments of the present disclosure includes a carrier and a warehousing device, which is the warehousing device 100 of the embodiments of the present disclosure. The warehouse equipment is configured to drive the pick-and-place device 2 to move relative to the carrying device 1 according to the carrying instruction so as to acquire the target object from the carrier or carry the target object to the carrier.

The object may be a good or a container. The container may be a container, pallet, file pouch, bulk bag, packaging bag, or the like. The carrier may be a mobile carrier or a common carrier, and the mobile carrier may be a mobile shelf.

Optionally, the warehouse facility is configured to drive the pick-and-place device 2 to move relative to the carrier device 1 according to the conveying instruction, so as to acquire the target object from the carrier and convey the target object to the designated position, or acquire the target object from the designated position and convey the target object to the carrier. The designated position may be the carrying position of the station 311, shelf, tray, sowing wall, bin robot of the table 3.

Optionally, the warehouse facility 100 is configured to drive the pick-and-place device 2 to move in the second direction and/or in the third direction to the position of the target container of the carrier, and drive the pick-and-place device 2 to move at least in the first direction to pick up the target container from the carrier and guide the target container into the receiving space 213 of the pick-and-place device 2.

Optionally, the warehouse facility 100 is configured such that the accommodating space 213 of the pick-and-place device 2 accommodates a target container, the pick-and-place device 2 is driven to move in the second direction and/or in the third direction to a specified placement position of the carrier, and the pick-and-place device 2 is driven to move at least in the first direction to place the target container at the specified placement position of the carrier.

Optionally, the warehouse facility 100 is configured such that the accommodating space 213 of the pick-and-place device 2 accommodates a target container, the pick-and-place device 2 is driven to move in the second direction and/or move in the third direction to the station 311 of the workbench 3, and the pick-and-place device 2 is driven to move at least in the first direction to place the target container at the station 311 of the workbench 3, so as to perform picking or the like at the station 311.

As shown in fig. 25, the warehousing system also includes workstations, inventory areas, and handling equipment. The inventory area and the stocker 100 are located at a workstation. The handling device is configured to handle carriers containing objects to the work area of the warehouse device 100 and/or to handle carriers from the work station to the inventory area.

The workstation is a goods sorting area, can execute storage tasks such as goods sorting, goods loading, container adjustment, goods checking and the like in the workstation, and can execute the storage tasks by manual or automatic equipment in the workstation.

Taking a sorting scenario as an example, the warehouse equipment 100 drives the pick-and-place device 2 to move along the second direction and/or move along the third direction to the position of the target object of the carrier, and drives the pick-and-place device 2 to at least move along the first direction to obtain the target object from the carrier and guide the target object into the accommodating space of the pick-and-place device 2.

The warehouse facility 100 drives the pick-and-place device 2 to move in the second direction and/or to move in the third direction to the station 311 of the table 3, and drives the pick-and-place device 2 to move at least in the first direction to place the object at the station 311 of the table 3, so as to pick at the station 311 of the table 3.

Taking a tally scene as an example, one side of the warehouse equipment 100 is a conveying line, and the other side of the warehouse equipment 100 is provided with a goods shelf. The warehouse facility 100 drives the pick-and-place device 2 to move in the second direction and/or in the third direction to the position where the object of the conveyor line is located, and drives the pick-and-place device 2 to move at least in the first direction to acquire the object from the conveyor line and guide the object into the accommodation space of the pick-and-place device 2.

The warehouse facility 100 drives the pick and place device 2 to move in the second direction and/or in the third direction to the storage location of the pallet, and drives the pick and place device 2 to move at least in the first direction to place the object obtained from the conveyor line in the storage location of the pallet for the purpose of sorting.

The warehouse facility 100 may also restock shelves. One side of the storage device 100 is a first conveying line, the first conveying line is used for conveying the target object, and the other side of the storage device 100 is provided with a goods shelf. The warehouse facility 100 drives the pick-and-place device 2 to move along the second direction and/or move along the third direction to the position where the object of the first conveyor line is located, and drives the pick-and-place device 2 to move at least along the first direction to obtain the object from the first conveyor line and guide the object into the accommodating space of the pick-and-place device 2.

The warehouse facility 100 drives the pick and place device 2 to move in the second direction and/or in the third direction to the storage location of the pallet, and drives the pick and place device 2 to move at least in the first direction to place the object obtained from the first conveyor line in the storage location of the pallet for replenishment.

A second conveyor line may also be positioned on the side of the warehouse facility 100 for conveying empty containers. The warehouse facility 100 drives the pick-and-place device 2 to move in the second direction and/or in the third direction to the position of the empty container of the pallet, drives the pick-and-place device 2 to move at least in the first direction to pick up the empty container from the pallet and to guide the empty container into the receiving space of the pick-and-place device 2. The warehouse facility 100 drives the pick and place device 2 to move in the second direction and/or in the third direction to the location of the second conveyor line, and drives the pick and place device 2 to move at least in the first direction to place empty containers in the second conveyor line. The second conveyor line conveys empty containers to other locations.

Optionally, the warehousing system further comprises a management system, and the warehousing equipment is in communication connection with the management system. The management system is configured to send a handling instruction to the stocker, and the stocker is configured to drive the pick-and-place device 2 to move according to the handling instruction to acquire a target object from the carrier or handle the target object to the carrier.

Optionally, the carrier comprises a shelf, and the warehouse equipment is configured to drive the pick-and-place device 2 to move according to the conveying instruction, so as to obtain the target object from the shelf or convey the obtained target object to the shelf. For example, the warehouse facility may carry the objects on the shelves to the station 311 of the table 3, and the staff may perform operations such as picking and seeding on the objects on the station 311. The storage equipment can also carry the object on the goods shelf to the bin robot. The warehouse facility may also be able to handle objects on the station 311 of the table 3 to the shelves.

Optionally, the carrier includes a bin robot, and the stocker is configured to drive the pick-and-place device 2 to move according to the transfer instruction to acquire the target object from the bin robot or transfer the acquired target object to the bin robot. For example, the warehouse facility may carry the objects on the bin robot to the station 311 of the workbench 3, and the staff may pick, seed, etc. the objects on the station 311. The storage device can also carry the target object on the station 311 of the workbench 3 to the bin robot, and the bin robot can carry the target object to a designated position.

Optionally, the carrier comprises a first shelf and a second shelf. The stocker is configured to drive the pick-and-place device 2 to move in accordance with the conveyance instruction to acquire a target object located on at least one of the first rack and the second rack, or to convey the acquired target object to at least one of the first rack and the second rack. The stocker may carry the object acquired from at least one of the first rack and the second rack to the table 3, the bin robot, or the like.

Or the warehouse equipment is configured to drive the pick-and-place device 2 to move according to the conveying instruction so as to convey the target object of one of the first shelf and the second shelf to the other of the first shelf and the second shelf, thereby realizing the tallying between the first shelf and the second shelf.

Optionally, the carrier includes a sowing wall, and the warehouse apparatus is configured to drive the pick-and-place device 2 to move according to the carrying instruction to acquire the target object from the sowing wall or carry the acquired target object to the sowing wall.

Optionally, the carrier comprises sorting equipment configured to drive the pick-and-place device 2 to move according to the handling instructions to pick up the objects from the sorting equipment or to handle the picked objects to the sorting equipment.

Optionally, the plurality of carriers are provided, and the warehouse equipment is configured to drive the pick-and-place device 2 to move according to the conveying instruction, so as to convey the target object located at the at least one carrier to at least one other carrier or a designated position, or convey the target object located at the designated position to at least one carrier. The plurality of carriers includes one or more of a rack, a bin robot, a sowing wall, and sorting equipment. The designated position may be the carrying position of the station 311, shelf, tray, sowing wall, bin robot of the table 3.

Optionally, the warehouse system further comprises a first handling device configured to handle the carriers to or from a work area of the warehouse device. The carrier may be a mobile pallet.

Optionally, the warehouse system further includes a multi-layer platform and a first handling device, the multi-layer platforms are spaced apart along the height direction, at least one carrier is provided on each layer of platform, and the carrier is a shelf or a tray. The first handling device is configured to handle the object or the carrier on which the object is placed to a work area of the stocker, so that the stocker obtains the object and handles the object to a specified position. The designated position may be the carrying position of the station 311, shelf, tray, sowing wall, bin robot of the table 3.

Optionally, the warehouse system further comprises a multi-deck platform and a first handling device, the multi-deck platform being spaced apart in a height direction. Each layer of platform is provided with at least one first carrying device, and each layer of platform corresponds to at least one carrier, and the carrier is a goods shelf, a tray or a sowing wall. The carrier may be placed on the corresponding platform, or the carrier may be disposed adjacent to the corresponding platform. The first handling device is configured to handle the object acquired from the stocker to the carrier on the platform of the corresponding tier.

Referring to fig. 29 to 40, a warehouse facility 100 (warehouse picking device) according to an embodiment of the present application includes at least two carriers 11 (columns) and a picking and placing device 2 (box picking mechanism), the carriers 11 are provided with vertical rails 171, the at least two carriers 11 are arranged at intervals along a second direction, and the picking and placing device 2 is disposed to be biased to one side of the carriers 11 in a first direction and is engaged with the vertical rails 171 movably along the vertical direction. The carrier 11 has a fastening portion 172, wherein the fastening portion 172 is used for connecting with the base body. The second direction is orthogonal to the vertical direction, and the first direction is orthogonal to the vertical direction and the second direction.

The bearing 11 is provided with a vertical guide rail 171, which is understood to be that the bearing 11 itself forms the vertical guide rail 171, or the vertical guide rail 171 is separately provided with the bearing 11, and the vertical rail 11 is fixedly connected with the bearing 11. The pick-and-place device 2 is movably coupled with the vertical rail 171 in a vertical direction such that the pick-and-place device 2 is disposed on the carrier 11.

The pick-and-place device 2 is arranged at one side of the bearing piece 11 in the first direction, which is understood to mean that one side of the pick-and-place device 2 in the first direction protrudes from the bearing piece 11 and the other side of the pick-and-place device 2 in the first direction does not protrude from the bearing piece 11, or that two sides of the pick-and-place device 2 in the first direction protrude from two sides of the bearing piece 11 respectively and the distance of the pick-and-place device 2 protruding from one side of the bearing piece 11 in the first direction is greater than the distance of the pick-and-place device 2 protruding from the other side of the bearing piece 11 in the first direction.

The fixing portion 172 may be directly connected to the base body, or may be indirectly connected to the base body through a connecting member.

The vertical direction may be a direction shown by a Z axis in the figure, the second direction may be a direction shown by an X axis in the figure, and the first direction may be a direction shown by a Y axis in the figure.

The second direction in the present application is not limited to the X-axis direction in the drawing, but may be any direction in the horizontal plane, and the first direction in the present application is not limited to the Y-axis direction in the drawing, but may be any direction in the horizontal plane. The following embodiments of the present application will be described by taking the second direction as an example of the direction of the X axis in the figure and the first direction as an example of the direction of the Y axis in the figure.

According to the warehouse equipment 100 provided by the embodiment of the application, the fixing part 172 is arranged on the bearing piece 11, and the fixing part 172 is connected with the base body, so that a plurality of bearing pieces 11 can be connected into a whole by utilizing the base body, the integral structural strength of the bearing piece 11 and the base body is improved, the risk of deformation of the bearing piece 11 is reduced, the relative position between two adjacent bearing pieces 11 is limited, the risk of change of the interval between the vertical guide rails 171 and the risk of change of the relative position between the two adjacent vertical guide rails 171 are further reduced, the matching of the picking and placing device 2 and the vertical guide rails 171 is smoother, and the motion stability and the motion precision of the picking and placing device 2 are improved.

In some examples of the embodiment of the present application, the plurality of carriers 11 are arranged at intervals in the left-right direction, and the pick-and-place device 2 is provided on the front side of the carriers 11 in the front-rear direction. Wherein the left-right direction is consistent with the second direction, and the front-back direction is consistent with the first direction. For example, the side of the pick-and-place device 2 which is disposed toward the carrier 11 is a front side, and the side opposite to the front side is a rear side.

In some examples of embodiments of the present application, as shown in fig. 29, 30, and 32 to 35, the warehouse facility 100 further includes at least one connection beam 161, the connection beam 161 extends from one of the adjacent two carriers 11 toward the other carrier 11, and the connection beam 161 is connected with the fixing portions 172 of the adjacent two carriers 11. The connection beam 161 and the carrier 11 may be bonded, welded or connected by a fastener, which may be a bolt, a screw or a rivet.

For example, the number of the carriers 11 is two, the two carriers 11 are arranged at intervals in the left-right direction, both ends of the connection beam 161 are connected to the fixing portions 172 of the two carriers 11, respectively, and the two carriers 11 are connected by the connection beam 161.

By connecting the two adjacent bearing members 11 through the connecting beam 161, the two adjacent bearing members 11 and the connecting beam 161 can be connected into a whole, and the integral structural strength of the two adjacent bearing members 11 and the connecting beam 161 can be improved, so that the risk of deformation of the bearing members 11 and the relative position between the two adjacent bearing members 11 are reduced, and the movement stability and the movement precision of the pick-and-place device 2 are improved.

In some examples of embodiments of the present application, the connection beams 161 form a matrix, that is, the connection beams 161 connect the plurality of carriers 11 as one body.

By forming the connection beam 161 into a base body, the structure of the base body is simple, and the storage facility 100 is convenient to install and fix.

In other examples of embodiments of the application, the substrate may be other structures, such as a floor, or a frame structure (e.g., a shelf secured to the floor).

In other examples of embodiments of the present application, the connection beam 161 has a connection portion, and the connection portion is connected to the base body. That is, the plurality of carriers 11 are connected to the base body through the connection beams 161. That is, the fixing portion 172 of the carrier 11 is connected to the base body through the connection beam 161.

The connecting part and the base body can be bonded, welded or connected through a fastener, and the fastener can be a bolt, a screw or a rivet.

By arranging the connecting part on the connecting beam 161, the connecting beam 161 is utilized to connect the plurality of bearing pieces 11 with the base body, so that the plurality of bearing pieces 11 are convenient to connect with the base body, and the storage equipment 100 is convenient to install and fix.

In some examples of embodiments of the present application, as shown in fig. 36 and 37, the carrier 11 has a plurality of fixing portions 172, and the plurality of fixing portions 172 are arranged at intervals. The plurality of connection beams 161 are arranged at intervals, and the connection beams 161 are connected with the corresponding fixing portions 172 of the adjacent two carriers 11.

For example, as shown in fig. 36, the plurality of fixing portions 172 of the carriers 11 are arranged at intervals in the up-down direction, the plurality of connecting beams 161 are arranged at intervals in the up-down direction, and the connecting beams 161 are connected with the corresponding fixing portions 172 of the adjacent two carriers 11 such that the adjacent two carriers 11 are connected by the plurality of connecting beams 161. Of course, the plurality of fixing portions 172 of the carriers 11 may be arranged at intervals in the front-rear direction, and at least two connection beams 161 may be arranged in sequence in the front-rear direction, at which time, at the same height, two adjacent carriers 11 are connected by at least two connection beams 161.

The two adjacent bearing members 11 are connected through the plurality of connecting beams 161, so that the overall structural strength of the two adjacent bearing members 11 and the connecting beams 161 can be further improved, the risk of deformation of the bearing members 11 is further reduced, the relative positions between the two adjacent bearing members 11 are reduced, and the movement stability and the movement precision of the pick-and-place device 2 are improved.

In some examples of the embodiments of the present application, as shown in fig. 29, 32 to 35, and 36, the extending direction of the connection beam 161 is parallel to the second direction.

For example, the second direction coincides with the left-right direction, and the connection beams 161 are arranged parallel to the left-right direction.

By setting the extension direction of the connection beam 161 to be parallel to the second direction, the connection of two adjacent carriers 11 can be achieved in the case that the length of the connection beam 161 is short, which is advantageous for reducing the cost of the connection beam 161 and thus the cost of the warehouse facility 100.

In some examples of embodiments of the present application, the warehouse facility 100 further includes a buffer rack disposed on a side of the carrier 11 away from the pick-and-place device 2 in the first direction, and the buffer rack is connected to the connection beam 161.

The number of the buffer frames may be one or more, and at least one buffer frame may be disposed on each connection beam 161.

For example, the pick-and-place device 2 is provided on the front side of the carrier 11, and the buffer rack is provided on the rear side of the carrier 11.

Through setting up the buffer memory frame on storage equipment 100, can place the goods 7 of getting and putting the device 2 and taking down on the buffer memory frame to get and put the device 2 and take down a goods 7, improve the work efficiency of getting and putting the device 2, thereby improve storage equipment 100's work efficiency.

The cargo 7 may be a cargo box, a bin, a cargo itself, a cargo raw box, or the like, and is not limited herein.

In some specific application scenarios, taking the warehouse apparatus 100 as a picking device and taking the picking device 2 to pick the goods 7 from a carrier (such as a mobile shelf, a pallet, a transportation cart, etc.) carried by a carrying robot as an example is described:

Firstly, a first carrying robot carries a first carrier carrying first cargoes to a pick-and-place device 2, the pick-and-place device 2 takes down the first cargoes in the first carrier and places the first cargoes on a picking position for sorting, then, a second carrying robot carries a carrier carrying second cargoes to the pick-and-place device 2, the pick-and-place device 2 takes down the second cargoes in the second carrier and places the second cargoes on a cache rack. The picking and placing device 2 can place other cargoes 7 in the carrier on the buffer rack before the sorting of the first cargoes 7 is completed, and the picking and placing device 2 can take the second cargoes off the corresponding buffer rack and place the second cargoes on the sorting position for sorting after the sorting of the first cargoes is completed.

In some examples of the embodiment of the present application, as shown in fig. 37, the extending direction of the connection beam 161 is arranged obliquely to the second direction.

Wherein the connection beam 161 may be provided in one, two or more. For example, as shown in fig. 37, two connection beams 161 are provided, an angle between an extending direction of the connection beam 161 and a left-right direction is an acute angle, and the two connection beams 161 are arranged to intersect.

By setting the extending direction of the connecting beam 161 to be inclined relative to the second direction, the connecting beam 161 can be connected with different positions of two adjacent bearing members 11, so that the different positions of each bearing member 11 can be conveniently reinforced as required, and the reliability of the storage equipment 100 can be improved.

In some examples of embodiments of the present application, as shown in fig. 38, the warehouse facility 100 further includes a fixing beam 163, the fixing beam 163 being disposed to be inclined with respect to the second direction, both ends of the fixing beam 163 being connected to the connection beam 161 and the fixing portion 172 of the at least one carrier 11, respectively.

For example, as shown in fig. 38, two fixing beams 163 are provided, the two fixing beams 163 are arranged at intervals in the second direction, and the fixing beams 163 are provided at the lower side of the connection beam 161. Two ends of one of the fixing beams 163 are connected to the connection beam 161 and the fixing portion 172 of one of the carriers 11, respectively, and two ends of the other fixing beam 163 are connected to the connection beam 161 and the fixing portion 172 of the other carrier 11, respectively. At this time, the two carriers 11 are connected not only by the connection beam 161 but also by the two fixing beams 163 and the connection beam 161.

In some examples of embodiments of the present application, as shown in fig. 30, the fixing portion 172 is provided on the top of the carrier 11. At this time, the top of the carrier 11 is connected to the base.

For example, the tops of the two carriers 11 are connected by the connecting beam 161, so that the two carriers 11 and the connecting beam 161 constitute a door-shaped frame, and the pick-and-place device 2 is disposed inside the door-shaped frame. And of the two carriers 11, one carrier 11 is provided with a vertical rail 171 toward the side of the other carrier 11.

By arranging the fixing portion 172 on the top of the carrier 11, the risk of deformation of the top of the carrier 11 and the limitation of the relative position between the tops of two adjacent carriers 11 can be reduced, and the movement stability and the movement precision of the pick-and-place device 2 can be improved.

In some examples of embodiments of the present application, as shown in fig. 29, the fixing portion 172 is provided at the bottom of the carrier 11. At this time, the bottom of the carrier 11 is connected to the base.

For example, the ground serves as a base body, and the bottom of the carrier 11 is connected to the ground. Wherein the bottom of the carrier 11 can be connected to the ground by means of anchor bolts.

By arranging the fixing portion 172 at the bottom of the carrier 11, the risk of deformation of the bottom of the carrier 11 can be reduced, the relative position between the bottoms of two adjacent carriers 11 can be limited, and the movement stability and the movement precision of the pick-and-place device 2 can be improved.

In some examples of embodiments of the application, the fixing portion 172 is provided in the middle of the carrier 11. At this time, the middle portion of the carrier 11 is connected to the base.

For example, as shown in fig. 36 and 37, the middle portions of the carriers 11 are each provided with a fixing portion 172, the middle portions of the carriers 11 are connected to the connection beams 161, and the connection beams 161 form a base body.

By arranging the fixing portion 172 in the middle of the carrier 11, the risk of deformation of the middle of the carrier 11 can be reduced, the relative position between the middle of two adjacent carriers 11 can be limited, and the movement stability and the movement precision of the pick-and-place device 2 can be improved.

In some examples of embodiments of the application, the bottom of the carrier 11 is provided with a fixing member 4, the fixing member 4 forming a fixing portion 172.

By arranging the fixing piece 4 at the bottom of the bearing piece 11, the bottom of the bearing piece 11 is convenient to be connected with the base body, so that the storage equipment 100 is convenient to install and fix.

In some examples of embodiments of the present application, the fixing member 4 is provided with fixing holes 411, and the fixing holes 411 are provided for passing fasteners to connect with the base.

For example, the fixing holes 411 allow anchor bolts to pass through, so as to connect the bearing 11 with the ground.

In some examples of embodiments of the application, as shown in fig. 31, the carrier 11 includes a first wall 173 and a second wall that are oppositely disposed in the second direction. The fixing member 4 includes a first plate 41 and a second plate 42, the first plate 41 being provided at the bottom of the carrier 11, and the second plate 42 being provided at a side of the carrier 11 remote from the second wall surface. The first plate 41 is adapted to be connected to the base body, and the bottom surface of the carrier 11 is connected to the top surface of the first plate 41. The side surface of the second plate 42 facing the first wall surface 173 is connected to the first wall surface 173, and the bottom surface of the second plate 42 is connected to the top surface of the first plate 41.

For example, the first plate 41 is disposed on the lower side of the carrier 11, the left side surface of the carrier 11 is a first wall surface 173, the second plate 42 is disposed on the left side of the carrier 11, the first plate 41 is provided with the fixing hole 411, the lower end surface of the carrier 11 is connected to the upper side surface of the first plate 41, the right side surface of the second plate 42 is connected to the left side surface of the carrier 11, and the lower side surface of the second plate 42 is connected to the upper side surface of the first plate 41.

By adopting the above structure for the fixing member 4, the connection reliability between the fixing member 4 and the carrier 11 can be improved, thereby improving the connection reliability between the carrier 11 and the base body and improving the reliability of the warehouse facility 100.

In some examples of embodiments of the application, the carrier 11 further includes a third wall 174 and a fourth wall opposite in the first direction. The fixing member 4 further includes a connection plate 43 and a rib 44, the connection plate 43 being provided on a side of the carrier 11 away from the fourth wall surface, the rib 44 being provided on a side of the connection plate 43 away from the carrier 11. The side surface of the connection plate 43 facing the third wall surface 174 is connected to the third wall surface 174, the side surface of the connection plate 43 facing the second plate 42 is connected to the side surface of the second plate 42 facing the first wall surface 173, and the bottom surface of the connection plate 43 is connected to the top surface of the first plate 41. The side of the rib 44 facing the third wall surface 174 is connected to the side of the connection plate 43 facing away from the third wall surface 174, and the bottom surface of the rib 44 is connected to the top surface of the first plate 41.

For example, the connection plate 43 is disposed on the front side of the carrier 11, the front side of the carrier 11 is the third wall surface 174, the rib 44 is disposed on the front side of the connection plate 43, the lower surface of the connection plate 43 is connected to the upper surface of the first plate 41, the left side of the connection plate 43 is connected to the right side of the second plate 42, the rear side of the rib 44 is connected to the front side of the connection plate 43, and the lower surface of the rib 44 is connected to the upper surface of the first plate 41.

By adopting the above structure for the fixing member 4, the connection reliability between the fixing member 4 and the carrier 11 can be further improved, thereby improving the connection reliability between the carrier 11 and the base body and improving the reliability of the warehouse equipment 100.

As shown in fig. 39 and 40, the embodiment of the present application further provides a warehouse system, which includes a shelf 6 and the warehouse equipment 100 according to any one of the foregoing embodiments, where the warehouse equipment 100 is disposed on at least one side of the shelf 6 in the second direction and/or the first direction. The goods shelves 6 are used for placing goods 7, and the pick-and-place device 2 is used for picking and placing the goods 7.

The storage facility 100 is arranged on at least one side of the rack 6 in the second direction and/or in the first direction, it being understood that the storage facility 100 is arranged on at least one side of the rack 6 in the second direction and the storage facility 100 is arranged on at least one side of the rack 6 in the first direction, or that the storage facility 100 is arranged on at least one side of the rack 6 in the second direction, or that no storage facility 100 is arranged on any side of the rack 6 in the first direction, or that the storage facility 100 is arranged on at least one side of the rack 6 in the second direction.

Because the warehousing equipment 100 of the embodiment of the application has better motion stability and motion precision of the picking and placing device 2, the warehousing system of the embodiment of the application has the advantages of good reliability and the like.

As shown in fig. 39 and 40, the fixing portion 172 is fixedly connected to the shelf 6, and the shelf 6 forms a base body.

The vertical rail 171 may be fixed to a column of the shelf 6, or the column of the shelf 6 forms the vertical rail 171.

The fixing portion 172 and the shelf 6 may be welded, or the fixing portion 172 and the shelf 6 may be connected by a fastener, which may be a bolt, a screw, a rivet, or the like.

By using the shelf 6 as a base, additional setting of the base can be avoided, the overall structure of the storage apparatus 100 is simplified, and the overall cost of the storage apparatus 100 is reduced.

Alternatively, as shown in fig. 39 and 40, the warehouse facility 100 is arranged on one side of the pallet 6 in the first direction, and the pick-and-place device 2 is arranged offset to the side of the carrier 11 away from the pallet 6 in the first direction. The pallet 6 is provided with a transverse rail 61 extending in the second direction, and the carrier 11 is provided with a guide portion which is movably engaged with the transverse rail 61 in the second direction.

The guide part may be a traversing wheel 175, a guide block, etc. The shelf 6 is provided with a transverse rail 61, it being understood that the cross beam of the shelf 6 itself forms the transverse rail 61, or that the shelf 6 is provided separately from the transverse rail 61 and that the transverse rail 61 is fixedly connected to the shelf 6.

For example, the traversing wheel 175 may be provided directly on the carrier 11, the traversing wheel 175 being movably engaged with the traversing rail 61 in the second direction, thereby enabling the carrier 11 to be movable in the second direction, in which case the traversing wheel 175 forms a guide. For another example, the fixing portion 172 of the carrier 11 may be connected to the base, and the traversing wheel 175 may be disposed on the base, where the traversing wheel 175 is movably engaged with the traversing rail 61 along the second direction, so as to realize that the carrier 11 is movable along the second direction, and the traversing wheel 175 forms the guiding portion.

By arranging the carrying piece 11 to be movable along the second direction, the picking and placing device 2 can not only move along the vertical guide rail 171, but also move along the transverse guide rail along with the carrying piece 11, so that the storage equipment 100 can pick and place cargoes 7 at more positions of the goods shelves 6, and the work efficiency of the storage system is improved. In some examples of embodiments of the present application, the warehouse system further comprises at least one cargo receiving point disposed on the other side of the carrier 11 in the first direction.

The receiving point may be a picking position, a temporary storage position for placing the goods 7, or a receiving trolley for carrying the goods 7.

For example, the receiving point is arranged on the rear side of the carrier 11.

Through setting up the goods receiving point position, the convenient placing of the goods 7 that will get and put the device 2 and take out is favorable to improving warehouse system's work efficiency.

In some examples of embodiments of the application, as shown in fig. 29, 32 and 35, the warehouse system further comprises a work bench 2 (picking bench), the work bench 2 being provided with at least one work station 311 (picking station), the work station 311 forming a receiving point.

Wherein the working table 2 is provided with at least one working position 311, it is understood that the working table 2 is provided with one working position 311, or the working table 2 is provided with two or more working positions 311.

For example, the table 2 is provided with three stations 311.

By providing at least one station 311 on the table 2, the efficiency of the warehouse system can be increased.

In other examples of embodiments of the present application, only one station 311 may be provided on the table 2.

In some examples of embodiments of the present application, the table 2 includes a first side plate 316 and a second side plate 317 that are oppositely disposed along the second direction, at least one of the first side plate 316 and the second side plate 317 being provided with a plurality of hook holes 318.

For example, the right side plate of the table 2 is a first side plate 316, the left side plate of the table 2 is a second side plate 317, and the first side plate 316 and the second side plate 317 are each provided with a plurality of hook holes 318. The hook hole 318 may be used to hang a storage rack, which may be used to store tools such as a barcode printer and a barcode scanner.

By providing the hook hole 318, an auxiliary tool (e.g., a storage rack) is conveniently hung on the workbench 2, and the practicability of the warehouse picking system is improved.

In other examples of the embodiment of the present application, the hook hole 318 may not be provided on the table 2. At this time, a storage rack for storing tools such as a barcode printer and a barcode scanner may be provided directly beside the table 2.

The picking and placing device 2 comprises a bearing frame, a driving assembly and a picking and placing assembly, wherein the bearing frame is movably matched with the supporting frame 1 in the vertical direction, the driving assembly is used for driving the bearing frame to move in the vertical direction, the picking and placing assembly is arranged on the bearing frame, and the picking and placing assembly is used for carrying cargoes 7 between the carrying robot and the station 311.

In the warehouse system, the carrying equipment responds to the order instruction, carries the goods corresponding to the order to the box taking mechanism of the picking system, the box taking mechanism transfers the goods to the picking platform of the picking system, and then sorts the goods corresponding to the order in the goods to the order box, so that the sorting of the goods corresponding to the order is realized. The goods can be articles, carriers with articles placed or containers with articles placed, and the carrying equipment can be a mechanical arm or a carrying robot.

In the process that the carrying equipment carries cargoes to the box taking mechanism of the picking system, the carrying equipment moves according to a set moving path. In the related art, the box taking mechanism of the picking system is arranged on one side of the protruding support frame in the horizontal direction, one side of the box taking mechanism is arranged through the support frame in the moving process of the carrying equipment, so that when the moving path of the carrying equipment has deviation, cargoes carried on the carrying equipment are easy to collide with the box taking mechanism, and the working efficiency and the reliability of the warehousing system are affected.

With reference to fig. 41 to 46, a warehouse facility 100 according to an embodiment of the present application includes a carrying device 1, a pick-and-place device 2, and an anti-collision marker 8, where the pick-and-place device 2 is movably connected to the carrying device 1 along a vertical direction. The pick-and-place device 2 is arranged on the side of the carrier device 1 protruding in the first direction. The crash tag 8 is located on at least one side of the carrier 1 and/or the pick-and-place device 2 in the second direction. The anti-collision mark 8 is used for being identified by the carrying equipment so as to enable the goods borne by the carrying equipment to avoid the pick-and-place device 2. The first direction is orthogonal to the vertical direction and the second direction is orthogonal to the vertical direction and the first direction.

The pick-and-place device 2 may be disposed away from a cargo receiving point of the warehouse system in the first direction, for example, the cargo receiving point is a temporary storage position for placing the cargo, a cargo receiving trolley for carrying the cargo, or a picking position on a picking platform, and the pick-and-place device 2 may also be disposed close to the cargo receiving point of the warehouse system, for example, the cargo receiving point is a movable shelf, and the pick-and-place device 2 picks up the cargo from the movable shelf. The cargo may be an article, a carrier on which the article is placed, a container on which the article is placed, or the like. The anti-collision mark 8 can be an anti-collision piece, a two-dimensional code, an image mark and the like.

The anti-collision mark 8 is located on at least one side of the carrying device 1 and/or the picking and placing device 2 in the second direction, which is understood that the anti-collision mark 8 is located on one side or two sides of the carrying device 1 in the second direction, but no anti-collision mark 8 is provided on each side of the picking and placing device 2 in the second direction, or the anti-collision mark 8 is located on one side or two sides of the carrying device 1 in the second direction, or the anti-collision mark 8 is located on one side or two sides of the picking and placing device 2 in the second direction, at this time, the carrying device 1 and the picking and placing device 2 may be the same anti-collision mark 8, or may be different anti-collision marks 8.

The vertical direction may be a direction shown by a Z axis in the figure, the first direction may be a direction shown by an X axis in the figure, and the second direction may be a direction shown by a Y axis in the figure.

The first direction in the present application is not limited to the X-axis direction in the drawing, but may be any direction in the horizontal plane, and the first direction in the present application is not limited to the Y-axis direction in the drawing, but may be any direction in the horizontal plane. The following examples of the present application will be described with reference to the first direction as the X-axis direction in the figure and the second direction as the Y-axis direction in the figure.

According to the warehousing equipment 100 provided by the embodiment of the application, the anti-collision mark 8 is arranged on at least one side of the bearing device 1 and/or the picking and placing device 2 in the second direction, so that the moving path of the goods can be determined by the moving equipment through identifying the anti-collision mark 8 in the process of moving the goods to the picking and placing device 2 by the moving equipment, the goods borne by the moving equipment are prevented from colliding with the picking and placing device 2, and the working efficiency and the reliability of the warehousing system are improved.

The handling equipment may be a mechanical arm, a handling robot, a mobile shelf, or the like. The handling device determines its movement path, which is understood to mean that the handling device re-plans the movement path or that the handling device continues to move according to the already planned movement path, the determined movement path being such that the goods carried by the handling device do not collide with the pick-and-place device 2.

In some examples of embodiments of the present application, as shown in fig. 41, 44 and 45, the warehouse facility 100 includes a fixture 9. At least a part of the fixing member 9 is located on one side of the pick-and-place device 2 in the second direction. At least a portion of the securing member 9 forms the anti-collision marker 8, or the anti-collision marker 8 is disposed on the securing member 9.

Wherein at least a part of the fixing member 9 is located at one side of the pick-and-place device 2 in the second direction, it is understood that a part of the fixing member 9 is located at one side of the pick-and-place device 2 in the second direction, or that the fixing member 9 is entirely located at one side of the pick-and-place device 2 in the second direction.

Wherein at least a part of the fixing element 9 forms the anti-collision marker 8, it is understood that at least a part of the fixing element 9 is used as the anti-collision marker 8. At this time, when the handling equipment recognizes the part of the fixing piece 9 as the anti-collision mark 8, the moving path of the handling equipment is determined, so that the goods carried by the handling equipment are prevented from colliding with the picking and placing device 2.

The anti-collision sign 8 is arranged on the fixing member 9, and it is understood that the anti-collision sign 8 is fixed on the fixing member 9 by means of adhesion, printing, fastening members, etc., and the fastening members may be bolts, screws, rivets, etc. At this time, when the carrying equipment recognizes the anti-collision mark on the fixing piece 9, the moving path of the carrying equipment is determined, so that the goods carried by the carrying equipment are prevented from colliding with the picking and placing device 2.

Through setting up mounting 9 to form crashproof sign 8 with at least a portion of mounting 9, perhaps crashproof sign 8 sets up on mounting 9, conveniently set up crashproof sign 8 in the position department that is easily discerned by handling equipment, be favorable to handling equipment to carry out quick accurate discernment to crashproof sign 8, thereby avoid the goods that handling equipment bore to bump with getting and put device 2 more effectively.

In other examples of embodiments of the present application, the anti-collision identifier 8 is a two-dimensional code or an image identifier. The image mark can be stripes with black and yellow intervals, stripes with black and white intervals, squares with black and white intervals and the like.

Wherein, the two-dimensional code or the image mark can be fixed on the bearing device 1, the picking and placing device 2 or the ground through adhesion, printing, fasteners and the like. At this time, the camera can be arranged on the carrying equipment, the relative position of the carrying equipment and the picking and placing device 2 is determined by identifying the two-dimensional code or the image mark serving as the anti-collision mark 8 through the camera, the moving path of the carrying equipment is determined, and the collision between goods borne by the carrying equipment and the picking and placing device 2 is avoided.

By setting the anti-collision mark 8 as the two-dimensional code or the image mark, the specific structure of the storage equipment 100 can not be changed, and only the two-dimensional code or the image mark is required to be arranged on the storage equipment 100, thereby being beneficial to reducing the cost of the storage equipment 100.

It should be noted that, when the two-dimensional code or the image identifier is disposed on the carrying device 1 or the pick-and-place device 2, the camera of the handling device is preferably disposed at a front side in the moving direction thereof, that is, a front side of the camera facing the moving direction of the handling device, so as to identify the two-dimensional code or the image identifier on the carrying device 1 or the pick-and-place device 2. When two-dimensional code or image sign set up subaerial, then the camera of handling equipment can set up in the bottom of handling equipment, the camera is down to discern the two-dimensional code on carrying device 1 or getting put device 2.

The position where the camera can recognize the two-dimensional code or the image mark is taken as the recognition position, the recognition position and the pick-and-place device 2 are positioned on the same side of the bearing device 1, the distance between the recognition position and the bearing device 1 in the second direction is D1, the distance between the side surface of the pick-and-place device 2, away from the bearing device 1 in the second direction, and the bearing device 1 in the second direction is D2, and then D1 is greater than or equal to D2.

For example, the identification position is located on the front side of the carrier 1, and the pick-and-place device 2 is located on the front side of the carrier 1. The distance between the identification position and the carrying device 1 in the front-rear direction is D1, the distance between the front side surface of the pick-and-place device 2 and the carrying device 1 in the front-rear direction is D2, and D1 is larger than D2. The front-back direction may be consistent with the first direction, the left-right direction may be consistent with the second direction, and the box taking mechanism 1 is disposed protruding from the front side of the carrying device 1.

In some specific application scenarios, the process of moving the handling device from the right front side of the pick-and-place device 2 to the pick-and-place device 2 will be described as an example:

The handling equipment moves backward to the right side of the pick-and-place device 2, and then moves leftward to the pick-and-place device 2. In the process of moving the handling device to the left, if the handling device moves to the identification position, the handling device re-plans the moving path, for example, after identifying the two-dimensional code, the handling device moves forward a certain distance to avoid the identification position, and then moves to the left to the pick-and-place device 2. When the handling device is at the front side of the identification position, the identification position can be avoided, and when the handling device is at the front side of the identification position, the handling device is necessarily at the front side of the picking and placing device 2, and then the goods carried by the handling device are necessarily not collided with the picking and placing device 2.

In some examples of embodiments of the application, as shown in fig. 42 and 46, at least a part of the fixing member 9 forms a collision preventing portion 94, the collision preventing portion 94 and the pick-and-place device 2 being located on the same side of the carrying device 1 in the first direction, the collision preventing portion 94 being used to resist the handling equipment.

At least a part of the fixing member 9 forms the collision preventing portion 94, which means that a part of the fixing member 9 is used as the collision preventing portion 94, and at this time, the part of the fixing member 9 used as the collision preventing portion 94 functions to resist the transporting apparatus, and the rest of the fixing member 9 does not function to resist the transporting apparatus, or the whole fixing member 9 is used as the collision preventing portion 94, and at this time, the whole fixing member 9 functions to resist the transporting apparatus.

For example, the anti-collision part 94 and the pick-and-place device 2 are both located at the front side of the carrying device 1, and the anti-collision parts 94 are provided at both the left and right sides of the pick-and-place device 2.

Through forming the anticollision portion 94 with at least a portion of mounting 9, anticollision portion 94 is used for withstanding handling equipment for when the goods that handling equipment bore will collide with getting put device 2, mounting 9 can directly prevent handling equipment to continue to remove, thereby avoid the goods that handling equipment bore to collide with getting put device 2 more effectively.

In some specific application scenarios, the process of moving the handling device from the left front of the pick-and-place device 2 to the pick-and-place device 2 will be described as an example:

The handling equipment is moved back to the left of the pick-and-place device 2, and then the handling equipment is moved to the right to the pick-and-place device 2. In the process of moving the handling device rightward, if the handling device collides with the collision preventing portion 94, it is determined that the cargo carried by the handling device will collide with the pick-and-place device 2 under the moving path, and then the handling device re-plans the moving path, for example, after the handling device collides with the collision preventing portion 94, the handling device moves forward a certain distance to avoid the collision preventing portion 94, and then moves rightward to the pick-and-place device 2.

Of course, in other embodiments, the fixing member 9 may not have a function of resisting the handling device, and in this case, the handling device determines the moving path thereof only by identifying the anti-collision mark 8, so as to avoid the goods carried by the handling device colliding with the pick-and-place device 2.

In some examples of embodiments of the application, as shown in fig. 41 and 44, the fixing members 9 are arranged at intervals from the carrier 1 in the first direction. That is, the fixing member 9 is provided separately from the carrying device 1.

For example, the pick-and-place device 2 is arranged on the front side of the carrier device 1 and the fixing element 9 is arranged on the front side of the carrier device 1.

By arranging the fixing members 9 and the carrying device 1 at intervals along the first direction, the setting position of the fixing members 9 is not limited by the carrying device 1, and the fixing members 9 can be arranged at positions which are easily recognized by the carrying equipment, so that the goods carried by the carrying equipment are more effectively prevented from colliding with the picking and placing device 2.

In other examples of embodiments of the application, as shown in fig. 45 and 46, the fixing member 9 is fixedly connected to the carrying device 1. That is, the fixing member 9 is fixed integrally with the carrier 1.

The fastening element 9 can be welded, glued or connected to the carrier 1 by means of a fastening element, which can be a bolt, a screw, a rivet or the like.

The fixing piece 9 is fixedly connected with the bearing device 1, so that the bearing device 1 can be used as a fixing base body of the fixing piece 9, and the fixing piece 9 is convenient to install and fix.

In some examples of the embodiment of the present application, as shown in fig. 43, 44 and 46, a distance between a side surface of the anti-collision portion 94, which is far from the supporting frame in the second direction, and the carrying device 1 in the second direction is L1, and a distance between a side surface of the pick-and-place device 2, which is far from the carrying device 1 in the second direction, and the carrying device 1 in the second direction is L2, where L1 is greater than or equal to L2.

For example, the collision preventing portion 94 is located on the front side of the carrying device 1, and the pick-and-place device 2 is located on the front side of the carrying device 1. The distance between the front side surface of the collision preventing portion 94 and the carrying device 1 in the front-rear direction is L1, and the distance between the front side surface of the pick-and-place device 2 and the carrying device 1 in the front-rear direction is L2, where L1 is greater than L2.

The handling equipment moves backward to the right side of the pick-and-place device 2, and then moves leftward to the pick-and-place device 2. In the process of moving the handling apparatus to the left, if the handling apparatus collides with the collision preventing portion 94, the handling apparatus re-plans the moving path, for example, after the handling apparatus collides with the collision preventing portion 94, the handling apparatus moves forward a certain distance to avoid the collision preventing portion 94, and then moves to the left to the pick-and-place device 2. Wherein, the anti-collision portion 94 can only be avoided when the handling equipment is located at the front side of the anti-collision portion 94, and when the handling equipment is located at the front side of the anti-collision portion 94, the handling equipment must be located at the front side of the picking and placing device 2, and then the goods carried by the handling equipment must not collide with the picking and placing device 2.

By setting L1 to be greater than or equal to L2, the load thereon must not collide with the pick-and-place device 2 without the transporting apparatus colliding with the collision preventing portion 94. Therefore, the collision between the goods borne by the carrying equipment and the picking and placing device 2 is effectively avoided.

In some examples of embodiments of the present application, as shown in fig. 41, 44 and 45, the fixing member 9 is a crash frame, and the crash frame and the pick-and-place device 2 are located on the same side of the carrier 1 in the first direction, and the crash frame forms a crash mark.

Through establishing mounting 9 as the crashproof frame for the structural strength of mounting 9 is better, thereby when handling equipment bumps with mounting 9, avoids mounting 9 to be bumped by handling equipment, improves the reliability of storage equipment 100.

In some examples of embodiments of the present application, as shown in fig. 43, the impact beam includes an impact beam 91 and a plurality of legs 92, the impact beam 91 extending in a first direction, the plurality of legs 92 being spaced apart in the first direction, the impact beam 91 being connected to the plurality of legs 92.

For example, as shown in fig. 43, the number of the legs 92 is two, the impact beam 91 extends in the front-rear direction, the two legs 92 are arranged at intervals in the front-rear direction, and the impact beam 91 and the two legs 92 constitute a U-shaped frame.

The anti-collision frame is of the structure, so that the structural strength of the anti-collision frame is guaranteed, the structure of the anti-collision frame is simplified, the cost of the anti-collision frame is reduced, and the cost of the storage equipment 100 is reduced.

In other examples of the embodiments of the present application, the bump frame may be configured in other structures, for example, the bump frame is configured as shown in fig. 45 and 46, or the bump frame is configured as a rectangular frame, a T-shaped frame, or the like.

In some examples of embodiments of the present application, as shown in fig. 43 and 46, the bottom of the impact frame is provided with a fixing portion 93, and the fixing portion 93 is used for connection with the base body. The fixing portion 93 may be directly connected to the base body, or may be indirectly connected to the base body through a connecting member, and the base body may be a floor, a bracket, a floor, or the like.

For example, the bottom of the leg 92 is provided with a fixing plate, which forms a fixing portion 93, and the fixing plate is connected to the ground by anchor bolts.

Through setting up fixed part 93 in the bottom of crashproof frame, utilize fixed part 93 to be connected with the base member, can improve crashproof frame's fixed stability, improve the reliability of storage equipment 100.

In addition, as shown in fig. 45 and 46, when the crash frame is connected to the carrier 1, the connection between the carrier 1 and the base can be further realized by connecting the fixing portion 93 to the base, so that the fixing stability of the carrier 1 can be improved, and the reliability of the warehouse facility 100 can be further improved.

In some examples of the embodiment of the present application, as shown in fig. 42 and 45, the carrying device 1 includes two carrying members 11 and one connecting beam 161, where the two carrying members 11 are arranged at intervals along the second direction, the connecting beam 161 extends along the second direction, two ends of the connecting beam 161 are respectively connected with top portions of the two carrying members 11, and the carrying device 1 is a door-shaped frame as a whole.

The whole structure of the bearing device 1 is simple, and the design and the processing are convenient.

In some examples of embodiments of the present application, the warehouse facility 100 further includes a cargo receiving site disposed on one side of the carrier 1 in the first direction, and the pick-and-place device 2 is disposed away from or near the cargo receiving site in the first direction.

When the pick-and-place device 2 is disposed far away from the cargo receiving point in the first direction, the cargo receiving point is a temporary storage position for placing cargoes, a cargo receiving trolley for carrying cargoes, or a picking position on a picking platform. When the pick-and-place device 2 is arranged close to the cargo receiving point in the first direction, the cargo receiving point may be a mobile shelf.

Through keeping away from or being close to the goods receiving point setting of getting and putting device 2 in the first direction, conveniently get and put device 2 and get and put the goods on the goods receiving point.

In some examples of embodiments of the present application, as shown in fig. 41 to 46, the warehouse facility 100 further includes a workbench 3, where the workbench 3 is provided with at least one station 311, and the station 311 forms a cargo receiving point.

The workbench 3 is provided with at least one working position 311, which can be understood as that the workbench 3 is provided with one working position 311 or that the workbench 3 is provided with two or more working positions 311.

For example, the table 3 is provided with three stations 311.

By providing at least one station 311 on the workstation 3, the efficiency of the warehouse facility 100 may be increased.

The picking and placing device 2 comprises a bearing frame, a driving assembly and a picking and placing assembly, wherein the bearing frame is movably connected with the bearing device 1 along the vertical direction, the bearing frame is arranged on one side, protruding out of the bearing device 1 in the first direction, away from the goods receiving point, the driving assembly is used for driving the bearing frame to move along the vertical direction, the picking and placing assembly is arranged on the bearing frame, and the picking and placing assembly is used for carrying goods between carrying equipment and the station 311.

In some examples of embodiments of the application, the warehousing system includes racks and handling equipment for handling goods between the racks and the pick-and-place device 2.

In some specific application scenarios, an order item from shelf to order box is illustrated:

The carrying equipment carries the container filled with the ordered articles from the goods shelf to the picking and placing device 2 corresponding to the order instructions, the container filled with the ordered articles is transferred to the workbench 3 through the picking and placing device 2, and then the ordered articles are sorted into the ordered containers through manual or automatic speaking equipment, so that sorting of the articles corresponding to the orders is realized. Wherein, the handling equipment removes to getting the in-process of putting device 2 from the goods shelves, utilizes anticollision sign 8 to avoid the goods that handling equipment bore to collide with getting and putting device 2.

In the description of the present utility model, it should 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", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interactive relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean 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 utility model. In this specification, schematic representations of the above terms are not necessarily directed 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. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims

1. A driving device, characterized by comprising:

Two execution components;

A transmission assembly respectively connected with the two execution assemblies, and

The driving piece is connected with the transmission assembly to drive the execution assembly to run synchronously through the transmission assembly.

2. A driving device according to claim 1, wherein the transmission assembly comprises a reducer, an input shaft of the reducer is connected to the driving member, and the two actuating assemblies are detachably connected to output shafts of the reducer, respectively.

3. The drive of claim 2, wherein the transmission assembly further comprises a drive shaft, at least one of the two actuating assemblies being detachably connected to the output shaft of the reducer via the drive shaft.

4. The drive of claim 1, wherein each of said actuating assemblies includes a first rotatable member, a second rotatable member and a first connecting member, said first rotatable member and said second rotatable member being disposed in spaced relation, said first connecting member being disposed about said first rotatable member and said second rotatable member, said transmission assembly being connected to said first rotatable members of each of said actuating assemblies.

5. A load carrying apparatus comprising:

two carriers arranged at a distance from each other, and

Drive device, which is a drive device according to any one of claims 1-4, the two actuating components of which are provided on the two carriers, respectively.

6. The carrier of claim 5, wherein the actuator assembly is embedded within the carrier.

7. The carrier of claim 5, wherein the carrier has a first limit slot and a second limit slot, the openings of the first limit slot and the second limit slot being relatively open in a first direction;

The bearing device further comprises a limiting assembly, the limiting assembly is arranged on the first connecting piece of the executing assembly, and the limiting assembly is movably matched in the first limiting groove and the second limiting groove.

8. The carrier of claim 7, wherein the spacing assembly comprises a spacing body, a first spacing member and a second spacing member, the spacing body is connected to the first connecting member, the first spacing member and the second spacing member are disposed on the spacing body, the first spacing member is movably engaged with a bottom wall surface of the first spacing groove and the second spacing member is movably engaged with a bottom wall surface of the second spacing groove to perform spacing in the first direction.

9. The carrier of claim 7, wherein the first limiting groove has two opposite sidewall surfaces in a second direction, the second limiting groove has two opposite sidewall surfaces in the second direction, and the second direction forms a predetermined angle with the first direction;

The limiting assembly comprises a limiting body, a third limiting part and a fourth limiting part, wherein the limiting body is connected with the first connecting part, the third limiting part and the fourth limiting part are arranged on the limiting body, the third limiting part is movably matched with two side wall surfaces of the first limiting groove, and the fourth limiting part is movably matched with two side wall surfaces of the second limiting groove so as to limit in the second direction.

10. The carrier of claim 8, wherein the spacing body comprises:

A carrying part;

The first installation part and the second installation part, first installation part with the second installation part with the carrier part links to each other and follows the first direction is interval each other, the execution subassembly is located first installation part with between the second installation part, wherein first locating part is located first installation part, the second locating part is located the second installation part.

11. The carrier as claimed in any one of claims 7 to 10, further comprising a bearing housing provided to the carrier, the first rotating member of the actuator assembly being rotatably provided to the bearing housing.

12. The carrier of claim 11, wherein the bearing housing comprises:

a base body, the first rotating member being rotatably provided to the base body, and

The first limit protruding part and the second limit protruding part are arranged on the base body, the first limit protruding part stretches into the first limit groove and is attached to one side wall surface of the first limit groove, and the second limit protruding part stretches into the second limit groove and is attached to one side wall surface of the second limit groove.

13. The carrier as claimed in claim 11, wherein the carrier is provided with a positioning groove having two side wall surfaces opposed in the first direction, and the bearing housing has a positioning portion fitted in the positioning groove.

14. The carrier of claim 5, wherein the carrier extends in a third direction, and wherein the carrier is provided with a stiffener.

15. A warehousing apparatus, comprising:

A carrier according to any one of claims 5-14, and

The picking and placing device is movably arranged between adjacent bearing pieces of the bearing device.

16. A warehousing system, comprising:

Carrier and

A first warehouse apparatus, the first warehouse apparatus being according to claim 15, the first warehouse apparatus being configured to drive the pick-and-place device to move relative to the carrier device according to the handling instruction to acquire a target object from the carrier or to handle the target object to the carrier.

17. The warehousing system of claim 16, wherein the warehousing apparatus is configured to drive the pick and place device to move relative to the carrier according to a handling instruction to acquire a target object from the carrier and handle the target object to a designated location or to acquire a target object from a designated location and handle the target object to the carrier.

18. The warehousing system of claim 16 or 17, further comprising a management system, the warehousing apparatus being communicatively coupled to the management system, the management system being configured to send a handling instruction to the warehousing apparatus, the warehousing apparatus being configured to drive the pick and place device to move in accordance with the handling instruction.

19. The warehousing system of claim 16, wherein the carrier includes a shelf, the warehousing apparatus configured to drive the pick and place device to move according to a handling instruction to retrieve a target object from the shelf or to handle the retrieved target object to the shelf.

20. The warehousing system of claim 16, wherein the carrier includes a bin robot, the warehousing apparatus configured to drive the pick and place device to move according to a transfer instruction to retrieve a target object from the bin robot or to transfer the retrieved target object to the bin robot.

21. The warehousing system of claim 16, wherein the carrier comprises a first rack and a second rack, the warehousing apparatus configured to drive the pick and place device to move according to a handling instruction to acquire a target located on or handle the acquired target to at least one of the first rack and the second rack, or handle the target of one of the first rack and the second rack to the other of the first rack and the second rack.

22. The warehousing system of claim 16, wherein the carrier includes a sorting apparatus configured to drive the pick and place device to move according to a handling instruction to pick or handle the picked object from or to the sorting apparatus.

23. The warehousing system of claim 16, wherein the plurality of carriers is configured to drive the pick and place device to move according to a handling instruction to handle objects located at least one carrier to at least one other carrier or a designated location or to at least one carrier, wherein the plurality of carriers includes one or more of a rack, a bin robot, a seeding wall, and a sorting device.

24. The warehousing system of claim 16 further comprising a first warehousing device configured to handle the carrier to the work area of the warehousing device, the warehousing device configured to acquire a target object from the carrier that is handled by the first warehousing device to the work area of the warehousing device or to place a target object onto the carrier that is handled by the first warehousing device to the work area of the warehousing device, or the warehousing device configured to acquire a target object from the carrier or to place a target object onto the carrier, the first warehousing device configured to handle the carrier from the work area of the warehousing device.

25. The warehousing system of claim 16 further comprising a multi-deck platform and a first warehousing device, the multi-deck platform being spaced apart in a height direction, each deck having at least one of the carriers disposed thereon, the first warehousing device being configured to carry a target or a carrier having a target disposed thereon to a work area of the warehousing device, the warehousing device being configured to acquire the target and carry the target to a designated location.

26. The warehousing system of claim 16 further comprising a plurality of levels of platforms and first warehousing equipment, the levels of platforms being spaced apart in a height direction, each level of platforms having at least one first warehousing equipment thereon, each level of platforms corresponding to at least one of the carriers;

27. The warehousing system of claim 16 further comprising a workstation, an inventory area, and a warehousing facility, the inventory area and the warehousing facility being located at the workstation, the warehousing facility being configured to carry carriers containing objects to a work area of the warehousing facility and/or to carry carriers from the workstation to the inventory area.

28. The warehousing system of claim 16, wherein the warehousing apparatus is configured to drive the pick and place device to move in a second direction and/or in a third direction to a location of a target container of the carrier, drive the pick and place device to move in at least a first direction to pick the target container from the carrier and guide the target container into a receiving space of the pick and place device.

29. The warehousing system of claim 16, wherein the warehousing apparatus is configured such that the receiving space of the pick and place device receives a target container, the pick and place device is driven to move in a second direction and/or in a third direction to a designated placement location of the carrier, and the pick and place device is driven to move in at least a first direction to place the target container in the designated placement location of the carrier.

30. The warehousing system of claim 16, wherein the warehousing apparatus is configured such that the receiving space of the pick and place device receives a target container, the pick and place device is driven to move in a second direction and/or in a third direction to a workstation of a workstation, and the pick and place device is driven to move in at least a first direction to place the target container at the workstation of the workstation.