WO2024077640A1 - 物料存取装置、物料存取装置的控制方法、机器人及可移动平台 - Google Patents

物料存取装置、物料存取装置的控制方法、机器人及可移动平台 Download PDF

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Publication number
WO2024077640A1
WO2024077640A1 PCT/CN2022/125533 CN2022125533W WO2024077640A1 WO 2024077640 A1 WO2024077640 A1 WO 2024077640A1 CN 2022125533 W CN2022125533 W CN 2022125533W WO 2024077640 A1 WO2024077640 A1 WO 2024077640A1
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WIPO (PCT)
Prior art keywords
supporting mechanism
curtain body
warehouse
material storage
retrieval device
Prior art date
Application number
PCT/CN2022/125533
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English (en)
French (fr)
Inventor
王震
侯昊楠
包玉奇
罗振文
Original Assignee
深圳市闪至科技有限公司
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Application filed by 深圳市闪至科技有限公司 filed Critical 深圳市闪至科技有限公司
Priority to PCT/CN2022/125533 priority Critical patent/WO2024077640A1/zh
Publication of WO2024077640A1 publication Critical patent/WO2024077640A1/zh

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
    • G07F17/10—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property
    • G07F17/12—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for means for safe-keeping of property, left temporarily, e.g. by fastening the property comprising lockable containers, e.g. for accepting clothes to be cleaned

Definitions

  • the present application relates to the technical field of material storage and transportation, and in particular to a material storage and retrieval device, a control method for the material storage and retrieval device, a robot and a movable platform.
  • the embodiments of the present application provide a material storage and retrieval device, a control method for the material storage and retrieval device, a robot and a movable platform.
  • an embodiment of the present application provides a material storage and retrieval device, the material storage and retrieval device comprising:
  • a fuselage wherein the fuselage is provided with a plurality of cargo bins for accommodating materials, and the cargo bins have windows for allowing materials to enter or exit;
  • a pick-and-place device the pick-and-place device being used to transfer materials into a target cargo bin among the multiple cargo bins through a window of the target cargo bin, or to transfer materials out of the target cargo bin through the window of the target cargo bin;
  • a shielding component the shielding component is movably connected to the fuselage and is used to shield the window;
  • the shielding assembly is configured to automatically remove the obstruction on the window of the corresponding target warehouse and to cover the windows of other warehouses other than the target warehouse.
  • the picking and placing device is configured to complete the transfer of materials after the obstruction on the window of the target warehouse is removed; after the material transfer is completed, the shielding assembly automatically covers the window of the target warehouse.
  • control method for a material storage and retrieval device comprising:
  • the user instruction includes a pickup instruction or a storage instruction
  • the pick-and-place device is controlled to transfer the material to a target warehouse or to transfer the material out of the target warehouse.
  • the present application also discloses a robot, including:
  • a fuselage wherein the fuselage is provided with a plurality of cargo bins for accommodating materials, and the cargo bins have windows for allowing materials to enter or exit;
  • a pick-and-place device the pick-and-place device being used to transfer materials into a target cargo bin among the multiple cargo bins through a window of the target cargo bin, or to transfer materials out of the target cargo bin through the window of the target cargo bin;
  • a shielding assembly the shielding assembly is movably connected to the fuselage and is used to shield the cargo hold;
  • the controller, the pick-and-place device and the shielding assembly are all electrically connected to the controller; the controller is used to control the shielding assembly to release the shielding of the corresponding window of the target warehouse, and to shield the windows of other warehouses other than the target warehouse, and to control the pick-and-place device to complete the transfer of materials after the target warehouse is released from the shielding; after the material transfer is completed, the controller controls the shielding assembly to cover the window of the target warehouse again.
  • the present application also provides a material storage and retrieval device, including:
  • a fuselage wherein the fuselage is provided with a plurality of cargo compartments for accommodating materials
  • a plurality of cargo hold modules which are detachably connected to the fuselage and are arranged in sequence and spaced apart to separate the fuselage into the plurality of cargo holds;
  • the warehouse board layer module comprises:
  • a second conveying assembly is used to convey materials out of the warehouse or convey materials that have just entered the warehouse to the interior of the warehouse;
  • a second conveying drive mechanism wherein the second conveying mechanism is connected to the second conveying component and is used to drive the second conveying component to operate.
  • the present application also provides a movable platform, which comprises: a platform base and the above-mentioned material storage and retrieval device; wherein:
  • the material storage and retrieval device is connected to the platform base.
  • the material storage and retrieval device is provided with a plurality of warehouses for accommodating materials, and each warehouse is provided with a window for taking and placing materials.
  • a taking and placing device materials can be taken out of the warehouse through the window of the warehouse, or external materials can be transferred into the warehouse.
  • a movable shielding component to automatically open or block the window, the protection of the privacy inside the warehouse can be improved. Specifically, before the taking and placing device takes and places materials or during the process of taking and placing materials, the shielding component can be released from the window of the target warehouse, and after the material transfer is completed, the window of the target warehouse can be blocked.
  • the shielding component automatically opens the target warehouse or automatically closes the warehouse. It is convenient for the automatic taking and placing of materials, and can effectively protect the privacy inside the warehouse, reducing the risk of material loss in the warehouse.
  • FIG1 schematically shows a schematic structural diagram of a material storage and retrieval device according to an embodiment of the present application
  • FIG2 schematically shows one of the partial structural diagrams of the material storage and retrieval device according to an embodiment of the present application
  • FIG3 schematically shows a structural diagram of a first curtain body assembly according to an embodiment of the present application
  • FIG4 schematically shows an enlarged view of the circled portion A in FIG3 of the embodiment of the present application
  • FIG5 schematically shows a structural diagram of a second curtain body assembly according to an embodiment of the present application
  • FIG6 schematically shows one of the structural schematic diagrams of a warehouse board layer module according to an embodiment of the present application
  • FIG7 schematically shows an enlarged view of the circled portion A in FIG6 of the embodiment of the present application.
  • FIG8 schematically shows a schematic structural diagram of a first tensioning screw according to an embodiment of the present application.
  • FIG9 schematically shows an enlarged view of the circled portion B in FIG6 of the embodiment of the present application.
  • FIG10 schematically shows a second structural diagram of a warehouse board layer module according to an embodiment of the present application.
  • FIG11 schematically shows an enlarged view of the circled portion A in FIG10 of the embodiment of the present application
  • FIG12 schematically shows a structural diagram of an expansion state of a side door module according to an embodiment of the present application
  • FIG13 schematically shows a structural diagram of a side door module in a flat state according to an embodiment of the present application
  • FIG14 schematically shows a second partial structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • FIG15 schematically shows a partial structural diagram of a side door module according to an embodiment of the present application.
  • FIG16 schematically shows a third partial structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • FIG17 schematically shows an enlarged view of the circled portion A in FIG10 of the embodiment of the present application.
  • FIG18 schematically shows a fourth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • FIG19 schematically shows one of the structural diagrams of the pick-and-place device according to an embodiment of the present application
  • FIG20 schematically shows a second structural schematic diagram of the pick-and-place device according to an embodiment of the present application.
  • FIG21 schematically shows a schematic diagram of transferring materials of a pick-and-place device according to an embodiment of the present application
  • FIG22 schematically shows a fourth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • FIG23 schematically shows an enlarged view of the circled portion A in FIG22 of the embodiment of the present application.
  • FIG24 schematically shows an enlarged view of the circled portion B in FIG22 of the embodiment of the present application.
  • FIG25 schematically shows a fifth partial structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • FIG26 schematically shows an enlarged view of the circled portion A in FIG25 of the embodiment of the present application.
  • FIG27 schematically shows an enlarged view of the circled portion B in FIG25 of the embodiment of the present application.
  • FIG28 schematically shows a cross-sectional view of a supporting mechanism according to an embodiment of the present application
  • FIG29 schematically shows an enlarged view of the circled portion A in FIG28 of the embodiment of the present application.
  • FIG30 schematically shows a schematic structural diagram of a shielding assembly according to an embodiment of the present application.
  • FIG31 schematically shows a structural diagram of another shielding assembly according to an embodiment of the present application.
  • FIG32 schematically shows a structural diagram of yet another shielding assembly according to an embodiment of the present application.
  • FIG33 schematically shows a structural diagram of yet another shielding assembly according to an embodiment of the present application.
  • FIG34 schematically shows a flow chart of a control method of a material storage and retrieval device according to an embodiment of the present application
  • FIG35 schematically shows a flow chart of another method for controlling a material storage and retrieval device according to an embodiment of the present application
  • FIG36 schematically shows a flow chart of a control method for another material storage and retrieval device according to an embodiment of the present application.
  • first or “second” in the specification and claims of this application may include one or more of the features explicitly or implicitly.
  • plural means two or more.
  • and/or in the specification and claims means at least one of the connected objects, and the character “/” generally means that the objects connected before and after are in an “or” relationship.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • installed should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • a material storage and retrieval device is provided in an embodiment of the present application, which can be applied to logistics storage and transportation, including but not limited to material storage, cargo handling, express delivery, building delivery, automatic meal delivery and other scenarios.
  • FIG. 1 which shows a schematic structural diagram of a material storage and retrieval device according to an embodiment of the present application
  • FIG. 2 schematically shows a partial schematic structural diagram of the material storage and retrieval device according to an embodiment of the present application.
  • the material storage and retrieval device includes: a fuselage 100, a pick-up and placement device 200, and a shielding assembly 300.
  • the fuselage 100 is provided with a plurality of (two or more) cargo bins 101 for accommodating materials, and the cargo bins 101 have windows 102 for allowing materials to enter or exit;
  • the pick-up and placement device 200 is used to transfer materials into a target cargo bin through the window 102 of a target cargo bin among the plurality of cargo bins 101, or to transfer materials out through the window 102 of the target cargo bin;
  • the shielding assembly 300 is movably connected to the fuselage 100, and is used to shield the window 102.
  • the shielding assembly 300 is configured to automatically release the shielding of the window 102 of the corresponding target cargo bin, and shield the windows 102 of other cargo bins 101 outside the target cargo bin; the pick-up and placement device 200 is configured to complete the transfer of materials after the shielding of the window 102 of the target cargo bin is released. After the material transfer is completed, the shielding assembly 300 automatically shields the window 102 of the target warehouse, while the windows 102 of other warehouses other than the target warehouse remain in a shielded state.
  • the material storage and retrieval device is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials.
  • the taking and placing device 200 materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be transferred into the warehouse 101.
  • a movable shielding component 300 to automatically open or shield the window 102, the protection of the privacy inside the warehouse 101 can be improved.
  • the shielding component 300 can be released from the window 102 of the target warehouse, and after the material transfer is completed, the window 102 of the target warehouse is shielded.
  • the material can be automatically put into or out of the warehouse 101, and at the same time, the shielding component 300 automatically opens the target warehouse or automatically closes the warehouse. It is convenient for the automatic taking and placing of materials, and can effectively protect the privacy inside the warehouse 101, and reduce the risk of material loss in the warehouse 101.
  • the material storage and retrieval device in the embodiment of the present application can be used for material storage and retrieval at a fixed location, and can also be used to move between different target locations to realize mobile distribution of materials.
  • the material storage and retrieval device can automatically pick up, transport and unload goods in an open environment, and realize the function of automatically picking up and placing materials.
  • the shielding component 300 is used to at least partially shield the warehouse 101, thereby improving the protection of the privacy inside the warehouse 101 and reducing the risk of material loss in the warehouse 101.
  • the target cargo hold is a cargo hold from which materials need to be transferred in or out by the pick-and-place device 200 among the multiple cargo holds 101 provided in the fuselage 100.
  • the shielding assembly 300 releases the shielding of the window of the target cargo hold, and after the material transfer is completed, the shielding assembly 300 shields the window of the target cargo hold.
  • autonomous goods delivery can be achieved through the material storage and retrieval device without the participation of service personnel.
  • the material storage and retrieval device can be moved to the receiving location specified by the user.
  • the shielding component 300 removes the shielding of the window of the target warehouse, and the picking and placing device 200 transfers the goods out of the target warehouse.
  • the shielding component 300 blocks the window of the target warehouse again, and then the picking and placing device 200 places the goods on the ground or storage surface corresponding to the receiving location (such as a table or shelf, etc.), thereby realizing automatic delivery of goods.
  • the process is simple and efficient.
  • the user does not need to wait for the courier to come to the door, but only needs to put the package on the ground at the door of the room or on a predetermined storage surface (such as a desktop or shelf, etc.), the material storage and retrieval device moves to the location of the package to be picked up, and the package on the ground or the predetermined storage surface is extracted by the pick-up and placement device 200, the shielding component 300 removes the shielding of the window of the target warehouse, and the pick-up and placement device 200 transfers the package into the target warehouse, and the shielding component 300 again blocks the window of the target warehouse, completing the package collection operation, and realizing the user's portable mailing.
  • a predetermined storage surface such as a desktop or shelf, etc.
  • the material storage and retrieval device of the present application can realize the autonomous collection of packages and effectively protect the privacy of users. It should be noted that in the embodiment of the present application, the user can also put the material into the pick-up and placement device 200, and then the pick-up and placement device 200 automatically transfers the material into the warehouse 101, or the pick-up and placement device 200 transfers the material out of the warehouse 101, and the user takes the material out of the pick-up and placement device 200.
  • the material transfer method of the pick-and-place device 200 may be a conveyor belt transmission, a mechanical gripping clamp, a suction cup suction, or the like.
  • the material storage and retrieval device includes a body 100, on which a plurality of cargo bins 101 for accommodating materials are arranged, and each cargo bin 101 is provided with a corresponding window 102, and the window 102 is used to allow materials in or out of the cargo bin 101.
  • the material storage and transportation capacity of the material storage and retrieval device is improved, and each cargo bin 101 is provided with a accommodating space, and the sizes of the accommodating spaces of different cargo bins 101 can be set to be the same or different, so that different cargo bins 101 can be used to store different materials.
  • the fuselage 100 is provided with a plurality of cargo bins 101, wherein the plurality of cargo bins 101 may be stacked in the vertical direction or arranged side by side in the horizontal direction.
  • the plurality of cargo bins 101 may also be distributed in an array, for example, a plurality of cargo bin layers may be arranged in the vertical direction of the fuselage 100, and each cargo bin layer includes a plurality of cargo bins 101 arranged side by side.
  • a picking and placing device 200 is provided in the material storage and retrieval device, and the picking and placing device 200 is at least partially movable relative to the warehouse 101, so that materials outside the warehouse 101 can be transferred to the inside of the warehouse 101 through the window 102 of the warehouse 101, and materials inside the warehouse 101 can be transferred to the outside of the warehouse 101.
  • a shielding assembly 300 is also provided in the material storage and retrieval device, and the shielding assembly 300 is movably connected to the fuselage 100, so as to achieve shielding of the window 102 of the cargo hold 101, and unshielding of the window 102 of the cargo hold 101.
  • the shielding component 300 releases the shielding effect on the window 102 of the target warehouse, so that the picking and placing device 200 transfers the external materials into the target warehouse through the window 102 of the target warehouse.
  • the shielding component 300 can shield the windows 102 of other warehouses 101 among the multiple warehouses 101 except the target warehouse, so as to improve the shielding and protection effect on other warehouses 101 except the target warehouse during the material transfer process.
  • the window 102 of the target warehouse is covered by the shielding assembly 300, so that the shielding assembly 300 can cover the windows 102 of all warehouses 101.
  • the pick-and-place device 200 and the shielding assembly 300 the material can be smoothly picked up and placed on the target warehouse, and the windows 102 of the warehouses 101 outside the corresponding target warehouse can be effectively covered, thereby improving the safety protection of the warehouses 101.
  • a controller 600 in the material storage and retrieval device can be provided to control the picking and placing device 200 and the shielding assembly 300.
  • the controller 600 is electrically connected to the picking and placing device 200 and the shielding assembly 300, so that while realizing the material transfer to the target warehouse, the window 102 of the warehouse 101 can be effectively shielded or opened.
  • the pick-and-place device 200 includes a supporting mechanism 201 for supporting materials, the supporting mechanism 201 is configured to be movable relative to the fuselage 100 and to move to a target position corresponding to the target cargo hold, and in response to the supporting mechanism 201 moving to the corresponding target position, the shielding assembly 300 is configured to correspondingly release the shielding of the window 102 of the target cargo hold.
  • the target position can be aligned with the bottom of the target cargo hold or slightly lower than or higher than the bottom of the target cargo hold.
  • the target position can be flush with a side wall of the target cargo hold, or slightly higher than or lower than the side wall.
  • the following will be introduced based on the embodiment in which the cargo holds 101 are stacked in a vertical direction. Those skilled in the art can know that the embodiment in which the cargo holds 101 are arranged side by side in a horizontal direction is the same as the principle of the stacking in a vertical direction.
  • the pick-and-place device 200 includes a supporting mechanism 201, and the supporting mechanism 201 can move relative to the fuselage 100.
  • the supporting mechanism 201 can be used to support the materials to be transferred.
  • the supporting mechanism 201 can automatically collect the materials from the ground or the containing surface, or the user can directly put the materials into the supporting mechanism 201.
  • the supporting mechanism 201 transfers the materials into the target warehouse again, or transfers the materials out of the target warehouse. Specifically, it can be transferred to the ground or the containing surface, or it can stay on the supporting mechanism 201 and wait for the user to take it away.
  • the shielding component 300 when the supporting mechanism 201 moves to the corresponding target position, the shielding component 300 correspondingly releases the shielding of the window of the target warehouse. Therefore, the shielding assembly 300 is linked with the pick-and-place device 200, so that when the supporting mechanism 201 is located at the target position corresponding to the target cargo bin, the shielding of the window 102 of the target cargo bin is released, and after the pick-and-place device transfers the material, the window 102 of the target cargo bin is automatically shielded again, so that the material can be smoothly transferred and the cargo bin 101 can be protected.
  • the supporting mechanism 201 since the cargo bin 101 is stacked in the vertical direction, the supporting mechanism 201 is configured to be able to move up and down relative to the fuselage 100.
  • the supporting mechanism 201 is movably connected to the fuselage 100 , and the supporting mechanism 201 has a certain carrying capacity, and can carry the material and move along the fuselage 100 , so as to move to the target position corresponding to the target cargo hold.
  • the shielding assembly 300 has an opening and closing end 301 for opening to expose the window 102 or closing to cover the window 102.
  • the shielding assembly 300 is configured to be movable relative to the fuselage 100 to adjust the position of the opening and closing end 301 relative to the fuselage 100.
  • the opening and closing end 301 moves to the vicinity of the target position, and the opening and closing end 301 releases the shielding of the window 102 of the target cargo warehouse, and the shielding assembly 300 shields the windows 102 of other cargo warehouses 101 other than the target cargo warehouse.
  • the opening and closing end 301 shields the window 102 of the target cargo warehouse again.
  • the "near the target position" in the embodiment of the present application can be flush with the target position, or slightly lower than the target position, or a certain height within the height range corresponding to the target cargo warehouse, or flush with the top of the target cargo warehouse or slightly higher than the top.
  • the shielding assembly 300 has an opening and closing end 301.
  • the shielding assembly 300 moves relative to the fuselage 100, and moves the opening and closing end 301 to the vicinity of the window of the target cargo hold. Thereafter, the opening and closing end 301 opens to expose the window 102 of the target cargo hold so as to transfer materials into or out of the target cargo hold, or the opening and closing end 301 is closed to cover the window 102 of the target cargo hold so as to protect the target cargo hold.
  • the supporting mechanism 201 is moved relative to the fuselage 100 to move the supporting mechanism 201 to the target position corresponding to the target cargo bin, and at the same time, the opening and closing end 301 of the shielding assembly 300 is also moved to the vicinity of the target position. Then, the opening and closing end 301 of the shielding assembly 300 is opened to remove the shielding of the window 102 of the target cargo bin, so as to facilitate the pick-and-place device 200 to transfer materials into the target cargo bin from the window 102, or to transfer materials out of the target cargo bin.
  • the shielding assembly 300 can cover the windows 102 of other cargo bins 101 except the target cargo bin to prevent the materials inside the other cargo bins 101 from being exposed or lost. Further, after the pick-and-place device 200 completes the transfer of materials, the opening and closing end 301 can be controlled to close so that the shielding assembly 300 covers the windows of all cargo bins 101 of the fuselage 100, thereby realizing the shielding of the target cargo bin by the shielding assembly 300. In the embodiment of the present application, the shielding assembly 300 moves to adjust the position of the opening and closing end 301, so that the shielding assembly 300 can flexibly control the shielding and opening of different cargo compartments.
  • the opening and closing end 301 can be opened or closed relative to the window 102 of the target warehouse.
  • the opening and closing end 301 is in an open state, the window 102 of the target warehouse is exposed from the shielding area of the shielding component 300, so as to transfer materials from the window 102.
  • the shielding component 300 shields the window 102 of the target warehouse.
  • the specific setting of the open state and the closed state of the opening and closing end 301 can be determined according to the position and size of the window 102 of the target warehouse, and the embodiment of the present application does not limit this.
  • the shielding assembly 300 includes: a first curtain assembly 302 and a second curtain assembly 303, the first curtain assembly 302 and the second curtain assembly 303 are arranged along the moving direction of the supporting mechanism 201 of the pick-and-place device 200, the first end of the first curtain assembly 302 close to the second curtain assembly 303 and the second end of the second curtain assembly 303 close to the first curtain assembly 302 are combined to form an opening and closing end 301; in response to the opening and closing end 301 moving to the vicinity of the target position, the first curtain assembly 302 and/or the second curtain assembly 303 continue to move to open or close the opening and closing end 301.
  • the shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303, and the first curtain assembly 302 and the second curtain assembly 303 are arranged opposite to each other along the moving direction of the supporting mechanism 201.
  • One end of the first curtain assembly 302 and one end of the second curtain assembly 303 are combined to form an opening and closing end 301, and then the opening and closing end 301 can be opened by moving the first curtain assembly 302 or the second curtain assembly 303 to expose the window 102 of the target warehouse, so as to facilitate the transfer of materials into or out of the target warehouse, or the opening and closing end 301 can be closed to achieve the shielding of the window 102 of the target warehouse.
  • the opening and closing end 301 of the shielding assembly 300 is formed by one end of the first curtain assembly 302 and one end of the second curtain assembly 303, and then the opening and closing end 301 can be opened or closed by moving the first curtain assembly 302 or the second curtain assembly, which is convenient to operate.
  • the supporting mechanism 201 can move relative to the fuselage 100.
  • the first curtain assembly 302 and the second curtain assembly 303 are arranged relatively to each other.
  • the end of the first curtain assembly 302 close to the second curtain assembly 303 is the first end of the second curtain assembly 303
  • the end of the second curtain assembly 303 close to the first curtain assembly 302 is the second end of the second curtain assembly 303.
  • the first end of the second curtain assembly 303 and the second end of the second curtain assembly 303 cooperate with each other to form the opening and closing end 301.
  • the opening and closing end 301 can be opened or closed by moving at least one of the first curtain assembly 302 and the second curtain assembly 303 relative to the fuselage 100.
  • the first curtain body assembly 302 and the second curtain body assembly 303 are arranged opposite to each other in the vertical direction, the lower end of the first curtain body assembly 302 is the first end of the second curtain body assembly 303 , and the top end of the second curtain body assembly 303 is the second end of the second curtain body assembly 303 .
  • the opening and closing end 301 can be closed, and when the first end of the first curtain body assembly 302 and the second end of the second curtain body assembly 303 are relatively far away from each other, the opening and closing end 301 can be opened.
  • the shielding assembly 300 may include only one curtain body assembly, and the opening and closing end 301 is the free end of the curtain body assembly.
  • the opening and closing end 301 When the free end moves close to the supporting mechanism 201, the opening and closing end 301 is closed, and when the free end moves away from the supporting mechanism 201, the window 102 is exposed, and the opening and closing end 301 is opened.
  • the opening and closing end 301 can also be an opening provided by the single curtain body assembly and a shielding door assembly provided at the opening. The position of the opening is adjusted by moving the curtain body assembly, and the opening and closing of the opening and closing of the opening and closing end 301 are controlled by controlling the shielding door assembly.
  • the specific structure of the shielding component 300 is not limited to those listed in the embodiments of the present application, and the specific structure of the opening and closing end 301 is not limited to those listed in the embodiments of the present application. Those skilled in the art can make reasonable changes and settings.
  • the first end of the first curtain body assembly 302 and the second end of the second curtain body assembly 303 are also controlled to move, and then when the supporting mechanism 201 moves to the target position corresponding to the target warehouse, the opening and closing end 301 also moves to the vicinity of the target position. Further, by moving at least one of the first curtain body assembly 302 and the second curtain body assembly 303, the opening or closing end 301 is realized, thereby exposing or covering the window 102 of the target warehouse.
  • the opening and closing end 301 When it is necessary to transfer materials into or out of the target warehouse, the opening and closing end 301 is controlled to open, and after the material transfer is completed, the opening and closing end 301 is controlled to close, thereby realizing flexible operation of the opening and closing end 301 and facilitating the cooperation between the opening and closing end 301 and the supporting mechanism 201.
  • the first curtain body assembly 302 is arranged corresponding to the upper side of the supporting mechanism 201
  • the second curtain body assembly 303 is arranged corresponding to the lower side of the supporting mechanism 201.
  • the first curtain body assembly 302 is arranged corresponding to the upper side of the supporting mechanism 201, including being arranged above the supporting mechanism 201, or the first end of the first curtain body assembly 302 overlaps with the supporting mechanism 201.
  • the second curtain body assembly 303 is arranged corresponding to the lower side of the supporting mechanism 201, including being arranged below the supporting mechanism 201, or the second end of the second curtain body assembly 303 overlaps with the supporting mechanism 201.
  • the first curtain body assembly 302 is arranged on the upper side of the supporting mechanism 201, and the second end of the second curtain body assembly 303 is flush with the supporting surface of the supporting mechanism 201 or slightly lower than the supporting surface.
  • the opening and closing end 301 moves to the vicinity of the target position.
  • the first curtain body assembly 302 moves to expose the window 102 of the target warehouse, so that the picking and placing device 200 can transfer materials; after the material transfer is completed, the first curtain body assembly 302 moves to cover the window 102 of the target warehouse.
  • the first curtain assembly 302 is arranged on the supporting side of the supporting mechanism 201, and the second end of the second curtain assembly 303 is arranged at a position flush with or slightly lower than the supporting surface of the supporting mechanism 201.
  • the opening and closing end 301 can be opened by controlling the first end of the first curtain assembly 302 to move away from the supporting mechanism 201, so as to expose the window 102 of the target warehouse, and facilitate the transfer of materials into or out of the target warehouse.
  • the window 102 of the target warehouse can be covered again by controlling the first end of the first curtain assembly 302 to move toward the supporting mechanism 201, so that the smooth transfer of materials is facilitated and the safety protection of the target warehouse is improved.
  • the supporting mechanism 201 is provided with a supporting surface for supporting the material to be transferred, wherein the supporting surface of the supporting mechanism 201 refers to the surface on the supporting mechanism 201 that directly contacts the material. As shown in FIG. 18 , the supporting surface of the supporting mechanism 201 is the upper surface of the supporting mechanism 201 .
  • the first curtain body assembly 302 and the second curtain body assembly 303 are arranged opposite to each other, wherein the first curtain body assembly 302 is arranged on a side of the supporting mechanism 201 close to the supporting surface, and the second curtain body assembly 303 is arranged on a side of the supporting mechanism 201 away from the supporting surface, and the second end of the second curtain body assembly 303 is arranged flush with the supporting surface of the supporting mechanism 201, or is arranged slightly lower than the supporting surface of the supporting mechanism 201.
  • the first end of the first curtain body assembly 302 can be relatively close to or away from the second end of the second curtain body assembly 303, so as to realize the opening or closing of the opening and closing end 301.
  • the opening and closing end 301 is opened, the first end of the first curtain body assembly 302 is relatively away from the second end of the second curtain body assembly 303, so that a certain distance is generated between the first end of the first curtain body assembly 302 and the supporting surface of the supporting mechanism 201, so as to facilitate the transfer of materials on the supporting surface of the supporting mechanism 201 and avoid the first end of the first curtain body assembly 302 blocking the materials.
  • the supporting mechanism 201 When the pick-and-place device 200 is used to transfer materials, the supporting mechanism 201 is moved to the target position corresponding to the target warehouse, and at the same time, the opening and closing end 301 is also moved to the vicinity of the target position.
  • the opening and closing end 301 By moving the first curtain body assembly 302, the opening and closing end 301 is opened to expose the window 102 of the target warehouse, so that the pick-and-place device 200 can transfer materials into or out of the target warehouse.
  • the first curtain body assembly 302 is moved again to close the opening and closing end 301, thereby shielding the window 102 of the target warehouse, thereby achieving effective coordination between the pick-and-place device 200 transferring materials and the shielding assembly 300 shielding the window 102 of the target warehouse.
  • the second curtain body assembly 303 can be used to shield other warehouses 101 below the target warehouse, thereby preventing the warehouses 101 from being exposed or the materials from being lost.
  • the first curtain assembly 302 individually blocks the windows 102 of multiple cargo holds 101.
  • the initial position is flush with or slightly lower than the bottom of the first-layer cargo hold 101 closest to the ground.
  • an initial position sensor 114 is provided at a corresponding position on the fuselage 100, and a trigger corresponding to the initial position sensor 114 is provided on the pick-and-place device 200.
  • the pick-and-place device 200 is determined to be located at the initial position by the triggering action of the initial position sensor 114.
  • the target cargo hold is the first-layer cargo hold 101
  • the first curtain assembly 302 individually blocks the windows 102 of other cargo holds 101 other than the target cargo hold.
  • the initial position of the supporting mechanism 201 can be the position where the supporting mechanism 201 is reset before each material transfer operation, or the position where the supporting mechanism 201 is reset after the material transfer operation is completed, so as to provide a position reference for the movement of the pick-up and placement device 200 and the shielding assembly 300, facilitate the correction and adjustment of the positions of the pick-up and placement device 200 and the shielding assembly 300, and improve the accuracy of the movement control of the pick-up and placement device 200 and the shielding assembly 300.
  • the multiple cargo compartments 101 of the fuselage 100 are stacked in the vertical direction, and the initial position of the supporting mechanism 201 can be set to be flush with the bottom of the lowest cargo compartment 100 or slightly lower than the bottom.
  • the supporting mechanism 201 when the supporting mechanism 201 is in the initial position, since the second end of the second curtain body assembly 303 is flush with or slightly lower than the supporting surface of the supporting mechanism 201, the cargo hold 101 is not provided at the position corresponding to the second curtain body assembly 303. At this time, the second curtain body assembly 303 does not shield the cargo hold 101.
  • the supporting mechanism 201 is movably connected to the fuselage 100, the supporting mechanism 201 can be lifted and moved along the fuselage 100, the first curtain body assembly 302 is arranged above the supporting mechanism 201, and the first end of the first curtain body assembly 302 can also be lifted and moved along the fuselage 100, so that when the supporting mechanism 201 is lifted and lowered to the target position corresponding to the target cargo hold, the first end of the first curtain body assembly 302 can also be lifted and lowered to the vicinity of the target position.
  • the lifting and lowering movement of the first end of the first curtain body assembly 302 and the lifting and lowering movement of the supporting mechanism 201 can be achieved by setting different lifting mechanisms, so as to adjust the distance between the first end of the first curtain body assembly 302 and the supporting mechanism 201.
  • the first curtain assembly 302 is a rolling curtain structure; and/or the second curtain assembly 303 is a rolling curtain structure.
  • at least one of the first curtain assembly 302 and the second curtain assembly 303 can be set as a rolling curtain structure, and the rolling curtain structure is movably connected to the fuselage 100.
  • the rolling curtain structure is movably connected to the fuselage 100.
  • the use of the rolling curtain structure is not only simple in structure, but also convenient for installation and operation.
  • the first curtain body assembly 302 includes: a first curtain body 3021 and a curtain body driving mechanism 3022 , wherein the curtain body driving mechanism 3022 is mounted on the body 100 and connected to the first curtain body 3021 , and the curtain body driving mechanism 3022 can be used to drive the first curtain body 3021 to move.
  • the first curtain body 3021 can be moved relative to the fuselage 100 by utilizing the driving action of the curtain body driving mechanism 3022, so as to achieve the shielding of the window 102 of the target cargo hold by the first curtain body 3021, and release the shielding of the window 102 of the target cargo hold by the first curtain body 3021.
  • the first curtain assembly 302 may include a first curtain 3021 and a curtain driving mechanism 3022.
  • the curtain driving mechanism 3022 is mounted on the fuselage 100.
  • the first curtain 3021 is connected to the curtain driving mechanism 3022.
  • the first curtain 3021 may move relative to the fuselage 100.
  • the curtain driving mechanism 3022 may drive the first curtain 3021 to move relative to the fuselage 100. In this way, during the material transfer process, the relative position of the first curtain 3021 and the cargo hold 101 may be changed by the movement of the first curtain 3021, so that the first curtain 3021 blocks the window 102 of the cargo hold 101, or the blocking of the window 102 of the corresponding cargo hold 101 is released.
  • the second curtain body assembly 303 includes a second curtain body 3031, one end of the second curtain body 3031 is connected to the fuselage 100, and the other end is connected to the supporting mechanism 201, and the supporting mechanism 201 can drive the second curtain body 3031 to move. That is, the second end of the second curtain body 3031 moves relative to the fuselage 100 together with the supporting mechanism 201, so that during the movement of the supporting mechanism 201, the second curtain body 3031 can be used to cover a part of the window 102 of the cargo compartment 101, so as to realize the linkage effect of the pick-and-place device 200 and the shielding assembly 300.
  • the curtain driving mechanism 3022 can drive the first curtain body 3021 to move up and down relative to the fuselage 100, and the second curtain body 3031 can move up and down relative to the fuselage 100 along with the supporting mechanism 201.
  • the structural design of the embodiment of the present application is reasonable and ingenious, which can reduce the manufacturing cost and control difficulty.
  • the first curtain body 3021 is a roll-up sheet structure, a curtain structure, or a venetian blind structure.
  • the first curtain body 3021 can be set to any one of a roll-up sheet structure, a curtain structure, or a venetian blind structure, which is convenient for the first curtain body 3021 to be rolled up and unfolded, and convenient for the installation layout of the first curtain body 3021 on the fuselage 100, and has a simple structure and low manufacturing cost.
  • the second curtain body 3031 is a roll-up sheet structure, a curtain structure or a venetian blind structure.
  • the second curtain body 3031 can be set to any one of the roll-up sheet structure, the curtain structure or the venetian blind structure, which is convenient for the first curtain body 3021 to be rolled up and unfolded, and convenient for the installation layout of the second curtain body 3031 on the fuselage 100, and has a simple structure and low manufacturing cost.
  • the two sides of the fuselage 100 are provided with guide grooves 103 extending along the moving direction of the supporting mechanism 201, and the edge of the first curtain body 3021 is at least partially embedded in the guide grooves 103, so that the first curtain body 3021 can slide in the guide grooves 103, and the guide grooves 103 can play a role in limiting and guiding the first curtain body 3021.
  • the guide grooves 103 provided on the two sides of the fuselage 100 extend in the vertical direction.
  • the specific setting position and structural dimensions of the guide grooves 103 of the fuselage 100 can be determined according to the structure of the first curtain body 3021, so that the first curtain body 3021 can move flexibly and stably relative to the fuselage 100, and the embodiment of the present application does not limit this.
  • the first curtain body assembly 302 also includes: a first reel 3023, the first reel 3023 is installed on the body 100, and the first curtain body 3021 is wound on the first reel 3023; the curtain body driving mechanism 3022 is used to drive the first reel 3023 to rotate, so as to drive the first curtain body 3021 to move through the rotation of the first reel 3023, so as to facilitate the storage and movement of the first curtain body 3021.
  • first curtain body 3021 is fixedly connected to the first reel 3023, the first curtain body 3021 is wound on the first reel 3023, and the other end of the first curtain body 3021 (that is, the first end mentioned above) is movably connected to the body 100.
  • first reel 3023 is driven to rotate by the curtain body driving mechanism 3022, the first end can be raised and lowered.
  • the fuselage 100 is provided with a plurality of cargo compartments 101, and the plurality of cargo compartments 101 are stacked in sequence from bottom to top, and the first reel 3023 can be provided at the top of the fuselage 100.
  • the position where the first reel 3023 is provided on the fuselage 100, and the direction of rotation of the first reel 3023 driven by the curtain driving mechanism 3022 can be set according to actual needs, and the embodiment of the present application does not limit this.
  • a first trigger 3025 is provided at the first end of the first curtain body 3021, and a first limiter 104 is provided at a position close to the first roller 3023 on the body 100; when the first end of the first curtain body 3021 moves toward the first roller 3023 until the first trigger 3025 abuts against the first limiter 104, the curtain body driving mechanism 3022 stops driving the first roller 3023 to rotate.
  • a first trigger 3025 is provided at one end of the first curtain body 3021 away from the first reel 3023, and a first position-limiting member 104 is provided at a position of the body 100 close to the first reel 3023.
  • the first limit member 104 may include an in-position switch, which is electrically connected to the curtain driving mechanism 3022.
  • the first curtain body 3021 moves toward the direction close to the first roller 3023, the first trigger 3025 on the first curtain body 3021 abuts against the in-position switch, triggering the in-position switch, thereby stopping the curtain driving mechanism 3022.
  • first trigger 3025 and the first stopper 104 may also use other triggering mechanisms, such as infrared triggering mechanisms, pressure triggering mechanisms, magnetic induction triggering mechanisms, etc., and the operation of the curtain driving mechanism 3022 is controlled by the contact and triggering of the first trigger 3025 and the first stopper 104.
  • Other types of triggering mechanisms may also be used, and the present application embodiment does not limit this.
  • the support mechanism 201 is provided with a first sensor 2014, and the first sensor 2014 is used to detect whether the material enters or exits the support mechanism 201.
  • the first trigger 3025 cooperates with the first sensor 2014, it can also be used to detect whether the first sensor 2014 is in an abnormal state.
  • a first sensor 2014 is provided on the supporting mechanism 201.
  • the first sensor 2014 can be used to detect the situation of materials entering or exiting the supporting mechanism 201, so as to facilitate monitoring of the material transfer process, so as to more accurately control the material transfer process.
  • the first trigger 3025 can also be used to sense the first sensor 2014, and the working state of the first sensor 2014 can also be detected to ensure that the first sensor 2014 works normally.
  • one or more first sensors 2014 are set on the supporting mechanism 201.
  • the supporting mechanism 201 moves to the position corresponding to the target warehouse, the material is transferred into or out of the target warehouse.
  • the first sensor 2014 can detect the transfer of the material and then control the transfer process.
  • the first trigger 3025 is arranged opposite to the first sensor 2014.
  • the first sensor 2014 and the first trigger 3025 can sense each other, so that it can be determined whether the first sensor 2014 is abnormal through the sensing state.
  • the material storage and retrieval device needs to perform a self-check to ensure that all components are reset.
  • the first curtain body 3021 and the supporting mechanism 201 are reset, the first sensor 2014 and the first trigger 3025 are close to each other, and at this time, the first sensor 2014 can sense the first trigger 3025. If the first sensor 2014 cannot sense the first trigger 3025, it is determined that the reset is abnormal, and the material storage and retrieval device needs to be abnormally handled.
  • the first sensor 2014 may be a diffuse reflection photoelectric sensor, which is installed on the supporting mechanism 201, and the emitter of the diffuse reflection photoelectric sensor is set upward.
  • the diffuse reflection photoelectric sensor is installed at one end of the supporting mechanism 201 close to the cargo warehouse.
  • the diffuse reflection photoelectric sensor is triggered to send a signal when the material passes through the diffuse reflection photoelectric sensor.
  • the diffuse reflection photoelectric sensor signal disappears, it indicates that the material has entered the cargo warehouse 101. It can be set that the supporting mechanism 201 stops operating after a preset delay time after the diffuse reflection photoelectric sensor signal disappears.
  • the diffuse reflection photoelectric sensor is triggered to send a signal when the material passes through the diffuse reflection photoelectric sensor.
  • the diffuse reflection photoelectric sensor signal disappears, it indicates that the material has left the cargo warehouse 101 and entered the supporting mechanism 201. It can be set that the supporting mechanism 201 stops operating after a preset delay time after the diffuse reflection photoelectric sensor signal disappears.
  • the first trigger 3025 is also used to cooperate with the first sensor 2014 to obtain the distance between the first curtain body 3021 and the placing device 200.
  • the first trigger 3025 is provided on the first curtain body 3021
  • the first sensor 2014 is provided on the supporting mechanism 201. Through the cooperation of the first trigger 3025 and the first sensor 2014, the distance between the first curtain body 3021 and the placing device 200 can be obtained, so as to facilitate the adjustment of the position between the first curtain body 3021 and the supporting mechanism 201.
  • the first curtain body 3021 is controlled to move to the vicinity of the target position, and the distance between the first curtain body 3021 and the supporting mechanism 201 can be obtained through the mutual perception of the first trigger 3025 and the first sensor 2014, so as to avoid the first curtain body 3021 and the supporting mechanism 201 from colliding and causing damage, and also avoid the distance between the first curtain body 3021 and the supporting mechanism 201 being too far, causing part of the cargo hold 101 to be exposed, thereby reducing the shielding effect of the first curtain body 3021 on the cargo hold 101.
  • a second sensor 2015 is provided on the supporting mechanism 201, and referring to FIG4 , a second trigger 3024 is further provided on the first curtain body 3021.
  • the supporting mechanism 201 is provided with the second trigger 3024
  • the first curtain body 3021 is provided with the second sensor 2015.
  • the second sensor 2015 is used to obtain the distance between the first curtain body 3021 and the supporting mechanism 201 based on the triggering of the second trigger 3024.
  • the controller 600 of the material storage and retrieval device is used to control the movement of the supporting mechanism 201 and/or the first curtain body 3021 based on the obtained distance information between the first curtain body 3021 and the supporting mechanism 201, so as to avoid the first curtain body 3021 from colliding with the supporting mechanism 201.
  • a second sensor 2015 is provided on one of the supporting mechanism 201 and the first curtain body 3021, and a second trigger 3024 is provided on the other.
  • the controller 600 controls the movement of at least one of the supporting mechanism 201 and the first curtain body 3021 according to the obtained distance information, so as to avoid the collision between the first curtain body 3021 and the supporting mechanism 201, thereby improving the safety of the relative movement between the supporting mechanism 201 and the first curtain body 3021.
  • the supporting mechanism 201 can move relative to the fuselage 100, and the first curtain body 3021 can also move relative to the fuselage 100.
  • a second trigger 3024 can be set on the end of the first curtain body 3021 close to the supporting mechanism 201, and a second sensor 2015 can be set on the supporting mechanism 201, or a second sensor 2015 can be set on the end of the first curtain body 3021 close to the supporting mechanism 201, and a second trigger 3024 can be set on the supporting mechanism 201.
  • the distance between the first curtain body 3021 and the supporting mechanism 201 can be obtained, so as to facilitate the control of the moving process.
  • the second trigger 3024 can be one of a permanent magnet and a Hall sensor, and the second sensor 2015 can be the other of the permanent magnet and the Hall sensor.
  • the second trigger 3024 and the second sensor 2015 can also be an infrared transmitter and an infrared receiver, and other matching structures can also be selected, which is not limited in the embodiments of the present application.
  • the second sensor 2015 includes a first side sensor 20151, referring to Fig. 18, the second sensor 2015 also includes a second side sensor 20152, the first side sensor 20151 and the second side sensor 20152 are respectively arranged on both sides of the supporting mechanism 201.
  • the first side sensor 20151 and the second side sensor 20152 are respectively arranged on both sides of the supporting mechanism 201.
  • the second trigger 3024 includes a first trigger member 30241 and a second trigger member 30242, the first trigger member 30241 and the second trigger member 30242 are respectively arranged on both sides of the first curtain body 3021, the first trigger member 30241 corresponds to the first side sensor 20151, the second trigger member 30242 corresponds to the second side sensor 20152, the second trigger member 30242 is farther away from the supporting mechanism 201 than the first trigger member 30241, and there is a gap between the first trigger member 30241 and the second trigger member 30242 in the moving direction of the first curtain body 3021.
  • the supporting mechanism 201 and/or the first curtain body 3021 adjust the movement speed in the first direction so that the distance between the supporting mechanism 201 and the first curtain body 3021 is less than the preset threshold.
  • the supporting mechanism 201 and/or the first curtain body 3021 stops moving or adjusts the movement speed in the first direction to avoid collision between the first curtain body 3021 and the supporting mechanism 201.
  • the first trigger member 30241 is arranged to correspond to the first side sensor 20151
  • the second trigger member 30242 is arranged to correspond to the second side sensor 20152, so that the supporting mechanism 201 and the first curtain body 3021 move relative to each other.
  • the moving speed of at least one of the supporting mechanism 201 and the first curtain body 3021 is adjusted.
  • the moving speed of at least one of the supporting mechanism 201 and the first curtain body 3021 is further adjusted, or the supporting mechanism 201 and the first curtain body 3021 are controlled to stop moving, so that a certain distance is maintained between the supporting mechanism 201 and the first curtain body 3021, so as to avoid the supporting mechanism 201 and the first curtain body 3021 being too close to each other and colliding with each other.
  • first trigger member 30241 and a second trigger member 30242 are respectively arranged on both sides of the first end of the first curtain body 3021.
  • the first trigger member 30241 and the second trigger member 30242 are respectively arranged on both sides of the first curtain body 3021 along a moving direction perpendicular to the first curtain body 3021, and there is a certain distance between the first trigger member 30241 and the second trigger member 30242 along the moving direction of the first curtain body 3021.
  • a first side sensor 20151 and a second side sensor 20152 are respectively provided on the supporting mechanism 201.
  • the first side sensor 20151 and the second side sensor 20152 are respectively provided on both sides of the supporting mechanism 201, so that the first trigger member 30241 corresponds to the first side sensor 20151, and the second trigger member 30242 corresponds to the second side sensor 20152.
  • the first curtain body 3021 and the supporting mechanism 201 can both move relative to the body 100, and the moving direction of the first curtain body 3021 is parallel to the moving direction of the supporting mechanism 201, that is, the first curtain body 3021 and the supporting mechanism 201 can move relative to each other.
  • the first end of the first curtain body 3021 approaches the supporting mechanism 201.
  • the first side sensor 20151 senses the first trigger member 30241
  • the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 reaches a preset threshold, and the movement speed of the supporting mechanism 201 and/or the first curtain body 3021 is adjusted so that the distance between the supporting mechanism 201 and the first curtain body 3021 is controlled within a certain distance range.
  • the first end of the first curtain body 3021 and the supporting mechanism 201 further approach each other, and when the second side sensor 20152 senses the second triggering member 30242, the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 has reached the minimum safety distance.
  • the movement speed of the supporting mechanism 201 and/or the first curtain body 3021 is further adjusted, or the supporting mechanism 201 and/or the first curtain body 3021 is controlled to stop moving, so as to avoid the first curtain body 3021 and the supporting mechanism 201 from colliding with each other.
  • the preset threshold value may be the maximum safety distance between the first curtain body 3021 and the supporting mechanism 201. It should be noted that when the first curtain body 3021 and the supporting mechanism 201 are close to each other, there is a safety distance range between the first end of the first curtain body 3021 and the supporting mechanism 201, and the safety distance range includes a maximum safety distance and a minimum safety distance. When the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 is greater than the maximum safety distance, the distance between the first curtain body 3021 and the supporting mechanism 201 is too large, and the first curtain body 3021 cannot effectively block the window 102 of the warehouse 101.
  • the distance between the first end of the first curtain body 3021 and the supporting mechanism 201 is less than the minimum safety distance, the distance between the first curtain body 3021 and the supporting mechanism 201 is too small, and the first curtain body 3021 is prone to collision with the supporting mechanism 201.
  • the size of the gap between the first triggering member 30241 and the second triggering member 30242 on the first curtain body 3021 can be determined according to the safety distance range, and the embodiment of the present application does not limit this.
  • the preset threshold is 5 to 20 mm.
  • the preset threshold can be any value such as 5 mm, 7 mm, 9 mm, 10 mm, 12 mm, 14 mm, 16 mm, 18 mm, 20 mm, etc.
  • a reasonable preset threshold is set to ensure that when the first curtain body 3021 and the supporting mechanism 201 are close to each other, there is a certain safety distance between the first end of the first curtain body 3021 and the supporting mechanism 201, so as to avoid the first curtain body 3021 and the supporting mechanism 201 from colliding, thereby improving the safety of the device.
  • the second sensor 2015 is a Hall sensor
  • the second trigger 3024 is a magnetic component that cooperates with the Hall sensor.
  • the structure is simple, the installation space is saved, the installation is convenient, and the cost is low.
  • the second curtain body assembly 303 further includes a second reel 3032 , the second reel 3032 is mounted on the body 100 , and the second curtain body 3031 is wound around the second reel 3032 and connected to the supporting mechanism 201 .
  • the body 100 is provided with a second reel 3032 , and the second curtain body 3031 is wound on the second reel 3032 .
  • the second reel 3032 By driving the second reel 3032 to rotate, the second curtain body 3031 can be expanded and retracted, so that the second curtain body 3031 moves relative to the body 100 , which facilitates the control of the second curtain body 3031 .
  • the second curtain body assembly 303 includes: a second roller 3032 and a second curtain body 3031, one end of the second curtain body 3031 is connected to the second roller 3032, and the other end of the second curtain body 3031 is connected to the supporting mechanism 201, and the second curtain body 3031 can move relative to the fuselage 100, and then when the supporting mechanism 201 moves relative to the fuselage 100, it can drive the second curtain body 3031 to move relative to the fuselage 100.
  • the second reel 3032 can rotate relative to the body 100, and as the second reel 3032 rotates, the second curtain body 3031 can be wound on the second reel 3032.
  • the number of windings of the second curtain body 3031 on the second reel 3032 can be increased, so that the second curtain body 3031 is contracted.
  • the number of windings of the second curtain body 3031 on the second reel 3032 can be reduced, so that the second curtain body 3031 is unfolded.
  • the corresponding relationship between the rotation direction of the second roller 3032 and the contraction or expansion of the second curtain body 3031 can be set according to actual needs, and the embodiment of the present application does not limit this.
  • the second curtain body assembly 303 also includes a second shell 3033, the second shell 3033 is installed on the body 100, the second reel 3032 is arranged in the second shell 3033, the second curtain body 3031 is wound on the second reel 3032 and at least partially extends out of the second shell 3033, and the part of the second curtain body 3031 extending out of the second shell 3033 is used to connect with the supporting mechanism 201.
  • a second housing 3033 is provided on the body 100, the second housing 3033 is provided with a receiving cavity, the second reel 3032 is provided in the receiving cavity of the second housing 3033, one end of the second curtain body 3031 is connected to the second reel 3032, the second curtain body 3031 is wound on the second reel 3032, the other end of the second curtain body 3031 and a part of the second housing 3033 extend out of the second housing 3033, the other end of the second curtain body 3031 can be connected to the supporting mechanism 201, and can move relative to the body 100 along with the supporting mechanism 201.
  • the second housing 3033 can store and protect the second reel 3032 and the second curtain body 3031, so as to prevent the second reel 3032 and the second curtain body 3031 from being disturbed by the outside during the movement.
  • the supporting mechanism 201 is detachably connected to the second curtain body 3031.
  • the supporting mechanism 201 is detachably connected to the second curtain body 3031, so that when the supporting mechanism 201 is connected to the second curtain body 3031, the second curtain body 3031 can move along the fuselage 100 with the supporting mechanism 201.
  • the supporting mechanism 201 is disconnected from the second curtain body 3031, the supporting mechanism 201 moves alone, and the second curtain body 3031 remains stationary, thereby facilitating the linkage control of the supporting mechanism 201 and the second curtain body 3031 to adapt to different usage scenarios.
  • the detachable connection method between the supporting mechanism 201 and the second curtain body 3031 may include: plug-in or snap-in, etc.
  • the embodiment of the present application does not specifically limit the detachable connection method between the supporting mechanism 201 and the second curtain body 3031 .
  • the supporting mechanism 201 moves between multiple warehouses 101 , the supporting mechanism 201 is connected to the second curtain body 3031 ; when the supporting mechanism 201 moves outside the warehouse 101 , the second curtain body 3031 is separated from the supporting mechanism 201 .
  • the supporting mechanism 201 when the supporting mechanism 201 moves between the multiple warehouses 101, the supporting mechanism 201 is connected to the second curtain body 3031, so that the second curtain body 3031 is driven to move by the supporting mechanism 201, and the second curtain body 3031 is used to cover part of the warehouses 101.
  • the supporting mechanism 201 moves to a position outside the multiple warehouses 101, the second curtain body 3031 is disconnected from the supporting mechanism 201, and the supporting mechanism 201 can move independently.
  • the fuselage 100 is provided with a plurality of cargo compartments 101, and the supporting mechanism 201 can move relative to the fuselage 100.
  • the supporting mechanism 201 moves in the positions corresponding to the plurality of cargo compartments 101, the second curtain body 3031 remains connected to the supporting mechanism 201, and the second curtain body 3031 moves along with the supporting mechanism 201, so that part of the cargo compartments 101 can be shielded by the second curtain body 3031.
  • the supporting mechanism 201 moves to a position other than the positions corresponding to the plurality of cargo compartments 101 on the fuselage 100, the second curtain body 3031 is disconnected from the supporting mechanism 201, and the supporting mechanism 201 can continue to move, while the second curtain body 3031 remains disconnected, so that other operations can be performed by using the supporting mechanism 201.
  • a plurality of cargo compartments 101 are stacked on the fuselage 100 in a vertical direction, and the supporting mechanism 201 can move up and down along the fuselage 100.
  • the supporting mechanism 201 moves between the plurality of cargo compartments 101
  • the second curtain body 3031 moves along with the supporting mechanism 201, so that the second curtain body 3031 can shield the cargo compartments 101 below the supporting mechanism 201.
  • the supporting mechanism 201 moves to a position between the first cargo compartment 101 on the lower layer and the ground, the second curtain body 3031 is separated from the supporting mechanism 201, so that when the supporting mechanism 201 moves at this position, the second curtain body 3031 remains stationary.
  • a hook 2013 is provided on the supporting mechanism 201, and the hook 2013 is used to be detachably connected to the end of the second curtain body 3031.
  • the hook 2013 of the supporting mechanism 201 hooks one end of the second curtain body 3031 to achieve the connection between the supporting mechanism 201 and the second curtain body 3031.
  • the connection between the hook 2013 of the supporting mechanism 201 and the second curtain body 3031 is released, so that when the supporting mechanism 201 moves, the second curtain body 3031 remains stationary.
  • a second limiting member 105 is provided on the fuselage 100.
  • the second limiting member 105 limits the second curtain body 3031 to prevent the second curtain body 3031 from continuing to move, so as to release the connection between the second curtain body 3031 and the supporting mechanism 201; when the supporting mechanism 201 moves toward the cargo hold 101, the hook 2013 on the supporting mechanism 201 can be connected with the second curtain body 3031.
  • a second limiting member 105 is provided on the fuselage 100.
  • the supporting mechanism 201 moves to a position outside the corresponding position of the plurality of cargo compartments 101 on the fuselage 100, the supporting mechanism 201 can continue to move relative to the fuselage 100, and the second limiting member 105 prevents the second curtain body 3031 from continuing to move, thereby disconnecting the second curtain body 3031 from the supporting mechanism 201.
  • a hook 2013 is provided on the supporting mechanism 201.
  • the hook 2013 on the supporting mechanism 201 can be connected to an end of the second curtain body 3031, thereby driving the second curtain body 3031 to move along the fuselage 100, so that during the movement of the supporting mechanism 201, the second curtain body 3031 can shield the cargo hold 101 through which the supporting mechanism 201 passes.
  • the second limit member 105 can prevent the second curtain body 3031 from continuing to move, while the supporting mechanism 201 can continue to move, thereby disconnecting the hook portion 2013 of the supporting mechanism 201 from the end of the second curtain body 3031.
  • a plurality of cargo compartments 101 are stacked on the fuselage 100 in a vertical direction, the supporting mechanism 201 can move up and down along the fuselage 100, and the second stopper 105 is provided on the fuselage 100, and the second stopper 105 is flush with or slightly lower than the bottom of the first cargo compartment 101 in the lower layer.
  • the second stopper 105 prevents the second curtain body 3031 from moving further, so that the hook portion 2013 of the supporting mechanism 201 is disconnected from the end of the second curtain body 3031.
  • both sides of the body 100 have limiting grooves 106 extending along the movement direction of the second curtain body 3031 , the edge of the second curtain body 3031 is at least partially embedded in the limiting groove 106 , and the end of the limiting groove 106 is a second limiting member 105 .
  • limiting grooves 106 are provided on both sides of the fuselage 100, and the edges of the second curtain body 3031 are embedded in the limiting grooves 106.
  • the edges of the second curtain body 3031 can slide in the limiting grooves 106, and the limiting grooves 106 can guide and limit the movement of the second curtain body 3031.
  • the second limiting member 105 is provided at the end of the limiting groove 106, so that when the second curtain body 3031 moves to the end of the limiting groove 106 along with the supporting mechanism 201, the second curtain body 3031 is prevented from continuing to move, so that the hook 2013 of the supporting mechanism 201 is disconnected from the end of the second curtain body 3031.
  • the guide groove 103 and the limiting groove 106 may be the same groove provided on the body 100, and the extending direction of the groove is consistent with the moving direction of the supporting mechanism 201, so that the edge of the first curtain body 3021 is at least partially embedded in the groove.
  • the edge of the second curtain body 3031 may be at least partially embedded in the groove, and the same groove is used to achieve the guiding and limiting functions of the first curtain body 3021 and the second curtain body 3031, thereby simplifying the structural design of the body 100.
  • the second curtain body assembly 303 also includes: a tensioner 3034, the tensioner 3034 is connected to the second reel 3032, the tensioner 3034 is used to provide a restoring force to the second reel 3032 to roll up the second curtain body 3031, and when the supporting mechanism 201 moves in a direction away from the first curtain body assembly 302, the second curtain body 3031 can be rolled up and recovered under the action of the restoring force.
  • the tensioner 3034 can provide a restoring force for curling and recovering the second curtain body 3031 to the second reel 3032, so that the second curtain body 3031 can be wound around the second reel 3032, so that the extended second curtain body 3031 is curled and recovered.
  • the first end of the second curtain body 3031 is connected to the second reel 3032, and the second end of the second curtain body 3031 is connected to the supporting mechanism 201, and the second curtain body 3031 can be wound on the second reel 3032.
  • the supporting mechanism 201 moves toward the direction close to the first curtain body assembly 302
  • the supporting mechanism 201 drives the second end of the second curtain body 3031 to move
  • the second curtain body 3031 drives the second reel 3032 to rotate, and at this time, the tensioner 3034 connected to the second reel 3032 generates a pre-restoring force.
  • the supporting mechanism 201 drives the second end of the second curtain body 3031 to move.
  • the second reel 3032 can be driven to rotate, so as to roll up the second curtain body 3031 on the second reel 3032, thereby realizing the movement of the second curtain body 3031 relative to the fuselage 100.
  • the second curtain body 3031 is always kept in a tensioned state during the movement, thereby preventing the second curtain body 3031 from bending and folding.
  • the second curtain body assembly 303 further includes a rotatable curtain guide shaft 3035 , which is disposed between the second reel 3032 and the supporting mechanism 201 , and is used to guide the movement of the second curtain body 3031 .
  • a curtain guide shaft 3035 is arranged between the second reel 3032 and the supporting mechanism 201, one end of the second curtain body 3031 is connected to the second reel 3032, and the other end of the second curtain body 3031 is connected to the supporting mechanism 201.
  • the second curtain body 3031 between the second reel 3032 and the supporting mechanism 201 passes through the curtain guide shaft 3035, and the curtain guide shaft 3035 guides the second curtain body 3031.
  • the curtain guide shaft 3035 can be fixedly connected to the fuselage 100, or can be rotatably connected to the fuselage 100, so that when the second curtain body 3031 moves relative to the fuselage 100, the curtain guide shaft 3035 also rotates relative to the fuselage 100, thereby reducing the friction resistance between the curtain guide shaft 3035 and the second curtain body 3031, making the movement of the second curtain body 3031 more flexible.
  • the material storage and retrieval device includes a controller 600.
  • the controller 600 can determine the target warehouse for storing materials according to the received material size information and the situation of the warehouse 101 controlled by the material storage and retrieval device.
  • the controller 600 searches and determines the corresponding target warehouse according to the order number or material number, so that the position of the target warehouse can be quickly and accurately determined through the controller 600, so as to perform other material transfer operations and shielding operations.
  • the controller 600 can be electrically connected to a plurality of warehouses 101, and the controller 600 can obtain the warehouse information corresponding to each warehouse 101, wherein the warehouse information can include: the warehouse number, the warehouse size information and the warehouse usage status.
  • the controller 600 can match the corresponding target warehouse according to the material information to be stored, and when picking up goods is required, the warehouse 101 number matching the order number can be automatically identified according to the order number, and then the corresponding target warehouse is determined according to the warehouse 101 number, wherein the order number can include: material size information, etc.
  • the controller 600 can also be electrically connected to the picking and placing device 200 and the shielding assembly 300 respectively, so that after determining the target warehouse, the controller 600 controls the picking and placing device 200 to move to the position corresponding to the target warehouse to perform material transfer operations, and controls the shielding assembly 300 to shield the corresponding warehouse 101 and lift the shielding of the target warehouse.
  • the pick-and-place device 200 further includes: a lifting drive mechanism 202 , which is installed on the body 100 and connected to the supporting mechanism 201 , and is used to drive the supporting mechanism 201 to vertically lift and lower.
  • a lifting drive mechanism 202 which is installed on the body 100 and connected to the supporting mechanism 201 , and is used to drive the supporting mechanism 201 to vertically lift and lower.
  • the fuselage 100 is provided with a plurality of cargo bins 101, and the plurality of cargo bins 101 are arranged in sequence along a vertical direction.
  • the picking and placing device 200 includes a lifting drive mechanism 202, and the lifting drive mechanism 202 is connected to the fuselage 100.
  • the lifting drive mechanism 202 is connected to the supporting mechanism 201.
  • the lifting device can drive the supporting mechanism 201 to vertically lift and lower, so that the supporting mechanism 201 carries materials and moves up and down along the fuselage 100.
  • the supporting mechanism 201 can be slidably connected to the fuselage 100, and the lifting drive mechanism 202 is connected to the supporting mechanism 201.
  • the lifting drive mechanism 202 is used to drive the supporting mechanism 201 to slide up and down along the fuselage 100 to achieve vertical lifting of the supporting mechanism 201 relative to the fuselage 100, thereby facilitating the up and down movement of the supporting mechanism 201.
  • the lifting drive mechanism 202 can drive the supporting mechanism 201 to move along the fuselage 100 to the ground at the bottom of the fuselage 100 to realize self-service pickup from the ground, or the material storage and retrieval device automatically unloads to the ground, thereby realizing the automatic pickup and unloading functions of the material storage and retrieval device.
  • the supporting mechanism 201 has an expanded state and a stored state; wherein, the supporting mechanism 201, in the expanded state, can support materials and transfer the materials to a target warehouse among the multiple warehouses 101, or transfer the materials in the warehouse 101 out through the window 102 of the target warehouse.
  • the supporting mechanism 201 when the supporting mechanism 201 is in the unfolded state, it can transfer materials outside the material storage and retrieval device to the cargo bin 101, or transfer materials in the cargo bin 101 to outside the material storage and retrieval device.
  • the supporting mechanism 201 when the supporting mechanism 201 is in the stored state, it can save the space occupied by the supporting mechanism 201 and reduce the volume of the overall structure of the material storage and retrieval device.
  • the supporting mechanism 201 has a supporting surface for carrying materials. When the supporting mechanism 201 is in the stowed state, the supporting surface of the supporting mechanism 201 is close to the fuselage 100 . When the supporting mechanism 201 is in the unfolded state, a preset angle is formed between the supporting surface of the supporting mechanism 201 and the fuselage 100 .
  • the specific angle of the preset angle between the supporting surface of the supporting mechanism 201 and the fuselage 100 can be set as needed, and the embodiment of the present application does not limit this.
  • the picking and placing device 200 also includes: a folding drive mechanism 203, which is connected to the supporting mechanism 201 and is used to drive the supporting mechanism 201 to fold so that the supporting mechanism 201 is converted between the unfolded state and the stored state.
  • a folding drive mechanism 203 which is connected to the supporting mechanism 201 and is used to drive the supporting mechanism 201 to fold so that the supporting mechanism 201 is converted between the unfolded state and the stored state.
  • the supporting mechanism 201 can rotate relative to the fuselage, and the folding drive mechanism 203 is connected to the supporting mechanism 201.
  • the folding drive mechanism 203 can drive the supporting mechanism 201 to fold and move relative to the fuselage 100 to change the position of the supporting mechanism 201 relative to the fuselage 100, thereby enabling the supporting mechanism 201 to switch between the unfolded state and the stowed state.
  • the supporting surface of the supporting mechanism 201 is folded to a horizontal state. After the materials are completely transferred to the supporting mechanism 201, the supporting mechanism 201 is folded to an inclined state tilted toward the ground.
  • the folding drive mechanism 203 drives the supporting mechanism 201 to move so that the supporting surface of the supporting mechanism 201 is folded to a horizontal state, so as to transfer the materials in the cargo warehouse 101 to the supporting surface of the supporting mechanism 201, and then after the materials are completely transferred to the supporting mechanism 201, the folding drive mechanism 203 further drives the supporting mechanism 201 to fold so that the supporting surface of the supporting mechanism 201 is folded to an inclined state inclined toward the ground or the containing surface, so as to transfer the materials on the supporting mechanism 201 to the ground or the containing surface.
  • the lifting drive mechanism 202 and the folding drive mechanism 203 can adopt the existing lifting drive mechanism and the rotating drive mechanism, and those skilled in the art can set them according to actual needs, and the embodiment of the present application does not limit this.
  • the supporting mechanism 201 includes a first conveying component 2011 and a first conveying drive mechanism 2012.
  • the first conveying component 2011 is used to transfer materials into the warehouse 101 or transfer materials out of the warehouse 101.
  • the first conveying drive mechanism 2012 is connected to the first conveying component 2011 and is used to drive the first conveying component 2011 to operate.
  • the supporting mechanism 201 includes a first conveying component 2011 and a first conveying drive mechanism 2012.
  • the first conveying drive mechanism 2012 is connected to the first conveying component 2011.
  • the first conveying drive mechanism 2012 can drive the first conveying component 2011 to operate, and then the first conveying component 2011 can be used to transfer materials, so that the supporting mechanism 201 can both carry materials and transfer materials.
  • the first conveying drive mechanism 2012 drives the first conveying component 2011 to operate, thereby transferring the material on the supporting mechanism 201 to the target warehouse.
  • the first conveying drive mechanism 2012 drives the first conveying component 2011 to operate, so as to transfer the material in the target warehouse out.
  • the first conveying assembly 2011 has a first conveyor belt 20111 for moving materials
  • the material storage and retrieval device further includes an automatic walking device 700, which is disposed on the fuselage 100.
  • the moving linear speed of the automatic walking device 700 is substantially equal to the moving linear speed of any point on the supporting surface of the first conveyor belt 20111 for supporting materials, and the direction is opposite.
  • a first conveyor belt 20111 is provided in the picking and placing device 200.
  • the first conveyor belt 20111 can transfer materials.
  • the first conveyor belt 20111 has a supporting surface for supporting materials.
  • the first conveyor belt 20111 is controlled to run to drive the materials to move from the supporting surface to the ground or the containing surface.
  • the fuselage 100 is moved in the opposite direction of the material movement direction, so that the materials slide to the ground or the containing surface.
  • the material storage and retrieval device further includes: a plurality of bin board layer modules 400 , wherein the plurality of bin board layer modules 400 are arranged in sequence and spaced apart from each other, and are used to separate the fuselage 100 into a plurality of cargo bins 101 .
  • a plurality of warehouse board modules 400 are provided on the fuselage 100, and the plurality of warehouse board modules 400 are arranged at intervals, so as to divide the fuselage 100 into a plurality of cargo bins 101.
  • the structural dimensions of the formed cargo bins 101 can be adjusted to meet the storage requirements of materials of different sizes, thereby improving the applicability of the material storage and retrieval device.
  • each compartment board layer module 400 provided in the fuselage 100 and the setting position of each compartment board layer module 400 can be adjusted according to actual needs, and the embodiment of the present application does not impose any limitation on this.
  • the warehouse plate layer module 400 includes a second conveying component 401 and a second conveying drive mechanism 402.
  • the second conveying component 401 can be docked with the first conveying component 2011 on the supporting mechanism 201, and is used to transfer materials located on the first conveying component 2011 to the warehouse 101, or to transfer materials in the warehouse 101 to the first conveying component 2011;
  • the second conveying drive mechanism 402 is connected to the second conveying component 401, and is used to drive the second conveying component 401 to operate.
  • a second conveying component 401 is provided in the warehouse plate layer module 400, and the second conveying component 401 can drive the movement of materials stored in the corresponding warehouse 101.
  • the second conveying component 401 in the warehouse plate layer module 400 and the first conveying component 2011 on the supporting mechanism 201 Through the linkage effect of the second conveying component 401 in the warehouse plate layer module 400 and the first conveying component 2011 on the supporting mechanism 201, the transfer of materials between the supporting mechanism 201 and the target warehouse can be realized.
  • the warehouse board layer module 400 includes a second conveying assembly 401 and a second conveying driving mechanism 402, and the second conveying driving mechanism 402 is connected to the second conveying assembly 401, and the second conveying driving mechanism 402 can drive the second conveying assembly 401 to operate.
  • the second conveying assembly 401 is docked with the first conveying assembly 2011 on the supporting mechanism 201 (e.g., it can be aligned), so that the material is transferred between the second conveying assembly 401 and the first conveying assembly 2011.
  • the first conveying assembly 2011 conveys the material to the entry window 102, and the second conveying assembly 401 continues to convey the material to enter the target warehouse; or, the second conveying assembly 401 conveys the material to the window 102, and the first conveying assembly 2011 continues to transfer the material out of the target warehouse and enter the supporting mechanism 201.
  • the second conveying component 401 includes: a second conveying belt 4011 and a second rotating shaft 4012, the second conveying belt 4011 is sleeved outside the second rotating shaft 4012; the second conveying driving mechanism 402 is connected to the second rotating shaft 4012 to drive the second rotating shaft 4012 to drive the second conveying belt 4011 to operate.
  • the second conveyor belt 4011 is arranged to be sleeved outside the second rotating shaft 4012, and the second rotating shaft 4012 is connected to the second conveying drive mechanism 402.
  • the second conveying drive mechanism 402 can drive the second rotating shaft 4012 to rotate, and then the second conveyor belt 4011 is driven by the second rotating shaft 4012 to run, and the second conveyor belt 4011 can realize the transfer function of materials.
  • the warehouse plate layer module 400 may include a warehouse plate outer frame 405, which may be connected to the fuselage 100, the second rotating shaft 4012 is rotatably connected to the warehouse plate outer frame 405, the second conveyor belt 4011 is sleeved outside the second rotating shaft 4012, the second rotating shaft 4012 is connected to the second conveying drive mechanism 402, and the second rotating shaft 4012 is driven to rotate by the second conveying drive mechanism 402 to drive the second conveyor belt 4011 to operate.
  • a second conveyor belt 4011 is provided at the bottom of each warehouse 101.
  • the materials are placed on the second conveyor belt 4011.
  • the second conveyor belt 4011 is driven by the second rotating shaft 4012 to move the materials.
  • the second conveying assembly 401 may include a plurality of second rotating shafts 4012, which are respectively connected to the warehouse plate outer frame 405, and the plurality of second rotating shafts 4012 are arranged in parallel and spaced apart.
  • the second conveyor belt 4011 is sleeved outside the plurality of second rotating shafts 4012, and by providing the plurality of second rotating shafts 4012, the overall carrying capacity of the second conveying assembly 401 is improved during the process of storing and transferring materials, and the safety and stability of the warehouse 101 are improved.
  • the second conveyor assembly 401 further includes: a first tensioning device 4013, the first tensioning device 4013 is connected to the second conveyor belt 4011 to achieve tensioning of the second conveyor belt 4011.
  • the first tensioning device 4013 is connected to the second conveyor belt 4011, and the first tensioning device 4013 is used to achieve tensioning of the second conveyor belt 4011, thereby ensuring smooth operation of the second conveyor belt 4011.
  • the warehouse plate layer module 400 may include a warehouse plate outer frame 405, a first tensioning device 4013 is installed on the warehouse plate outer frame 405, and the second rotating shaft 4012 is movably connected to the warehouse plate outer frame 405.
  • the relative position of the second rotating shaft 4012 and the warehouse plate outer frame 405 can be adjusted by the first tensioning device 4013, thereby adjusting the tension of the second conveyor belt 4011.
  • the first tensioning device 4013 includes: a first tensioning nut 40131 and a first tensioning screw 40132, the first tensioning screw 40132 is connected to the second rotating shaft 4012, and under the drive of the first tensioning nut 40131, the first tensioning screw 40132 can drive the second rotating shaft 4012 to move to achieve tensioning of the second conveyor belt 4011.
  • the first tensioning device 4013 includes a first tensioning nut 40131 and a first tensioning screw 40132, wherein the first tensioning nut 40131 is threadedly connected to the first tensioning screw 40132, and the first tensioning screw 40132 is connected to the second rotating shaft 4012, and the relative positions of the first tensioning nut 40131 and the first tensioning screw 40132 can be adjusted by rotating the first tensioning nut 40131.
  • the first tensioning screw 40132 can drive the second rotating shaft 4012 to move, thereby achieving a tensioning effect on the second conveyor belt 4011, preventing the second conveyor belt 4011 from loosening, and putting the second conveyor belt 4011 in a suitable tensioning state, so as to be used for smooth material transfer.
  • the first tensioning screw 40132 is movably connected to the storage plate outer frame 405, the first tensioning nut 40131 is threadedly connected to the first tensioning screw 40132, and the end of the second rotating shaft 4012 is connected to the first tensioning screw 40132.
  • the relative position of the first tensioning screw 40132 and the storage plate outer frame 405 can be adjusted by rotating the first tensioning nut 40131, so that the first tensioning screw 40132 drives the second rotating shaft 4012 to move, thereby adjusting the position of the second rotating shaft 4012.
  • the second transmission drive mechanism 402 includes a synchronous belt 4021 and a second tensioning device 4022 , the synchronous belt 4021 is connected to the second rotating shaft 4012 , and the second tensioning device 4022 is connected to the synchronous belt 4021 to achieve tensioning of the synchronous belt 4021 .
  • the second transmission drive mechanism 402 includes a second transmission drive motor 4023, a synchronous belt 4021 and a second tensioning device 4022.
  • the second transmission drive motor 4023 is connected to the second rotating shaft 4012 through the synchronous belt 4021, so that the driving force of the second transmission drive motor 4023 is transmitted to the second rotating shaft 4012 through the synchronous belt 4021 to drive the second rotating shaft 4012 to rotate.
  • the second tensioning device 4022 is arranged to abut against the synchronous belt 4021 to achieve the tensioning effect of the second tensioning device 4022 on the synchronous belt 4021, thereby avoiding the synchronous belt 4021 from loosening and improving the transmission effect of the synchronous belt 4021.
  • the second tensioning device 4022 may include an adjusting slider 40222 and a tension bearing wheel 40221, wherein the adjusting slider 40222 is movably connected to the outer frame 405 of the storage plate, the tension bearing wheel 40221 is connected to the adjusting slider 40222, the tension bearing wheel 40221 abuts against the synchronous belt 4021, and the tension bearing wheel 40221 can rotate with the synchronous belt 4021.
  • the abutting pressure between the tension bearing wheel 40221 and the synchronous belt 4021 can be adjusted to adjust the tension of the synchronous belt 4021.
  • the tensioning effect on the synchronous belt 4021 can be achieved, and the friction resistance between the tension bearing wheel 40221 and the synchronous belt 4021 can be reduced, thereby reducing the influence of the second tensioning device 4022 on the transmission effect of the synchronous belt 4021.
  • a plurality of spaced apart installation slots 107 are provided in the fuselage 100 , and the warehouse board layer modules 400 are detachably connected to the installation slots 107 to adjust the distance between two adjacent warehouse board layer modules 400 , thereby adjusting the size of the cargo hold 101 .
  • a plurality of spaced apart mounting grooves 107 are provided on both sides of the fuselage 100, and the warehouse board layer module 400 is detachably connected to the mounting groove 107.
  • the size of the warehouse 101 formed by the warehouse board layer modules 400 can be adjusted to meet the storage requirements of materials of different sizes.
  • a plurality of mounting grooves 107 are provided on both sides of the fuselage 100, and the plurality of mounting grooves 107 are arranged at intervals, and the mounting grooves 107 extend in a direction perpendicular to the moving direction of the supporting mechanism 201, and at least a portion of the warehouse board layer module 400 can be inserted into the mounting groove 107, so that the cargo hold 101 is enclosed by two adjacent warehouse board layer modules 400 and the fuselage 100.
  • the mounting grooves 107 By providing the mounting grooves 107 on the fuselage 100, the installation and removal of the warehouse board layer module 400 are facilitated, so that the position of each warehouse board layer module 400 can be adjusted as needed to form cargo holds 101 of different sizes.
  • each mounting slot 107 extends in the horizontal direction, and multiple mounting slots 107 on both sides of the fuselage 100 can be arranged in parallel and spaced apart in the vertical direction, so as to facilitate the adjustment of the installation position of the warehouse board layer module 400.
  • the distance between two adjacent warehouse board layer modules 400 can be determined according to actual needs, and the embodiment of the present application does not limit this.
  • a first elastic member 109 is further provided on the inner side of the installation groove 107, and the bin plate layer module 400 is plugged and matched with the first elastic member 109.
  • a first elastic member 109 is provided in each installation groove 107, and the bin plate layer module 400 is plugged and matched with the first elastic member 109.
  • the bin plate layer module 400 squeezes the first elastic member 109, causing the first elastic member 109 to deform elastically, thereby clamping the bin plate layer module 400 under the action of the rebound force of the first elastic member 109.
  • the bin plate layer module 400 can be prevented from sliding in the installation groove 107, thereby improving the stability and safety of the bin plate layer module 400.
  • the first elastic member 109 may be an elastic rubber strip, and the first elastic member 109 may be made of an elastic material, for example, ethylene-propylene rubber (EPR), butadiene rubber (BR), thermoplastic elastomer (TPE), etc.
  • EPR ethylene-propylene rubber
  • BR butadiene rubber
  • TPE thermoplastic elastomer
  • the first elastic member 109 may also be made of other elastic materials, which is not limited in the embodiment of the present application.
  • both sides of the warehouse panel module 400 are detachably connected to the fuselage 100 by fasteners 403.
  • both sides of the warehouse panel module 400 are connected to the fuselage 100 by fasteners 403 to improve the connection firmness between the warehouse panel module 400 and the fuselage 100 and facilitate disassembly.
  • the warehouse panel layer module 400 is fixed to the fuselage using the fastener 403, so that the warehouse panel layer module 400 can be moved along the extension direction of the installation groove 107, thereby improving the stability of the warehouse panel layer module 400.
  • the fastener 403 can be at least one of a screw and a bolt.
  • a first mounting hole is provided at positions corresponding to the mounting slots 107 on both sides of the fuselage 100, and a second mounting hole is also provided on the warehouse board layer module 400.
  • the fastener 403 passes through the second mounting hole on the warehouse board layer module 400 and is connected to the first mounting hole provided on the fuselage 100, thereby achieving a fixed connection between the warehouse board layer module 400 and the fuselage 100.
  • the screw can be threadedly connected between the first mounting hole and the second mounting hole, thereby facilitating installation and removal.
  • a first electrical connector 404 is provided on the compartment plate layer module 400 , and at least one second electrical connector 111 which can be adapted to the first electrical connector 404 is provided on the fuselage 100 , and the first electrical connector 404 and the second electrical connector 111 are detachably docked.
  • a first electrical connector 404 is provided on the warehouse board layer module 400, and a second electrical connector 111 is provided on the fuselage 100, and the first electrical connector 404 is adapted to the second electrical connector 111.
  • the first electrical connector 404 and the second electrical connector 111 are detachably connected, thereby facilitating the electrical connection between the warehouse board layer module 400 and the fuselage 100.
  • the first electrical connector 404 and the second electrical connector 111 may adopt a male and female plug structure to facilitate the detachable connection between the first electrical connector 404 and the second electrical connector 111.
  • the first electrical connector 404 and the second electrical connector 111 may also adopt other detachable electrical connection structures, which is not limited in the embodiment of the present application.
  • the fuselage 100 is provided with a socket 113 which is communicated with the mounting groove 107 and for inserting the compartment plate layer module 400 , and the socket 113 is provided with a flexible shielding member 108 .
  • the fuselage 100 is provided with a socket 113, which is connected to the installation groove 107, so that the warehouse board layer module 400 is conveniently inserted into the installation groove 107 through the socket 113.
  • the socket 113 can play a guiding role to facilitate the docking of the warehouse board layer module 400 and the installation groove 107.
  • a flexible shielding member 108 is provided at the socket 113. Without affecting the installation of the warehouse board layer module 400, it can play a shielding role on the socket 113 to prevent debris from entering the socket 113 or the installation groove 107.
  • the shielding member 108 includes bristles.
  • the shielding member 108 can be configured as bristles, which is simple, practical and low in cost.
  • the fuselage 100 is provided with a loading and unloading port 110 connected to the cargo hold 101, and the loading and unloading port 110 and the window 102 are located on different sides of the fuselage 100; the material storage and retrieval device also includes a side door module 500, which is used to cover the loading and unloading port 110.
  • each cargo bin 101 is provided with a corresponding access opening 110, the access opening 110 is connected to the interior of the cargo bin 101, and the access opening 110 and the window 102 are located on different sides of the fuselage 100, so that it is convenient for manual labor to put materials into the cargo bin 101 or take materials out of the cargo bin 101 through the access opening 110.
  • a side door module 500 is provided, and the access opening 110 is shielded by the side door module 500 to prevent the materials inside the cargo bin 101 from being exposed or lost, thereby improving the safety of the cargo bin 101.
  • each cargo bin 101 is provided with a window 102 and a pick-up and release opening 110, and the pick-up and release opening 110 and the window 102 are located on different sides of the fuselage 100, wherein the window 102 is used for the pick-up and release device 200 to transfer materials into or out of the cargo bin 101, and the pick-up and release opening 110 is used for manually transferring materials into or out of the cargo bin 101, for example, a mail delivery person can put in or take out materials at the pick-up and release opening 110.
  • the window 102 and the pick-up and release opening 110 are arranged on different sides of the fuselage 100, conflicts between manual operation and the automatic pick-up and release device 200 are avoided, and the overall structural arrangement of the fuselage 100 is made more reasonable.
  • the cross-sectional shape of the side door module 500 has a flat state as shown in Figure 13, and has an expanded state as shown in Figure 12.
  • the cross-sectional shape of the side door module 500 is in an expanded state, so that the shape of the side door module 500 is adapted to the shape of the fuselage 100 and the cabin board layer module 400; when the side door module 500 releases the blocking of the access opening 110, the cross-sectional shape of the side door module 500 is in a flat state, so as to reduce the space occupied by the side door module 500.
  • the side door module 500 can be switched between a flat state and an expanded state.
  • the side door module 500 blocks the access opening 110 of the cargo hold 101, it is in an expanded state so as to match the shape of the fuselage 100 and the cargo hold layer module 400, thereby improving the overall aesthetics of the material access device.
  • the side door module 500 removes the blocking of the access opening 110, it is in a flat state so as to reduce the space occupied by the side door module 500 and improve the structural layout of the material access device.
  • the side door module 500 includes: a fixed bracket 501, which is connected to the fuselage 100; a first side door panel 502, one side of which is rotatably connected to the fixed bracket 501; a second side door panel 503, one side of which is rotatably connected to the other side of the first side door panel 502; and a third side door panel 504, one side of which is rotatably connected to the other side of the second side door panel 503, and the other side of the third side door panel 504 is rotatably connected to the fixed bracket 501; wherein, in the expanded state, the fixed bracket 501, the first side door panel 502, the second side door panel 503 and the third side door panel 504 are enclosed to form a three-dimensional shape, and in the flat state, the fixed bracket 501, the first side door panel 502, the second side door panel 503 and the third side door panel 504 are enclosed to form a flat shape.
  • the fixed bracket 501 is rotatably connected to the first side door panel 502, the first side door panel 502 and the second side door panel 503, the second side door panel 503 and the third side door panel 504, and the third side door panel 504 and the fixed bracket 501, so as to facilitate the switching of the side door module 500 between the flat state and the expanded state, so that the side door module 500 can adapt to different usage requirements, thereby improving the applicability of the side door module 500.
  • cross-sectional shape of the three-dimensional shape formed by the side door module 500 in the expanded state can be rectangular, trapezoidal, etc., and the three-dimensional shape formed by the side door module 500 in the expanded state can be determined according to the specific shapes of the fuselage 100 and the cargo floor module 400 so as to adapt to the shapes of the fuselage 100 and the cargo floor module 400.
  • the side door module 500 when the side door module 500 blocks the access opening 110 of the cargo compartment 101, the side door module 500 is in an expanded state.
  • the fixing bracket 501 is connected to the fuselage 100
  • the first side door panel 502 is arranged close to the access opening 110
  • the third side door panel 504 is arranged away from the access opening 110
  • the second side door panel 503 is connected to the fuselage 100 through a locking mechanism 507, thereby fixing the side door module 500 to the fuselage 100.
  • the locking mechanism 507 between the first side door panel 502 and the fuselage 100 is opened, so that the first side door panel 502 can be fitted with the third side door, and the side door module 500 is adjusted to a flat state, thereby reducing the space occupied by the side door module 500.
  • the first side door panel 502 and the fixed bracket 501, the first side door panel 502 and the second side door panel 503, the third side door panel 504 and the second side door panel 503, and the third side door panel 504 and the fixed bracket 501 can all be rotatably connected via a pin 505.
  • the pin 505 is used to realize the rotatable connection, which has a simple structure and low cost.
  • the side door module 500 also includes a second elastic member 508, which is used to provide an elastic restoring force for quickly switching to a flat state, so that the side door module 500 can quickly switch between the expanded state and the flat state, so as to avoid safety hazards such as pinching the operator's hands when opening the side door module 500.
  • a second elastic member 508 which is used to provide an elastic restoring force for quickly switching to a flat state, so that the side door module 500 can quickly switch between the expanded state and the flat state, so as to avoid safety hazards such as pinching the operator's hands when opening the side door module 500.
  • one end of the second elastic member 508 is connected to the first side door panel 502, and the other end of the second elastic member 508 is connected to the fixing bracket 501.
  • the second elastic member 508 is pre-stretched when the side door module 500 is in an expanded state.
  • the second elastic member 508 can quickly switch to a flat state under the action of the elastic restoring force.
  • the second elastic member may be selected from: elastic members such as springs and rubber strips.
  • elastic members such as springs and rubber strips.
  • other elastic members may also be selected, and the embodiments of the present application do not impose any limitation on this.
  • the warehouse board layer module 100 is further provided with a baffle 406 for shielding the side door module 500 on a side close to the side door module 500.
  • the baffle 406 can be connected to the warehouse board outer frame 405.
  • the gap between the warehouse board layer module 100 and the side door module 500 can be reduced, and when the warehouse board layer module 100 is used to store materials, the materials can be prevented from falling from the gap, or when the operator places materials from the loading and unloading port 110 of the warehouse 101 to the warehouse 101, the materials can be prevented from being placed at the position of the gap.
  • adjacent side door modules 500 can be connected and combined to adapt to different sizes of cargo compartments 101.
  • adjacent side door modules 500 can be connected and combined to form a larger side door module 500 to meet the shielding effect of the larger cargo compartment 101, so that the size of the corresponding side door module 500 can be adjusted according to the size of the cargo compartment 101, so that the side door module 500 matches the cargo compartment 101.
  • multiple side door modules 500 can be connected to the fuselage 100 in sequence along the vertical direction, and the fuselage is provided with multiple installation slots arranged at intervals along the vertical direction, and side door modules 500 are correspondingly arranged between adjacent installation slots 107.
  • the combination mode of the corresponding side door modules 500 can be determined according to the position and number of the warehouse board layer modules 400 installed in the installation slots 107 of the fuselage 100, so that each cargo hold 101 corresponds to a side door module 500 or multiple side door modules 500 combined together, thereby realizing the shielding effect of the side door modules 500 on cargo holds of different sizes.
  • the material storage and retrieval device further includes a synchronization retaining member 506 , and the synchronization retaining member 506 is used to be connected to at least two side door modules 500 to achieve synchronous rotation of at least two side door modules 500 .
  • the synchronous retaining member 506 is detachably connected to the side door module 500, and different numbers of side door modules 500 can be selected according to the size of different access ports 110, and multiple side door modules 500 are connected together by using the synchronous retaining member 506 to form an integrated combined side door module 500.
  • the multiple side door modules 500 connected together can be synchronously rotated relative to the fuselage 100, thereby realizing the shielding of the same access port 110 or unblocking of the access port 110, making the operation more convenient and flexible, and improving the applicability of the material storage and access device.
  • the synchronization retaining member 506 can be a connecting plate.
  • the second side door panels 503 in two adjacent side door modules 500 can be connected together through the connecting plate among the multiple side door modules 500 so that the two adjacent side door modules 500 move synchronously.
  • first side door panels 502 in two adjacent side door modules 500 can also be connected by the synchronization retaining member 506, or the third side door panels 504 in two adjacent side door modules 500 can be connected by the synchronization retaining member 506.
  • the multiple side door modules 500 can move synchronously, and the reassembled combined side door module 500 can also switch between the flat state and the expanded state.
  • the material storage and retrieval device also includes a plurality of third trigger members 112 arranged along the arrangement direction of the cargo warehouse 101 and a third sensor 205 arranged on the picking and placing device 200.
  • the third sensor 205 is used to generate a trigger signal when the supporting mechanism 201 of the picking and placing device 200 for supporting materials passes through the third trigger member 112, thereby obtaining the position of the supporting mechanism 201.
  • a plurality of third trigger members 112 are provided on the fuselage 100, and the plurality of third trigger members 112 are provided along the arrangement direction of the cargo hold 101, and a third sensor 205 is provided on the picking and placing device 200, so that when the supporting mechanism 201 in the picking and placing device 200 is moving relative to the fuselage 100, when the supporting mechanism 201 moves to a position corresponding to the target cargo hold, the third trigger member 112 at the corresponding position can trigger the third sensor 112, so as to accurately detect the moving position of the supporting mechanism 201.
  • the fuselage 100 is provided with a plurality of cargo holds 101, and each cargo hold 101 corresponds to at least one third trigger member 112, so that when the supporting mechanism 201 of the picking and placing device 200 passes through each cargo hold 101, the third sensor 205 on the picking and placing device 200 can sense the third trigger member 112 corresponding to each cargo hold 101, and then the third sensor 112 is triggered, so that the real-time position of the supporting mechanism 201 can be determined according to the corresponding position of the third trigger member 112 that triggers the third sensor 205.
  • the material storage and retrieval device further includes a fourth sensor 204 disposed on the retrieval device 200 , and the fourth sensor 204 is used to detect whether a foreign object is clamped during the operation of the retrieval device 200 .
  • a fourth sensor 204 is provided in the picking and placing device 200.
  • the fourth sensor 204 can detect whether there are foreign objects clamped in the picking and placing device 200 during operation.
  • the picking and placing device 200 is promptly controlled to stop moving, thereby avoiding safety accidents and improving the safety of the material storage and retrieval device.
  • the pick-and-place device 200 when the pick-and-place device 200 is folded and raised, the space around the pick-and-place device 200 is prone to a dangerous area where hands may be pinched or foreign objects may be pressed.
  • the fourth sensor 204 By providing the fourth sensor 204, the slight external force may be sensed.
  • the pick-and-place device 200 once the fourth sensor 204 is triggered, the pick-and-place device 200 immediately stops moving to avoid safety accidents.
  • the number of the fourth sensors 204 is at least three, and the at least three fourth sensors 204 are respectively arranged on both sides and the bottom of the supporting mechanism 201 .
  • fourth sensors 204 are respectively arranged on both sides of the supporting mechanism 201, so as to prevent foreign objects from being caught in the folding space of the supporting mechanism 201 during the folding process of the supporting mechanism 201.
  • fourth sensors 204 are also arranged at the bottom of the supporting mechanism 201, so as to prevent foreign objects from being caught in the bottom space of the supporting mechanism 201 during the lifting process of the supporting mechanism 201.
  • the supporting mechanism 201 is further provided with a fourth trigger member 2041 at a position corresponding to the fourth sensor 204.
  • the fourth trigger member 2041 is movably connected to the supporting mechanism 201.
  • the fourth trigger member 2041 can trigger the fourth sensor 204 in response to the user's touch operation.
  • a fourth triggering member 2041 is arranged at a position corresponding to the fourth sensor 204 on the supporting mechanism 201, and the fourth triggering member 2041 is movably connected to the supporting mechanism, so that when the fourth triggering member 2041 is subjected to external touch pressure, the fourth triggering member 2041 moves relative to the supporting mechanism, and then can trigger the fourth sensor 204, so as to control the supporting mechanism 201 to stop moving.
  • the fourth triggering member 2041 and the fourth sensor 204 it is possible to effectively monitor the dangerous area during the operation of the supporting mechanism 201, thereby improving the safety of the movement of the supporting mechanism 201.
  • the fourth triggering member 2041 can be arranged at the bottom of the supporting mechanism 201, the fourth sensor 204 is located between the fourth triggering member 2041 and the supporting mechanism 201, the fourth triggering member 2041 and the fourth sensor 204 are arranged relative to each other, and the fourth triggering member 2041 can be rotatably connected to the supporting mechanism 201.
  • the fourth triggering member 2041 is subjected to an external force, the fourth triggering member 2041 moves toward the fourth sensor 204 to trigger the fourth sensor 204 .
  • the fourth triggering member 2041 is touched by the foreign object and moves toward the fourth sensor 204 , thereby triggering the fourth sensor 204 .
  • a plurality of fourth triggering members 2041 and a plurality of fourth sensors 204 may be provided at the bottom of the supporting mechanism 201, and the positions and quantities of the fourth triggering members 2041 and the four sensors 204 correspond to each other.
  • the specific structures of the fourth triggering members 2041 and the four sensors 204 may be designed according to the existing technology and actual needs.
  • the moving linear speed of the body 100 is controlled to be approximately equal to the moving linear speed of the first conveyor belt 20111, so that the material can slide smoothly to the ground or the receiving surface to avoid friction damage between the material and the ground or the receiving surface.
  • the specific moving linear speed can be set according to actual needs, and the embodiment of the present application does not limit this.
  • the shielding assembly 300 may include a sliding door 3041 and a sliding drive assembly 3042 that drives the sliding door 3041 to move; specifically, the sliding drive assembly 3042 drives the sliding door 3041 to move back and forth.
  • the shielding assembly 300 may include a rotating door 3051 and a rotating drive assembly 3052 that drives the rotating door 3051 to rotate; specifically, the rotating drive assembly 3052 drives the rotating door 3051 to rotate back and forth.
  • the sliding door 3041 or the rotating door 3051 is a single door or a double door.
  • the number of the sliding door 3041 or the rotating door 3051 is not limited, and may be one, two, or more.
  • the shielding assembly 300 is not limited to the embodiments listed in the present application, and those skilled in the art may set it according to actual needs.
  • the material storage and retrieval device described in the embodiment of the present application can at least include the following advantages:
  • the material storage and retrieval device is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials.
  • a taking and placing device 200 materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be placed into the warehouse 101.
  • a movable shielding component 300 to shield the window 102, the protection of the privacy inside the warehouse 101 can be improved.
  • the shielding component 300 and the taking and placing device 200 to operate automatically, the shielding component 300 can be released from the window 102 of the target warehouse when the taking and placing device 200 needs to take and place materials, and after the material transfer is completed, the window 102 of the target warehouse is shielded. In this way, it is convenient for the automatic taking and placing of materials, and can effectively protect the privacy inside the warehouse 101, reduce the risk of material loss in the warehouse 101, and the structure is simple and convenient for automatic control operation.
  • FIG. 34 a flow chart of a control method of a material storage and retrieval device according to an embodiment of the present application is shown.
  • the control method of the material storage and retrieval device according to the embodiment of the present application comprises the following specific steps:
  • Step 101 receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction.
  • the controller 600 can obtain material information and warehouse information, wherein the material information at least includes: material size information, corresponding number information, etc., and the warehouse information at least includes: the vacancy status of the warehouse, etc.
  • the controller 600 automatically detects the usage of the warehouse 101 to obtain the information of the warehouse 101.
  • the controller 600 it is also possible to set up a detection device, detect and obtain the material information of the target material through the detection device, and send the detected material information to the controller 600.
  • Step 102 determining a target warehouse among multiple warehouses.
  • material information and warehouse information are acquired based on the received instruction information, thereby determining the location of the target warehouse for picking up and placing materials.
  • the target warehouse when inventory is needed, can be determined based on the vacant warehouse situation and the received material size information; when shipment is needed, the target warehouse can be determined based on the order number.
  • the order information may include: the location or number of the target warehouse.
  • multiple cargo bins 101 can be stacked in the vertical direction or arranged side by side in the horizontal direction.
  • the following will introduce the implementation of the cargo bins 101 being stacked in the vertical direction.
  • Those skilled in the art can know that the implementation of the cargo bins 101 being arranged side by side in the horizontal direction and the principle of the vertical stacking are the same.
  • Step 103 controlling the shielding component to release the shielding of the target cargo hold, and shielding other cargo holds except the target cargo hold.
  • the shielding assembly 300 is controlled to remove the shielding of the target warehouse to expose the window 102 of the target warehouse, so as to facilitate the transfer of materials into or out of the target warehouse through the window 102.
  • the shielding assembly 300 is controlled to shield other warehouses 101 outside the target warehouse, so as to protect the safety inside other warehouses 101 during the process of taking and placing materials.
  • Step 104 controlling the pick-and-place device to transfer the material to the target warehouse or to transfer the material out of the target warehouse.
  • control method of the material storage and retrieval device in the embodiment of the present application can be applied to the material storage and retrieval device in any of the above embodiments.
  • the specific structure of the material storage and retrieval device can be found in the above content, and the embodiment of the present application will not be repeated here.
  • the material storage and access device control method described in the embodiment of the present application can at least include the following advantages:
  • the user instructions include pickup instructions or inventory instructions; determining a target warehouse among multiple warehouses 101; controlling the shielding component 300 to remove the shielding of the target warehouse, and at the same time shielding other warehouses 101 outside the target warehouse; controlling the pick-up and placement device 200 to transfer materials to the target warehouse or to transfer materials out through the window 102 of the target warehouse.
  • the shielding component 300 By controlling the shielding component 300 to remove the shielding of the target warehouse, and at the same time shielding other warehouses 101 outside the target warehouse, and then controlling the pick-up and placement device 200 to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, it is convenient to transfer materials between the pick-up and placement device 200 and the target warehouse, and can effectively protect the privacy inside other warehouses 101, reduce the risk of material loss in other warehouses 101, and achieve the linkage effect of picking up and placing goods and shielding warehouses 101.
  • the material storage and retrieval device control method according to the embodiment of the present application comprises the following specific steps:
  • Step 201 receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction;
  • Step 202 determining a target warehouse among multiple warehouses.
  • step 201 the specific embodiment process of this step can be performed with reference to step 201, and the embodiment of the present application will not be repeated here.
  • Step 203 controlling the supporting mechanism of the pick-and-place device for supporting the material to move to a target position corresponding to the target warehouse.
  • the pick-and-place device 200 includes a supporting mechanism 201, which is used to support materials during the material transfer process.
  • the supporting mechanism 201 is controlled to move to a target position corresponding to a target warehouse so as to transfer materials between the supporting mechanism 201 and the target warehouse.
  • step 203 may include: controlling the supporting mechanism to move to a target position corresponding to the target cargo warehouse, and simultaneously the shielding assembly also moves so that the opening and closing end of the shielding assembly moves to the vicinity of the target position.
  • the shielding assembly 300 when the supporting mechanism 201 is controlled to move to the target position corresponding to the target warehouse, the shielding assembly 300 is simultaneously controlled to move so that the opening and closing end 301 of the shielding assembly 300 is also controlled to move near the target position corresponding to the target warehouse.
  • the shielding assembly 300 includes a first curtain body assembly 302 and a second curtain body assembly 303 , and a first end of the first curtain body assembly 302 close to the second curtain body assembly 303 and a second end of the second curtain body assembly 303 close to the first curtain body assembly 302 are combined to form an opening and closing end 301 .
  • the first curtain body assembly 302 and the second curtain body assembly 303 are controlled to move at the same time, so that the opening and closing end 301 formed by the first end of the first curtain body assembly 302 and the second end of the second curtain body assembly 303 moves to the vicinity of the target position, thereby realizing the linkage between the picking and placing device 200 and the shielding assembly 300.
  • the method further includes:
  • the supporting mechanism is controlled to move to a set height that is convenient for users to place goods, so that users can place materials on the supporting mechanism.
  • step 203 when the user instruction is an inventory instruction, before step 203, the following steps may be further included:
  • the supporting mechanism 201 is controlled to move to the ground or a placing surface (a tabletop or a shelf, etc.), and the picking and placing device 200 automatically transfers the material into the supporting mechanism 201 .
  • the user when the user needs to store goods, the user issues a storage instruction, and the supporting mechanism 201 moves relative to the body 100 and moves to a set height that is convenient for the user to place goods, so that the user can place the materials to be stored on the pick-and-place device 200.
  • the user places the materials on the ground or a storage surface in advance, and after the user issues a storage instruction, the supporting mechanism 201 moves to the ground or a storage surface (a table or a shelf, etc.), and the pick-and-place device 200 automatically transfers the materials into the supporting mechanism 201.
  • Step 204 controlling the shielding component to release the shielding of the target cargo hold, and shielding other cargo holds except the target cargo hold.
  • the shielding component 300 is controlled to remove the shielding of the target warehouse to expose the window 102 of the target warehouse, so as to facilitate the transfer of materials into or out of the target warehouse through the window 102. At the same time, the shielding component 300 is controlled to shield other warehouses 101 outside the target warehouse.
  • the shielding assembly 300 includes a first curtain assembly 302 and a second curtain assembly 303, and a first end of the first curtain assembly 302 close to the second curtain assembly 303 and a second end of the second curtain assembly 303 close to the first curtain assembly 302 are combined to form an opening and closing end 301; then the step of controlling the shielding assembly to release the shielding of the target cargo hold in step 204 specifically includes:
  • the supporting mechanism and the second curtain assembly are controlled to stop moving, and the first curtain assembly is controlled to continue moving until the target warehouse is opened.
  • the supporting mechanism 201 and the second curtain assembly 303 are controlled to stop moving, and the first curtain assembly 302 is further controlled to continue moving, so that the first end of the first curtain assembly 302 moves in a direction away from the second end of the second curtain assembly 303, and there is a certain gap between the first end of the first curtain assembly 302 and the second end of the second curtain assembly 303, and the gap just corresponds to the window 102 of the target warehouse, so that the opening and closing end 301 opens to expose the window 102, thereby removing the obstruction of the window 102 of the target warehouse.
  • Step 205 controlling the pick-and-place device to transfer the material to the target warehouse or to transfer the material out of the target warehouse.
  • the pick-and-place device 200 is controlled to move to the position corresponding to the target warehouse, and the external materials are transferred to the target warehouse, or the materials in the target warehouse are transferred to the outside of the target warehouse.
  • the supporting mechanism 201 includes a first conveyor belt 20111, a warehouse board layer module 400 is correspondingly provided at the bottom of the warehouse 101, and the warehouse board layer module 400 includes a second conveyor belt 4011; in the case where the user instruction is a pickup instruction, step 205 may include:
  • Step 2051a controlling the operation of the first conveyor belt and the second conveyor belt on the warehouse board layer module corresponding to the target warehouse to transfer materials from the second conveyor belt to the first conveyor belt.
  • the supporting mechanism 201 includes a first conveyor belt 20111.
  • the first conveyor belt 20111 can move in a direction away from the warehouse 101.
  • a warehouse board layer module 400 is provided at the bottom of the warehouse 101.
  • the warehouse board object includes a second conveyor belt 4011.
  • the second conveyor belt 4011 can move in a direction close to the supporting mechanism 201.
  • the running direction of the first conveyor belt 20111 is opposite to the running direction of the second conveyor belt 4011.
  • the first conveyor belt 20111 in the supporting mechanism 201 and the second conveyor belt 4011 in the target warehouse are controlled to run synchronously, so as to transfer the materials in the target warehouse from the second conveyor belt 4011 to the first conveyor belt 20111.
  • the movement directions of the first conveyor belt 20111 and the second conveyor belt are consistent.
  • the operating line speed of the first conveyor belt 20111 can be controlled to be the same as the operating line speed of the second conveyor belt 4011, so that the material can be smoothly transferred between the first conveyor belt 20111 and the second conveyor belt 4011.
  • Step 2052a when the material completely enters the supporting mechanism or enters the middle area of the supporting mechanism, control the first conveyor belt and the second conveyor belt to stop running.
  • the first conveyor belt 20111 and the second conveyor belt 4011 are controlled to stop running so that the materials are parked on the supporting mechanism 201.
  • the specific location where the materials are parked after entering the supporting mechanism 201 can be set according to actual needs, and the embodiment itself does not limit this.
  • the method further includes:
  • a4 controlling the supporting mechanism to move to a pickup position; wherein the pickup position includes the ground or a placing surface or a set height that is convenient for users to pick up goods.
  • the first end of the first curtain assembly 302 is further controlled to move toward the second curtain assembly 303 until the first curtain assembly 302 covers the target cargo hold. Then, the supporting mechanism 201 is controlled to move relative to the fuselage 100 so that the supporting mechanism 201 leaves the position corresponding to the target cargo hold. During the movement of the supporting mechanism 201 relative to the fuselage 100, the first curtain assembly 302 and the second curtain assembly 303 are controlled to move synchronously therewith.
  • the pickup position includes the ground or the placing surface or a set height for the user to pick up the goods.
  • the set height can be a pre-set height suitable for the height of the human body to facilitate storage and pickup, or it can be a corresponding pickup height automatically set by the recognition module built into the material storage and retrieval device to recognize the height of the user through the recognition module.
  • controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move following the supporting mechanism 201 means controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move synchronously while controlling the supporting mechanism 201 to move.
  • the first curtain body assembly 302 is configured to be able to move autonomously.
  • the first curtain body assembly 302 includes: a first curtain body 3021 and a curtain body driving mechanism 3022.
  • the curtain body driving mechanism 3022 is installed on the body 100 and connected to the first curtain body 3021.
  • the curtain body driving mechanism 3022 can be used to drive the first curtain body 3021 to move.
  • the second curtain body assembly 303 is configured to be able to move following the supporting mechanism.
  • the second curtain body assembly 303 includes a second curtain body 3031.
  • One end of the second curtain body 3031 is connected to the body 100 and the other end is connected to the supporting mechanism 201.
  • the supporting mechanism 201 can drive the second curtain body 3031 to move.
  • the method further includes:
  • the picking and placing device is controlled to move to a preset initial position.
  • the supporting mechanism 201 moves to a set height, and the user takes the material from the supporting mechanism 201. After the material leaves the supporting mechanism 201, the picking and placing device 200 is controlled to move to a preset initial position for the next stock picking operation.
  • the initial position is flush with or slightly lower than the bottom of the first-layer cargo warehouse 101 closest to the ground.
  • step a4 when the pickup location is the ground or the placing surface, after step a4, the following may also be included:
  • the pick-up and placement device is controlled to move to a preset initial position.
  • the first conveyor belt 20111 can be controlled to rotate toward the ground or the containing surface to transfer the material to the ground or the containing surface, thereby making the material detach from the supporting mechanism 201 and placing the material on the ground or the containing surface to achieve automatic unloading of the material.
  • the picking and placing device 200 is controlled to move to a preset initial position so as to perform the next picking and storing operation.
  • the step of controlling the first conveyor belt to operate so as to transfer the material to the ground or the containing surface specifically includes:
  • the first conveyor belt is controlled to run, and the body of the material storage and retrieval device also moves at the same time.
  • the moving linear speed of any point on the supporting surface of the first conveyor belt for supporting materials is substantially equal to and opposite to the moving linear speed of the body of the material storage and retrieval device.
  • the material storage and retrieval device includes an automatic walking device 700 to drive the body 100 to move, and the moving linear speed of the body 100 is the moving linear speed of the automatic walking device 700.
  • the first conveyor belt 20111 in the process of transferring the material on the supporting mechanism 201 to the ground or the holding surface, the first conveyor belt 20111 is controlled to rotate toward the ground or the holding surface, so that the material is transferred from the supporting mechanism 201 to the ground or the holding surface.
  • the body 100 of the material storage and retrieval device is controlled to move in the opposite direction, that is, the moving direction of the body 100 is opposite to the running direction of the first conveyor belt 20111, and the moving linear speed of the first conveyor belt 20111 is controlled to be approximately equal to the moving linear speed of the body 100, so that the material is smoothly transferred to the ground or the holding surface, avoiding friction damage between the material and the ground or the holding surface.
  • the supporting mechanism 201 includes a first conveyor belt 20111, a warehouse board layer module 400 is correspondingly provided at the bottom of the warehouse 101, and the warehouse board layer module 400 includes a second conveyor belt 4011; if the user instruction is an inventory instruction, step 205 may include:
  • Step 2051b controlling the operation of the first conveyor belt of the supporting mechanism and the second conveyor belt on the warehouse board layer module corresponding to the target warehouse to transfer the material from the first conveyor belt to the second conveyor belt.
  • the supporting mechanism 201 includes a first conveyor belt 20111.
  • the first conveyor belt 20111 can move toward the direction close to the warehouse 101.
  • a warehouse board layer module 400 is provided at the bottom of the warehouse 101.
  • the warehouse board layer module 400 includes a second conveyor belt 4011.
  • the second conveyor belt 4011 can move toward the direction away from the supporting mechanism 201.
  • the running direction of the first conveyor belt 20111 is anti-parallel to the running direction of the second conveyor belt 4011.
  • the first conveyor belt 20111 in the supporting mechanism 201 and the second conveyor belt 4011 in the target warehouse are controlled to run synchronously so as to transfer the materials on the supporting mechanism 201 from the first conveyor belt 20111 to the second conveyor belt 4011.
  • the movement directions of the first conveyor belt 20111 and the second conveyor belt are consistent.
  • the operating line speed of the first conveyor belt 20111 can be controlled to be the same as the operating line speed of the second conveyor belt 4011, so that the material can be smoothly transferred between the first conveyor belt 20111 and the second conveyor belt 4011.
  • Step 2052b when the material completely enters the warehouse 101 or the middle area of the warehouse 101, control the first conveyor belt 20111 and the second conveyor belt 4011 to stop running.
  • the first conveyor belt 20111 and the second conveyor belt 4011 are controlled to stop running so that the materials are parked in the cargo warehouse 101.
  • the specific location where the materials are parked after entering the cargo warehouse 101 can be set according to actual needs, and the embodiment itself does not limit this.
  • the method further includes:
  • the first end of the first curtain assembly 302 is further controlled to move toward the second curtain assembly 303 until the first curtain assembly 302 covers the target cargo hold.
  • the supporting mechanism 201 is controlled to move relative to the fuselage 100 so that the supporting mechanism 201 leaves the position corresponding to the target cargo hold.
  • the first curtain assembly 302 and the second curtain assembly 303 are controlled to move synchronously.
  • the supporting mechanism 201 moves to the preset initial position, the supporting mechanism 201, the first curtain assembly 302 and the second curtain assembly 303 are controlled to stop moving synchronously.
  • controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move following the supporting mechanism 201 means controlling the first curtain body assembly 302 and the second curtain body assembly 303 to move synchronously while controlling the supporting mechanism 201 to move.
  • the material storage and access device control method described in the embodiment of the present application can at least include the following advantages:
  • the user instructions include pick-up instructions or inventory instructions; determining a target warehouse among multiple warehouses 101; controlling the supporting mechanism 201 of the picking and placing device 200 for supporting materials to move to a target position corresponding to the target warehouse; controlling the shielding component 300 to release the shielding of the target warehouse, and at the same time shielding other warehouses 101 outside the target warehouse; controlling the picking and placing device 200 to transfer materials to the target warehouse or to transfer materials out through the window 102 of the target warehouse.
  • the shielding assembly 300 is controlled to release the shielding of the target warehouse, and at the same time shield other warehouses 101 outside the target warehouse, and the picking and placing device 200 is controlled to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, it is convenient to transfer materials between the picking and placing device 200 and the target warehouse, and can effectively protect the privacy inside other warehouses 101, thereby reducing the risk of material loss in other warehouses 101, and realizing the linkage effect of cargo picking and placing and warehouse shielding.
  • FIG. 36 a flow chart of another control method of a material storage and retrieval device according to an embodiment of the present application is shown.
  • the control method of a material storage and retrieval device according to an embodiment of the present application specifically includes the following steps:
  • Step 301 when the material storage and retrieval device is powered on, control the material storage and retrieval device to perform a self-check.
  • the material storage and retrieval device when the material storage and retrieval device is required to perform a picking or storage operation, the material storage and retrieval device is controlled to be powered on, and the material storage and retrieval device is controlled to perform a self-check to detect whether all parts of the material storage and retrieval device are in a normal operating state, so as to restore the material storage and retrieval device to a normal operating state to perform subsequent operations.
  • step 301 includes:
  • Step 3011 When the power-on state of the material storage and retrieval device meets a first preset condition, a first self-check operation is performed.
  • a first preset condition of the material storage and retrieval device can be set in advance, and then after the material storage and retrieval device is powered on, it is determined whether the power-on state of the material storage and retrieval device meets the first preset condition. When the power-on state of the material storage and retrieval device meets the first preset condition, a first self-check operation can be performed.
  • the first preset condition is that the material storage and retrieval device is powered on for the first time and/or the material storage and retrieval device is powered on for the first time after the structure is changed.
  • the controller 600 needs to perform a self-test operation to determine whether the status of the various parts of the material storage and retrieval device is normal. If the status is normal, the subsequent material transfer operation is performed. If the status is abnormal, the working status of the various parts of the material storage and retrieval device needs to be restored to the initial state to facilitate subsequent accurate control.
  • the pick-and-place device 200 includes a supporting mechanism 201 for supporting materials, a folding driving mechanism 203 for driving the supporting mechanism 201 to flip, and a lifting driving mechanism 202 for driving the supporting mechanism 201 to lift and lower.
  • the first self-check operation in step 3011 includes:
  • the folding driving mechanism is controlled to drive the supporting mechanism to switch from the storage state to the unfolded state
  • the lifting and lowering drive mechanism When the lifting and lowering drive mechanism is lifting normally, the lifting and lowering of the supporting mechanism and the lifting and lowering of the shielding assembly are controlled in sequence to achieve the height calibration and structure inspection of the cargo hold.
  • Step 3012 When the power-on state of the material storage and retrieval device does not meet the first preset condition, perform a second self-check operation.
  • a second self-check operation is performed accordingly, wherein the second self-check operation is different from the first self-check operation.
  • the pick-and-place device 200 includes a supporting mechanism 201 for supporting materials, a folding driving mechanism 203 for driving the supporting mechanism 201 to flip, and a lifting driving mechanism 202 for driving the supporting mechanism 201 to lift and lower.
  • the second self-check operation in step 3012 includes:
  • the shielding assembly is controlled to reset.
  • Step 302 receiving a user instruction, wherein the user instruction includes a pickup instruction or a storage instruction.
  • Step 303 determining a target warehouse among multiple warehouses.
  • step 102 the specific implementation process of this step can be performed with reference to step 102, and the example of the present application will not be repeated here.
  • Step 304 controlling the shielding component to release the shielding of the target cargo warehouse, and shielding other cargo warehouses except the target cargo warehouse.
  • step 103 the specific implementation process of this step can be performed with reference to step 103, and the example of the present application will not be repeated here.
  • Step 305 controlling the pick-and-place device to transfer the material to the target warehouse or to transfer the material out through the window of the target warehouse.
  • step 104 the specific implementation process of this step can be performed with reference to step 104, and the example of the present application will not be repeated here.
  • the material storage and access device control method described in the embodiment of the present application can at least include the following advantages:
  • the material storage and retrieval device when the material storage and retrieval device is powered on, the material storage and retrieval device is controlled to perform self-check and receive user instructions, the user instructions include pickup instructions or storage instructions; determine the target warehouse among multiple warehouses 101; control the shielding component 300 to remove the shielding of the target warehouse, and shield other warehouses 101 outside the target warehouse; control the pick-up and placement device 200 to transfer the material to the target warehouse or transfer the material out through the window 102 of the target warehouse.
  • the material storage and retrieval device Before executing the pick-up and placement, the material storage and retrieval device is first self-checked so that all parts of the material storage and retrieval device are reset, which is convenient for subsequent precise control.
  • the shielding component 300 is controlled to release the shielding of the target warehouse, and at the same time shield other warehouses 101 outside the target warehouse, and then the picking and placing device 200 is controlled to transfer materials into or out of the target warehouse through the window 102 of the target warehouse, thereby facilitating the transfer of materials between the picking and placing device 200 and the target warehouse, and effectively protecting the privacy inside other warehouses 101, reducing the risk of material loss in other warehouses 101, and improving the accuracy and safety of the material storage and retrieval device.
  • the embodiment of the present application also provides another robot, which includes: a body 100, on which a plurality of cargo bins 101 for accommodating materials are arranged, and the cargo bins 101 have windows 102 for allowing materials to enter or exit; a pick-and-place device 200, which is used to transfer materials into a target cargo bin through the window 102 of a target cargo bin among the plurality of cargo bins 101, or to transfer materials out through the window 102 of the target cargo bin; a shielding component 300, which is movably connected to the body 100 and is used to In the shielding warehouse 101; the controller 600, the picking and placing device 200 and the shielding assembly 300 are all electrically connected to the controller 600; the controller 600 is used to control the shielding assembly 300 to release the shielding of the window 102 of the corresponding target warehouse, and to shield the windows 102 of other warehouses 101 outside the target warehouse, and to control the picking and placing device 200 to complete the transfer of materials after the target warehouse is unblocked; after the material transfer is completed, the controller 600 controls the shielding assembly
  • the robot is provided with a plurality of warehouses 101 for accommodating materials, and each warehouse 101 is provided with a window 102 for taking and placing materials.
  • a taking and placing device 200 materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be placed into the warehouse 101.
  • a movable shielding component 300 is provided to shield the window 102 to improve the protection of the privacy inside the warehouse 101.
  • the shielding component 300 is released from shielding the window 102 of the corresponding warehouse 101 through the controller 600.
  • the shielding component 300 shields the window 102 of the target warehouse, which is convenient for automatic taking and placing of materials in the warehouse 101, and can effectively protect the privacy inside the warehouse 101, thereby reducing the risk of loss of materials in the warehouse 101.
  • the structure is simple, and automatic control operation is convenient, and the overall safety of the robot is higher.
  • the embodiment of the present application also provides another material storage and retrieval device, which includes: a fuselage 100, on which are disposed a plurality of cargo bins 101 for accommodating materials; a plurality of cargo bin layer modules 400, which are detachably connected to the fuselage 100 and are arranged in sequence at intervals, for dividing the fuselage 100 into a plurality of cargo bins 101; the cargo bin layer modules 400 include: a second conveying component 401, which is used to transport materials out of the cargo bin 101 or to transport materials that have just entered the cargo bin 101 to the interior of the cargo bin 101; and a second conveying drive mechanism 402, which is connected to the second conveying component 401, for driving the second conveying component 401 to operate.
  • a plurality of bin plate layer modules 400 are detachably connected to the fuselage 100, and the fuselage 100 can be divided into a plurality of cargo bins 101 by means of a plurality of bin plate layer modules 400 arranged at intervals.
  • the bin plate layer module 400 includes a second conveying component 401, and the second conveying component 401 is driven to operate by a second conveying driving mechanism 402.
  • the second conveying component 401 transports materials out of the cargo bin 101 or transports materials that have just entered the cargo bin 101 to the interior of the cargo bin 101, so that the material storage and retrieval device can be used to realize automatic loading and unloading of materials.
  • the material storage and retrieval device includes a fuselage 100, on which a plurality of bin plate layer modules 400 are arranged, and the plurality of bin plate layer modules 400 are arranged at intervals, and two adjacent bin plate layer modules 400 and the fuselage 100 can be enclosed to form a cargo hold 101 for accommodating materials, and a plurality of cargo holds 101 can be formed by the plurality of bin plate layer modules 400, and by adjusting the position of the bin plate layer module 400 on the fuselage 100, the size of the corresponding cargo hold 101 can be adjusted to form cargo holds 101 of different sizes to meet the storage needs of materials of different sizes.
  • the warehouse plate layer module 400 includes a second conveying drive mechanism 402 and a second conveying component 401.
  • the second conveying mechanism is connected to the second conveying component 401.
  • the second conveying drive mechanism 402 can drive the second conveying component 401 to move relative to the fuselage 100, thereby driving the movement of materials in the cargo hold 101, so as to move the materials in the cargo hold 101 out of the cargo hold 101, or move the materials into the cargo hold 101.
  • An embodiment of the present application further provides a movable platform, which includes: a platform base and the material storage and retrieval device described in the above embodiment; wherein the material storage and retrieval device is connected to the platform base.
  • the movable platform in the embodiment of the present application may include the material storage and retrieval device in any of the above embodiments.
  • the specific structure of the material storage and retrieval device can refer to the contents in the above embodiments, and the embodiments of the present application will not be repeated here.
  • the material storage and retrieval device is provided with a plurality of warehouses 101 for accommodating materials
  • each warehouse 101 is provided with a window 102 for taking and placing materials
  • a taking and placing device 200 materials can be taken out of the warehouse 101 through the window 102 of the warehouse 101, or external materials can be placed into the warehouse 101
  • a movable shielding component 300 is provided to shield the window 102 to improve the protection of the privacy inside the warehouse 101, and by providing the shielding component 300 and the taking and placing device 200,
  • the device 200 is linked to the storage device 200 so that when the picking and placing device 200 is in the process of picking and placing materials from the cargo hold 101, the shielding component 300 can remove the shielding of the window 102 of the corresponding cargo hold 101.
  • the shielding component 300 shields the window 102 of the target cargo hold, which is convenient for the automatic picking and placing of materials in the cargo hold 101, and can effectively protect the privacy inside the cargo hold 101, thereby reducing the risk of loss of materials in the cargo hold 101.
  • the structure is simple, and automatic control operation is convenient, and the overall safety of the material storage and retrieval device is higher.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.
  • one embodiment means that a particular feature, structure or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present application.
  • examples of the term “in one embodiment” here do not necessarily all refer to the same embodiment.
  • any reference signs placed between brackets shall not be construed as limiting the claims.
  • the word “comprising” does not exclude the presence of elements or steps not listed in the claims.
  • the word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements.
  • the present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware.
  • the use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

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Abstract

一种物料存取装置及控制方法、机器人及可移动平台，物料存取装置包括：机身（100）、取放装置（200）和遮挡组件（300），机身（100）上设有用于容纳物料的多个货仓（101），货仓（101）具有用于供物料进出的窗口（102）；取放装置（200）用于将物料经由多个货仓（101）中的目标货仓的窗口（102）转移进入目标货仓内，或将物料经由目标货仓的窗口（102）转移出；遮挡组件（300）活动连接于机身（100）用于遮挡窗口（102），能够自动解除对对应的目标货仓的窗口（102）的遮挡，并遮挡目标货仓之外的其他货仓的窗口（102），取放装置（200）在目标货仓的窗口（102）的遮挡被解除之后，完成物料的转移；在物料转移完成后，遮挡组件（300）自动遮挡目标货仓的窗口（102）。

Description

物料存取装置、物料存取装置的控制方法、机器人及可移动平台 技术领域
本申请涉及物料储运技术领域，特别涉及一种物料存取装置、物料存取装置的控制方法、机器人及可移动平台。
背景技术
随着仓储物流技术的高速发展，为了提高物料的储运效率，越来越多的设备被用于进行物料的存储或运输。现有的物料存取装置的取货、放货以及开、关遮挡门等操作通常依靠人工操作，操作不便，整体效率较低。
申请内容
为了解决现有的物料存取装置的取货、放货以及开、关遮挡门等操作通常依靠人工操作，操作不便，整体效率较低的问题，本申请实施例提供了一种物料存取装置、物料存取装置的控制方法、机器人及可移动平台。
第一方面，本申请实施例提供了物料存取装置，所述物料存取装置包括：
机身，所述机身上设置有用于容纳物料的多个货仓，所述货仓具有用于供物料进或出的窗口；
取放装置，所述取放装置用于将物料经由所述多个货仓中的目标货仓的窗口而转移进入所述目标货仓内，或者将物料经由所述目标货仓的窗口而转移出；以及
遮挡组件，所述遮挡组件活动连接于所述机身，用于遮挡所述窗口；
所述遮挡组件被配置为能够自动解除对对应的所述目标货仓的窗口的遮挡，并遮挡所述目标货仓之外的其他货仓的窗口，所述取放装置被配置为在所述目标货仓的窗口的遮挡被解除之后，完成物料的转移；在物料转移完成后，所述遮挡组件自动遮挡所述目标货仓的窗口。
第二方面，本申请实施例还公开了一种物料存取装置的控制方法，所述控制方法包括：
接收用户指令，所述用户指令包括取货指令或者存货指令；
在多个货仓中确定目标货仓；
控制遮挡组件解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓；
控制所述取放装置将物料转移至目标货仓或者将物料转移出所述目标货仓。
第三方面，本申请实施例还公开了一种机器人，包括：
机身，所述机身上设置有用于容纳物料的多个货仓，所述货仓具有用于供物料进或出的窗口；
取放装置，所述取放装置用于将物料经由所述多个货仓中的目标货仓的窗口而转移进入所述目标货仓内，或者将物料经由所述目标货仓的窗口而转移出；
遮挡组件，所述遮挡组件活动连接于所述机身，用于遮挡所述货仓；
控制器，所述取放装置以及所述遮挡组件均与所述控制器电性连接；所述控制器用于控制所述遮挡组件解除对对应的所述目标货仓的窗口的遮挡，并遮挡所述目标货仓之外的其他货仓的窗口，并控制所述取放装置在所述目标货仓解除遮挡之后，完成物料的转移；在物料转移完成后，所述控制器控制所述遮挡组件再次遮挡所述目标货仓的窗口。
第四方面，本申请实施例还提供了一种物料存取装置，包括：
机身，所述机身上设置有用于容纳物料的多个货仓；
多个仓板层模组，所述多个仓板层模组可拆卸地连接于所述所机身，且依次间隔设置，用于将所述机身分隔成所述多个货仓；
所述仓板层模组包括：
第二传送组件，所述第二传送组件用于输送物料退出所述货仓或者将刚进入所述货仓的物料输送至货仓内部；
以及第二传送驱动机构，所述第二传送机构与所述第二传送组件连接，用于驱动所述第二传送组件运行。
第五方面，本申请实施例还提供了一种可移动平台，所述可移动平台包括：平台基体以及上述物料存取装置；其中，
所述物料存取装置连接于所述平台基体。
本申请实施例中，物料存取装置设有用于容纳物料的多个货仓，每个货仓上设有用于取放物料的窗口，通过设置取放装置，可以经由货仓的窗口处，将物料从货仓中取出，或者将外部的物料转移进入货仓内。通过设置可活动的遮挡组件自动打开或遮挡窗口，可以提高对货仓内部隐私的保护。具体地，可以在取放装置取放物料之前或者取放物料的过程中，解除遮挡组件对目标货仓的窗口的遮挡，并在物料转移完成后，遮挡所述目标货仓的窗口。这样，可以实现物料自动进或出货仓，同时，遮挡组件自动打开目标货仓或自动关闭货仓。既方便物料的自动取放，又能够有效保护货仓内部的隐私性，降低货仓内物料丢失的风险。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示意性地示出了本申请实施例的一种物料存取装置的结构示意图；
图2示意性地示出了本申请实施例的物料存取装置的局部结构示意图之一；
图3示意性地示出了本申请实施例的一种第一帘体组件的结构示意图；
图4示意性地示出了本申请实施例图3中圈示的A部的放大图；
图5示意性地示出了本申请实施例的一种第二帘体组件的结构示意图；
图6示意性地示出了本申请实施例的一种仓板层模组的结构示意图之一；
图7示意性地示出了本申请实施例图6中圈示的A部的放大图；
图8示意性地示出了本申请实施例的一种第一张紧螺钉的结构示意图；
图9示意性地示出了本申请实施例图6中圈示的B部的放大图；
图10示意性地示出了本申请实施例的一种仓板层模组的结构示意图之二；
图11示意性地示出了本申请实施例图10中圈示的A部的放大图；
图12示意性地示出了本申请实施例的一种侧门模组的扩充状态的结构示意图；
图13示意性地示出了本申请实施例的一种侧门模组的扁平状态的结构示意图；
图14示意性地示出了本申请实施例的物料存取装置的局部结构示意图之二；
图15示意性地示出了本申请实施例的侧门模组的局部结构示意图；
图16示意性地示出了本申请实施例的物料存取装置的局部结构示意图之三；
图17示意性地示出了本申请实施例的图10中圈示的A部的放大图；
图18示意性地示出了本申请实施例的物料存取装置的局部结构示意图之四；
图19示意性地示出了本申请实施例的取放装置的结构示意图之一；
图20示意性地示出了本申请实施例的取放装置的结构示意图之二；
图21示意性地示出了本申请实施例的取放装置的转移物料的示意图；
图22示意性地示出了本申请实施例的物料存取装置的局部结构示意图之四；
图23示意性地示出了本申请实施例的图22中圈示的A部的放大图；
图24示意性地示出了本申请实施例的图22中圈示的B部的放大图；
图25示意性地示出了本申请实施例的物料存取装置的局部结构示意图之五；
图26示意性地示出了本申请实施例的图25中圈示的A部的放大图；
图27示意性地示出了本申请实施例的图25中圈示的B部的放大图；
图28示意性地示出了本申请实施例的承托机构的剖视图；
图29示意性地示出了本申请实施例的图28中圈示的A部的放大图；
图30示意性地示出了本申请实施例的一种遮挡组件的结构示意图；
图31示意性地示出了本申请实施例的另一种遮挡组件的结构示意图；
图32示意性地示出了本申请实施例的又一种遮挡组件的结构示意图；
图33示意性地示出了本申请实施例的再一种遮挡组件的结构示意图；
图34示意性地示出了本申请实施例的一种物料存取装置的控制方法的流程图；
图35示意性地示出了本申请实施例的另一种物料存取装置的控制方法的流程图；
图36示意性地示出了本申请实施例的又一种物料存取装置的控制方法的流程图。
附图标记说明：
100、机身；101、货仓；102、窗口；103、导向槽；104、第一限位件；105、第二限位件；106、限位槽；107、安装槽；108、遮挡件；109、第一弹性件；110、取放口；111、第二电连接件；112、第三触发件；113、插口；114、初始位置传感器；200、取放装置；201、承托机构；2011、第一传送组件；20111、第一传送带；2012、第一传送驱动机构；2013、钩部；2014、第一传感器；2015、第二传感器；20151、第一侧传感器；20152、第二侧传感器；202、升降驱动机构；203、翻折驱动机构；204、第四传感器；2041、第四触发件；205、第三传感器；300、遮挡组件；301、开合端；302第一帘体组件；3021、第一帘体；3022、帘体驱动机构；3023、第一卷轴；3024、第二触发器；30241、第一触发件；30242、第二触发件；3025、第一触发器；303、第二帘体组件；3031、第二帘体；3032、第二卷轴；3033、第二壳体；3034、张紧器；3035、帘布引导轴；3041、滑动门；3042、滑动驱动组件；3051、转动门；3052转动驱动组件；400、仓板层模组；401、第二传送组件；4011、第二传送带；4012、第二转动轴；4013、第一张紧装置；40131、第一张紧螺母；40132、第一张紧螺钉；402、第二传送驱动机构；4021、同步带；4022、第二张紧装置；40221、张紧轴承轮；40222、调节滑块；4023、第二传送驱动电机；403、紧固件；404、第一电连接件；405、仓板外框；406、挡板；500、侧门模组；501、固定支架；502、第一侧门板；503、第二侧门板；504、第三侧门板；505、销轴；506、同步保持件；507、锁止机构；508、第二弹性件；600、控制器；700、自动行走装置。
具体实施例
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
本申请实施例中提供了一种物料存取装置，该物料存取装置可以应用于物流储运，包括但不限于物料存储、货物搬运、快递配送、楼宇配送、自动送餐等场景。
参考图1，示出了本申请实施例的一种物料存取装置的结构示意图，图2示意性地示出了本申请实施例的物料存取装置的局部结构示意图。
物料存取装置包括：机身100、取放装置200以及遮挡组件300。机身100上设置有用于容纳物料的多个(两个或两个以上)货仓101，货仓101具有用于供物料进或出的窗口102；取放装置200用于将物料经由多个货仓101中的目标货仓的窗口102而转移进入目标货仓内，或者将物料经由目标货仓的窗口102转移出；遮挡组件300活动连接于机身100，用于遮挡窗口102。其中遮挡组件300被配置为能够自动解除对对应的目标货仓的窗口102的遮挡，并遮挡目标货仓之外的其他货仓101的窗口102；取放装置200被配置为在目标货仓的窗口102的遮挡被解除之后，完成物料的转移。在物料转移完成后，遮挡组件300自动遮挡目标货仓的窗口102，同时目标货仓之外的其他货仓的窗口102仍处于被遮挡状态。
在本申请实施例中，物料存取装置设有用于容纳物料的多个货仓101，每个货仓101上设有用于取放物料的窗口102，通过设置取放装置200，可以经由货仓101的窗口102处，将物料从货仓101中取出，或者将外部的物料转移进入货仓101内。通过设置可活动的遮挡组件300自动打开或遮挡窗口102，可以提高对货仓101内部隐私的保护。具体地，可以在取放装置200取放物料之前或者取放物料的过程中，解除遮挡组件300对目标货仓的窗口102的遮挡，并在物料转移完成后，遮挡所述目标货仓的窗口102。这样，可以实现物料自动进或出货仓101，同时，遮挡组件300自动打开目标货仓或自动关闭货仓。既方便物料的自动取放，又能够有效保护货仓101内部隐私，降低货仓101内物料丢失的风险。
本申请实施例中的物料存取装置，可以应用于固定地点的物料存取，也可以用于在不同目标地点之间移动以实现物料的移动配送。通过设置简单可靠的取放装置200和遮挡组件300，可以实现物料存取装置在开放环境中自动取货、运输和卸货，实现自动取放物料的功能。同时，在物料存取装置的货仓101内物料转移过程中，利用遮挡组件300至少部分遮挡住货仓101，从而提高对货仓101内部隐私的保护，降低了货仓101内物料丢失的风险。
需要说明的是，目标货仓为机身100设置的多个货仓101中，需要通过取放装置200从中转移进或出物料的货仓。在物料转移过程中，遮挡组件300解除对目标货仓的窗口的遮挡，在物料转移完成后，遮挡组件300遮挡住目标货仓的窗口。
示例性地，在楼宇配送的场景中，无需服务人员的参与即可通过物料存取装置实现自主货物配送，一旦用户无法及时接收，物料存取装置能够移动到用户指定的收货地点，然后，遮挡组件300解除对目标货仓的窗口的遮挡，取放装置200从目标货仓内将货物转移出，遮挡组件300再次遮挡住目标货仓的窗口，进而再由取放装置200将货物放在收货地点对应的地面或盛放面(如桌面或货架的层板等)，实现货物的自动配送，流程简单且高效。
再例如，在快递配送的场景中，用户无需等待快递员上门，只需将包裹放在房间门口的地面或者预定的盛放面(如桌面或货架的层板等)，物料存取装置移动到待取包裹所在位置，通过取放装置200将地面或者预定的盛放面的包裹提取，遮挡组件300解除对目标货仓的窗口的遮挡，取放装置200将包裹转移进入目标货仓内，遮挡组件300再次遮挡住目标货仓的窗口，完成包裹揽收操作，实现用户便携寄件。通过本申请的物料存取装置即可实现包裹的自主揽收，又能有效保护用户的隐私。需要说明的是，本申请实施例中，也可通过用户将物料放入取放装置200，而后由取放装置200自动转移物料进入货仓101，或者取放装置200将物料转移出货仓101，用户将物料从取放装置200中取出。其中，取放装置200转移物料的方式可以是传送带传输或者是机械抓夹持或者是吸盘吸取等等方式。
具体地，物料存取装置包括机身100，在机身100上设有多个用于容纳物料的货仓101，每个货仓101都设有对应的窗口102，该窗口102用于供货仓101内物料的进或出。其中，通过设置多个货仓101用于存放多个物料，以提升物料存取装置的物料存储和运输能力，每个货仓101内均设有容纳空间，不同货仓101的容纳空间大小可以设置为相同，也可以设置为不同，以便利用不同的货仓101存储不同的物料。
在一些实施例中，机身100设有多个货仓101，其中，多个货仓101可以沿竖直方向层叠设置，也可以沿水平方向并排设置。另外，多个货仓101还可以呈阵列分布，例如，在机身100沿竖直方向设置多个货仓层，每个货仓层包括并列设置的多个货仓101。通过合理设置机身100多个货仓101的分布结构，可以节省货仓101所占用的空间，有助于优化物料存取装置的整体结构布局，也方便物料的取放。
在物料存取装置中设有取放装置200，取放装置200至少部分可相对货仓101移动，从而能够经由货仓101的窗口102处，将货仓101外部的物料转移至货仓101内部，以及将货仓101内部的物料转移至货仓101外部。
在物料存取装置中还设有遮挡组件300，遮挡组件300与机身100活动连接，从而能够实现对货仓101的窗口102的遮挡，以及解除对货仓101的窗口102的遮挡。
具体地，当取放装置200需要将目标货仓外部的物料转移至目标货仓的内部，或者将目标货仓内部的物料转移至目标货仓外部时，使遮挡组件300解除对目标货仓的窗口102的遮挡作用，以便取放装置200经由目标货仓的窗口102处将外部物料转移进入目标货仓内，同时，遮 挡组件300能够遮挡住多个货仓101中除去目标货仓之外的其他货仓101的窗口102，以在物料转移过程中，提高对目标货仓之外的其他货仓101的遮挡保护作用。
在完成目标货仓的物料转移后，利用遮挡组件300遮挡住目标货仓的窗口102，以使得遮挡组件300可以遮挡所有的货仓101的窗口102。通过取放装置200和遮挡组件300的配合使用，既能实现物料在目标货仓上的顺利取放，又能实现对相应目标货仓之外的货仓101窗口102的有效遮挡，提升了对货仓101的安全保护作用。
在一些实施例中，可以通过设置物料存取装置中的控制器600以实现对取放装置200和遮挡组件300的控制，具体地，控制器600与取放装置200和遮挡组件300电性连接，从而在实现对目标货仓的物料转移的同时，实现对货仓101的窗口102的有效遮挡或打开。
可选地，参考图1，取放装置200包括用于承托物料的承托机构201，承托机构201被配置为能够相对于机身100移动、用于移动至与目标货仓对应的目标位置，响应于承托机构201移动至对应的目标位置，遮挡组件300被配置为对应解除对目标货仓的窗口102的遮挡。需要说明的是，当货仓101是竖直方向层叠设置时，目标位置可以与目标货仓的底部对齐或者稍微低于或者高于所述目标货仓的底部。当货仓101是沿水平方向并排设置时，目标位置可以与目标货仓的一侧壁平齐，或者时稍高于或低于该。另外，下面将以货仓101是竖直方向层叠设置的实施方式展开介绍。本领域技术人员可以知道，货仓101沿水平方向并排设置的实施方式和竖直方向层叠设置原理相同。
在本申请实施例中，取放装置200包括承托机构201，承托机构201可以相对于机身100移动。在需要转移物料时，可以利用承托机构201承托需要转移的物料，例如，可通过承托机构201从地面或者盛放面自动收取物料，也可是用户直接将物料投放至承托机构201。之后承托机构201将物料再转移进入目标货仓，或者是将目标货仓出来的物料而转移出，具体地，可以转移至地面或者盛放面，也可以是停留在承托机构201上，等待用户取走。在本申请实施例中，在承托机构201移动至对应的目标位置时，遮挡组件300对应解除对目标货仓的窗口的遮挡。因此，遮挡组件300与取放装置200联动，从而在承托机构201位于目标货仓对应的目标位置时，解除对目标货仓的窗口102的遮挡，并在取放装置转移物料后，再次自动遮挡住目标货仓的窗口102，既能实现物料的顺利转移，又能对货仓101进行保护。在本申请实施例中，由于货仓101沿着竖直方向层叠设置，因此承托机构201被配置为能够相对于机身100升降移动。
需要说明的是，承托机构201与机身100活动连接，承托机构201具有一定的承载能力，能够承载着物料沿机身100移动，以便移动至目标货仓对应的目标位置。
可选地，参考图2，遮挡组件300具有用于打开以露出窗口102或者关闭以遮挡窗口102的开合端301，遮挡组件300被配置为能够相对于机身100移动，用以调整开合端301相对于机身100的位置；在取放装置200需要转移物料时，响应于承托机构201移动至对应的目标位置，开合端301一并移动至目标位置的附近，开合端301解除对目标货仓的窗口102的遮挡，遮挡组件300遮挡目标货仓之外的其他货仓101的窗口102；在转移完成后，开合端301再次遮挡目标货仓的窗口102。需要说明的是，本申请实施例中的“目标位置的附近”，具体可以是与目标位置平齐，或者稍低于目标位置，也可以是对应于目标货仓的高度范围内的某一个高度，也可以与目标货仓的上顶平齐或者稍微高于上顶的位置。
在本申请实施例中，遮挡组件300具有开合端301，在物料转移过程中，遮挡组件300相对于机身100移动，将开合端301移动至目标货仓的窗口附近，之后开合端301打开以露出目标货仓的窗口 102，以便转移物料进或出目标货仓，或者使开合端301闭合以遮挡住目标货仓的窗口102，以便起到对目标货仓的保护作用。
具体地，在利用取放装置200转移物料过程中，使承托机构201相对于机身100移动，以将承托机构201移动至目标货仓所对应的目标位置，同时，使遮挡组件300的开合端301也移动至目标位置附近。然后，打开遮挡组件300的开合端301，以解除对目标货仓的窗口102的遮挡，从而方便取放装置200由窗口102处将物料转移进入目标货仓内，或者将物料转移出目标货仓。在进行物料转移过程中，遮挡组件300可以遮挡住除目标货仓之外的其他货仓101的窗口102，以避免其他货仓101内部的物料被暴露或者物料丢失。进一步地，在取放装置200完成物料的转移后，可以控制开合端301闭合，以使遮挡组件300遮挡住机身100所有的货仓101的窗口，实现遮挡组件300对目标货仓的遮挡。本申请实施例中，遮挡组件300移动以调节开合端301的位置，使得遮挡组件300能够灵活控制对不同的货仓的遮挡与打开。
其中，开合端301可相对于目标货仓的窗口102打开或者关闭，在开合端301处于打开状态时，目标货仓的窗口102从遮挡组件300的遮挡区域中露出，以便从窗口102处转移物料。而在开合端301处于关闭状态时，遮挡组件300遮挡住目标货仓的窗口102。
需要说明的是，开合端301的打开状态和关闭状态的具体设置，可以根据目标货仓的窗口102的位置和大小来确定，本申请实施例对此不作限制。
可选地，参考图2，遮挡组件300包括：第一帘体组件302和第二帘体组件303，第一帘体组件302和第二帘体组件303沿着取放装置200的承托机构201的移动方向排布，第一帘体组件302靠近第二帘体组件303的第一端以及第二帘体组件303靠近第一帘体组件302的第二端组合形成开合端301；响应于开合端301移动至目标位置的附近，第一帘体组件302和/或第二帘体组件303继续移动以使得开合端301打开或者关闭。具体地，可仅移动第一帘体组件302，或者仅移动第二帘体组件303，或者同时移动第一帘体组件302和第二帘体组件303。在本申请实施例中，遮挡组件300包括第一帘体组件302和第二帘体组件303，第一帘体组件302和第二帘体组件303沿承托机构201的移动方向相对设置。第一帘体组件302的一端与第二帘体组件303的一端组合形成开合端301，进而可以通过第一帘体组件302的移动或者第二帘体组件303的移动，使开合端301打开，以露出目标货仓的窗口102，便于将物料转移进或出目标货仓，或者使开合端301关闭，实现对目标货仓的窗口102的遮挡。通过设置第一帘体组件302和第二帘体组件303，由第一帘体组件302的一端和第二帘体组件303的一端形成遮挡组件300的开合端301，进而通过移动第一帘体组件302或第二帘体组件，即可实现开合端301的打开或关闭，操作方便。
具体地，承托机构201可以相对于机身100移动，沿承托机构201的移动方向，第一帘体组件302和第二帘体组件303相对设置，第一帘体组件302靠近第二帘体组件303的一端为第二帘体组件303的第一端，第二帘体组件303靠近第一帘体组件302的一端为第二帘体组件303的第二端，由第二帘体组件303的第一端和第二帘体组件303的第二端相互配合以形成开合端301。在对目标货仓的物料转移过程中，通过第一帘体组件302和第二帘体组件303中的至少一个相对于机身100移动，可以实现开合端301的打开或关闭。
在具体地应用中，如图2中所示，第一帘体组件302和第二帘体组件303沿竖直方向相对设置，第一帘体组件302下端为第二帘体组件303的第一端，第二帘体组件303的顶端为第二帘体组件303的第二端。
其中，沿承托机构201的移动方向，当第一帘体组件302的第一端和第二帘体组件303的第二端 相对靠近时，可以实现开合端301的关闭，当第一帘体组件302的第一端和第二帘体组件303的第二端相对远离时，可以实现开合端301的打开。需要说明的是，在其他实施例中，遮挡组件300可仅包括一个帘体组件，此时的开合端301为该帘体组件的自由端，该自由端移动至靠近承托机构201时，则为开合端301的关闭，该自由端移动至远离承托机构201时，将窗口102露出，则为开合端301的打开。另外，开合端301也可为该单个帘体组件设置的开口和设于该开口的遮挡门组件，通过帘体组件的移动，来调整该开口的位置，通过控制遮挡门组件，来控制该开合端301的打开和关闭。总之，遮挡组件300的具体结构不局限于本申请实施例所列举，开合端301的具体结构也不局限于本申请实施例所列举，本领域技术人员可以进行合理变换进行设置。
在利用取放装置200转移物料过程中，随着承托机构201的移动，同时控制第一帘体组件302的第一端和第二帘体组件303的第二端也移动，进而在承托机构201移动至目标货仓对应的目标位置时，开合端301也移动至目标位置的附近。进一步地，通过第一帘体组件302和第二帘体组件303中至少一个的移动，实现开合端301的打开或关闭，从而露出或者遮挡住目标货仓的窗口102。在需要将物料转移进或出目标货仓时，控制开合端301打开，而在完成物料转移后，则控制开合端301关闭，实现了开合端301的灵活操作，便于开合端301与承托机构201的配合。
可选地，第一帘体组件302对应于承托机构201的上侧设置，第二帘体组件303对应于承托机构201的下侧设置。需要说明的是，第一帘体组件302对应承托机构201的上侧设置，包括设于承托机构201的上方，或者是第一帘体组件302的第一端与承托机构201交叠。第二帘体组件303对应承托机构201的下侧设置，包括设于承托机构201的下方，或者是第二帘体组件303的第二端与承托机构201交叠。可选地，第一帘体组件302设于承托机构201的上侧，第二帘体组件303的第二端与承托机构201的承托面平齐或者稍低于承托面。在本申请实施例中，响应于承托机构201移动至目标位置，开合端301移动至目标位置的附近，此时，第一帘体组件302移动以露出目标货仓的窗口102，使得取放装置200能够转移物料；在物料转移完成后，第一帘体组件302移动以遮挡目标货仓的窗口102。
在本申请实施例中，将第一帘体组件302设置在承托机构201上用于承托的一侧，第二帘体组件303的第二端设置在与承托机构201的承托面平齐或者稍低于承托面的位置。在需要从目标货仓转移物料时，通过控制第一帘体组件302的第一端向远离承托机构201的方向移动，可实现开合端301的打开，以便露出目标货仓的窗口102，方便将物料转移进或出目标货仓。而在完成物料转移后，通过控制第一帘体组件302的第一端向靠近承托机构201的方向移动，可以实现对目标货仓的窗口102的再次遮挡，这样，既方便物料的顺利转移，又提高了对目标货仓的安全保护作用。
具体地，承托机构201设有承托面，用于承托需要转移的物料，其中，承托机构201的承托面是指承托机构201上直接与物料接触的表面，如图18所示，承托机构201的承托面为承托机构201的上表面。
如图2所示，第一帘体组件302和第二帘体组件303相对设置，其中，第一帘体组件302设置在承托机构201靠近承托面的一侧，第二帘体组件303设置在承托机构201背离承托面的一侧，且第二帘体组件303的第二端与承托机构201的承托面平齐设置，或者稍低于承托机构201的承托面设置。
在具体的应用中，通过第一帘体组件302的移动，第一帘体组件302的第一端可以相对靠近或远离第二帘体组件303的第二端，以实现开合端301的打开或关闭。在开合端301打开时，第一帘体组件302的第一端相对远离第二帘体组件303的第二端，使第一帘体组件302的第一端与承托机构201的承托面之间产生一定的距离，便于对承托机构201的承托面上的物料进行转移，避免第一帘体组件302的第一端对物料的阻挡。
在使用取放装置200转移物料过程中，使承托机构201移动至目标货仓对应的目标位置，同时，开合端301也移动至目标位置附近。通过第一帘体组件302的移动，使开合端301打开露出目标货仓的窗口102，从而取放装置200可以将物料转移进或出目标货仓。在物料转移完成后，再通过第一帘体组件302的移动，以使开合端301关闭，从而遮挡住目标货仓的窗口102，实现了取放装置200转移物料与遮挡组件300遮挡目标货仓的窗口102的有效配合。
可以理解的是，通过使第二帘体组件303的第二端与承托机构201的承托面平齐或者稍低于承托面，当目标货仓位于多个货仓101中间位置时，利用第二帘体组件303可以实现对目标货仓下方的其他货仓101进行遮挡，避免货仓101的外露或物料的丢失。
可选地，参考图1和图2，当承托机构201位于初始位置时，第一帘体组件302单独遮挡多个货仓101的窗口102。其中，初始位置与最靠近地面的第一层货仓101的底部平齐或者稍低于底部。如图18所示，机身100上对应位置设置有初始位置传感器114，取放装置200上设有与所示初始位置传感器114对应的触发件，通过初始位置传感器114的触发作用，以确定取放装置200位于初始位置。当目标货仓为第一层货仓101时，在转移物料的过程中，第一帘体组件302单独遮挡目标货仓以外的其他货仓101的窗口102。
具体地，承托机构201的初始位置可以为承托机构201每次执行物料转移操作前复位的位置，或者执行完物料转移操作后复位的位置，以便为取放装置200和遮挡组件300的移动提供位置参照，便于对取放装置200和遮挡组件300的位置进行校正和调整，提高对取放装置200和遮挡组件300移动控制的精准度。如图2所示，机身100的多个货仓101沿竖直方向层叠设置，承托机构201的初始位置，可以设置为与最下方的一个货仓100的底部平齐或者稍低于底部的位置。
可以理解的是，在承托机构201位于初始位置时，由于第二帘体组件303的第二端与承托机构201的承托面平齐或稍低于承托面，因此，与第二帘体组件303相对应的位置并未设置货仓101，此时，第二帘体组件303不对货仓101起到遮挡作用。
具体地，承托机构201与机身100活动连接，承托机构201可以沿机身100升降移动，第一帘体组件302设置于承托机构201的上方，第一帘体组件302的第一端也可以沿机身100升降移动，从而在承托机构201升降至目标货仓对应的目标位置时，第一帘体组件302的第一端也能够升降至目标位置附近。需要说明的是，第一帘体组件302的第一端的升降移动和承托机构201的升降移动可以通过设置不同的升降机构来实现，以便调整第一帘体组件302的第一端与承托机构201之间的距离。
可选地，第一帘体组件302为卷帘结构；和/或第二帘体组件303为卷帘结构。在本申请实施例中，第一帘体组件302和第二帘体组件303中至少一个可以设置为卷帘结构，将卷帘结构与机身100活动连接，通过卷帘结构的卷曲和展开，可以实现第一帘体组件302或第二帘体组件303相对于机身100的移动，从而起到对不同货仓101的遮挡作用，采用卷帘结构，不仅结构简单，且方便安装和操作。
可选地，参考图3，第一帘体组件302包括：第一帘体3021以及帘体驱动机构3022，帘体驱动机构3022安装于机身100且与第一帘体3021连接，帘体驱动机构3022可以用于驱动第一帘体3021运动。
在本申请实施例中，通过设置第一帘体3021和帘体驱动机构3022，利用帘体驱动机构3022的驱动作用，可以使第一帘体3021相对于机身100移动，从而实现第一帘体3021对目标货仓的窗口102的遮挡，以及解除第一帘体3021对目标货仓的窗口102的遮挡。
具体地，第一帘体组件302可以包括第一帘体3021和帘体驱动机构3022，将帘体驱动机构3022 安装至机身100，第一帘体3021与帘体驱动机构3022连接，第一帘体3021可以相对于机身100移动，帘体驱动机构3022可以驱动第一帘体3021相对于机身100移动。这样，在物料转移过程中，通过第一帘体3021的移动，可以改变第一帘体3021与货仓101的相对位置，以使第一帘体3021遮挡住货仓101的窗口102，或者解除对相应货仓101的窗口102的遮挡。
可选地，参考图5，第二帘体组件303包括第二帘体3031，第二帘体3031的一端连接于机身100，另一端与承托机构201连接，承托机构201能够带动第二帘体3031运动。也即，第二帘体3031的上述第二端随着承托机构201一起相对于机身100移动，从而在承托机构201移动过程中，可以利用第二帘体3031遮挡住部分货仓101的窗口102，实现取放装置200与遮挡组件300的联动作用。
具体地，帘体驱动机构3022能够驱动第一帘体3021相对于机身100升降移动，第二帘体3031能够随着承托机构201相对于机身100升降移动。本申请实施例结构设计合理巧妙，能够减少制作成本和控制难度。
可选地，第一帘体3021为卷片结构、帘布结构或百叶帘结构。在本申请实施例中，可以将第一帘体3021设置为：卷片结构、帘布结构或百叶帘结构的任意一种，便于第一帘体3021的卷曲和展开，方便第一帘体3021在机身100的安装布局，且结构简单，制造成本较低。
可选地，第二帘体3031为卷片结构、帘布结构或百叶帘结构。在本申请实施例中，可以将第二帘体3031设置为：卷片结构、帘布结构或百叶帘结构中的任意一种，便于第一帘体3021的卷曲和展开，方便第二帘体3031在机身100的安装布局，且结构简单，制造成本较低。
可选地，参照图18，机身100的两侧具有沿承托机构201的移动方向延伸的导向槽103，第一帘体3021的边缘至少部分嵌设于导向槽103内，从而可以使第一帘体3021在导向槽103内滑动，通过导向槽103可以起到对第一帘体3021的限位和导向作用。如图18所示，机身100的两侧设置的导向槽103沿竖直方向延伸。当然，机身100的导向槽103具体设置位置和结构尺寸，可以根据第一帘体3021的结构来确定，以便于第一帘体3021能够灵活稳定地相对于机身100移动，本申请实施例对此不做限制。
可选地，参考图3，第一帘体组件302还包括：第一卷轴3023，第一卷轴3023安装于机身100，第一帘体3021卷绕于第一卷轴3023上；帘体驱动机构3022用于驱动第一卷轴3023转动，以通过第一卷轴3023的转动带动第一帘体3021运动，方便实现第一帘体3021的收纳和移动。
具体地，第一帘体3021的一端固定连接于第一卷轴3023，第一帘体3021卷绕在第一卷轴3023上，而第一帘体3021的另一端(也即上述的第一端)活动连接于机身100。通过帘体驱动机构3022驱动第一卷轴3023转动时，第一端可进行升降移动。
在一些实施例中，机身100设置有多个货仓101，多个货仓101由下向上依次层叠设置，第一卷轴3023可以设置在机身100的顶端。当然，第一卷轴3023在机身100设置的位置，以及利用帘体驱动机构3022驱动第一卷轴3023的转动方向，可以根据实际需要进行设置，本申请实施例对此不作限制。
可选地，参考图2至图4，第一帘体3021的第一端设置有第一触发器3025，机身100在靠近第一卷轴3023的位置设置有第一限位件104；当第一帘体3021的第一端朝向第一卷轴3023运动至第一触发器3025与第一限位件104抵持时，帘体驱动机构3022停止驱动第一卷轴3023转动。
在本申请实施例中，通过在第一帘体3021远离第一卷轴3023的一端设置第一触发器3025，并在机身100在靠近第一卷轴3023的位置设置第一限位件104，通过第一触发器3025和第一限位件104的相互触发作用，限制第一帘体3021的移动位置，提高对第一帘体3021移动位置的精确控制。
在一些实施例中，第一限位件104可以包括到位开关，到位开关与帘体驱动机构3022电连接，当第一帘体3021朝向靠近第一卷轴3023的方向移动，第一帘体3021上的第一触发器3025与到位开关抵接时，触发到位开关，从而使帘体驱动机构3022停止。
当然，第一触发器3025和第一限位件104还可以采用其他的触发机构，如，红外触发机构、压力触发机构、磁感应触发机构等，通过第一触发器3025与第一限位件104的抵接触发，实现对帘体驱动机构3022运行的控制。还可以选用其他类型的触发机构，本申请实施例对此不作限制。
可选地，参考图20，承托机构201上设置有第一传感器2014，第一传感器2014用于检测物料进或出承托机构201。当第一触发器3025与第一传感器2014配合时，还可用于检测第一传感器2014是否处于异常状态。
在本申请实施例中，在承托机构201上设置第一传感器2014，利用第一传感器2014可以检测物料进或出承托机构201的情况，方便对物料转移过程进行监控，以便对物料转移过程更准确地控制。并且，还可以利用第一触发器3025与第一传感器2014相互感应，还可以检测第一传感器2014的工作状态，确保第一传感器2014工作正常。
具体地，在承托机构201设置一个或多个第一传感器2014，在承托机构201移动至目标货仓对应的位置时，将物料转移进或出目标货仓，在此过程中，由第一传感器2014可以检测到物料的转移情况，进而对转移过程进行控制。
进一步地，沿承托机构201的移动方向，第一触发器3025与第一传感器2014相对设置当第一帘体3021和承托机构201相对靠近时，第一传感器2014与第一触发器3025可以相互感应，从而可以通过感应状态，判断第一传感器2014是否异常。
示例性地，当第一触发器3025与第一传感器2014相互靠近时，如果第一传感器2014没有信号反馈，说明第一传感器2014异常。另外，在物料存取装置开始运行前，物料存取装置需要进行自检，以确保各个部件都位复位在第一帘体3021和承托机构201都复位时，第一传感器2014和第一触发器3025相互靠近，此时，第一传感器2014能够感应到第一触发器3025。如果第一传感器2014无法感应到第一触发器3025，则判断复位异常，需要对物料存取装置进行异常处理。
在一些实施例中，第一传感器2014可以采用漫反射光电传感器，漫反射光电传感器安装于承托机构201，漫反射光电传感器的发射头向上设置。可选地，漫反射光电传感器安设于承托机构201靠近货仓的一端。当物料从承托机构201进入货仓101时，物料经过漫反射光电传感器时，漫反射光电传感器被触发而发出信号，当漫反射光电传感器信号消失，则表明物料已经进入货仓101。可设置漫反射光电传感器信号消失后预设的一段延迟时间后，承托机构201停止动作。再例如，当需要将货仓101内的物料转移到承托机构201时，物料经过漫反射光电传感器时，漫反射光电传感器被触发而发出信号，当漫反射光电传感器信号消失，则表明物料已经离开货仓101进入承托机构201，可设置漫反射光电传感器信号消失后预设的一段延迟时间后，承托机构201停止动作。
可选地，第一触发器3025还用于与第一传感器2014配合，用于获取第一帘体3021与取放装置200之间的距离。在本申请实施例中，在第一帘体3021上设置第一触发器3025，承托机构201上设置有第一传感器2014，通过第一触发器3025与第一传感器2014的配合，能够获取第一帘体3021与取放装置200之间的距离，便于对第一帘体3021与承托机构201之间位置的调整。
其中，在第一帘体3021与承托机构201相对移动过程中，当承托机构201上的第一传感器2014能够感应到第一帘体3021上的第一触发器3025时，表明第一帘体3021与承托机构201距离较近，此时需要对二者之间的相对移动速度进行控制，以避免第一帘体3021与承托机构201相互碰撞。
可以理解的是，在承托机构201沿机身100移动到目标位置时，控制第一帘体3021也移动至目标位置附近，可以通过第一触发器3025和第一传感器2014的相互感知，来获取第一帘体3021与承托机构201之间的距离，从而避免第一帘体3021与承托机构201之间碰撞造成损坏，也可以避免第一帘体3021与承托机构201之间的距离太远，造成部分货仓101露出，降低了第一帘体3021对货仓101的遮挡作用。
可选地，参考图20，承托机构201上设置有第二传感器2015，参考图4，第一帘体3021上还设置有第二触发器3024。或者，承托机构201设置有第二触发器3024，第一帘体3021上设置有第二传感器2015。第二传感器2015用于基于第二触发器3024的触发获取第一帘体3021与承托机构201之间的距离。物料存取装置的控制器600用于，基于获取的第一帘体3021与承托机构201之间的距离信息，来控制承托机构201和/或第一帘体3021的运动，以避免第一帘体3021与承托机构201发生碰撞。
在本申请实施例中，在承托机构201和第一帘体3021其中一个上设置第二传感器2015，另一个上设置第二触发器3024，通过第二传感器2015和第二触发器3024的配合，可以获取第一帘体3021与承托机构201之间的距离。由控制器600根据所获取的距离信息，来控制承托机构201和第一帘体3021中至少一个的移动，以避免第一帘体3021与承托机构201发生碰撞，提高承托机构201和第一帘体3021相对移动的安全性。
具体地，承托机构201可以相对于机身100移动，第一帘体3021也可以相对于机身100移动，当承托机构201和第一帘体3021中的一个向另一个靠近时，存在相互碰撞的隐患，导致承托机构201和第一帘体3021的损伤。为此，可以在第一帘体3021上靠近承托机构201的一端设置第二触发器3024，而在承托机构201上设置第二传感器2015，或者，在第一帘体3021上靠近承托机构201的一端设置第二传感器2015，而在承托机构201上设置第二触发器3024。通过第二触发器3024和第二传感器2015的相互感应作用，可以获取第一帘体3021与承托机构201之间的距离，从而便于对移动过程进行控制。
在一些实施例中，第二触发器3024可以为永磁体和霍尔传感器中的一个，而第二传感器2015可以为永磁体和霍尔传感器中的另一个。当然，第二触发器3024和第二传感器2015也可以为红外发射器和红外接收器，还可以选用其他的配合结构，本申请实施例对此不作限制。
可选地，参考图20，第二传感器2015包括第一侧传感器20151，参考图18，第二传感器2015还包括第二侧传感器20152，第一侧传感器20151和第二侧传感器20152分别设置于承托机构201的两侧。参考图4，第二触发器3024包括第一触发件30241和第二触发件30242，第一触发件30241和第二触发件30242分别设于第一帘体3021的两侧，第一触发件30241与第一侧传感器20151对应，第二触发件30242与第二侧传感器20152对应，第二触发件30242较之于第一触发件30241远离承托机构201，第一触发件30241和第二触发件30242在第一帘体3021的运动方向上存在间隙。在第一侧传感器20151感应到第一触发件30241的情况下，承托机构201和/或第一帘体3021调整在第一方向上的运动速度，以使承托机构201和第一帘体3021间的距离小于预设阈值。在第二侧传感器20152感应到第二触发件30242的情况下，承托机构201和/或第一帘体3021停止运动或者调整在第一方向上的运动速度，以避免第一帘体3021与承托机构201发生碰撞。
在本申请实施例中，通过设置第一触发件30241与第一侧传感器20151对应，以及第二触发件30242与第二侧传感器20152对应，进而在承托机构201和第一帘体3021相对移动，当第一触发件30241与第一侧传感器20151相互感应时，调整承托机构201和第一帘体3021中至少一 个的移动速度，而当第二触发件30242与第二侧传感器20152相互感应时，进一步调整承托机构201和第一帘体3021中至少一个的移动速度，或者控制承托机构201和第一帘体3021停止移动，从而使承托机构201和第一帘体3021之间保持一定的距离，避免承托机构201和第一帘体3021距离过近而发生相互碰撞。
具体地，第一帘体3021上靠近承托机构201的一端为第一端，在第一帘体3021的第一端的两侧分别设置有第一触发件30241和第二触发件30242，沿垂直于第一帘体3021的移动方向，将第一触发件30241和第二触发件30242分别设置在第一帘体3021的两侧，且沿第一帘体3021的移动方向，第一触发件30241和第二触发件30242之间存在一定的距离。
相应地，在承托机构201上分别设置有第一侧传感器20151和第二侧传感器20152，沿垂直于承托机构201的移动方向，第一侧传感器20151和第二侧传感器20152分别设置在承托机构201的两侧，使第一触发件30241与第一侧传感器20151对应，第二触发件30242与第二侧传感器20152对应。
在本申请实施例中，第一帘体3021和承托机构201均可以相对于机身100移动，且第一帘体3021的移动方向与承托机构201的移动方向平行，也就是说，第一帘体3021和承托机构201之间可以相对移动。
具体地，在第一帘体3021和承托机构201中的至少一个沿机身100移动过程中，第一帘体3021的第一端与承托机构201相互靠近。当第一侧传感器20151感应到第一触发件30241时，此时，第一帘体3021的第一端和承托机构201之间的距离达到预设阈值，通过调整承托机构201和/或第一帘体3021的运动速度，以使承托机构201和第一帘体3021之间的距离控制在一定的距离范围内。
进而，第一帘体3021的第一端和承托机构201进一步相互靠近，在第二侧传感器20152感应到第二触发件30242时，此时，第一帘体3021第一端和承托机构201之间的距离已达到最小安全距离。通过进一步调整承托机构201和/或第一帘体3021的运动速度，或者控制承托机构201和/或第一帘体3021停止移动，以避免第一帘体3021与承托机构201相互碰撞。
具体地，所述预设阈值可以为第一帘体3021与承托机构201之间的最大安全距离。需要说明的是，第一帘体3021与承托机构201相互靠近时，第一帘体3021的第一端和承托机构201之间存在安全距离范围，该安全距离范围包括最大安全距离和最小安全距离。当第一帘体3021的第一端和承托机构201之间的距离大于最大安全距离时，第一帘体3021与承托机构201之间的距离过大，第一帘体3021无法实现对货仓101窗口102的有效遮挡作用。而当第一帘体3021的第一端和承托机构201之间的距离小于最小安全距离时，第一帘体3021与承托机构201之间的距离过小，第一帘体3021容易与承托机构201产生碰撞。
当然，第一帘体3021上第一触发件30241和第二触发件30242之间的间隙大小可以根据安全距离范围来确定，本申请实施例对此不做限制。
可选地，预设阈值为5至20毫米。具体地，预设阈值可以为：5毫米、7毫米、9毫米、10毫米、12毫米、14毫米、16毫米、18毫米、20毫米等任意数值。在本申请实施例中，通过设置合理的预设阈值，以便确保第一帘体3021和承托机构201在相互靠近时，第一帘体3021的第一端和承托机构201之间的存有一定的安全距离，避免第一帘体3021与承托机构201发生碰撞，提高装置的安全性。
可选地，第二传感器2015为霍尔传感器，第二触发器3024为与霍尔传感器相配合的磁性件。在 本申请实施例中，通过霍尔传感器和磁性件的配合，结构简单，节省安装空间，便于安装使用，且成本较低。
可选地，参考图5，第二帘体组件303还包括第二卷轴3032，第二卷轴3032安装于机身100，第二帘体3031卷绕于第二卷轴3032上并与承托机构201连接。
在本申请实施例中，机身100设置有第二卷轴3032，第二帘体3031卷绕于第二卷轴3032上，通过驱动第二卷轴3032转动，可实现第二帘体3031的展开和收缩，以使得第二帘体3031相对于机身100移动，方便对第二帘体3031的控制。
具体地，第二帘体组件303包括：第二卷轴3032和第二帘体3031，将第二帘体3031的一端与第二卷轴3032连接，第二帘体3031的另一端与承托机构201连接，且第二帘体3031可以相对于机身100移动，进而在承托机构201相对机身100移动时，可以带动第二帘体3031相对于机身100移动。
在实际应用中，通过将第二卷轴3032安装在机身100上，第二卷轴3032可相对于机身100转动，随着第二卷轴3032转动，第二帘体3031可以卷绕于第二卷轴3032上。通过正向转动第二卷轴3032，则可以增加第二帘体3031在第二卷轴3032上的卷绕圈数，从而使第二帘体3031收缩。相对地，通过反向转动第二卷轴3032，则可以减小第二帘体3031在第二卷轴3032上的卷绕圈数，从而使第二帘体3031展开。
其中，第二卷轴3032的转动方向与第二帘体3031的收缩或展开的对应关系，可以根据实际需要进行设置，本申请实施例对此不作限制。
可选地，参考图5，第二帘体组件303还包括第二壳体3033，第二壳体3033安装于机身100，第二卷轴3032设置于第二壳体3033内，第二帘体3031卷绕于第二卷轴3032上且至少部分伸出至第二壳体3033外，第二帘体3031伸出至第二壳体3033外的部分用于与承托机构201连接。
在本申请实施例中，在机身100设置第二壳体3033，第二壳体3033设有容纳腔，第二卷轴3032设置于第二壳体3033的容纳腔内，第二帘体3031的一端与第二卷轴3032连接，第二帘体3031卷绕于第二卷轴3032上，第二帘体3031的另一端以及部分第二壳体3033伸出至第二壳体3033外，第二帘体3031的另一端可以与承托机构201连接，且能够随着承托机构201相对于机身100移动。这样，通过第二壳体3033对第二卷轴3032和第二帘体3031起到收纳和保护作用，避免第二卷轴3032和第二帘体3031在移动过程中受到外部干扰。
可选地，参考图17，承托机构201与第二帘体3031可拆卸连接。在本申请实施例中，承托机构201与第二帘体3031可拆卸连接，以便在承托机构201与第二帘体3031连接时，第二帘体3031能够随承托机构201一起沿机身100移动。而在承托机构201与第二帘体3031解除连接时，承托机构201单独移动，第二帘体3031保持不动，从而便于承托机构201与第二帘体3031的联动控制，适应不同的使用场景。
其中，承托机构201与第二帘体3031的可拆卸连接方式可以包括：插接或卡接等，本申请实施例对于承托机构201与第二帘体3031之间的可拆卸连接方式不做具体限定。
可选地，当承托机构201在多个货仓101之间移动时，承托机构201与第二帘体3031连接；当承托机构201在货仓101以外的地方移动时，第二帘体3031脱离承托机构201。
在本申请实施例中，承托机构201在多个货仓101之间移动时，使承托机构201与第二帘体3031连接，以便通过承托机构201带动第二帘体3031移动，利用第二帘体3031实现对部分货仓101的遮挡作用。而在承托机构201位于多个货仓101之外的位置移动时，使第二帘体3031解除与承托机构 201的连接，承托机构201能够单独移动。
其中，机身100设置有多个货仓101，承托机构201可以相对于机身100移动，在承托机构201在多个货仓101对应的位置内移动时，第二帘体3031与承托机构201保持连接，第二帘体3031随着承托机构201一起移动，可以利用第二帘体3031对部分货仓101进行遮挡。而在承托机构201移动到机身100上多个货仓101对应位置之外的位置时，第二帘体3031与承托机构201解除连接，承托机构201可以继续移动，而第二帘体3031保持不同，以便利用承托机构201执行其他的操作。
在一些实施例中，多个货仓101沿竖直方向层叠设置于机身100，承托机构201可沿机身100上下移动，当承托机构201在多个货仓101之间移动时，第二帘体3031随着承托机构201移动，从而第二帘体3031可以对承托机构201下方的货仓101进行遮挡。而当承托机构201移动到下层第一个货仓101到地面之间的位置时，第二帘体3031脱离承托机构201，从而使承托机构201在此位置移动时，第二帘体3031保持不动。
可选地，参考图17，承托机构201上设置有钩部2013，钩部2013用于与第二帘体3031的端部可拆卸连接。在本申请实施例中，通过在承托机构201上设置钩部2013，在需要承托机构201与第二帘体3031一起运动时，通过承托机构201的钩部2013钩住第二帘体3031的一端，以实现承托机构201与第二帘体3031的连接。而当需要承托机构201单独运动，则解除承托机构201的钩部2013与第二帘体3031的连接，以使承托机构201移动时，第二帘体3031保持不动。采用这种拆卸连接的方式，连接结构简单，便于承托机构201与第二帘体3031的连接和脱离。
可选地，参考图18，机身100上设置有第二限位件105，响应于承托机构201朝向机身100的底部方向移动至超出货仓101时，第二限位件105对第二帘体3031限位以阻止第二帘体3031继续移动，以解除第二帘体3031与承托机构201的连接；在承托机构201往货仓101的方向移动时，承托机构201上的钩部2013可与第二帘体3031连接。
在本申请实施例中，在机身100设置第二限位件105，当承托机构201移动至机身100上多个货仓101对应之外的位置时，承托机构201可以相对于机身100继续移动，而第二限位件105阻止第二帘体3031继续移动，从而使第二帘体3031与承托机构201脱离连接。
具体地，承托机构201上设置有钩部2013，当承托机构201由货仓101对应的位置之外的区域向货仓101对应的位置移动时，承托机构201上的钩部2013可以与第二帘体3031的端部连接，从而带动第二帘体3031沿机身100移动，以便在承托机构201移动过程中，由第二帘体3031遮挡住承托机构201经过的货仓101。
在具体地应用中，当承托机构201由货仓101对应的位置向货仓101对应位置之外的区域移动时，通过第二限位件105能够阻止第二帘体3031继续移动，而承托机构201可以继续移动，进而使承托机构201的钩部2013与第二帘体3031的端部解除连接。
在一些实施例中，多个货仓101沿竖直方向层叠设置于机身100，承托机构201可沿机身100上下移动，第二限位件105设置于机身100，第二限位件105与下层第一个货仓101的底部平齐或稍低于下层第一个货仓101的底部。在承托机构201移动至第一个货仓101下方时，第二限位件105阻止第二帘体3031继续移动，以使承托机构201的钩部2013与第二帘体3031的端部解除连接。
可选地，参考图18，机身100的两侧具有沿第二帘体3031的运动方向延伸的限位槽106，第二帘体3031的边缘至少部分嵌设于限位槽106内，限位槽106的端部为第二限位件105。
在本申请实施例中，在机身100的两侧设置有限位槽106，第二帘体3031的边缘嵌设于限位槽106内，第二帘体3031的边缘可以在限位槽106内滑动，通过限位槽106能够对第二帘体3031的移 动起到导向和限位作用。并且，在限位槽106的端部为第二限位件105，以便在第二帘体3031随承托机构201移动至限位槽106的端部时，阻止第二帘体3031继续移动，以使承托机构201的钩部2013与第二帘体3031的端部解除连接。
其中，导向槽103和限位槽106可以为设置于机身100的同一个凹槽，该凹槽的延伸方向与承托机构201的移动方向一致，进而使第一帘体3021的边缘至少部分嵌设于凹槽内。同时，也可以使第二帘体3031的边缘至少部分嵌设于凹槽内，利用同一个凹槽实现对第一帘体3021和第二帘体3031的导向和限位作用，从而能够简化机身100的结构设计。
可选地，参考图5，第二帘体组件303还包括：张紧器3034，张紧器3034与第二卷轴3032连接，张紧器3034用于向第二卷轴3032提供将第二帘体3031卷曲回收的回复力，在承托机构201朝向远离第一帘体组件302的方向运动的情况下，在回复力的作用下，第二帘体3031能够卷曲回收。
在本申请实施例中，通过设置张紧器3034与第二卷轴3032连接，在承托机构201向远离第一帘体组件302的方向移动时，第二帘体3031随着承托机构201向靠近第二卷轴3032的方向移动，通过张紧器3034可以向第二卷轴3032提供用于将第二帘体3031卷曲回收的回复力，以便将第二帘体3031卷绕在第二卷轴3032，使伸出的第二帘体3031卷曲收回。
其中，第二帘体3031的第一端与第二卷轴3032连接，第二帘体3031的第二端与承托机构201连接，第二帘体3031可以卷绕在第二卷轴3032上。当承托机构201向靠近第一帘体组件302的方向移动时，承托机构201带动第二帘体3031的第二端移动，第二帘体3031带动第二卷轴3032转动，此时，与第二卷轴3032连接的张紧器3034产生预回复力。
在具体地应用中，当承托机构201向远离第一帘体组件302的方向移动时，承托机构201带动第二帘体3031的第二端移动，此时，在张紧器3034的预回复力作用下，可以带动第二卷轴3032转动，以将第二帘体3031卷曲在第二卷轴3032上，从而实现了第二帘体3031相对于机身100的移动。同时，利用张紧器3034的张紧作用，使得第二帘体3031与移动过程中始终保持张紧状态，避免了第二帘体3031的弯曲折叠。
可选地，参考图5，第二帘体组件303还包括可转动的帘布引导轴3035，帘布引导轴3035设于第二卷轴3032和承托机构201之间，帘布引导轴3035用于对第二帘体3031的运动进行导向。
在本申请实施例中，在第二卷轴3032和承托机构201之间设置有帘布引导轴3035，第二帘体3031的一端与第二卷轴3032连接，第二帘体3031的另一端与承托机构201连接，在第二卷轴3032和承托机构201之间的第二帘体3031经过帘布引导轴3035，通过帘布引导轴3035起到对第二帘体3031起到引导作用。
其中，帘布引导轴3035可以与机身100固定连接，也可以将帘布引导轴3035与机身100转动连接，从而在第二帘体3031相对机身100移动时，帘布引导轴3035也相对于机身100转动，从而减小帘布引导轴3035与第二帘体3031之间的摩擦阻力，使第二帘体3031的移动更灵活。
在本申请实施例中，物料存取装置包括控制器600，在需要存放物料时，控制器600能够根据所接收的物料尺寸信息以及物料存取装置中控制的货仓101情况来确定用于存放物料的目标货仓。而在需要从货仓101中取出物料时，控制器600根据订单号或物料编号查找确定相应的目标货仓，从而能够通过控制器600快速准确地确定目标货仓的位置，以便执行其他物料转移操作以及遮挡操作。
可以理解的是，控制器600可以与分别多个货仓101电连接，控制器600能够获取每个货仓101对应的货仓信息，其中，货仓信息可以包括：货仓的编号、货仓的尺寸信息以及货仓的使用状态。在需要存货时，控制器600可以根据所需要存放的物料信息，匹配相应的目标货仓，在需要取货时，可 以根据订单号自动识别与订单号匹配的货仓101编号，进而根据货仓101编号确定相应的目标货仓，其中，订单号中可以包括：物料尺寸信息等。
在一些实施例中，控制器600还可以分别与取放装置200以及遮挡组件300电连接，从而在确定目标货仓后，通过控制器600控制取放装置200移动到目标货仓对应的位置进行物料转移操作，以及控制遮挡组件300实现对相应货仓101的遮挡以及解除对目标货仓遮挡。
可选地，参考图18，取放装置200还包括：升降驱动机构202，升降驱动机构202安装于机身100且与承托机构201连接，升降驱动机构202用于驱动承托机构201竖直升降。
在本申请实施例中，机身100设置有多个货仓101，多个货仓101沿垂直方向依次设置，取放装置200包括升降驱动机构202，升降驱动机构202与机身100连接，升降驱动机构202与承托机构201连接，通过升降装置能够驱动承托机构201竖直升降，便于承托机构201承载物料沿机身100上下移动。
具体地，承托机构201可以与机身100滑动连接，升降驱动机构202与承托机构201连接，升降驱动机构202用于驱动承托机构201沿机身100上下滑动，以实现承托机构201相对于机身100的竖直升降，从而便于承托机构201的上下移动。
可选地，参考图18，升降驱动机构202可驱动承托机构201沿机身100运动至机身100底部的地面，以实现从地面自助取货，或者物料存取装置自动卸货至地面，从而实现了物料存取装置的自动取货、卸货功能。
可选地，承托机构201具有展开状态和收纳状态；其中，承托机构201在展开状态时能够承托物料并将物料转移至多个货仓101中的目标货仓内，或者将货仓101内的物料经由目标货仓的窗口102而转移出。
在本申请实施例中，承托机构201在展开状态时，能够将物料存取装置之外的物料转移至货仓101内，或者将货仓101内的物料转移至物料存取装置之外。承托机构201在收纳状态时，可以节省承托机构201所占用的空间，减小物料存取装置整体结构的体积。
其中，承托机构201具有用于承载物料的承托面，承托机构201在收纳状态时，承托机构201的承托面靠近机身100，而承托机构201在展开状态时，承托机构201的承托面与机身100之间呈预设夹角。
其中，承托机构201在展开状态时，承托机构201的承托面与机身100之间的预设夹角的具体角度可以根据需要进行设置，本申请实施例对此不做限制。
可选地，参考图19和图20，取放装置200还包括：翻折驱动机构203，翻折驱动机构203与承托机构201连接，用于驱动承托机构201翻折，以使承托机构201在展开状态和收纳状态之间转换。
在本申请实施例中，通过设置翻折驱动机构203，承托机构201相对于机身可转动，翻折驱动机构203与承托机构201连接，通过翻折驱动机构203能够驱动承托机构201相对于机身100翻折移动，以改变承托机构201相对于机身100的位置，从而使承托机构201能够在展开状态和收纳状态之间转换。
可选地，参考图21，在货仓101的物料转移进入承托机构201的过程中，承托机构201的承托面翻折至水平状态，在物料完全转移至承托机构201后，承托机构201翻折至朝向地面倾斜的倾斜状态。
在本申请实施例中，在利用取放装置200将货仓101内的物料转移至地面或盛放面的过程中，翻折驱动机构203驱动承托机构201移动，以使承托机构201的承托面翻折至水平状态，以便将货仓 101内的物料转移至承托机构201的承托面上，进而在物料完全转移至承托机构201后，翻折驱动机构203进一步驱动承托机构201翻折，使承托机构201的承托面翻折至朝向地面或盛放面倾斜的倾斜状态，以便将承托机构201上的物料转移至地面或盛放面。需要说明的是，升降驱动机构202和翻折驱动机构203可采用现有的升降驱动机构和转动驱动机构，本领域技术人员可根据实际需要进行设置，本申请实施例对此不做限定。
具体地，参考图20，承托机构201包括第一传送组件2011和第一传送驱动机构2012，第一传送组件2011用于将物料转移至货仓101内或者将货仓101内的物料转移出，第一传送驱动机构2012与第一传送组件2011连接，用于驱动第一传送组件2011运行。
在本申请实施例中，承托机构201包括第一传送组件2011和第一传送驱动机构2012，第一传送驱动机构2012与第一传送组件2011连接，通过第一传送驱动机构2012能够驱动第一传送组件2011运行，进而利用第一传送组件2011可以实现对物料的转移，使承托机构201既能承载物料，又能实现对物料的转移。
具体地，在需要将承托机构201所承载的物料转移至目标货仓内时，通过第一传送驱动机构2012驱动第一传送组件2011运行，进而将承托机构201上的物料转移至目标货仓内，而在需要将目标货仓内的物料取出时，通过第一传送驱动机构2012驱动第一传送组件2011运行，以将目标货仓内的物料转移出。
可选地，参考图20，第一传送组件2011具有用于移动物料的第一传送带20111，参考图1，物料存取装置还包括自动行走装置700，自动行走装置700设于机身100。当取放装置200转移物料至地面或者盛放面时，自动行走装置700的移动线速度与第一传送带20111的用于承托物料的承托面上任意一点的移动线速度大致相等且方向相反。
在本申请实施例中，取放装置200中设有第一传送带20111，第一传送带20111能够转移物料，第一传送带20111具有用于承托物料的承托面，当需要将取放装置200中承载的物料转移至地面或者盛放面时，通过控制第一传送带20111运行，以带动物料从承托面上向地面或者盛放面移动，同时，使机身100向物料移动方向的反方向移动，从而使物料滑落至地面或者盛放面。
可选地，参考图22，物料存取装置还包括：多个仓板层模组400，多个仓板层模组400依次间隔设置，用于将机身100分隔成多个货仓101。
在本申请实施例中，在机身100设置有多个仓板层模组400，多个仓板层模组400间隔设置，从而将机身100分隔成多个货仓101。通过调整相邻两个仓板层模组400的位置，可以调整所形成的货仓101的结构尺寸，以满足不同尺寸的物料存储需求，提升了物料存取装置的适用性。
需要说明的是，机身100所设置的仓板层模组400的数量以及每个仓板层模组400的设置位置，可以根据实际需要进行调整，本申请实施例对此不做限制。
可选地，参考图6，仓板层模组400包括第二传送组件401和第二传送驱动机构402，第二传送组件401可与承托机构201上的第一传送组件2011对接，用于将位于第一传送组件2011上的物料转移至货仓101内，或者将货仓101内的物料转移至第一传送组件2011；第二传送驱动机构402与第二传送组件401连接，用于驱动第二传送组件401运行。
在本申请实施例中，仓板层模组400中设有第二传送组件401，第二传送组件401可以带动存放于相应货仓101内的物料移动，通过仓板层模组400中的第二传送组件401与承托机构201上的第一传送组件2011的联动作用，可以实现物料在承托机构201与目标货仓之间的转移。
具体地，仓板层模组400包括第二传送组件401和第二传送驱动机构402，第二传送驱动机构402与第二传送组件401连接，通过第二传送驱动机构402能够驱动第二传送组件401运行。第二传送组件401与承托机构201上的第一传送组件2011对接(如可对齐)，以便物料在第二传送组件401与第一传送组件2011之间转移。具体地，第一传送组件2011将物料传送至进入窗口102，第二传送组件401继续将物料传送至进入目标货仓；或者，第二传送组件401将物料传送至窗口102，第一传送组件2011继续将物料转移出目标货仓而进入承托机构201。
可选地，参考图6，第二传送组件401包括：第二传送带4011以及第二转动轴4012，第二传送带4011套设在第二转动轴4012外；第二传送驱动机构402与第二转动轴4012连接，以驱动第二转动轴4012带动第二传送带4011运行。
在本申请实施例中，通过设置第二传送带4011套设在第二转动轴4012外，第二转动轴4012与第二传送驱动机构402连接，第二传送驱动机构402能够驱动第二转动轴4012转动，进而由第二转动轴4012带动第二传送带4011运行，第二传送带4011能够实现对物料的转移作用。
具体地，仓板层模组400可以包括仓板外框405，仓板外框405可以与机身100连接，第二转动轴4012与仓板外框405转动连接，第二传送带4011套设在第二转动轴4012外，第二转动轴4012与第二传送驱动机构402连接，通过第二传送驱动机构402驱动第二转动轴4012转动，以带动第二传送带4011运行。
可以理解的是，每个货仓101底部皆设置有第二传送带4011，在利用货仓101存放物料时，物料放置在第二传送带4011上，当需要转移物料时，通过第二转动轴4012带动第二传送带4011运行，进而由第二传送带4011带动物料移动。
在一些实施例中，第二传送组件401中可以包括多个第二转动轴4012，多个第二转动轴4012分别与仓板外框405连接，多个第二转动轴4012平行间隔设置。第二传送带4011套设在多个第二转动轴4012外，通过设置多个第二转动轴4012，在存放物料以及转移物料过程中，提升第二传送组件401的整体承载能力，提升货仓101的安全性和稳定性。
可选地，参考图6和图7，第二传送组件401还包括：第一张紧装置4013，第一张紧装置4013与第二传送带4011连接，以实现第二传送带4011的张紧。在本申请实施例中，设置第一张紧装置4013与第二传送带4011连接，通过第一张紧装置4013实现对第二传送带4011的张紧作用，确保第二传送带4011顺利的运行。
具体地，如图6所示，仓板层模组400可以包括仓板外框405，第一张紧装置4013安装在仓板外框405上，第二转动轴4012活动连接于仓板外框405，通过第一张紧装置4013可以调节第二转动轴4012与仓板外框405的相对位置，进而调整第二传送带4011的张紧度。
可选地，参考图6至图8，第一张紧装置4013包括：第一张紧螺母40131和第一张紧螺钉40132，第一张紧螺钉40132与第二转动轴4012连接，在第一张紧螺母40131的驱动下，第一张紧螺钉40132可带动第二转动轴4012移动，以实现第二传送带4011的张紧。
在本申请实施例中，第一张紧装置4013包括第一张紧螺母40131和第一张紧螺钉40132，第一张紧螺母40131与第一张紧螺钉40132螺纹连接，第一张紧螺钉40132与第二转动轴4012连接，通过转动第一张紧螺母40131，可以调节第一张紧螺母40131与第一张紧螺钉40132的相对位置。这样，通过第一张紧螺钉40132能够带动第二转动轴4012移动，实现对第二传送带4011的张紧作用，防止第二传送带4011松弛，使第二传送带4011处于合适的张紧状态，以便用于顺利的转移物料。
具体地，第一张紧螺钉40132活动连接于仓板外框405，第一张紧螺母40131与第一张紧螺钉 40132螺纹连接，第二转动轴4012的端部与第一张紧螺钉40132连接。转动第一张紧螺母40131可以调节第一张紧螺钉40132与仓板外框405的相对位置，从而由第一张紧螺钉40132带动第二转动轴4012移动，实现对第二转动轴4012位置的调节。
可选地，参考图6和图9，第二传送驱动机构402包括同步带4021和第二张紧装置4022，同步带4021与第二转动轴4012连接，第二张紧装置4022与同步带4021连接，以实现同步带4021的张紧。
在本申请实施例中，第二传送驱动机构402包括第二传送驱动电机4023、同步带4021以及第二张紧装置4022，第二传送驱动电机4023通过同步带4021与第二转动轴4012传动连接，从而通过同步带4021将第二传送驱动电机4023的驱动力传输至第二转动轴4012，以驱动第二转动轴4012转动，通过设置第二张紧装置4022与同步带4021抵接，以实现第二张紧装置4022对同步带4021的张紧作用，避免同步带4021松弛，提升同步带4021的传动作用。
在一些实施例中，参考图11，第二张紧装置4022可以包括调节滑块40222和张紧轴承轮40221，调节滑块40222与仓板外框405活动连接，张紧轴承轮40221与调节滑块40222连接，张紧轴承轮40221与同步带4021抵接，张紧轴承轮40221可以随同步带4021转动。通过调整调节滑块40222与仓板外框405的相对位置，可以调整张紧轴承轮40221与同步带4021的抵接压力，实现对同步带4021的张紧度的调节。通过调节滑块40222和张紧轴承轮40221的配合作用，既能实现对同步带4021的张紧作用，又能减小张紧轴承轮40221与同步带4021的摩擦阻力，降低第二张紧装置4022对同步带4021传动作用的影响。
可选地，参考图22，机身100内设置有多个间隔设置的安装槽107，仓板层模组400可拆卸的连接于安装槽107，以调节相邻的两个仓板层模组400之间的距离，从而调节货仓101的大小。
在本申请实施例中，在机身100的两侧设置有多个间隔的安装槽107，仓板层模组400可拆卸的连接于安装槽107内，通过调节相邻的两个仓板层模组400之间的距离，能够调整由仓板层模组400所形成的货仓101的大小，以满足不同大小的物料的存放需求。
具体地，在机身100两侧设置有多个安装槽107，多个安装槽107之间间隔设置，安装槽107沿垂直于承托机构201的移动方向延伸，仓板层模组400至少部分可以插接于安装槽107内，从而由相邻两个仓板层模组400以及机身100围合形成货仓101。通过在机身100设置安装槽107，便于仓板层模组400的安装和拆卸，从而能够根据需要调整每个仓板层模组400的位置，以形成不同大小的货仓101。
在一些实施例中，如图22所示，每个安装槽107沿水平方向延伸，机身100两侧的多个安装槽107可以沿竖直方向平行间隔设置，从而方便仓板层模组400安装位置的调整。其中，相邻两个仓板层模组400之间的距离可以根据实际需要进行确定，本申请实施例对此不作限制。
可选地，参考图23和图24，安装槽107的里侧还设置有第一弹性件109，仓板层模组400与第一弹性件109插接配合。在本申请实施例中，在每个安装槽107内设置第一弹性件109，仓板层模组400与第一弹性件109插接配合，在仓板层模组400插接于安装槽107内时，仓板层模组400对第一弹性件109产生挤压，使第一弹性件109发生弹性变形，从而在第一弹性件109的回弹力作用下，起到对仓板层模组400的夹紧作用。这样，在物料存取装置运行过程中，可以避免仓板层模组400在安装槽107内滑动，提高了仓板层模组400的稳定性和安全性。
需要说明的是，第一弹性件109可以为弹性胶条，第一弹性件109可以采用弹性材料制成，例如：可以选用乙丙橡胶(ethylene－propylene rubber，EPR)、顺丁橡胶(Butadiene rubber，BR)、热塑 性弹性体(Thermoplastic Elastomer，TPE)等材料制成。当然，第一弹性件109还可以选用其他弹性材料制成，本申请实施例对比不做限制。
可选地，参考图26所示，仓板层模组400的两侧分别通过紧固件403可拆卸的连接于机身100。在本申请实施例中，通过紧固件403将仓板层模组400的两侧分别与机身100连接，以提高仓板层模组400与机身100的连接牢固性，同时也方便拆卸。
可以理解的是，将仓板层模组400插接于安装槽107后，再利用紧固件403将仓板层模组400与机身固定，可以方向仓板层模组400沿安装槽107的延伸方向移动，提高了仓板层模组400的稳定性。
具体地，紧固件403可以为螺钉、螺栓中的至少一种，在机身100的两侧与安装槽107对应的位置设置第一安装孔，在仓板层模组400上也对应设置第二安装孔，当将仓板层模组400插接于安装槽107后，通过紧固件403穿过仓板层模组400上的第二安装孔后，与机身100设置的第一安装孔连接，实现仓板层模组400与机身100的固定连接。其中，螺钉可以与第一安装孔和第二安装孔之间螺纹连接，从而方便安装和拆卸。
可选地，参考图27，仓板层模组400上设置有第一电连接件404，机身100上设置有至少一个能够与第一电连接件404适配的第二电连接件111，第一电连接件404与第二电连接件111可拆卸的对接。
在本申请实施例中，在仓板层模组400上设置有第一电连接件404，而在机身100设置有第二电连接件111，第一电连接件404与第二电连接件111相适配。第一电连接件404与第二电连接件111可拆卸的对接，从而方便仓板层模组400与机身100的电连接，在多个仓板层模组400同时与机身100连接时，方便优化电路连接，提升物料存取装置整体的美观度。
其中，第一电连接件404与第二电连接件111可以采用公母插接头结构，方便第一电连接件404与第二电连接件111的可拆卸连接。当然，第一电连接件404与第二电连接件111还可以选用其他的可拆卸电连接结构，本申请实施例对此不作限制。
可选地，参考图25，机身100设有与安装槽107连通、供仓板层模组400插入的插口113，插口113设有柔性的遮挡件108。
在本申请实施例中，机身100设置有插口113，该插口113与安装槽107连通，从而方便将仓板层模组400经由插口113处插入安装槽107内，通过插口113可以起到引导作用方便仓板层模组400与安装槽107的对接，同时在插口113处设置柔性的遮挡件108，在不影响仓板层模组400安装的同时，能够起到对插口113的遮挡作用，避免杂物进入插口113或安装槽107内。
可选地，遮挡件108包括刷毛。在本申请实施例中，可以将遮挡件108设置为刷毛，简单实用，成本较低。
可选地，参考图14，机身100设有与货仓101连通的取放口110，取放口110和窗口102位于机身100的不同侧；物料存取装置还包括侧门模组500，侧门模组500用于遮挡取放口110。
在本申请实施例中，每个货仓101对应设置有取放口110，取放口110与货仓101内部连通，且取放口110和窗口102位于机身100的不同侧，从而方便人工通过取放口110向货仓101内放入物料或者从货仓101内取出物料。同时，设置侧门模组500，通过侧门模组500遮挡住取放口110，避免货仓101内部物料外露或丢失，提高货仓101的安全性。
具体地，每个货仓101对应设置有窗口102和取放口110，取放口110和窗口102位于机身100的不同侧，其中，窗口102用于取放装置200将物料转移进或出货仓101，而取放口110用于人工将物料转移进或出货仓101，例如收发员可以在取放口110放入或取出物料。通过将设置窗口102和取 放口110设置于机身100的不同侧，避免人工操作与自动取放装置200之间的冲突，使机身100的整体结构设置更合理。
可选地，参考图12至图14，侧门模组500的截面形状具有如图13所示的扁平状态，以及具有如图12所示的扩充状态。在侧门模组500遮挡取放口110的情况下，侧门模组500的截面形状为扩充状态，以使得侧门模组500的形状与机身100、仓板层模组400的形状适配；在侧门模组500解除对取放口110的遮挡的情况下，侧门模组500的截面形状为扁平状态，以减小侧门模组500占用的空间。
在本申请实施例中，侧门模组500能够在侧门模组500能够在扁平状态和扩充状态之间切换，侧门模组500在遮挡货仓101的取放口110时呈扩充状态，以便与机身100和仓板层模组400的形状适配，提高物料存取装置的整体美观度。而在侧门模组500解除对取放口110的遮挡时呈扁平状态，以便减小侧门模组500所占用的空间，提升物料存取装置的结构布局。
可选地，参考图12，侧门模组500包括：固定支架501，固定支架501连接于机身100；第一侧门板502，第一侧门板502的一侧与固定支架501转动连接；第二侧门板503，第二侧门板503的一侧与第一侧门板502的另一侧转动连接；以及第三侧门板504，第三侧门板504的一侧与第二侧门板503的另一侧转动连接，第三侧门板504的另一侧与固定支架501转动连接；其中，在扩充状态，固定支架501、第一侧门板502、第二侧门板503以及第三侧门板504围合形成立体形状，在扁平状态，固定支架501、第一侧门板502、第二侧门板503以及第三侧门板504围合形成扁平状。
在本申请实施例中，固定支架501与第一侧门板502、第一侧门板502与第二侧门板503、第二侧门板503与第三侧门板504、第三侧门板504与固定支架501之间转动连接，方便侧门模组500在扁平状态和扩充状态之间的切换，使得侧门模组500能够适应不同的使用需求，提升了侧门模组500的适用性。
需要说明的是，侧门模组500在扩充状态所成的立体形状的截面形状可以成矩形、梯形等，侧门模组500在扩充状态所成的立体形状可以根据机身100和仓板层模组400的具体形状来确定，以便与机身100和仓板层模组400的形状相适配。
在一些实施例中，如图14所示，在侧门模组500遮挡货仓101的取放口110时，侧门模组500处于扩充状态。此时，固定支架501与机身100连接，第一侧门板502靠近取放口110设置，第三侧门板504远离取放口110设置，第一侧门板502与第三侧门之间存有间隙，第二侧门板503与机身100之间通过锁止机构507连接，从而将侧门模组500与机身100固定。在需要解除对货仓101的取放口110的遮挡时，打开第一侧门板502与机身100之间的锁止机构507，此时可以使第一侧门板502与第三侧门贴合，将侧门模组500调整为扁平状态，减小了侧门模组500所占用的空间。
可选地，参考图12，第一侧门板502与固定支架501之间、第一侧门板502与第二侧门板503之间、第三侧门板504与第二侧门板503之间、以第三侧门板504与固定支架501之间皆可通过销轴505实现转动连接。在本申请实施例中，采用销轴505实现转动连接，结构简单，成本较低。
可选地，参考图12，侧门模组500还包括第二弹性件508，第二弹性件508用于提供快速切换至扁平状态的弹性回复力，以便使侧门模组500能够快速在扩充状态和扁平状态之间切换，以避免操作者在打开侧门模组500时，存在夹手等安全隐患。
在具体地应用中，如图12所示，第二弹性件508的一端与第一侧门板502连接，第二弹性件508的另一端与固定支架501连接，在侧门模组500遮挡住货仓101的取放口110时，侧门模组500处于扩充状态时，第二弹性件508产生预拉伸。当侧门模组500接触对货仓101的取 放口110遮挡时，第二弹性件508在弹性回复力的作用下，可以快速切换到扁平状态。
需要说明的是，第二弹性件可以选用：弹簧、橡胶条等弹性件，当然，还可以选用其它的弹性件，本申请实施例对此不做限制。
可选地，参考图10，仓板层模组100在靠近侧门模组500的一侧还设置用于遮挡侧门模组500的挡板406。挡板406可以与仓板外框405连接，通过设置挡板406可以减小仓板层模组100与侧门模组500之间的间隙，zai使用仓板层模组100存放物料时，避免物料从所述间隙中掉落，或者操作者从货仓101的取放口110向货仓101放置物料过程中，避免将物料放在所述间隙的位置。
可选地，参考图15，侧门模组500为多个，相邻的侧门模组500之间能够连接组合，以适应不同的货仓101大小。在本申请实施例中，通过在机身100设置多个侧门模组500，相邻的侧门模组500之间可以连接组合形成较大的侧门模组500，以满足对较大货仓101的遮挡作用，从而能够根据货仓101的大小调整相应的侧门模组500的大小，以使侧门模组500与货仓101相匹配。
在一些实施例中，可以将多个侧门模组500沿竖直方向依次连接于机身100，并且沿竖直方向，机身设有多个间隔设置的安装槽，相邻安装槽107之间对应设置有侧门模组500。在具体地应用中，可以根据机身100安装槽107内装入的仓板层模组400的位置和数量，确定相应侧门模组500的组合方式，进而使每个货仓101对应一个侧门模组500或者组合在一起的多个侧门模组500，从而实现侧门模组500对不同大小货仓的遮挡作用。
可选地，参考图15，物料存取装置还包括同步保持件506，同步保持件506用于与至少两个侧门模组500连接，以实现至少两个侧门模组500的同步转动。
在本申请实施例中，通过设置同步保持件506，同步保持件506与侧门模组500可拆卸连接，可以根据不同取放口110的大小，选择不同数量的侧门模组500，利用同步保持件506将多个侧门模组500连接在一起，形成一体式的组合侧门模组500。这样，便于连接在一起的多个侧门模组500能够相对于机身100同步转动，进而实现对同一个取放口110的遮挡或解除对取放口110的遮挡，操作更方便灵活，提高物料存取装置的适用性。
在一些实施例中，同步保持件506可以是连接板，在需要将多个侧门模组500连接组合在一起时，可以在多个侧门模组500中，通过连接板将相邻两个侧门模组500中的第二侧门板503连接在一起，以使相邻两个侧门模组500同步移动。
当然，还可以通过同步保持件506将相邻两个侧门模组500中的第一侧门板502连接，或者通过同步保持件506将相邻两个侧门模组500中的第三侧门板504连接。从而使多个侧门模组500可以同步移动，并且重新组合后的组合侧门模组500也能够在扁平状态和扩充状态之间切换。
可选地，参考图18，物料存取装置还包括沿着货仓101排列方向设置的若干个第三触发件112以及设置于取放装置200的第三传感器205，第三传感器205用于当取放装置200的用于承托物料的承托机构201经过第三触发件112时生成触发信号，从而获取承托机构201的位置。
在本申请实施例中，在机身100设置有多个第三触发件112，多个第三触发件112沿货仓101的排布方向设设置，在取放装置200设置有第三传感器205，从而当取放装置200中的承托机构201在相对于机身100移动过程中，当承托机构201移动到目标货仓对应的位置时，相应位置的第三触发件112触发可以触发第三传感器112，以便对承托机构201的移动位置进行准确的检测。
需要说明的是，机身100设置有多个货仓101，每个货仓101至少对应一个第三触发件112，从而当取放装置200的承托机构201经过每个货仓101时，取放装置200上的第三传感器205能够感应 到与每个货仓101对应设置的第三触发件112，进而第三传感器112被触发，从而可以根据触发第三传感器205的第三触发件112的对应位置，来确定承托机构201的实时位置。
可选地，参考图19和图20，物料存取装置还包括设于取放装置200的第四传感器204，第四传感器204用于检测取放装置200动作的过程中是否夹有异物。
在本申请实施例中，取放装置200中设置有第四传感器204，通过第四传感器204可以检测取放装置200在运行过程中是否夹有异物，当第四传感器204被触发时，及时控制检测取放装置200停止动作，避免安全事故，提升物料存取装置的安全性。
示例性地，取放装置200在翻折和升降过程中，取放装置200周围的空间容易出现夹手或者压到异物的危险区，通过设置第四传感器204，可以感知受到的轻微外力。在取放装置200运行过程中，一旦触发第四传感器204，取放装置200即刻停止动作，避免出现安全事故。
可选地，第四传感器204的数量为至少三个，至少三个第四传感器204分别设置在承托机构201的两侧和底部。
在本申请实施例中，在承托机构201的两侧分别设置有第四传感器204，以便在承托机构201在翻折过程中，避免承托机构201的翻折空间内夹有异物。同时，在承托机构201的底部也设置有第四传感器204，以便在承托机构201升降过程中，避免承托机构201的底部空间内夹有异物。通过在承托机构201四周空间内设置多个第四传感器204，以对承托机构201运行过程中的危险区域进行有效的安全监控，提高承托机构201运动的安全性。
可选地，参考图29，承托机构201在于第四传感器204对应的位置还设在有第四触发件2041，第四触发件2041活动连接于承托机构201，第四触发件2041能够响应于用户的触控操作，触发第四传感器204。
在本申请实施例中，在承托机构201上对应第四传感器204的位置设置第四触发件2041，第四触发件2041活动连接于承托机构，从而在第四触发件2041受到外部触控压力时，第四触发件2041相对于承托机构移动，进而能够触发第四传感器204，以便控制承托机构201停止移动。通过第四触发件2041和第四传感器204的配合，能够以对承托机构201运行过程中的危险区域进行有效的安全监控，提高承托机构201运动的安全性。具体地，第四触发件2041可以设置于承托机构201的底部，第四传感器204位于第四触发件2041和承托机构201之间，第四触发件2041与第四传感器204相对设置，第四触发件2041可以转动连接于承托机构201。在第四触发件2041受到外力时，第四触发件2041朝向第四传感器204移动，以触发第四传感器204。
在具体地应用中，承托机构201沿机身100升降过程，当承托机构201的底部空间内夹有异物，第四触发件2041受到异物的触控作用，朝向第四传感器204移动，从而触发第四传感器204。
需要说明的是，承托机构201的底部可以设置多个第四触发件2041和多个第四传感器204，第四触发件2041与四传感器204的位置和数量相对应。第四触发件2041与四传感器204的具体结构可参照现有技术并根据实际需要进行设计。
其中，控制机身100的移动线速度与第一传送带20111的移动线速度大致相等，以实物料平稳地滑落至地面或者盛放面，避免物料与地面或盛放面的摩擦损伤。当然，具体的移动线速度大小，可以根据实际需要进行设置，本申请实施例对此不作限制。
需要说明的是，在其他实施例中，如图30和图31所示，遮挡组件300可包括滑动门3041和驱动滑动门3041移动的滑动驱动组件3042；具体地，滑动驱动组件3042驱动滑动门3041往复移动。或者，如图32和图33所示，遮挡组件300可包括转动门3051和驱动转动门3051 转动的转动驱动组件3052；具体地，转动驱动组件3052驱动转动门3051往复转动。进一步地，滑动门3041或转动门3051为单门或对开门。滑动门3041或转动门3051的数量不做限定，可以为一个或两个、多个。另外，遮挡组件300不局限于本申请所列举实施方式，本领域技术人员可根据实际需要进行设置。
综上，本申请实施例所述的物料存取装置至少可以包括以下优点：
在本申请实施例中，物料存取装置设有用于容纳物料的多个货仓101，每个货仓101上设有用于取放物料的窗口102，通过设置取放装置200，可以经由货仓101的窗口102处，将物料从货仓101中取出，或者将外部的物料放入货仓101内。通过设置可活动的遮挡组件300遮挡窗口102，可以提高对货仓101内部隐私的保护。通过设置遮挡组件300与取放装置200自动操作，可以在取放装置200需要取、放物料时，解除遮挡组件300对目标货仓的窗口102的遮挡，并在物料转移完成后，遮挡所述目标货仓的窗口102。这样，既方便物料的自动取放，又能够有效保护货仓101内部隐私，降低货仓101内物料丢失的风险，而且，结构简单，便于自动控制操作。
参考图34，示出了本申请实施例的一种物料存取装置的控制方法的流程图，本申请实施例中的物料存取装置的控制方法，具体步骤包括如下：
步骤101，接收用户指令，所述用户指令包括取货指令或者存货指令。
在本申请实施例中，控制器600在接收到用户发出的取货指令或存货指令后，可以获取物料信息以及货仓信息，其中，物料信息至少包括：物料尺寸信息、对应的编号信息等，货仓信息至少包括：货仓的空置情况等。
具体地，用户在发出存货指令或者取货指令时，可以由用户主动输入相应地物料信息，并由控制器600自动检测货仓101的使用情况，以获取货仓101信息。当然，也可以通过设置检测设备，通过检测设备检测获取目标物料的物料信息，并将所检测得到的物料信息发送给控制器600。
步骤102，在多个货仓中确定目标货仓。
在本申请实施例中，根据所接收的指令信息，获取物料信息以及货仓信息，从而确定用于取放物料的目标货仓的位置。
具体地，当需要存货时，可以根据空置的货仓情况、接收到的物料尺寸信息来确定目标货仓；当需要出货时，可以根据订单号来确定目标货仓。其中，订单信息中可以包括：目标货仓的位置或编号。
在本申请实施例中多个货仓101可以沿竖直方向层叠设置，也可以沿水平方向并排设置。下面将以货仓101是竖直方向层叠设置的实施方式展开介绍。本领域技术人员可以知道，货仓101沿水平方向并排设置的实施方式和竖直方向层叠设置原理相同。
步骤103，控制遮挡组件解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓。
在本申请实施例中，控制遮挡组件300解除对目标货仓的遮挡，以露出目标货仓的窗口102，便于经由窗口102处转移物料进或出目标货仓。同时，控制遮挡组件300遮挡目标货仓之外的其他货仓101，从而在取放物料过程中，保护其他货仓101内部的安全性。
步骤104，控制所述取放装置将物料转移至目标货仓或者将物料转移出目标货仓。
需要说明的是，本申请实施例中的物料存取装置的控制方法可以应用于上述任意实施例中的物料存取装置，物料存取装置的具体结构可以参见前述内容，本申请实施例在此不再赘述。
综上，本申请实施例所述的物料存取装置控制方法至少可以包括以下优点：
在本申请实施例中，通过接收用户指令，所述用户指令包括取货指令或者存货指令；在多个货仓101中确定目标货仓；控制遮挡组件300解除对目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101；控制取放装置200将物料转移至目标货仓或者将物料经由所述目标货仓的窗口102而转移出。通过控制遮挡组件300解除对目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101，进而控制取放装置200经由目标货仓的窗口102处，将物料转移进或出目标货仓，从而既方便取放装置200与目标货仓之间的物料转移，又能够有效地保护其他货仓101内部的隐私性，降低了其他货仓101内物料丢失的风险，实现了货物取放和货仓101遮挡的联动效果。
参考图35，示出了本申请实施例的另一种物料存取装置的控制方法的流程图，本申请实施例中的物料存取装置控制方法，具体步骤包括如下：
步骤201，接收用户指令，所述用户指令包括取货指令或者存货指令；
在本申请实施例中，本步骤的具体实施例过程可以参照步骤101执行即可，本申请实施例在此不再赘述。
步骤202，在多个货仓中确定目标货仓。
在本申请实施例中，本步骤的具体实施例过程可以参照步骤201执行即可，本申请实施例在此不再赘述。
步骤203，控制取放装置的用于承托物料的承托机构移动至与所述目标货仓对应的目标位置。
在本申请实施例中，取放装置200包括承托机构201，承托机构201用于在物料转移过程中承托物料。通过控制承托机构201移动至目标货仓所对应的目标位置，以便在承托机构201和目标货仓之间转移物料。
可选地，步骤203可以包括：控制所述承托机构移动至与所述目标货仓对应的目标位置，同时所述遮挡组件也移动使得所述遮挡组件的开合端移动至所述目标位置的附近。
在本申请实施例中，在控制承托机构201移动至与目标货仓对应的目标位置时，同时控制遮挡组件300移动，以使控制遮挡组件300的开合端301也移动至目标货仓对应的目标位置附近。
可选地，遮挡组件300包括第一帘体组件302和第二帘体组件303，第一帘体组件302靠近第二帘体组件303的第一端以及第二帘体组件303靠近第一帘体组件302的第二端组合形成开合端301。
在控制承托机构201移动至目标货仓对应的目标位置时，同时控制第一帘体组件302和第二帘体组件303移动，以使由第一帘体组件302的第一端与第二帘体组件303的第二端形成的开合端301移动至目标位置的附近，实现取放装置200与遮挡组件300的联动。
可选地，在一实施例中，在所述用户指令为存货指令的情况下，步骤203之前，还包括：
控制承托机构移动至便于用户放货的设定高度，以便于用户将物料放置在承托机构上。
可选地，在另一实施例中，在所述用户指令为存货指令的情况下，步骤203之前，可还包括：
控制承托机构201移动至地面或盛放面(桌面或者货架的层板等)，取放装置200自动转移物料进入承托机构201。
在本申请实施例中，当用户需要存货时，用户发出存货指令，承托机构201相对于机身100移动，并移动至便于用户放货的设定高度，从而方便用户将需要存放的物料放置在取放装置200上。或者是，用户提前将物料放置在地面或者盛放面，用户发出存货指令后，承托机构201移动至地面或盛放面 (桌面或者货架的层板等)，取放装置200自动转移物料进入承托机构201。
步骤204，控制遮挡组件解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓。
在本申请实施例中，控制遮挡组件300解除对目标货仓的遮挡，以露出目标货仓的窗口102，便于经由窗口102处转移物料进或出目标货仓，同时，控制遮挡组件300遮挡目标货仓之外的其他货仓101。
可选地，遮挡组件300包括第一帘体组件302和第二帘体组件303，第一帘体组件302靠近第二帘体组件303的第一端以及第二帘体组件303靠近第一帘体组件302的第二端组合形成开合端301；则步骤204中所述控制遮挡组件解除对所述目标货仓的遮挡的步骤具体包括：
控制所述承托机构以及所述第二帘体组件停止移动，并控制所述第一帘体组件继续移动至打开所述目标货仓。
具体地，在承托机构201移动至目标位置，遮挡组件300的开合端301也移动至目标位置的附近时，控制承托机构201和第二帘体组件303停止移动，进一步控制第一帘体组件302继续移动，以使第一帘体组件302的第一端朝向远离第二帘体组件303的第二端的方向移动，在第一帘体组件302的第一端与第二帘体组件303的第二端之间存有一定间隙，该间隙正好对应目标货仓的窗口102，使得开合端301打开以露出窗口102，从而解除对目标货仓的窗口102的遮挡。
步骤205，控制所述取放装置将物料转移至目标货仓或者将物料转移出目标货仓。
在本申请实施例中，通过控制取放装置200移动至目标货仓对应的位置，并将外部的物料转移至目标货仓内，或者将目标货仓内的物料转移至目标货仓外。
可选地，承托机构201包括第一传送带20111，货仓101的底部对应设置有仓板层模组400，仓板层模组400包括第二传送带4011；在所述用户指令为取货指令的情况下，则步骤205可以包括：
步骤2051a，控制所述第一传送带以及所述目标货仓对应的仓板层模组上的第二传送带运行，以将物料从所述第二传送带向所述第一传送带转移。
在本申请实施例中，承托机构201中包括第一传送带20111，在物料转移过程中，第一传送带20111可以朝向远离货仓101的方向移动，相应地，在货仓101的底部设有仓板层模组400，仓板物件中包括第二传送带4011，第二传送带4011可以朝向靠近承托机构201的方向移动。其中，在物料转移过程中，第一传送带20111的运行方向与第二传送带4011的运行反向平行。
具体地，控制承托机构201中的第一传送带20111和目标货仓内的第二传送带4011同步运行，以便将目标货仓内的物料从第二传送带4011向第一传送带20111转移。其中，在物料转移过程中，第一传送带20111和第二传送的运动方向一致。
在一些实施例中，可以控制第一传送带20111的运行线速度和第二传送带4011的运行线速度相同，以使物料能够平稳地在第一传送带20111和第二传送带4011之间转移。
步骤2052a，在所述物料完全进入所述承托机构或者进入所述承托机构的中间区域的情况下，控制所述第一传送带和所述第二传送带停止运行。
在本申请实施例中，当物料全部进入到承托机构201后，控制第一传送带20111和第二传送带4011停止运行，以使物料停放在承托机构201上。其中，物料进入承托机构201后所停放的具体位置，可以根据实际需要进行设置，本身实施例对此不作限制。
可选地，在步骤2052a之后，还包括：
a1，控制所述第一帘体组件移动，直至遮挡所述目标货仓；
a2，控制所述承托机构离开所述目标货仓；
a3，控制所述第一帘体组件、所述第二帘体组件跟随所述承托机构移动；
a4，控制所述承托机构运动至取货位置；其中，所述取货位置包括地面或者盛放面或者便于用户取货的设定高度。
在本申请实施例中，当物料全部进入到承托机构201后，进一步控制第一帘体组件302的第一端朝向第二帘体组件303移动，直至第一帘体组件302遮挡住目标货仓。然后，控制承托机构201相对于机身100移动，以使承托机构201离开目标货仓对应的位置，在承托机构201相对于机身100移动过程中，控制第一帘体组件302和第二帘体组件303同步随之移动。
在承托机构201移动至取货位置的情况下，控制承托机构201、第一帘体组件302以及第二帘体组件303可同步停止移动。其中，取货位置包括地面或者盛放面或者便于用户取货的设定高度。需要说明的是，该设定高度可以是提前设定的适合人体身高方便存、取货的高度，也可以是通过该物料存取装置内置的识别模块，通过该识别模块来识别用户的身高而自动设定的相应的取货高度。
需要说明的是，控制第一帘体组件302和第二帘体组件303跟随承托机构201移动，是指在控制承托机构201移动的同时，控制第一帘体组件302和第二帘体组件303同步移动。在本申请实施例中，所述第一帘体组件302被配置为能自主移动，例如，参考图3，第一帘体组件302包括：第一帘体3021以及帘体驱动机构3022，帘体驱动机构3022安装于机身100且与第一帘体3021连接，帘体驱动机构3022可以用于驱动第一帘体3021运动。所述第二帘体组件303被配置为能跟随所述承托机构移动，例如，参考图5，第二帘体组件303包括第二帘体3031，第二帘体3031的一端连接于机身100，另一端与承托机构201连接，承托机构201能够带动第二帘体3031运动。
可选地，在所述取货位置为所述设定高度的情况下，步骤a4之后，还包括：
在物料脱离所述承托机构之后，控制所述取放装置移动至预设的初始位置。
在本申请实施例中，承托机构201运动至设定高度，由用户从承托机构201上取走物料，在物料脱离承托机构201后，控制取放装置200移动至预设的初始位置，以便进行下一次的取存货操作。其中，初始位置与最靠近地面的第一层货仓101的底部平齐或者稍低于底部。
可选地，在所述取货位置为所述地面或者盛放面的情况下，步骤a4之后，还可以包括：
控制所述第一传送带运行，以将物料转移至地面或盛放面；
在物料脱离所述取放装置之后，控制所述取放装置移动至预设的初始位置。
具体地，在承托机构201运动至地面或者盛放面后，可以控制第一传送带20111朝向地面或者盛放面转动，以将物料向地面或者盛放面转移，进而使物料脱离承托机构201，将物料放置于地面或者盛放面，实现物料的自动卸货。在物料完全脱离取放装置200之后，控制取放装置200移动至预设的初始位置，以便进行下一次的取存货操作。
可选地，所述控制所述第一传送带运行以将物料转移至地面或盛放面的步骤具体包括：
控制所述第一传送带运行，同时物料存取装置的机身也一并移动，所述第一传送带用于承托物料的承托面上任意一点的的移动线速度与所述物料存取装置的机身的移动线速度大致相等且方向相反。在本申请实施例中，物料存取装置包括有自动行走装置700，以带动机身100移动，机身100的移动线速度即为所述自动行走装置700的移动线速度。
在本申请实例中，在将承托机构201上的物料向地面或盛放面转移过程中，控制第一传送带20111朝向地面或者盛放面转动，使物料由承托机构201向地面或者盛放面转移，同时，控制物料存取装置的机身100反向移动，即机身100的移动方向与第一传送带20111的运行方向相反，并且控制第一传送带20111的移动线速度与机身100的移动线速度大致相等，从而使物料平稳地转移至地 面或盛放面，避免物料与地面或盛放面之间出现摩擦损伤。
可选地，承托机构201包括第一传送带20111，货仓101的底部对应设置有仓板层模组400，仓板层模组400包括第二传送带4011；在所述用户指令为存货指令的情况下，则步骤205可以包括：
步骤2051b，控制所述承托机构的第一传送带以及所述目标货仓对应的仓板层模组上的第二传送带运行，以将物料从所述第一传送带向所述第二传送带转移。
在本申请实施例中，承托机构201中包括第一传送带20111，在物料转移过程中，第一传送带20111可以朝向靠近货仓101的方向移动，相应地，在货仓101的底部设有仓板层模组400，仓板层模组400中包括第二传送带4011，第二传送带4011可以朝向远离承托机构201的方向移动。其中，在物料转移过程中，第一传送带20111的运行方向与第二传送带4011的运行反向平行。
具体地，控制承托机构201中的第一传送带20111和目标货仓内的第二传送带4011同步运行，以便将承托机构201上的物料从第一传送带20111向第二传送带4011转移。其中，在物料转移过程中，第一传送带20111和第二传送的运动方向一致。
在一些实施例中，可以控制第一传送带20111的运行线速度和第二传送带4011的运行线速度相同，以使物料能够平稳地在第一传送带20111和第二传送带4011之间转移。
步骤2052b，在所述物料完全进入所述货仓101或者所述货仓101的中间区域的情况下，控制所述第一传送带20111和所述第二传送带4011停止运行。
在本申请实施例中，当物料全部进入到货仓101后，控制第一传送带20111和第二传送带4011停止运行，以使物料停放在货仓101内。其中，物料进入货仓101后所停放的具体位置，可以根据实际需要进行设置，本身实施例对此不作限制。
可选地，在步骤2052b之后，还包括：
b1，控制所述第一帘体组件移动，直至遮挡所述目标货仓；
b2，控制所述承托机构离开所述目标货仓；
b3，控制所述第一帘体组件、所述第二帘体组件跟随所述取放装置移动；
b4，在所述承托机构运动至预设的初始位置的情况下，控制所述承托机构以及所述第一帘体组件和所述第二帘体组件停止移动。
在本申请实施例中，当物料全部进入到货仓101内部后，进一步控制第一帘体组件302的第一端朝向第二帘体组件303移动，直至第一帘体组件302遮挡住目标货仓。然后，控制承托机构201相对于机身100移动，以使承托机构201离开目标货仓对应的位置，在承托机构201相对于机身100移动过程中，控制第一帘体组件302和第二帘体组件303随之同步移动。在承托机构201移动至预设的初始位置的情况下，控制承托机构201、第一帘体组件302以及第二帘体组件303同步停止移动。
需要说明的是，控制第一帘体组件302和第二帘体组件303跟随承托机构201移动，是指在控制承托机构201移动的同时，控制第一帘体组件302和第二帘体组件303同步移动。
综上，本申请实施例所述的物料存取装置控制方法至少可以包括以下优点：
在本申请实施例中，通过接收用户指令，所述用户指令包括取货指令或者存货指令；在多个货仓101中确定目标货仓；控制取放装置200的用于承托物料的承托机构201移动至与目标货仓对应的目标位置；控制遮挡组件300解除对目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101；控制取放装置200将物料转移至目标货仓或者将物料经由目标货仓的窗口102而转移出。通过将承托机构201和遮挡组件300都移动到目标位置，进而控制遮挡组件300解除对目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101，控制取放装置200经由目标货仓的窗口102处，将物料转移进或出目 标货仓，从而既方便取放装置200与目标货仓之间的物料转移，又能够有效地保护其他货仓101内部的隐私性，降低了其他货仓101内物料丢失的风险，实现了货物取放和货仓遮挡的联动效果。
参考图36，示出了本申请实施例的又一种物料存取装置的控制方法的流程图，本申请实施例中的物料存取装置控制方法，具体包括如下步骤：
步骤301，在所述物料存取装置上电的情况下，控制所述物料存取装置进行自检。
在本申请实施例中，在需要物料存取装置执行取货或存货操作时，控制物料存取装置上电，并控制物料存取装置进行自检，以检测物料存取装置的各个部分是否都处于正常运行的状态，以便使物料存取装置恢复正常运行状态，以执行后续操作。
可选地，步骤301包括：
步骤3011，在所述物料存取装置的上电状态符合第一预设条件的情况下，执行第一自检操作。
在本申请实施例中，可以预先设置物料存取装置的第一预设条件，进而在物料存取装置上电后，判断物料存取装置的上电状态是否符合第一预设条件，当物料存取装置的上电状态符合第一预设条件的情况下，可以执行第一自检操作。
其中，第一预设条件为：物料存取装置为初次上电和/或物料存取装置的结构进行改变后的第一次上电。
可以理解的是，在物料存取装置为初次上电，或者物料存取装置的结构进行改变后的第一次上电时，此时物料存取装置各部分的状态是未知的，控制器600需要通过自检操作，以确定物料存取装置的各部分状态是否正常，若状态正常，则进行执行后续物料转移操作，若状态不正常，则需要对物料存取装置的各部分的工作状态进行恢复处理，以恢复到初始状态，以便后续准确控制。
可选地，取放装置200包括用于承托物料的承托机构201、用于驱动承托机构201翻转的翻折驱动机构203以及用于驱动承托机构201升降的升降驱动机构202，则步骤3011中的第一自检操作包括：
控制所述翻折驱动机构复位；
在所述翻折驱动机构复位正常的情况下，控制所述升降驱动机构复位；
在所述升降驱动机构复位正常的情况下，控制所述遮挡组件300复位；
在所述遮挡组件复位正常的情况下，控制所述翻折驱动机构驱动所述承托机构由收纳状态切换至展开状态；
在所述取放装置由所述收纳状态切换至所述展开状态正常的情况下，控制所述遮挡组件升降；
在所述遮挡组件升降正常的情况下，控制所述升降驱动机构升降；
在所述升降驱动机构升降正常的情况下，依次控制所述承托机构升降以及控制所述遮挡组件升降，以实现所述货仓的高度标定及结构检查。
步骤3012，在所述物料存取装置的上电状态不符合第一预设条件的情况下，执行第二自检操作。
在本申请实施例中，当判断物料存取装置的上电状态不符合第一预设条件的情况下，相应执行第二自检操作。其中，第二自检操作与第一自检操作不同。
可选地，取放装置200包括用于承托物料的承托机构201、用于驱动承托机构201翻转的翻折驱动机构203以及用于驱动承托机构201升降的升降驱动机构202，步骤3012中的所述第二自检操作包括：
控制所述翻折驱动机构复位；
在所述翻折驱动机构复位正常的情况下，控制所述升降驱动机构复位；
在所述升降驱动机构复位正常的情况下，控制所述遮挡组件复位。
步骤302，接收用户指令，所述用户指令包括取货指令或者存货指令。
在本申请实例中，本步骤的具体实施例过程可以参照步骤101执行即可，本申请实施例在此不再赘述。
步骤303，在多个货仓中确定目标货仓。
在本申请实例中，本步骤的具体实施例过程可以参照步骤102执行即可，本申请实施例在此不再赘述。
步骤304，控制遮挡组件解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓。
在本申请实例中，本步骤的具体实施例过程可以参照步骤103执行即可，本申请实施例在此不再赘述。
步骤305，控制所述取放装置将物料转移至目标货仓或者将物料经由所述目标货仓的窗口而转移出。
在本申请实例中，本步骤的具体实施例过程可以参照步骤104执行即可，本申请实施例在此不再赘述。
综上，本申请实施例所述的物料存取装置控制方法至少可以包括以下优点：
在本申请实施例中，通过在所述物料存取装置上电的情况下，控制所述物料存取装置进行自检，接收用户指令，所述用户指令包括取货指令或者存货指令；在多个货仓101中确定目标货仓；控制遮挡组件300解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101；控制所述取放装置200将物料转移至目标货仓或者将物料经由所述目标货仓的窗口102而转移出。通过在执行取放货之前，先对物料存取装置进行自检，以使物料存取装置的各个部分都复位，便于后续的精准控制。然后，控制遮挡组件300解除对目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓101，进而控制取放装置200经由目标货仓的窗口102处，将物料转移进或出目标货仓，从而既方便取放装置200与目标货仓之间的物料转移，又能够有效地保护其他货仓101内部的隐私性，降低了其他货仓101内物料丢失的风险，并提高了物料存取装置的精准度和安全性。
本申请实施例还提供另一种机器人，该机器人包括：机身100，机身100上设置有用于容纳物料的多个货仓101，货仓101具有用于供物料进或出的窗口102；取放装置200，取放装置200用于将物料经由多个货仓101中的目标货仓的窗口102而转移进入目标货仓内，或者将物料经由目标货仓的窗口102而转移出；遮挡组件300，遮挡组件300活动连接于机身100，用于遮挡货仓101；控制器600，取放装置200以及遮挡组件300均与控制器600电性连接；控制器600用于控制遮挡组件300解除对对应的目标货仓的窗口102的遮挡，并遮挡目标货仓之外的其他货仓101的窗口102，并控制取放装置200在目标货仓解除遮挡之后，完成物料的转移；在物料转移完成后，控制器600控制遮挡组件300再次遮挡所述目标货仓的窗口102。
在本申请实施例中，机器人设有用于容纳物料的多个货仓101，每个货仓101上设有用于取放物料的窗口102，通过设置取放装置200，可以经由货仓101的窗口102处，将物料从货仓101中取出，或者将外部的物料放入货仓101内，设置可活动的遮挡组件300遮挡窗口102，以提高对货仓101内部隐私的保护，并且，在取放装置200从货仓101中取放物料的过程中，通过控制器600解除遮挡组 件300对相应货仓101的窗口102的遮挡，在物料转移完成后，遮挡组件300遮挡目标货仓的窗口102，既方便对货仓101内物料的自动取放，又能够有效保护货仓101内部的隐私性，降低了货仓101内物料丢失的风险，结构简单，便于自动控制操作，机器人整体的安全性更高。
需要说明的是，本实施例所说的机器人，具体结构和工作原理可参照前述各实施例所述的物料存取装置，本实施例不在此赘述。
本申请实施例还提供又一种物料存取装置，物料存取装置包括：机身100，机身100上设置有用于容纳物料的多个货仓101；多个仓板层模组400，多个仓板层模组400可拆卸地连接于所机身100，且依次间隔设置，用于将机身100分隔成多个货仓101；仓板层模组400包括：第二传送组件401，第二传送组件401用于输送物料退出货仓101或者将刚进入货仓101的物料输送至货仓101内部；以及第二传送驱动机构402，第二传送机构与第二传送组件401连接，用于驱动第二传送组件401运行。
在本申请实施例中，在机身100可拆卸地连接有多个仓板层模组400，通过多个间隔设置的仓板层模组400，可以将机身100分隔成多个货仓101，仓板层模组400中包括第二传送组件401，通过第二传送驱动机构402驱动第二传送组件401运行，由第二传送组件401输送物料退出货仓101或者将刚进入货仓101的物料输送至货仓101内部，从而能够利用物料存取装置实现物料的自动取放。
具体地，物料存取装置包括机身100，在机身100设置多个仓板层模组400，多个仓板层模组400间隔设置，由相邻两个仓板层模组400和机身100可以围合形成用于容纳物料的货仓101，通过多个仓板层模组400可以形成多个货仓101，通过调整仓板层模组400在机身100的位置，即可调整相应货仓101的大小，以形成大小不同的货仓101，满足不同尺寸的物料的存储。
仓板层模组400包括第二传送驱动机构402和第二传送组件401，第二传送机构与第二传送组件401连接，通过第二传送驱动机构402能够驱动第二传送组件401相对于机身100移动，从而带动货仓101内的物料移动，以便在将货仓101内的物料移出货仓101，或者将物料移至货仓101内部。
需要说明的是，本实施例所说的物料存取装置，具体结构和工作原理可参照前述各实施例所述的物料存取装置，本实施例不在此赘述。
本申请实施例还提供一种可移动平台，所述可移动平台包括：平台基体以及上述实施例中所述的物料存取装置；其中，所述物料存取装置连接于所述平台基体。
需要说明的是，本申请实施例中的可移动平台可以包括上述任意实施例中的物料存取装置，物料存取装置的具体结构可以参见前述实施例中的内容，本申请实施例在此不再赘述。
在本申请实施例中，物料存取装置设有用于容纳物料的多个货仓101，每个货仓101上设有用于取放物料的窗口102，通过设置取放装置200，可以经由货仓101的窗口102处，将物料从货仓101中取出，或者将外部的物料放入货仓101内，设置可活动的遮挡组件300遮挡窗口102，以提高对货仓101内部隐私的保护，并且，通过设置遮挡组件300与取放装置200联动，以在取放装置200从货仓101中取放物料的过程中，解除遮挡组件300对相应货仓101的窗口102的遮挡，在物料转移完成后，遮挡组件300遮挡目标货仓的窗口102，既方便对货仓101内物料的自动取放，又能够有效保护货仓101内部的隐私性，降低了货仓101内物料丢失的风险，结构简单，便于自动控制操作，物料存取装置整体的安全性更高。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或 者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
本文中所称的“一个实施例”、“实施例”或者“一个或者多个实施例”意味着，结合实施例描述的特定特征、结构或者特性包括在本申请的至少一个实施例中。此外，请注意，这里“在一个实施例中”的词语例子不一定全指同一个实施例。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本申请的实施例可以在没有这些具体细节的情况下被实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (84)

  1. 一种物料存取装置，其特征在于，所述物料存取置包括：
    机身，所述机身上设置有用于容纳物料的多个货仓，所述货仓具有用于供物料进或出的窗口；
    取放装置，所述取放装置用于将物料经由所述多个货仓中的目标货仓的窗口而转移进入所述目标货仓内，或者将物料经由所述目标货仓的窗口而转移出；以及
    遮挡组件，所述遮挡组件活动连接于所述机身，用于遮挡所述窗口；
    所述遮挡组件被配置为能够自动解除对对应的所述目标货仓的窗口的遮挡，并遮挡所述目标货仓之外的其他货仓的窗口，所述取放装置被配置为在所述目标货仓的窗口的遮挡被解除之后，完成物料的转移；在物料转移完成后，所述遮挡组件自动遮挡所述目标货仓的窗口。
  2. 根据权利要求1所述的物料存取装置，其特征在于，所述取放装置包括用于承托物料的承托机构，所述承托机构被配置为能够相对于所述机身移动、用于移动至与目标货仓对应的目标位置，响应于所述承托机构移动至对应的目标位置，所述遮挡组件被配置为对应解除对所述目标货仓的窗口的遮挡。
  3. 根据权利要求2所述的物料存取装置，其特征在于，所述遮挡组件具有用于打开以露出所述窗口或者关闭以遮挡所述窗口的开合端，所述遮挡组件被配置为能够相对于所述机身移动，用以调整所述开合端相对于机身的位置；
    响应于所述承托机构移动至对应的目标位置，所述开合端一并移动至所述目标位置的附近，所述开合端解除对所述目标货仓的窗口的遮挡。
  4. 根据权利要求3所述的物料存取装置，其特征在于，所述遮挡组件包括：第一帘体组件和第二帘体组件，所述第一帘体组件和所述第二帘体组件沿着所述承托机构的移动方向排布，所述第一帘体组件靠近所述第二帘体组件的第一端以及所述第二帘体组件靠近所述第一帘体组件的第二端组合形成所述开合端；
    响应于所述开合端移动至所述目标位置的附近，所述第一帘体组件和/或所述第二帘体组件继续移动以使得所述开合端打开或者关闭。
  5. 根据权利要求4所述的物料存取装置，其特征在于，所述第一帘体组件包括：第一帘体以及帘体驱动机构，所述帘体驱动机构用于驱动所述第一帘体移动。
  6. 根据权利要求4所述的物料存取装置，其特征在于，所述第二帘体组件包括第二帘体，所述第二帘体与所述承托机构连接，所述承托机构能够带动所述第二帘体移动。
  7. 根据权利要求5所述的物料存取装置，其特征在于，所述第一帘体组件被配置为单独移动以使得所述开合端打开或关闭。
  8. 根据权利要求4至7中任一项所述的物料存取装置，其特征在于，当所述承托机构位于初始位置时，所述第一帘体组件单独遮挡所述多个货仓的窗口，所述初始位置与第一层货仓的远离其他货仓的一侧部平齐或者稍低于该侧部。
  9. 根据权利要求4至7中任一项所述的物料存取装置，其特征在于，所述第一帘体组件为卷帘结构；和/或，所述第二帘体组件为卷帘结构。
  10. 根据权利要求9所述的物料存取装置，其特征在于，所述第一帘体为卷片、帘布或百叶帘；和/或，所述第二帘体为卷片、帘布或百叶帘。
  11. 根据权利要求4至7中任一项所述的物料存取装置，其特征在于，多个所述货仓沿竖 向排布，所述承托机构被配置为能够相对于所述机身升降移动。
  12. 根据权利要求11所述的物料存取装置，其特征在于，所述第一帘体组件对应于所述承托机构的上侧设置，所述第二帘体组件对应于所述承托机构的下侧设置。
  13. 根据权利要求5所述的物料存取装置，其特征在于，所述机身的两侧具有沿所述承托机构的移动方向设置的导向槽，所述第一帘体的边缘至少部分嵌设于所述导向槽内。
  14. 根据权利要求5所述的物料存取装置，其特征在于，所述第一帘体组件还包括：
    第一卷轴，所述第一卷轴安装于所述机身，所述第一帘体卷绕于所述第一卷轴上；
    所述帘体驱动机构用于驱动所述第一卷轴转动，以通过所述第一卷轴的转动带动所述第一帘体运动。
  15. 根据权利要求14所述的物料存取装置，其特征在于，所述第一帘体的末端设置有第一触发器，所述机身在靠近所述第一卷轴的位置设置有第一限位件；
    当所述第一帘体的末端朝向所述第一卷轴运动至所述第一触发器与所述第一限位件抵持时，所述帘体驱动机构停止驱动所述第一卷轴转动。
  16. 根据权利要求15所述的物料存取装置，其特征在于，所述承托机构上设置有第一传感器，所述第一传感器用于检测物料进或出所述承托机构，所述第一触发器与所述第一传感器配合用于检测所述第一传感器是否处于异常状态。
  17. 根据权利要求16所述的物料存取装置，其特征在于，所述第一触发器还用于与所述第一传感器配合，用于获取所述第一帘体与所述取放装置之间的距离。
  18. 根据权利要求5所述的物料存取装置，其特征在于，所述承托机构上设置有第二传感器，所述第一帘体上还设置有第二触发器；或者所述承托机构设置有第二触发器，所述第一帘体上设置有第二传感器；
    所述第二传感器用于基于所述第二触发器的触发获取所述第一帘体与所述承托机构之间的距离；
    所述物料存取装置的控制器用于，基于获取的所述第一帘体与所述承托机构之间的距离信息，来控制所述承托机构和/或所述第一帘体的运动，以避免所述第一帘体与所述承托机构发生碰撞。
  19. 根据权利要求18所述的物料存取装置，其特征在于，所述第二传感器包括第一侧传感器和第二侧传感器，所述第一侧传感器和所述第二侧传感器分别设置于所述承托机构的两侧；
    所述第二触发器包括第一触发件和第二触发件，所述第一触发件和所述第二触发件分别设于所述第一帘体的两侧，所述第一触发件与所述第一侧传感器对应，所述第二触发件与所述第二侧传感器对应，所述第二触发件较之于所述第一触发件远离所述承托机构，所述第一触发件和所述第二触发件在所述第一帘体的运动方向上存在间隙；
    在所述第一侧传感器感应到所述第一触发件的情况下，所述承托机构和/或所述第一帘体调整在所述第一方向上的运动速度，以使所述承托机构和所述第一帘体之间的距离小于预设阈值，在所述第二侧传感器感应到所述第二触发件的情况下，所述承托机构和/或所述第一帘体停止运动或者调整在所述第一方向上的运动速度，以避免所述第一帘体与所述承托机构发生碰撞。
  20. 根据权利要求19所述的物料存取装置，其特征在于，所述预设阈值为5至20毫米。
  21. 根据权利要求18所述的物料存取装置，其特征在于，所述第二传感器为霍尔传感器，所述第二触发器为与所述霍尔传感器相配合的磁性件。
  22. 根据权利要求6所述的物料存取装置，其特征在于，所述第二帘体组件还包括：
    第二卷轴，所述第二卷轴安装于所述机身，所述第二帘体卷绕于所述第二卷轴上并与所述承托机构连接。
  23. 根据权利要求22所述的物料存取装置，其特征在于，所述第二帘体组件还包括：第二壳体，所述第二壳体安装于所述机身，所述第二卷轴设置于所述第二壳体内，所述第二帘体卷绕于所述第二卷轴上且至少部分伸出至所述第二壳体外，所述第二帘体伸出至所述第二壳体外的部分用于与所述承托机构连接。
  24. 根据权利要求6所述的物料存取装置，其特征在于，所述承托机构与所述第二帘体可拆卸连接。
  25. 根据权利要求24所述的物料存取装置，其特征在于，当所述承托机构在多个所述货仓之间移动时，所述承托机构与所述第二帘体连接；当所述承托机构在所述货仓以外的地方移动时，所述第二帘体脱离所述承托机构。
  26. 根据权利要求25所述的物料存取装置，其特征在于，所述承托机构上设置有钩部，所述钩部用于与所述第二帘体的端部可拆卸连接。
  27. 根据权利要求25所述的物料存取装置，其特征在于，所述机身上设置有第二限位件，响应于所述承托机构朝向机身的底部方向移动至超出所述货仓，所述第二限位件对所述第二帘体限位以阻止所述第二帘体继续移动，以解除所述第二帘体与所述承托机构的连接；在所述承托机构往所述货仓的方向移动时，所述承托机构上的所述钩部可与所述第二帘体连接。
  28. 根据权利要求27所述的物料存取装置，其特征在于，所述机身的两侧具有沿所述第二帘体的运动方向延伸的限位槽，所述第二帘体的边缘至少部分嵌设于所述限位槽内，所述限位槽的端部为所述第二限位件。
  29. 根据权利要求22所述的物料存取装置，其特征在于，所述第二帘体组件还包括：张紧器，所述张紧器与所述第二卷轴连接，所述张紧器用于向所述第二卷轴提供将所述第二帘体卷曲回收的回复力，在所述承托机构朝向远离所述第一帘体组件的方向运动的情况下，在所述回复力的作用下，所述第二帘体能够卷曲回收。
  30. 根据权利要求22所述的物料存取装置，其特征在于，所述第二帘体组件还包括可转动的帘布引导轴，所述帘布引导轴设于所述第二卷轴和所述承托机构之间，所述帘布引导轴用于对所述第二帘体的运动进行导向。
  31. 根据权利要求1所述的物料存取装置，其特征在于，所述物料存取装置的控制器被配置为：
    当需要存货时，所述控制器根据空置的货仓情况、接收到的物料尺寸信息而确定所述目标货仓；
    当需要出货时，所述控制器根据订单号而确定所述目标货仓。
  32. 根据权利要求2所述的物料存取装置，其特征在于，所述多个货仓沿竖向排布，所述取放装置还包括：升降驱动机构，所述升降驱动机构安装于所述机身且与所述承托机构连接，所述升降驱动机构用于驱动所述承托机构竖直升降。
  33. 根据权利要求32所述的物料存取装置，其特征在于，所述升降驱动机构可驱动所述承托机构移动至所述机身底部的地面，以实现从地面自助取货，或者自动卸货至地面。
  34. 根据权利要求2所述的物料存取装置，其特征在于，所述承托机构包括：
    第一传送组件，所述第一传送组件用于将物料转移至所述货仓内或者将所述货仓内的物料转移出；
    以及第一传送驱动机构，所述第一传送驱动机构与所述第一传送组件连接，用于驱动所述第一传送组件运行。
  35. 根据权利要求1或34所述的物料存取装置，其特征在于，所述物料存取装置还包括：多个仓板层模组，所述多个仓板层模组依次间隔设置，用于将所述机身分隔成多个所述货仓。
  36. 根据权利要求35所述的物料存取装置，其特征在于，所述仓板层模组包括：
    第二传送组件，所述第二传送组件可与所述承托机构上的第一传送组件对接，用于将位于所述第一传送组件上的物料转移至所述货仓内，或者将所述货仓内的物料转移至所述第一传送组件；
    以及第二传送驱动机构，所述第二传送驱动机构与所述第二传送组件连接，用于驱动所述第二传送组件运行。
  37. 根据权利要求36所述的物料存取装置，其特征在于，所述第二传送组件包括：第二传送带以及第二转动轴，所述第二传送带套设在所述第二转动轴外；
    所述第二传送驱动机构与所述第二转动轴连接，以驱动所述第二转动轴带动所述第二传送带运行。
  38. 根据权利要求37所述的物料存取装置，其特征在于，所述第二传送组件还包括：第一张紧装置，所述第一张紧装置与所述第二传送带连接，以实现所述第二传送带的张紧。
  39. 根据权利要求38所述的物料存取装置，其特征在于，所述第一张紧装置包括：第一张紧螺母和第一张紧螺钉，所述第一张紧螺钉与所述第二转动轴连接，在所述第一张紧螺母的驱动下，所述第一张紧螺钉可带动所述第二转动轴移动，以实现所述第二传送带的张紧。
  40. 根据权利要求37所述的物料存取装置，其特征在于，所述第二传送驱动机构包括同步带和第二张紧装置，所述同步带与所述第二转动轴连接，所述第二张紧装置与所述同步带连接，以实现所述同步带的张紧。
  41. 根据权利要求35所述的物料存取装置，其特征在于，所述机身内设置有多个间隔设置的安装槽，所述仓板层模组可拆卸的连接于所述安装槽，以调节相邻的两个所述仓板层模组之间的距离，从而调节所述货仓的大小。
  42. 根据权利要求41所述的物料存取装置，其特征在于，所述安装槽的里侧还设置有第一弹性件，所述仓板层模组与所述第一弹性件插接配合。
  43. 根据权利要求41所述的物料存取装置，其特征在于，所述仓板层模组的两侧分别通过紧固件可拆卸的连接于所述机身。
  44. 根据权利要求41所述的物料存取装置，其特征在于，所述仓板层模组上设置有第一电连接件，所述机身上设置有至少一个能够与所述第一电连接件适配的第二电连接件，所述第一电连接件与所述第二电连接件可拆卸地对接。
  45. 根据权利要求41所述的物料存取装置，其特征在于，所述机身设有与所述安装槽连通、供所述仓板层模组插入的插口，所述插口设有柔性的遮挡件。
  46. 根据权利要求45所述的物料存取装置，其特征在于，所述遮挡件包括刷毛。
  47. 根据权利要求1所述的物料存取装置，其特征在于，所述机身设有与所述货仓连通的 取放口，所述取放口和所述窗口位于所述机身的不同侧；
    所述物料存取装置还包括：侧门模组，所述侧门模组用于遮挡所述取放口。
  48. 根据权利要求47所述的物料存取装置，其特征在于，所述侧门模组的截面形状具有扁平状态和扩充状态；
    在所述侧门模组遮挡所述取放口的情况下，所述侧门模组的截面形状为所述扩充状态，以使得所述侧门模组的形状与所述机身、所述仓板层模组的形状适配；
    在所述侧门模组解除对所述取放口的遮挡的情况下，所述侧门模组的截面形状为所述扁平状态，以减小所述侧门模组占用的空间。
  49. 根据权利要求48所述的物料存取装置，其特征在于，所述侧门模组包括：
    固定支架，所述固定支架连接于所述机身；
    第一侧门板，所述第一侧门板的一侧与所述固定支架转动连接；
    第二侧门板，所述第二侧门板的一侧与所述第一侧门板的另一侧转动连接；
    以及第三侧门板，所述第三侧门板的一侧与所述第二侧门板的另一侧转动连接，所述第三侧门板的另一侧与所述固定支架转动连接；
    其中，在所述扩充状态，所述固定支架、所述第一侧门板、所述第二侧门板以及所述第三侧门板围合形成矩形状，在所述扁平状态，所述固定支架、所述第一侧门板、所述第二侧门板以及所述第三侧门板围合形成扁平状。
  50. 根据权利要求49所述的物料存取装置，其特征在于，所述第一侧门板与所述固定支架之间、所述第一侧门板与所述第二侧门板之间、所述第三侧门板与所述第二侧门板之间、以所述第三侧门板与所述固定支架之间皆可通过销轴实现转动连接。
  51. 根据权利要求49所述的物料存取装置，其特征在于，所述侧门模组还包括：第二弹性件，所述第二弹性件用于提供快速切换至所述扁平状态的弹性回复力；
    和/或，所述仓板层模组在靠近所述侧门模组的一侧还设置用于遮挡所述侧门模组的挡板。
  52. 根据权利要求47所述的物料存取装置，其特征在于，所述侧门模组为多个，相邻的所述侧模门组之间能够连接组合，以适应不同的货仓大小。
  53. 根据权利要求52所述的物料存取装置，其特征在于，所述物料存取装置还包括：同步保持件，所述同步保持件用于与至少两个所述侧门模组连接，以实现至少两个所述侧门模组的同步转动。
  54. 根据权利要求1所述的物料存取装置，其特征在于，所述承托机构具有展开状态和收纳状态；其中，
    所述承托机构在所述展开状态时能够承托物料并将物料转移至所述多个货仓中的目标货仓内，或者将所述货仓内的物料经由所述目标货仓的窗口而转移出。
  55. 根据权利要求52所述的物料存取装置，其特征在于，所述取放装置还包括：翻折驱动机构，所述翻折驱动机构与所述承托机构连接，用于驱动所述承托机构翻折，以使所述承托机构在所述展开状态和所述收纳状态之间转换。
  56. 根据权利要求1或55所述的物料存取装置，其特征在于，在所述货仓的物料转移进入所述承托机构的过程中，所述承托机构的承托面翻折至水平状态，在所述物料完全转移至所述承托机构后，所述承托机构翻折至朝向地面倾斜的倾斜状态。
  57. 根据权利要求1所述的物料存取装置，其特征在于，还包括沿着所述货仓排列方向设 置的若干个第三触发件以及设置于所述取放装置的第三传感器，所述第三传感器用于当所述取放装置的用于承托物料的承托机构经过所述第三触发件时生成触发信号，从而获取所述承托机构的位置。
  58. 根据权利要求1所述的物料存取装置，其特征在于，还包括设于所述取放装置的第四传感器，所述第四传感器用于检测所述取放装置动作的过程中是否夹有异物。
  59. 根据权利要求58所述的物料存取装置，其特征在于，所述第四传感器的数量为至少三个，所述至少三个第四传感器分别设置在所述承托机构的两侧和底部。
  60. 根据权利要求59所述的物料存取装置，其特征在于，所述承托机构在于所述第四传感器对应的位置还设在有第四触发件，所述第四触发件活动连接于所述承托机构，所述第四触发件能够响应于用户的触控操作，触发所述第四传感器。
  61. 根据权利要求1所述的物料存取装置，其特征在于，还包括自动行走装置，所述自动行走装置设于所述机身，所述取放装置具有用于移动所述物料的第一传送带，当所述取放装置自动转移所述物料至地面或者盛放面时，所述自动行走装置的移动线速度与所述第一传送带的用于承托物料的承托面上任意一点的移动线速度大致相等且方向相反。
  62. 根据权利要求1所述的物料存取装置，其特征在于，所述遮挡组件包括滑动门和驱动所述滑动门移动的滑动驱动组件；或者，所述遮挡组件包括转动门和驱动所述转动门转动的转动驱动组件。
  63. 根据权利要求1所述的物料存取装置，其特征在于，还包括控制器，所述控制器与所述取放装置和所述遮挡组件电性连接。
  64. 一种物料存取装置的控制方法，其特征在于，所述控制方法包括：
    接收用户指令，所述用户指令包括取货指令或者存货指令；
    在多个货仓中确定目标货仓；
    控制遮挡组件解除对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓；
    控制所述取放装置将物料转移至目标货仓或者将物料转移出所述目标货仓。
  65. 根据权利要求64所述的控制方法，其特征在于，所述在多个货仓中确定目标货仓的步骤与所述控制遮挡组件接触对所述目标货仓的遮挡，同时遮挡目标货仓之外的其他货仓的步骤之间还包括：
    控制取放装置的用于承托物料的承托机构移动至与所述目标货仓对应的目标位置。
  66. 根据权利要求65所述的控制方法，其特征在于，所述控制承托机构移动至与所述目标货仓对应的目标位置的步骤具体包括：
    控制所述承托机构移动至与所述目标货仓对应的目标位置，同时所述遮挡组件也移动，使得所述遮挡组件的开合端移动至所述目标位置的附近。
  67. 根据权利要求66所述的控制方法，其特征在于，所述控制遮挡组件解除对目标货仓的遮挡的步骤具体包括：
    控制所述开合端打开以露出所述目标货仓。
  68. 根据权利要求65或67所述的控制方法，其特征在于，所述遮挡组件包括第一帘体组件和第二帘体组件，所述第一帘体组件被配置为能自主移动，所述第二帘体组件被配置为能跟随所述承托机构移动，所述第一帘体组件靠近所述第二帘体组件的第一端以及所述第二帘体组件靠近所述第一帘体组件的第二端组合形成所述开合端；
    所述控制承托机构移动至与所述目标货仓对应的目标位置步骤具体包括：
    控制所述承托机构移动至与所述目标货仓对应的目标位置，同时所述第一帘体组件和所述第二帘体组件也移动，使得所述开合端移动至所述目标位置的附近；
    所述控制遮挡组件解除对所述目标货仓的遮挡的步骤具体包括：
    控制所述承托机构以及所述第二帘体组件停止移动，并控制所述第一帘体组件继续移动使得所述开合端打开以露出所述目标货仓。
  69. 根据权利要求68所述的控制方法，其特征在于，所述承托机构包括第一传送带，所述货仓的底部对应设置有仓板层模组，所述仓板层模组包括第二传送带；
    在所述用户指令为取货指令的情况下，所述控制所述取放装置将物料转移至目标货仓或者将物料转移出所述目标货仓的步骤，包括：
    控制所述第一传送带以及所述目标货仓对应的仓板层模组上的第二传送带运行，以将物料从所述第二传送带向所述第一传送带转移；
    在所述物料完全进入所述承托机构或者进入所述承托机构的中间区域的情况下，控制所述第一传送带和所述第二传送带停止运行。
  70. 根据权利要求69所述的控制方法，其特征在于，在所述物料完全进入所述承托机构之后，还包括：
    控制所述第一帘体组件移动，直至遮挡所述目标货仓；
    控制所述承托机构离开所述目标货仓；
    控制所述第一帘体组件、所述第二帘体组件跟随所述承托机构移动；
    控制所述承托机构移动至取货位置；其中，所述取货位置包括地面或者盛放面或者便于用户取货的设定高度。
  71. 根据权利要求70所述的控制方法，其特征在于，在所述取货位置为所述设定高度的情况下，所述控制方法还包括：
    在物料脱离所述承托机构之后，控制所述取放装置移动至预设的初始位置。
  72. 根据权利要求70所述的控制方法，其特征在于，在所述取货位置为所述地面或者盛放面的情况下，所述控制方法还包括：
    控制所述第一传送带运行，以将物料转移至地面或盛放面；
    在物料脱离所述承托机构之后，控制所述取放装置移动至预设的初始位置。
  73. 根据权利要求72所述的控制方法，其特征在于，所述控制所述第一传送带运行以将物料转移至地面或盛放面的步骤具体包括：
    控制所述第一传送带运行，同时物料存取装置的机身也一并移动，所述第一传送带的用于承托物料的承托面上任意一点的移动线速度与所述物料存取装置的机身的移动线速度大致相等且方向相反。
  74. 根据权利要求68所述的控制方法，其特征在于，所述承托机构包括第一传送带，所述货仓的底部对应设置有仓板层模组，所述仓板层模组包括第二传送带；
    在所述用户指令为存货指令的情况下，所述控制所述取放装置将物料转移至目标货仓或者将物料转移出所述目标货仓的步骤，包括：
    控制所述承托机构的第一传送带以及所述目标货仓对应的仓板层模组上的第二传送带运行，以将物料从所述第一传送带向所述第二传送带转移；
    在所述物料完全进入所述货仓或者所述货仓的中间区域的情况下，控制所述第一传送带和所述第二传送带停止运行。
  75. 根据权利要求74所述的控制方法，其特征在于，在所述物料完全进入所述货仓之后，还包括：
    控制所述第一帘体组件移动，直至遮挡所述目标货仓；
    控制所述承托机构离开所述目标货仓；
    控制所述第一帘体组件、所述第二帘体组件跟随所述承托机构移动；
    在所述承托机构运动至预设的初始位置的情况下，控制所述承托机构以及所述第一帘体组件和所述第二帘体组件停止移动。
  76. 根据权利要求65所述的物料存取装置控制方法，其特征在于，在所述用户指令为存货指令的情况下，所述控制承托机构移动至与所述目标货仓对应的目标位置的步骤之前，还包括：
    控制所述承托机构移动至便于用户放货的设定高度，以便于用户将物料放置在所述承托机构上。
  77. 根据权利要求65所述的物料存取装置控制方法，其特征在于，在所述用户指令为存货指令的情况下，所述控制承托机构移动至与所述目标货仓对应的目标位置的步骤之前，还包括：
    控制所述承托机构移动至地面或盛放面，所述取放装置自动转移物料进入所述承托机构。
  78. 根据权利要求64所述的控制方法，其特征在于，所述控制方法还包括：
    在所述物料存取装置上电的情况下，控制所述物料存取装置进行自检。
  79. 根据权利要求78所述的控制方法，其特征在于，所述控制所述物料存取装置进行自检的步骤，包括：
    在所述物料存取装置的上电状态符合第一预设条件的情况下，执行第一自检操作；
    在所述物料存取装置的上电状态不符合第一预设条件的情况下，执行第二自检操作；
    所述第一自检操作不同于所述第二自检操作；所述第一预设条件为：所述物料存取装置为初次上电和/或所述物料存取装置的结构进行改变后的第一次上电。
  80. 根据权利要求79所述的控制方法，其特征在于，所述取放装置包括用于承托物料的承托机构、用于驱动所述承托机构翻转的翻折驱动机构以及用于驱动所述承托机构升降的升降驱动机构，所述第一自检操作包括：
    控制所述翻折驱动机构复位；
    在所述翻折驱动机构复位正常的情况下，控制所述升降驱动机构复位；
    在所述升降驱动机构复位正常的情况下，控制所述遮挡组件复位；
    在所述遮挡组件复位正常的情况下，控制所述翻折驱动机构驱动所述承托机构由收纳状态切换至展开状态；
    在所述取放装置由所述收纳状态切换至所述展开状态正常的情况下，控制所述遮挡组件升降；
    在所述遮挡组件升降正常的情况下，控制所述升降驱动机构升降；
    在所述升降驱动机构升降正常的情况下，依次控制所述承托机构升降以及控制所述遮挡组件升降，以实现所述货仓的高度标定及结构检查。
  81. 根据权利要求79所述的控制方法，其特征在于，所述取放装置包括用于承托物料的承 托机构、用于驱动所述承托机构翻转的翻折驱动机构以及用于驱动所述承托机构升降的升降驱动机构，所述第二自检操作包括：
    控制所述翻折驱动机构复位；
    在所述翻折驱动机构复位正常的情况下，控制所述升降驱动机构复位；
    在所述升降驱动机构复位正常的情况下，控制所述遮挡组件复位。
  82. 一种机器人，其特征在于，包括：
    机身，所述机身上设置有用于容纳物料的多个货仓，所述货仓具有用于供物料进或出的窗口；
    取放装置，所述取放装置用于将物料经由所述多个货仓中的目标货仓的窗口而转移进入所述目标货仓内，或者将物料经由所述目标货仓的窗口而转移出；
    遮挡组件，所述遮挡组件活动连接于所述机身，用于遮挡所述货仓；
    控制器，所述取放装置以及所述遮挡组件均与所述控制器电性连接；所述控制器用于控制所述遮挡组件解除对对应的所述目标货仓的窗口的遮挡，并遮挡所述目标货仓之外的其他货仓的窗口，并控制所述取放装置在所述目标货仓解除遮挡之后，完成物料的转移；在物料转移完成后，所述控制器控制所述遮挡组件再次遮挡所述目标货仓的窗口。
  83. 一种物料存取装置，其特征在于，包括：
    机身，所述机身上设置有用于容纳物料的多个货仓；
    多个仓板层模组，所述多个仓板层模组可拆卸地连接于所述机身，且依次间隔设置，用于将所述机身分隔成所述多个货仓；
    所述仓板层模组包括：
    第二传送组件，所述第二传送组件用于输送物料退出所述货仓或者将刚进入所述货仓的物料输送至货仓内部；
    以及第二传送驱动机构，所述第二传送机构与所述第二传送组件连接，用于驱动所述第二传送组件运行。
  84. 一种可移动平台，其特征在于，所述可移动平台包括：平台基体以及权利要求1至63中任一项所述的物料存取装置；其中，
    所述物料存取装置连接于所述平台基体。
PCT/CN2022/125533 2022-10-14 2022-10-14 物料存取装置、物料存取装置的控制方法、机器人及可移动平台 WO2024077640A1 (zh)

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