A handling equipment and handling system

Abstract

This application provides a handling device and a handling system. The handling device includes: a device body and a climbing device, a telescopic device, and a picking and placing device installed on the device body; wherein, the telescopic device is connected to the climbing device, and the telescopic device is used to drive the climbing device to connect with the shelf, so that the climbing device climbs on the shelf to raise the device body to a height level with the target storage position; the picking and placing device is movably connected to the device body, and the picking and placing device is used to extract goods from the target storage position or place goods on the target storage position; wherein, the climbing device is provided with a sprocket with a subcycloidal tooth profile, and a chain is provided on the shelf, the sprocket and the chain meshing to realize the connection between the climbing device and the shelf. This application embodiment can significantly optimize the noise and vibration problems of the handling device during the climbing process, thus not only improving the safety of the stored goods, but also greatly improving the user experience of the handling device for operators.

Description

Technical Field

[0001] This application belongs to the field of warehousing technology, specifically relating to a handling equipment and handling system. Background Technology

[0002] Currently, warehouses typically use shelving to store goods. Shelving can be configured in multiple layers to store goods or boxes containing goods on different levels. Consequently, material handling equipment capable of retrieving goods from different levels of the shelving has emerged. However, existing material handling equipment easily generates noise and vibration as it climbs along the shelving, which not only reduces the safety of storing and retrieving goods but also significantly diminishes the user experience for operators. Summary of the Invention

[0003] This application aims to provide a handling equipment and system to solve the problems of excessive noise and vibration in existing handling equipment.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] In a first aspect, this application discloses a handling device, which includes: a device body and a climbing device, a telescopic device, and a picking and placing device installed on the device body; wherein,

[0006] The telescopic device is connected to the climbing device, and the telescopic device is used to drive the climbing device to connect with the shelf, so that the equipment body can reach the same height as the target storage position by climbing on the shelf through the climbing device.

[0007] The picking and placing device is movably connected to the device body, and the picking and placing device is used to extract goods from the target storage location or place goods in the target storage location;

[0008] The climbing device is equipped with a sprocket with a subcycloid tooth profile, and the shelf is equipped with a chain. The sprocket meshes with the chain to connect the climbing device to the shelf.

[0009] Optionally, the sprocket is provided with a guide wheel, which abuts against the shelf, and the guide wheel is used to reduce the vibration and noise generated between the sprocket and the chain.

[0010] Optionally, the guide wheel is covered with a flexible adhesive layer, which abuts against the shelf.

[0011] Optionally, the guide wheels are disposed on both sides of the sprocket along its axial direction.

[0012] Optionally, the climbing device is provided with a rigid push rod, which is hinged to the sprocket;

[0013] The telescopic device includes a first drive mechanism and a flexible push rod. The flexible push rod is hinged to the rigid push rod. The first drive mechanism is used to drive the flexible push rod to move, thereby pushing the rigid push rod to move, and the movement of the rigid push rod drives the sprocket to engage with the chain.

[0014] Optionally, the telescopic device further includes: a drive flange and a limiting block; wherein, the drive flange is connected to the first drive mechanism, the flexible push rod is hinged to the drive flange, and the limiting block is connected to the drive flange and close to the hinge point between the flexible push rod and the drive flange, and the limiting block is used to limit the rotation of the flexible push rod.

[0015] Optionally, the flexible push rod includes: a first push rod, a floating piston, a floating spring, and a second push rod arranged sequentially; wherein,

[0016] One end of the first push rod is hinged to the drive flange, and the other end of the first push rod is provided with a sliding groove;

[0017] One end of the floating piston is connected to the groove and can slide along the groove, and the other end of the floating piston is connected to one end of the second push rod, and the other end of the second push rod is hinged to the rigid push rod;

[0018] The floating spring is sleeved on the floating piston and located between the first push rod and the second push rod. The compression of the floating spring provides spring thrust to the rigid push rod, thereby achieving stable engagement between the sprocket and the chain.

[0019] Optionally, the rigid push rod is hinged to the sprocket via a first hinge shaft, and the rigid push rod is hinged to the flexible push rod via a second hinge shaft;

[0020] The holes on the rigid push rod for the first hinge shaft and the second hinge shaft to pass through are oblong holes.

[0021] Optionally, the climbing device has four sprockets, which form two sprocket groups spaced apart along a second direction. Each sprocket group includes two sprockets spaced apart along a first direction, and the two sprockets in each sprocket group are connected by a first drive shaft.

[0022] The climbing device further includes a second drive mechanism, which is located between the two sprocket sets and connected to the first drive shafts of the two sprocket sets respectively, so as to drive the four sprockets connected to the two first drive shafts to move synchronously.

[0023] Optionally, the second drive mechanism includes: a first drive member, a first reducer, and two first universal joints; wherein,

[0024] The first driving component is connected to the first reducer;

[0025] One end of the first universal joint is connected to the output end of the first reducer, and the other end of the first universal joint is connected to the first drive shaft through an internal spline bevel gear, so as to transmit the power generated by the first drive component to the first drive shaft.

[0026] Optionally, the two sprockets of each sprocket assembly are connected to the same rigid push rod.

[0027] Optionally, the climbing device further includes a zero-return mechanism, which is floatingly connected to the sprocket and is used to enable the sprocket to float.

[0028] Optionally, the picking and placing device includes: forks, which are retractably connected to the device body; wherein,

[0029] The forks are equipped with hooks, which are used to pick up goods from the far storage position to the near storage position, or to push goods from the near storage position to the far storage position.

[0030] Optionally, the climbing device is equipped with a positioning sensor. After the positioning sensor detects that the sprocket and the chain are fully engaged, the climbing device starts the climbing operation.

[0031] Secondly, this application also discloses a handling system, which includes the handling equipment described in any of the above claims.

[0032] In this embodiment of the application, the climbing device of the handling equipment is equipped with a sprocket with a subcycloidal tooth profile, and a chain is provided on the shelf. The sprocket meshes with the chain to connect the climbing device to the shelf. Because the subcycloidal tooth profile of the sprocket has the advantage of high transmission overlap, noise and vibration issues can be significantly optimized during the climbing process achieved by the sprocket meshing with the chain. This not only improves the safety of the goods stored in the handling equipment but also greatly enhances the user experience for operators.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0035] Figure 1 This is a structural schematic diagram of an application scenario for the handling equipment described in the embodiments of this application;

[0036] Figure 2 This is a schematic diagram of the overall structure of the handling equipment described in the embodiments of this application;

[0037] Figure 3 yes Figure 2 One of the schematic diagrams of the sprocket structure in the conveying equipment shown;

[0038] Figure 4 yes Figure 2 The second schematic diagram of the sprocket structure in the conveying equipment shown;

[0039] Figure 5 yes Figure 3 A schematic diagram of the climbing device in the conveying equipment shown;

[0040] Figure 6 yes Figure 5 A detailed schematic diagram of a partial structure of the climbing device is shown.

[0041] Figure 7 yes Figure 6 A schematic diagram of the first universal joint in the climbing device shown;

[0042] Figure 8 yes Figure 2 A schematic diagram of the telescopic device in the conveying equipment shown;

[0043] Figure 9 yes Figure 8 A schematic diagram of the flexible push rod in the telescopic device shown;

[0044] Figure 10 yes Figure 2 One of the schematic diagrams of the pick-and-place device in the conveying equipment shown;

[0045] Figure 11 yes Figure 2 The second schematic diagram of the picking and placing device in the conveying equipment shown;

[0046] Figure 12 yes Figure 2 The third schematic diagram of the picking and placing device in the conveying equipment shown;

[0047] Reference numerals: 100 - Handling equipment, 10 - Equipment body, 11 - Climbing device, 110 - Sprocket, 1101 - Meshing teeth, 1102 - Guide wheel, 111 - First drive shaft, 112 - Rigid push rod, 1121 - First hinge shaft, 1122 - Second hinge shaft, 113 - Second drive mechanism, 1131 - First drive component, 1132 - First reducer, 1133 - First universal coupling, 1134 - Internal spline bevel gear, 114 - First drive shaft bevel gear, 115 - Return-to-zero mechanism, 12 - Telescopic device, 121 - First drive mechanism, 122 - Flexible push rod, 1221 - First push rod, 12 22 - Floating piston, 1223 - Floating spring, 1224 - Second push rod, 1225 - Slide groove, 123 - Drive flange, 124 - Limit block, 13 - Pick-and-place device, 130 - Fork, 1301 - Fork top plate, 1302 - Fork middle plate, 1303 - Fork bottom plate, 1304 - Hook, 131 - Second drive component, 132 - Second reducer, 133 - Second drive shaft, 134 - Synchronous pulley, 135 - Double-sided toothed synchronous belt, 136 - Open synchronous belt, 137 - Synchronous rack, 138 - Synchronous idler pulley, 200 - Shelf, 20 - Storage position, 21 - Chain, x - First direction, y - Second direction. Detailed Implementation

[0048] Embodiments of the present invention will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0049] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0050] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] With the development of intelligent technologies such as the Internet of Things (IoT), artificial intelligence (AI), and big data, the demand for transforming and upgrading the traditional logistics industry using these technologies is becoming increasingly strong. Intelligent Logistics System (ILS) has become a research hotspot in the logistics field. Intelligent logistics utilizes AI, big data, and various information sensors, radio frequency identification (RFID) technologies, Global Positioning System (GPS) and other IoT devices and technologies. It is widely applied to basic activities such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services, enabling intelligent analysis and decision-making, automated operation, and high-efficiency optimization management of the material management process. IoT technologies include sensing devices, RFID, laser infrared scanning, and infrared sensing identification. The IoT can effectively connect materials in logistics to the network, monitor materials in real time, and sense environmental data such as humidity and temperature in warehouses to ensure the safe storage environment of materials. Big data technology can be used to sense and collect all data in logistics, upload it to the data layer of an information platform, and perform filtering, mining, and analysis on the data. Ultimately, this provides precise data support for business processes (such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, and delivery). The application of artificial intelligence in logistics can be broadly divided into two directions: 1) Using AI-enabled intelligent equipment such as unmanned trucks, Automated Guided Vehicles (AGVs), Autonomous Mobile Robots (AMRs), forklifts, shuttles, stacker cranes, unmanned delivery vehicles, drones, service robots, robotic arms, and smart terminals to replace some manual labor; 2) Improving manual efficiency through software systems driven by computer vision, machine learning, operations research, and other technologies or algorithms, such as transportation equipment management systems, warehouse management systems, equipment scheduling systems, and order allocation systems. With the research and advancement of smart logistics, this technology has been applied in numerous fields, such as retail and e-commerce, electronics, tobacco, pharmaceuticals, industrial manufacturing, footwear and apparel, textiles, and food.

[0053] Reference Figures 1 to 12 A schematic diagram of the handling equipment described in the application embodiment is shown. Figure 2As shown, the handling equipment 100 may specifically include: an equipment body 10 and a climbing device 11, a telescopic device 12, and a pick-and-place device 13 installed on the equipment body 10; wherein, the telescopic device 12 is connected to the climbing device 11, and the telescopic device 12 is used to drive the climbing device 11 to connect with the shelf 200, so that the climbing device 11 climbs on the shelf 200 to drive the equipment body 10 to a height level with the target storage position 20; the pick-and-place device 13 is movably connected to the equipment body 10, and the pick-and-place device 13 is used to extract goods from the target storage position 20 or place goods on the target storage position 20; wherein, the climbing device 11 is provided with a sprocket 110 with a subcycloidal tooth profile, and the shelf 200 is provided with a chain 21, and the sprocket 110 meshes with the chain 21 to realize the connection between the climbing device 11 and the shelf 200.

[0054] In this embodiment, the lifting device 11 of the handling equipment 100 is equipped with a sprocket 110 with a subcycloidal tooth profile, and the shelf 200 is equipped with a chain 21. The sprocket 110 meshes with the chain 21 to connect the lifting device 11 to the shelf 200. Since the subcycloidal tooth profile of the sprocket 110 has the advantage of high transmission overlap, noise and vibration issues can be significantly optimized during the lifting process achieved by the sprocket 110 meshing with the chain 21. This not only improves the safety of the goods stored in the handling equipment 100 but also greatly enhances the user experience of the handling equipment 100.

[0055] like Figure 1 As shown, the shelf 200 is provided with multiple storage positions 20 for placing goods. The handling equipment 100 can be connected between adjacent shelves 200 and climb along the shelf 200 to transport goods to the target storage position 20, or to remove goods located in the target storage position 20. Specifically, the shelf 200 can be provided with a chain 21. When the handling equipment 100 needs to climb along the shelf 200 to pick up or place goods, the handling equipment 100 can first move between the shelves 200. Then, the climbing device 11 is driven to extend by the telescopic device 12 until the sprocket 110 on the climbing device 11 engages with the chain 21. Next, the entire handling equipment 100 climbs along the chain 21 by the sprocket 110, so that the handling equipment 100 reaches the position where the goods need to be picked up. Then, the picking and placing device 13 removes the goods from the target storage position 20 or places the goods on the target storage position 20. Finally, the sprocket 110 descends along the chain 21, causing the handling equipment 100 to descend to the ground along the shelf 200. Then, the telescopic device 12 drives the climbing device 11 to retract into the equipment body 10, completing the entire process of picking up and placing goods.

[0056] like Figure 3As shown, the sprocket 110 is provided with a meshing tooth 1101 with a subcycloid tooth shape. The meshing tooth 1101 can mesh with the chain 21. The sprocket 110 with the meshing tooth 1101 having a subcycloid tooth shape has the advantage of high transmission overlap.

[0057] like Figure 4 As shown, a guide wheel 1102 is also provided on the sprocket 110. The guide wheel 1102 abuts against the shelf 200. The guide wheel 1102 can be used to reduce the vibration and noise generated between the sprocket 110 and the chain 21.

[0058] In a specific application, as the sprocket 110 climbs along the chain 21 on the shelf 200, the guide wheel 1102 can abut against the guide rail on the shelf 200 and climb along the guide rail to form effective support for the sprocket 110, preventing the sprocket 110 from shaking during the climbing process, and reducing the vibration and noise generated by the sprocket 110 and the chain 21 from the source.

[0059] In some alternative embodiments of this application, the guide wheel 1102 is covered with a flexible adhesive layer, which abuts against the shelf 200. The flexible adhesive layer can be used to buffer the impact force between the sprocket 110 and the chain 21, absorb vibration, and reduce noise.

[0060] Optionally, the material of the flexible adhesive layer may include any one of polyurethane, plastic, and silicone. This application embodiment does not specifically limit the material of the flexible adhesive layer.

[0061] like Figure 4 As shown, guide wheels 1102 are arranged on both sides of the sprocket 110 along its axial direction to support the meshing teeth 1101 of the sprocket 110 to mesh with the sprocket 110 from both sides, so as to further reduce the shaking of the sprocket 110 during the climbing process and reduce the vibration and noise generated by the sprocket 110 and the chain 21.

[0062] like Figure 5 As shown, the climbing device 11 has four sprockets 110, which form two sprocket groups spaced apart along the second direction y. Each sprocket group includes two sprockets 110 spaced apart along the first direction x. The two sprockets 110 in each sprocket group are connected by a first drive shaft 111. The first drive shaft 111 can be used to drive the two sprockets 110 in the same sprocket group to rotate synchronously.

[0063] In this embodiment, the telescopic device 12 can be located between two sprocket sets, and can be used to drive the two sprocket sets to extend and retract along a first direction x. In a specific application, when the handling equipment 100 moves between shelves 200 and prepares to climb along the shelves 200, the telescopic device 12 can drive four sprockets 110 to extend, so that the four sprockets 110 can respectively mesh with the four chains 21 on the shelves 200, so that the sprockets 110 can climb along the chains 21. When the handling equipment 100 completes the operation of picking up and placing goods on the shelves 200 and descends to the ground along the chains 21, the telescopic device 12 can drive the four sprockets 110 to retract into the equipment body 10, so as to avoid collision between the climbing device 11 and other equipment during the movement of the handling equipment 100, and improve the safety of the climbing device 11.

[0064] like Figure 5 As shown, the climbing device 11 is equipped with a rigid push rod 112, which is hinged to the sprocket 110. Furthermore, the two sprockets 110 of each sprocket assembly are connected to the same rigid push rod 112. Figure 8 As shown, the telescopic device 12 may include a first drive mechanism 121 and a flexible push rod 122. The flexible push rod 122 is hinged to the rigid push rod 112. The first drive mechanism 121 can be used to drive the flexible push rod 122 to move, thereby pushing the rigid push rod 112 to move, and through the movement of the rigid push rod 112, the sprocket 110 is driven to mesh with the chain 21.

[0065] In specific applications, the first drive mechanism 121 can drive the flexible push rod 122 to extend and retract, thereby enabling the rigid push rod 112 and the sprocket 110 connected to the rigid push rod 112 to extend and retract along the second direction y through the extension and retraction of the flexible push rod 122. Since the flexible push rod 122 itself can achieve a certain degree of extension and retraction deformation, during the process of the flexible push rod 122 pushing the four sprockets 110 to mesh with the chain 21, the deformation of the flexible push rod 122 can solve the problem of uncertain extension and retraction stroke of the four sprockets 110 due to the installation accuracy error of the shelf 200, so that the four sprockets 110 can reliably mesh with the chain 21 on the shelf 200.

[0066] For example, the first drive mechanism 121 may specifically include a motor and a reducer connected to the motor, etc. The specific structure of the first drive mechanism 121 is not limited in the embodiments of this application.

[0067] like Figure 8As shown, the telescopic device 12 further includes a drive flange 123 and a limiting block 124; wherein, the drive flange 123 is connected to the first drive mechanism 121, the flexible push rod 122 is hinged to the drive flange 123, and the limiting block 124 is connected to the drive flange 123 and close to the hinge point between the flexible push rod 122 and the drive flange 123, and the limiting block 124 can be used to limit the rotation of the flexible push rod 122.

[0068] like Figure 8 As shown, there are two flexible push rods 122, one of which can be hinged to a rigid push rod 112. When the first drive mechanism 121 drives the drive flange 123 to rotate, both flexible push rods 122 can extend or retract. After the extension and retraction of the flexible push rod 122 reaches the target stroke, the limiting block 124 can abut against the flexible push rod 122 to limit its movement, thereby preventing the flexible push rod 122 from exceeding the target stroke and improving the safety of its extension and retraction.

[0069] For example, during the extension of the flexible push rod 122, after the extension stroke of the flexible push rod 122 reaches the designed target stroke, the limiting block 124 can abut against the flexible push rod 122, and the flexible push rod 122 will not be able to move beyond its stroke, causing the sprocket 110 to retract. In this way, the meshing stability between the sprocket 110 and the chain 21 can be improved.

[0070] like Figure 9 As shown, the flexible push rod 122 may specifically include: a first push rod 1221, a floating piston 1222, a floating spring 1223, and a second push rod 1224 arranged sequentially; wherein, one end of the first push rod 1221 is hinged to the drive flange 123, and the other end of the first push rod 1221 is provided with a groove 1225; one end of the floating piston 1222 is connected to the groove 1225 and can slide along the groove 1225, and the other end of the floating piston 1222 is connected to one end of the second push rod 1224, and the other end of the second push rod 1224 is hinged to the rigid push rod 112; the floating spring 1223 is sleeved on the floating piston 1222 and is located between the first push rod 1221 and the second push rod 1224, and the compression of the floating spring 1223 can provide spring thrust to the rigid push rod 112 to achieve stable meshing between the sprocket 110 and the chain 21.

[0071] In practical applications, during the telescopic movement of the flexible push rod 122, the sliding of the floating piston 1222 along the slide groove 1225 can compensate for the uncertainty in the telescopic stroke of the four sprockets 110 caused by installation accuracy errors of the shelf 200, ensuring that each sprocket 110 can engage with the chain 21. For example, if the telescopic stroke of the flexible push rod 122 needs to be shortened due to installation errors in the shelf 200, the floating piston 1222 can slide towards the first push rod 1221. Similarly, if the telescopic stroke of the flexible push rod 122 needs to be extended due to installation errors in the shelf 200, the floating piston 1222 can slide towards the second push rod 1224. After the sprockets 110 engage with the chain 21, the compression of the floating spring 1223 provides spring thrust to the rigid push rod 112, achieving stable engagement between the sprockets 110 and the chain 21.

[0072] In this embodiment, the flexible push rod 122 in the telescopic device 12 can eliminate the problem of inconsistent strokes of the four sprockets 110 caused by installation errors of the rack 200. The spring piston structure in the flexible push rod 122 absorbs the dimensional errors of the rack 200 installation in the aisle width direction and provides stable thrust. The rigid push rod 112 can ensure that the four sprockets 110 can be pushed out approximately synchronously and solves the problem of inconsistent meshing spacing caused by installation errors of the rack 200 in the aisle depth direction. Through the coordinated action of the flexible push rod 122 and the rigid push rod 112, the sprockets 110 are stably pushed into place, completing the preparation before climbing.

[0073] In some optional embodiments of this application, the climbing device 11 is provided with a positioning sensor, which can be used to detect the meshing of the sprocket 110 and the chain 21. Moreover, in order to facilitate the detection of the meshing of each sprocket 110 and the chain 21, each sprocket 110 can be equipped with a positioning sensor.

[0074] In practical applications, after the first drive mechanism 121 rotates to the target encoder value, the four positioning sensors can perform secondary confirmation. After the positioning sensors confirm that the sprocket 110 is fully engaged with the chain 21, the climbing device 11 starts the climbing operation. In this way, on the one hand, the safety of the climbing device 11 during the climbing process can be improved, and on the other hand, the vibration and noise of the sprocket 110 during the climbing process can be further reduced.

[0075] like Figure 5As shown, the rigid push rod 112 is hinged to the sprocket 110 via a first hinge shaft 1121, and the rigid push rod 112 is hinged to the flexible push rod 122 via a second hinge shaft 1122. The holes on the rigid push rod 112 for the first hinge shaft 1121 and the second hinge shaft 1122 to pass through are oblong holes. In specific applications, during the process of the rigid push rod 112 pushing the sprocket 110 to extend and retract along the second direction y, the movement of the first hinge shaft 1121 and the second hinge shaft 1122 within the oblong holes can provide a certain amount of floating to compensate for the installation error of the shelf 200, achieve reliable engagement between the sprocket 110 and the chain 21, and reduce vibration and noise during the climbing process of the sprocket 110.

[0076] like Figure 5 As shown, the climbing device 11 may further include a second drive mechanism 113, which is located between the two sprocket sets and connected to the first drive shafts 111 of the two sprocket sets respectively, so as to drive the four sprockets 110 connected to the two first drive shafts 111 to move synchronously. In this way, the four sprockets 110 can be driven synchronously to climb along the sprockets 110 by one drive mechanism, avoiding the risk caused by the asynchronous movement of the four sprockets 110.

[0077] like Figure 5 As shown, the second drive mechanism 113 may specifically include: a first drive member 1131, a first reducer 1132, and two first universal joints 1133; wherein, the first drive member 1131 is connected to the first reducer 1132; one end of the first universal joint 1133 is connected to the output end of the first reducer 1132. Figure 6 As shown, the other end of the first universal joint 1133 is connected to the first drive shaft 111 via an internal spline bevel gear 1134, so as to transmit the power generated by the first drive member 1131 to the first drive shaft 111.

[0078] In specific applications, the first drive component 1131 can output power to two first universal joints 1133 via the first reducer 1132. One end of the first universal joint 1133 is connected to the output shaft of the first reducer 1132, and the other end is a splined shaft that cooperates with the internal splined bevel gear 1134, transmitting power while also allowing for extension and retraction within its stroke. The internal splined bevel gear 1134 cooperates with the first drive shaft bevel gear 114 to transmit power to the first drive shaft 111. The first drive shaft 111 drives two secondary cycloidal sprockets 110 to rotate, achieving an even distribution of power.

[0079] like Figure 6As shown, the first universal joint 1133 transmits power to the internal spline bevel gear 1134. The first universal joint 1133 and the internal spline bevel gear 1134 can achieve telescopic movement through a spline engagement. The internal spline bevel gear 1134 and the first drive shaft bevel gear 114 cooperate to transmit power. The internal spline bevel gear 1134 has a pair of tapered roller bearings mounted back-to-back, which not only support the rotational movement of the first drive shaft bevel gear 114 but also offset some of the radial force transmitted during bevel gear meshing. The meshing part of the internal spline bevel gear 1134 and the first drive shaft bevel gear 114 can be placed inside a gearbox containing grease. A lip seal is installed between the first drive shaft 111 and the gearbox, which not only prevents foreign matter and dust from falling onto the bevel gear meshing surface and causing damage but also effectively protects the grease from contamination, extending the meshing life of the bevel gears.

[0080] In this embodiment of the application, power is transmitted through the first universal joint 1133, such as... Figure 6 As shown, the left end of the first universal joint 1133 is connected to the output shaft of the first reducer 1132 for fixed rotation. The universal joint in the middle of the first universal joint 1133 can accommodate the floating amount caused by the installation error of the rack 200. In addition, in this structure, the first universal joint 1133 also reduces the adjustment work during the installation process and reduces the wear between the inner and outer spline shafts caused by the telescoping action.

[0081] Optionally, such as Figure 6 As shown, the climbing device 11 may further include a zeroing mechanism 115, which is floatingly connected to the sprocket 110. The zeroing mechanism 115 can be used to achieve the floating of the sprocket 110. In specific applications, the zeroing mechanism 115 and the sprocket 110 can be floatingly connected to achieve the floating of the sprocket 110 along the first direction x, absorbing the installation error of the shelf 200 in the first direction x. In this way, the sprocket 110 can always reliably engage with the chain 21 during the climbing process, reducing the vibration and noise generated by the sprocket 110 during the climbing process.

[0082] like Figures 10 to 12 As shown, the loading and unloading device 13 may specifically include a fork 130, which is retractably connected to the device body 10. Specifically, the fork 130 has a bidirectional retractable function, capable of picking up goods in both the near and far storage positions in one direction.

[0083] like Figure 11As shown, the pick-and-place device 13 may include a second drive component 131, a second reducer 132, a second drive shaft 133, a synchronous pulley 134, a double-sided toothed synchronous belt 135, and other components. The fork 130 may include a fork base plate 1303, a fork middle plate 1302, and a fork top plate 1301. Specifically, power can be transmitted to the second drive shaft 133 through the second drive component 131 and the second reducer 132. The synchronous pulley 134 on the second drive shaft 133 rotates, driving the inner teeth of the double-sided toothed synchronous belt 135 to rotate. The outer teeth of the double-sided toothed synchronous belt 135 then drive the synchronous rack 137 (connected to the fork middle plate 1302). The ends of the two open synchronous belts 136 are fixed, and the synchronous idler pulley 138 is wrapped in the middle, forming two opposing fixed pulley structures. When the bidirectional synchronous rack 137 moves linearly, it will push the synchronous idler pulley 138 and the open synchronous belt 136 fixed to the fork middle plate 1302. Since one end of the open synchronous belt 136 is fixed to the fork bottom plate 1303 and the other end is fixed to the fork top plate 1301, combined with the principle of fixed pulley, the fork top plate 1301 will move relative to the fork middle plate 1302 at twice the speed, thus completing the extension and retraction of the fork 130.

[0084] In this embodiment of the application, the fork 130 is provided with a hook 1304. The hook 1304 can be used to hook the goods in the remote storage position to the near storage position, or to push the goods in the near storage position to the remote storage position, so that the fork 130 can both pick up and put down goods in the near storage position and pick up and put down goods in the remote storage position.

[0085] Specifically, the picking and placing device 13 is a two-way telescopic fork, which can store and retrieve goods on both sides of the shelf 200 in the aisle. The forks 130 can perform single-depth storage and retrieval to retrieve and place goods at the near-end storage location, or double-depth storage and retrieval to retrieve and place goods at the far-end storage location. The single-depth and double-depth storage and retrieval methods are slightly different. Single-depth storage and retrieval uses an insertion method, that is, the forks 130 extend from the bottom of the turnover box, reaching a position approximately 25mm directly below the bottom of the turnover box. After reaching the position, the handling equipment 100 climbs 50mm, so that the turnover box is completely detached from the shelf 200. At this time, the forks 130 retract, and the turnover box is returned to the handling equipment 100. The retrieval method for the far-deep position in the dual-deep storage uses a hook-and-pick method. That is, the forks 130 extend to the far-deep position at a position 25mm from the bottom of the turnover box. After the forks 130 are raised 30mm, the hook 1304 is inserted into the recessed area at the bottom of the turnover box. At this time, the forks 130 retract and pull the turnover box to the near-deep position. Then, the turnover box is taken into the handling equipment 100 by the pick-and-pick method.

[0086] In summary, the handling equipment described in the embodiments of this application may include at least the following advantages:

[0087] In this embodiment, the climbing device of the handling equipment is equipped with a sprocket with a subcycloidal tooth profile, and a chain is provided on the shelf. The sprocket meshes with the chain to connect the climbing device to the shelf. Because the subcycloidal tooth profile of the sprocket has the advantage of high transmission overlap, noise and vibration issues can be significantly optimized during the climbing process achieved by the sprocket meshing with the chain. This not only improves the safety of the goods stored in the handling equipment but also greatly enhances the user experience for operators.

[0088] This application also provides a handling system, which may specifically include the handling equipment described in any of the above embodiments.

[0089] It should be noted that in this embodiment, the structure of the handling device is the same as that of the handling device described in any of the above embodiments, and its beneficial effects are similar, so it will not be described in detail here.

[0090] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0091] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A handling device, characterized in that, The handling equipment includes: a main body and a climbing device, a telescopic device, and a picking and placing device installed on the main body; wherein, The telescopic device is connected to the climbing device, and the telescopic device is used to drive the climbing device to connect with the shelf, so that the equipment body can reach the same height as the target storage position by climbing on the shelf through the climbing device. The picking and placing device is movably connected to the device body, and the picking and placing device is used to extract goods from the target storage location or place goods in the target storage location; The climbing device is equipped with a sprocket with a subcycloid tooth profile, and the shelf is equipped with a chain. The sprocket meshes with the chain to connect the climbing device to the shelf. The climbing device is equipped with a rigid push rod, which is hinged to the sprocket. The telescopic device includes a first drive mechanism and a flexible push rod. The flexible push rod is hinged to the rigid push rod. The first drive mechanism is used to drive the flexible push rod to move, thereby pushing the rigid push rod to move, and the movement of the rigid push rod drives the sprocket to mesh with the chain. The telescopic device further includes: a drive flange and a limiting block; wherein, the drive flange is connected to the first drive mechanism, the flexible push rod is hinged to the drive flange, and the limiting block is connected to the drive flange and close to the hinge point between the flexible push rod and the drive flange, and the limiting block is used to limit the rotation of the flexible push rod; The flexible push rod includes: a first push rod, a floating piston, a floating spring, and a second push rod arranged sequentially; wherein... One end of the first push rod is hinged to the drive flange, and the other end of the first push rod is provided with a sliding groove; One end of the floating piston is connected to the groove and can slide along the groove, and the other end of the floating piston is connected to one end of the second push rod, and the other end of the second push rod is hinged to the rigid push rod; The floating spring is sleeved on the floating piston and located between the first push rod and the second push rod. The compression of the floating spring provides spring thrust to the rigid push rod, thereby achieving stable engagement between the sprocket and the chain.

2. The handling equipment according to claim 1, characterized in that, The sprocket is equipped with a guide wheel, which abuts against the shelf. The guide wheel is used to reduce the vibration and noise generated between the sprocket and the chain.

3. The handling equipment according to claim 2, characterized in that, The guide wheel is covered with a flexible adhesive layer, which abuts against the shelf.

4. The handling equipment according to claim 2, characterized in that, The guide wheels are arranged on both sides of the sprocket along its axial direction.

5. The handling equipment according to claim 1, characterized in that, The rigid push rod is hinged to the sprocket via a first hinge shaft, and the rigid push rod is hinged to the flexible push rod via a second hinge shaft; The holes on the rigid push rod for the first hinge shaft and the second hinge shaft to pass through are oblong holes.

6. The handling equipment according to claim 1, characterized in that, The climbing device has four sprockets, which form two sprocket groups spaced apart along a second direction. Each sprocket group includes two sprockets spaced apart along a first direction, and the two sprockets in each sprocket group are connected by a first drive shaft. The climbing device further includes a second drive mechanism, which is located between the two sprocket sets and connected to the first drive shafts of the two sprocket sets respectively, so as to drive the four sprockets connected to the two first drive shafts to move synchronously.

7. The handling equipment according to claim 6, characterized in that, The second drive mechanism includes: a first drive component, a first reducer, and two first universal joints; wherein, The first drive unit is connected to the first reducer; One end of the first universal joint is connected to the output end of the first reducer, and the other end of the first universal joint is connected to the first drive shaft through an internal spline bevel gear, so as to transmit the power generated by the first drive component to the first drive shaft.

8. The handling equipment according to claim 6, characterized in that, The two sprockets of each sprocket assembly are connected to the same rigid push rod.

9. The handling equipment according to claim 6, characterized in that, The climbing device further includes a zero-return mechanism, which is floatingly connected to the sprocket and is used to enable the sprocket to float.

10. The handling equipment according to claim 1, characterized in that, The picking and placing device includes: forks, which are retractably connected to the device body; wherein... The forks are equipped with hooks, which are used to pick up goods from the far storage position to the near storage position, or to push goods from the near storage position to the far storage position.

11. The handling equipment according to any one of claims 1 to 10, characterized in that, The climbing device is equipped with a positioning sensor. After the positioning sensor detects that the sprocket and the chain are fully engaged, the climbing device starts the climbing operation.

12. A handling system, characterized in that, The transport system includes the transport equipment as described in any one of claims 1 to 11.

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