A cargo storage and retrieval device for a warehouse

Abstract

The present invention belongs to the technical field of transportation devices, and specifically relates to a cargo storage and retrieval device for a warehouse, comprising a mobile trolley, a lifting mechanism, a cargo loading mechanism and a reciprocating linear drive mechanism, wherein the mobile trolley drives the lifting mechanism to move, a lifting platform is arranged on the lifting mechanism, the lifting mechanism is used to drive the lifting platform to move up and down, the lifting mechanism enables the platform to move and align with a bin, and the reciprocating linear drive mechanism enables the cargo loading mechanism to enter and exit the bin, and there is no need to arrange auxiliary units such as a slide, a linear drive mechanism and a deflection mechanism in the bin, thereby improving the space utilization rate of the shelf, reducing the cost, and the whole process is faster and more efficient; in addition, the moving directions of the mobile trolley and the cargo loading mechanism are perpendicular to each other, and the cargo storage and retrieval device moves between the three-dimensional shelves without turning, thereby shortening the distance between the three-dimensional shelves, improving the placement density of the three-dimensional shelves in the entire warehouse, and further improving the space utilization rate of the warehouse.

Description

Technical Field

[0001] The present invention belongs to the technical field of transport devices, and in particular relates to a cargo storage and retrieval device used in a warehouse. Background Art

[0002] Modern cargo warehouses and logistics centers generally use high-rise warehouses, in which many three-dimensional shelves are neatly arranged. Each shelf has multiple layers of compartments, and the corresponding goods are stored in each compartment through pallets.

[0003] Currently, most of the picking and storage devices are forklifts. However, forklifts require a large operating space, which makes the distance between three-dimensional shelves too large, seriously restricting the space utilization of the warehouse.

[0004] At present, there are also some storage and retrieval devices installed together with three-dimensional shelves, which can move left and right and up and down along the shelves to a certain compartment, but they cannot store or take out goods independently, and auxiliary units such as slides, linear drive mechanisms and deflection mechanisms need to be set in the compartment. When storing goods, the storage and retrieval device pushes the goods onto the slide. When taking goods, the linear drive mechanism is required to push the slide out of the compartment, and then the deflection mechanism is used to tilt the slide, so that the goods slide onto the storage and retrieval device. Although the above scheme can reduce the operating space, the slide, linear drive mechanism and deflection mechanism will occupy a large amount of compartment space, which will reduce the space utilization rate of the three-dimensional shelf, and each needs to be provided with a slide, a linear drive mechanism and a deflection mechanism, which makes the construction cost of the warehouse high. In addition, most of the existing goods storage and retrieval devices can only perform storage and retrieval operations on a single three-dimensional shelf, which also requires a certain interval between adjacent shelves, which also limits the space utilization rate of the warehouse. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a cargo storage and retrieval device for a warehouse, which does not require auxiliary units to be arranged in the compartment, thereby improving the space utilization rate of the shelf and the warehouse and having low cost.

[0006] The present invention provides a cargo storage and retrieval device for a warehouse, comprising:

[0007] Mobile trolley;

[0008] A lifting mechanism, wherein the mobile trolley drives the lifting mechanism to move, and a lifting platform is provided on the lifting mechanism, and the lifting mechanism is used to drive the lifting platform to move up and down;

[0009] A cargo loading mechanism, the cargo loading mechanism comprising a cargo board, a height adjustment assembly disposed at the bottom of the cargo board, and a plurality of running wheel assemblies, the running wheel assembly being rotatably connected to the height adjustment assembly, the height adjustment assembly adjusting the height of the cargo board relative to the running wheel assembly; and

[0010] A reciprocating linear drive mechanism, the reciprocating linear drive mechanism includes a reciprocating linear drive arranged on the lifting platform and a multi-joint swing arm arranged at the end of the reciprocating linear drive, one end of the multi-joint swing arm is embedded and slidably connected with the cargo mechanism, and the sliding direction of the multi-joint swing arm is parallel to the execution direction of the reciprocating linear drive to offset the interference of the height change of the cargo plate on the reciprocating linear drive, and the execution action of the reciprocating linear drive is transmitted through the multi-joint swing arm to make the cargo mechanism enter and exit the warehouse.

[0011] Optionally, the two cargo boards are distributed in parallel, a connecting piece is connected between the two cargo boards, the connecting piece has a slide groove, the reciprocating linear drive mechanism is arranged between the two cargo boards, one end of the multi-joint swing arm is connected with a slider, and the slider is embedded in the slide groove and slidably connected.

[0012] Optionally, the two connecting parts are respectively arranged at the two ends close to the cargo board, and the reciprocating linear drive includes a driving motor, a worm gear mechanism and a screw, the driving motor and the worm gear mechanism are fixedly connected to the lifting platform, and the driving motor drives the screw to rotate through the worm gear mechanism, and the multi-joint swing arms are arranged at both ends of the screw, and the two multi-joint swing arms are respectively connected to the two sliders.

[0013] Optionally, the multi-joint swing arm is a universal coupling.

[0014] Optionally, the height adjustment assembly includes a linear telescope, a connecting rod arranged at the end of the linear telescope, a curved arm connected to the end of the connecting rod, and a mounting seat rotatably connected to the curved arm, the mounting seat is fixedly connected to the bottom of the cargo board, and the end of the curved arm away from the connecting rod is rotatably connected to the walking wheel assembly.

[0015] Optionally, a connecting rod is respectively provided at both ends of the linear telescope, and the ends of the two connecting rods are respectively connected to a crank arm, and the two crank arms are rotatably connected to a mounting seat, and the two mounting seats are fixedly connected to the bottom of the cargo board, and the two walking wheel assemblies are respectively rotatably connected to one end of the two crank arms away from the connecting rod.

[0016] Optionally, the linear expander is an electric cylinder, an oil cylinder or a pneumatic cylinder.

[0017] Optionally, the walking wheel assembly includes two connecting plates and two wheels arranged between the two connecting plates, the wheels have bearings, and the two wheels are connected to the two connecting plates via pins.

[0018] Optionally, the lifting mechanism includes a base, two columns arranged on the base, two lifting drives respectively arranged on the two columns, and two supporting arms slidably arranged on the two columns, the two lifting drives are respectively driven and connected to the two supporting arms, the lifting platform is fixedly connected to the two supporting arms, and the base is installed on the top of the mobile vehicle.

[0019] Optionally, the lifting drive includes a lifting motor and a lead screw, the lead screw is transmission-connected to the supporting arm, and the lifting motor drives the lead screw to drive the supporting arm to move up and down along the column.

[0020] The beneficial effect of the present invention is that the mobile trolley moves between the three-dimensional shelves, and after arriving at the position where the goods need to be picked up, the lifting mechanism drives the lifting platform to move, so that the platform moves and is aligned with the corresponding bin, and the reciprocating linear drive executes an action to make the cargo loading mechanism enter the bin and enter under the pallet carrying the goods, and then the height adjustment component executes an action to raise the cargo loading plate and lift up the pallet, and during the raising process of the cargo loading plate, the multi-joint swing arm part deflects upward, and the end of the multi-joint swing arm connected to the cargo loading mechanism slides toward the reciprocating linear drive, so that the reciprocating linear drive maintains a straight state, and then the reciprocating linear drive executes an action in the reverse direction to pull the cargo loading plate back and transfer the goods (together with the pallet). The cargo is then moved onto the lifting platform, and then the mobile trolley transfers the cargo out of the three-dimensional shelf to the designated location, and the action of entering the cell is repeated to unload the cargo onto the external platform or transfer vehicle, or the cargo is unloaded by an external forklift. Thus, there is no need to set auxiliary units such as slides, linear drive mechanisms, and deflection mechanisms in the cell, thereby improving the space utilization of the shelf, reducing costs, and the whole process is faster and more efficient. In addition, the moving direction of the mobile trolley and the cargo loading mechanism are perpendicular to each other. The cargo storage and retrieval device moves between the three-dimensional shelves without turning, thereby shortening the distance between the three-dimensional shelves, improving the placement density of the three-dimensional shelves in the entire warehouse, and thereby improving the space utilization of the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the cargo storage and retrieval device of the present invention;

[0022] Figure 2 for Figure 1 A right side view of the cargo storage and retrieval device in FIG.

[0023] Figure 3 The structure diagram of the cargo carrying mechanism and the reciprocating linear drive mechanism of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 4 The structure diagram of the cargo carrying mechanism and the reciprocating linear drive mechanism of the present invention is shown in FIG. Figure 2 ;

[0025] Figure 5 for Figure 4 Magnified view of area A in .

[0026] In the figure: 100, mobile trolley; 200, lifting mechanism; 210, base; 220, column; 230, lifting motor; 240, supporting arm; 300, lifting platform; 400, cargo mechanism; 410, cargo board; 420, height adjustment assembly; 421, linear telescope; 422, connecting rod; 423, crank arm; 424, mounting seat; 430, walking wheel assembly; 431, connecting plate; 432, wheel; 440, connecting piece; 441, slide; 500, reciprocating linear drive mechanism; 510, reciprocating linear drive; 511, drive motor; 512, worm gear mechanism; 513, lead screw; 520, multi-joint swing arm; 530, slider. DETAILED DESCRIPTION

[0027] like Figure 1-5 As shown, the present invention provides a cargo storage and retrieval device for a warehouse, comprising: a moving trolley 100, a lifting mechanism 200, a cargo loading mechanism 400 and a reciprocating linear driving mechanism 500; wherein the moving trolley 100 drives the lifting mechanism 200 to move, a lifting platform 300 is arranged on the lifting mechanism 200, and the lifting mechanism 200 is used to drive the lifting platform 300 to move up and down; the cargo loading mechanism 400 comprises a cargo board 410, a height adjustment component 420 arranged at the bottom of the cargo board 410, and a plurality of walking wheel components 430, the walking wheel component 430 is rotatably connected to the height adjustment component 420, and the height adjustment component 420 Adjust the height of the cargo plate 410 relative to the walking wheel assembly 430; the reciprocating linear drive mechanism 500 includes a reciprocating linear drive 510 arranged on the lifting platform 300 and a multi-joint swing arm 520 arranged at the end of the reciprocating linear drive 510, one end of the multi-joint swing arm 520 is embedded and slidably connected to the cargo mechanism 400, and the sliding direction of the multi-joint swing arm 520 is parallel to the execution direction of the reciprocating linear drive 510 to offset the interference of the height change of the cargo plate 410 on the reciprocating linear drive 510, and the execution action of the reciprocating linear drive 510 is transmitted through the multi-joint swing arm 520 to enable the cargo mechanism 400 to enter and exit the warehouse.

[0028] Compared with the prior art, the cargo storage and retrieval device for a warehouse provided by the present invention moves the mobile trolley 100 between the three-dimensional shelves. After arriving at the position where the cargo needs to be picked up, the lifting mechanism 200 drives the lifting platform 300 to move, so that the platform moves and is aligned with the corresponding bin, and the reciprocating linear drive 510 executes an action to make the cargo loading mechanism 400 enter the bin and enter under the pallet carrying the cargo, and then the height adjustment component 420 executes an action to raise the cargo loading plate 410 and lift up the pallet. During the raising process of the cargo loading plate 410, the multi-joint swing arm 520 partially deflects upward, and the end of the multi-joint swing arm 520 connected to the cargo loading mechanism 400 slides toward the reciprocating linear drive 510, so that the reciprocating linear drive 510 maintains a straight state, and then the reciprocating linear drive 510 executes in the reverse direction. The cargo plate 410 is pulled back and the cargo (together with the pallet) is transferred to the lifting platform 300, and then the mobile cart 100 transfers the cargo out of the three-dimensional shelf to the designated position, and the action of entering the cell is repeated to unload the cargo onto the external platform or transfer vehicle, or the cargo can be unloaded by an external forklift. Thus, there is no need to set auxiliary units such as slides, linear drive mechanisms and deflection mechanisms in the cell, thereby improving the space utilization of the shelf, reducing costs, and the whole process is faster and more efficient. In addition, the moving direction of the mobile cart 100 and the cargo loading mechanism 400 is perpendicular to each other. The cargo storage and retrieval device moves between the three-dimensional shelves without turning, thereby shortening the distance between the three-dimensional shelves, improving the placement density of the three-dimensional shelves in the entire warehouse, and further improving the space utilization of the warehouse.

[0029] It should be noted that the mobile vehicle 100 is an AGV intelligent vehicle that can travel on a fixed track or on a flat mountain. The low body can also be equipped with a counterweight to ensure the stability of the entire cargo storage and retrieval device. In addition, during the process of storing and retrieving cargo, the reciprocating linear drive mechanism 500 and the height adjustment group can cooperate multiple times to make the cargo in the center of the lifting platform 300 or the warehouse.

[0030] In one embodiment, Figure 4 and Figure 5As shown, two cargo plates 410 are arranged in parallel, a connecting member 440 is connected between the two cargo plates 410, the connecting member 440 has a slide groove 441, a reciprocating linear drive mechanism 500 is arranged between the two cargo plates 410, and one end of the multi-joint swing arm 520 is connected to a slider 530, and the slider 530 is embedded in the slide groove 441 for sliding connection. It can be understood that the cargo loading mechanism 400 includes two parallel cargo boards 410, and a corresponding height adjustment assembly 420 and a walking wheel assembly 430 are arranged under each cargo board 410, and then form a whole through a connecting member 440, so that the width of a single cargo board 410 can be reduced and the stability during loading can be improved; the cargo board 410 is a long strip structure and has a downward bent edge, which is used to increase the structural strength and play a protective role; the connecting member 440 is a "J"-shaped or straight-line structure, and is fixed to the two cargo boards 410 by welding or screws, and the slide groove 441 is opened at the bottom of the connecting member 440, so the slider 530 is slidably connected to the bottom of the connecting member 440, and the multi-joint swing arm 520 is maintained in a straight state by the slider 530 when not in operation and when the reciprocating linear drive 510 drives the cargo loading mechanism 400 into the compartment, and the multi-joint swing arm 520 is adaptively adjusted by the sliding of the slider 530 at other times.

[0031] In one embodiment, two connecting parts 440 are respectively arranged at two ends close to the cargo board 410, and the reciprocating linear drive 510 includes a driving motor 511, a worm gear mechanism 512 and a screw 513. The driving motor 511 and the worm gear mechanism 512 are fixedly connected to the lifting platform 300. The driving motor 511 drives the screw 513 to rotate through the worm gear mechanism 512. Multi-joint swing arms 520 are arranged at both ends of the screw 513, and the two multi-joint swing arms 520 are respectively connected to the two sliders 530. It can be understood that the two connecting members 440 are respectively arranged at the two ends close to the cargo board 410, which can increase the stroke of the reciprocating linear drive mechanism 500 driving the cargo loading mechanism 400, so that the cargo loading mechanism 400 can reach the center of the pallet (cargo) and the lifting platform 300 at one time; the driving motor 511 is fixedly installed at the bottom of the lifting platform 300, and the output shaft of the driving motor 511 passes through the lifting platform 300 and is connected with the worm of the worm gear, the worm gear is arranged in the housing, the worm wheel is connected to the housing with a fixed axis rotation, the inner side of the worm wheel of the worm gear is provided with a thread, the worm wheel is screwed with the lead screw 513, the lead screw 513 is connected to the multi-joint swing arm 520 with a fixed axis rotation, and the worm gear transmits the output power of the driving motor 511 into the rotation power and linear motion power of the lead screw 513;

[0032] The driving motor 511 and the worm gear are arranged at the center of the lifting platform 300, and the multi-joint swing arms 520 at both ends of the screw rod 513 are connected to the two connecting parts 440. The screw rod 513 has a shorter length so that the loading mechanism 400 has a larger stroke, and can also reduce the width of the cargo storage and retrieval device, so that the spacing between the three-dimensional shelves is smaller; more importantly, the loading mechanism 400 can move to both sides, so that goods can be stored and retrieved from two adjacent three-dimensional shelves, so that the three-dimensional shelves can be arranged side by side in the warehouse, reducing the number of passages between the three-dimensional shelves by half, and further improving the space utilization rate of the warehouse.

[0033] In another embodiment, the reciprocating linear drive 510 may be an electric cylinder, an oil cylinder or a pneumatic cylinder, and can still drive the cargo carrying mechanism 400 to move linearly and reciprocatingly.

[0034] In one embodiment, the multi-joint swing arm 520 is a universal coupling, which has a large degree of freedom and rigidity and is easily available. Of course, a self-designed multi-joint swing arm 520 can also be used, which needs to be customized, but the disadvantage is that the cost is relatively high.

[0035] In one embodiment, Figure 4 As shown, the height adjustment assembly 420 includes a linear telescopic device 421, a connecting rod 422 disposed at the end of the linear telescopic device 421, a crank arm 423 connected to the end of the connecting rod 422, and a mounting seat 424 rotatably connected to the crank arm 423. The mounting seat 424 is fixedly connected to the bottom of the cargo board 410, and the end of the crank arm 423 away from the connecting rod 422 is rotatably connected to the running wheel assembly 430. It can be understood that during the extension of the linear telescopic device 421, a torque is generated on the crank arm 423, and the crank arm 423 rotates around the connection with the mounting seat 424, so that the running wheel assembly 430 disposed on the crank arm 423 has a tendency to rotate downward, and the running wheel assembly 430 is restricted by the lifting platform 300 or the bottom plate of the compartment, and the torque reacts to the cargo board 410, so that the cargo board 410 rises to a certain height, thereby lifting the pallet (together with the cargo), so that the cargo loading mechanism 400 can move the cargo; when the cargo needs to be put down, the linear telescopic device 421 can be retracted.

[0036] It should be noted that the extension of the linear retractor 421 causes the crank arm 423 to rotate a certain angle and then abut against the bottom of the cargo board 410, which is regarded as the height of the cargo board 410; of course, a limit block (not shown) can also be set at the bottom of the cargo board 410 to limit the maximum rotation angle of the crank. In addition, the two crank arms 423 at both ends of the cargo board 410 can be controlled by a linear retractor 421 respectively, and the linear retractor 421 is hinged to the cargo board 410, and one end of the connecting rod 422 is fixedly connected to the linear retractor 421, and the other end is hinged to the crank.

[0037] In a preferred embodiment, a connecting rod 422 is respectively provided at both ends of the linear telescopic device 421, and a crank arm 423 is respectively connected to the ends of the two connecting rods 422, and the two crank arms 423 are both rotatably connected to a mounting seat 424, and the two mounting seats 424 are both fixedly connected to the bottom of the cargo board 410, and the two walking wheel assemblies 430 are respectively rotatably connected to one end of the two crank arms 423 away from the connecting rod 422. It can be understood that the linear telescopic device 421 is not connected to the cargo board 410, the connecting rod 422 is hinged to the crank arm 423, and the linear telescopic device 421 is extended or retracted, so that the two crank arms 423 rotate at the same time, so as to achieve the purpose of controlling the lifting and resetting of the cargo board 410, and the linear telescopic device 421 rises or falls with the rotation of the crank arm 423.

[0038] In one embodiment, the curved arm 423 includes two bent plates and a cross bar connecting the two bent plates. The two ends of the cross bar are welded and fixed to the two bent plates. The bending parts of the two bent plates are rotatably connected to the mounting seat 424 through pins. The mounting seat 424 is two steel blocks welded to the bottom of the cargo plate 410.

[0039] In this embodiment, the linear expander 421 is an electric cylinder, an oil cylinder or a pneumatic cylinder.

[0040] In one embodiment, the running wheel assembly 430 includes two connecting plates 431 and two wheels 432 disposed between the two connecting plates 431. The wheels 432 have bearings, and the two wheels 432 are connected to the two connecting plates 431 through a pin. In this way, during the rotation of the crank arm 423, the running wheel assembly 430 still has a large contact area with the lifting platform 300 or the compartment, so that the cargo loading mechanism 400 has higher stability. Of course, the running wheel assembly 430 can also be a single wheel 432. In this case, the wheel 432 is directly connected to the crank arm 423 through a pin.

[0041] In this embodiment, the lifting mechanism 200 includes a base 210, two columns 220 arranged on the base 210, two lifting drivers respectively arranged on the two columns 220, and two supporting arms 240 slidably arranged on the two columns 220. The two lifting drivers are respectively connected to the two supporting arms 240 by driving, and the lifting platform 300 is fixedly connected to the two supporting arms 240. The base 210 is installed on the top of the mobile vehicle 100. Specifically, the base 210 is fixed to the mobile vehicle 100 by bolts or welding, and the two columns 220 are fixed to the base 210 by bolts or welding. The column 220 is a hollow structure and has a guide groove on one side. The lifting driver is arranged in the column 220, and one end of the supporting arm 240 is embedded and slidably connected to the column 220 through the guide groove. The two supporting arms 240 are fixedly connected to the lifting platform 300 by bolts, and the lifting platform 300 is lifted together. The two lifting drivers synchronously perform actions to make the two supporting arms 240 rise or fall, and the lifting platform 300 is controlled at a certain height and aligned with the corresponding compartment. In one embodiment, the lifting mechanism 200 may also be a hydraulic lift, and the lifting platform 300 is fixed on the top of the hydraulic lift.

[0042] In one embodiment, the lifting driver includes a lifting motor 230 and a lead screw, the lead screw is in transmission connection with the support arm 240, and the lifting motor 230 drives the lead screw to drive the support arm 240 to move up and down along the column 220. It can be understood that the lead screw is erected in the column 220, so the lead screw is not shown in the figure, the upper and lower ends of the lead screw are respectively rotatably connected to the inner ends of the column 220, and the nut of the lead screw is fixedly connected to the support arm 240 by bolts. Of course, the lifting driver can also be an oil cylinder or an electric cylinder.

[0043] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0044] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A cargo storage and retrieval device for a warehouse, characterized in that: include: Mobile Cart (100); A lifting mechanism (200), wherein the moving trolley (100) drives the lifting mechanism (200) to move, a lifting platform (300) is provided on the lifting mechanism (200), and the lifting mechanism (200) is used to drive the lifting platform (300) to move up and down; A cargo loading mechanism (400), the cargo loading mechanism (400) comprising a cargo loading board (410), a height adjustment assembly (420) arranged at the bottom of the cargo loading board (410), and a plurality of running wheel assemblies (430), the running wheel assembly (430) being rotatably connected to the height adjustment assembly (420), the height adjustment assembly (420) adjusting the height of the cargo loading board (410) relative to the running wheel assembly (430); and A reciprocating linear drive mechanism (500), the reciprocating linear drive mechanism (500) comprising a reciprocating linear drive (510) arranged on the lifting platform (300) and a multi-joint swing arm (520) arranged at the end of the reciprocating linear drive (510), one end of the multi-joint swing arm (520) being embedded and slidably connected to the cargo loading mechanism (400), and the sliding direction of the multi-joint swing arm (520) being parallel to the execution direction of the reciprocating linear drive (510) so as to offset the interference of the height change of the cargo loading plate (410) on the reciprocating linear drive (510), and the execution action of the reciprocating linear drive (510) is transmitted through the multi-joint swing arm (520) to enable the cargo loading mechanism (400) to enter and exit the compartment.

2. The cargo storage and retrieval device for a warehouse according to claim 1, characterized in that: The two cargo plates (410) are arranged in parallel, a connecting piece (440) is connected between the two cargo plates (410), the connecting piece (440) has a slide groove (441), the reciprocating linear drive mechanism (500) is arranged between the two cargo plates (410), one end of the multi-joint swing arm (520) is connected to a slider (530), and the slider (530) is embedded and slidably connected with the slide groove (441).

3. The cargo storage and retrieval device for a warehouse according to claim 2, characterized in that: The two connecting members (440) are respectively arranged at two ends close to the cargo board (410); the reciprocating linear drive (510) comprises a driving motor (511), a worm gear mechanism (512) and a lead screw (513); the driving motor (511) and the worm gear mechanism (512) are fixedly connected to the lifting platform (300); the driving motor (511) drives the lead screw (513) to rotate through the worm gear mechanism (512); the multi-joint swing arms (520) are arranged at both ends of the lead screw (513); and the two multi-joint swing arms (520) are respectively connected to the two sliders (530).

4. The cargo storage and retrieval device for a warehouse according to claim 1, characterized in that: The multi-joint swing arm (520) is a universal coupling.

5. The cargo storage and retrieval device for a warehouse according to any one of claims 1 to 4, characterized in that: The height adjustment assembly (420) comprises a linear telescopic device (421), a connecting rod (422) arranged at the end of the linear telescopic device (421), a crank arm (423) connected to the end of the connecting rod (422), and a mounting seat (424) rotatably connected to the crank arm (423), wherein the mounting seat (424) is fixedly connected to the bottom of the cargo board (410), and one end of the crank arm (423) away from the connecting rod (422) is rotatably connected to the walking wheel assembly (430).

6. The cargo storage and retrieval device for a warehouse according to claim 5, characterized in that: A connecting rod (422) is respectively provided at both ends of the linear telescopic device (421); the ends of the two connecting rods (422) are respectively connected to a crank arm (423); the two crank arms (423) are both rotatably connected to a mounting seat (424); the two mounting seats (424) are both fixedly connected to the bottom of the cargo board (410); and the two walking wheel assemblies (430) are respectively rotatably connected to one end of the two crank arms (423) away from the connecting rod (422).

7. The cargo storage and retrieval device for a warehouse according to claim 5, characterized in that: The linear expander (421) is an electric cylinder, an oil cylinder or a pneumatic cylinder.

8. The cargo storage and retrieval device for a warehouse according to any one of claims 1-4, 6, and 7, characterized in that: The walking wheel assembly (430) comprises two connecting plates (431) and two wheels (432) arranged between the two connecting plates (431); the wheels (432) have bearings, and the two wheels (432) are connected to the two connecting plates (431) via pins.

9. The cargo storage and retrieval device for a warehouse according to any one of claims 1-4, 6, and 7, characterized in that: The lifting mechanism (200) comprises a base (210), two columns (220) arranged on the base (210), two lifting drivers respectively arranged on the two columns (220), and two supporting arms (240) slidably arranged on the two columns (220), the two lifting drivers are respectively drivingly connected to the two supporting arms (240), the lifting platform (300) is fixedly connected to the two supporting arms (240), and the base (210) is installed on the top of the moving vehicle (100).

10. The cargo storage and retrieval device for a warehouse according to claim 9, characterized in that: The lifting driver comprises a lifting motor (230) and a lead screw, the lead screw being in transmission connection with the supporting arm (240), and the lifting motor (230) drives the lead screw to drive the supporting arm (240) to move up and down along the column (220).

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