Goods taking and placing device, goods carrying equipment and carrying robot

Abstract

The invention provides a goods taking and placing device, goods carrying equipment and a carrying robot. The goods taking and placing device comprises a straight moving assembly and a taking and placing assembly arranged on the straight moving assembly. The straight moving assembly is driven by the straight moving driving assembly to move front and back and drives the taking and placing assembly to be close to or away from the goods allocation. The taking and placing assembly is rotationally connected with the straight moving assembly, the taking and placing assembly can rotate around the straight moving assembly, and the extending directions of the taking and placing assembly are opposite. The proportion of the moving tracks of the carrying trolley to the set number of goods allocations can be reduced, and the utilization rate of storage space is increased.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing equipment, and in particular to a cargo picking and placing device, cargo loading equipment, and a handling robot. Background Art

[0002] In the warehousing and logistics industry, transport carts are often needed to move goods from warehouse shelves. Common transport carts include those that travel along rails on the shelves or AGVs that travel freely on the ground. The transport cart is equipped with a fork with a fork that can be extended in one direction relative to the transport cart to pick up the goods.

[0003] The existing transport cart grabs goods by means of levers that can be extended to both sides, but the position of the levers is fixed and the extension length is fixed, so the position of the goods that the transport cart can grab is also fixed, and it cannot grab goods at a large depth. In addition, in order to ensure that the levers can smoothly pick up the goods, a certain gap needs to be left between the material boxes, which reduces the storage density and grabbing efficiency. Summary of the Invention

[0004] The technical solutions adopted by this application to solve the above technical problems are:

[0005] In a first aspect, the present application provides a cargo picking and placing device, comprising a straight-moving component and a picking and placing component arranged on the straight-moving component; the straight-moving component moves back and forth under the drive of a straight-moving drive component, and drives the picking and placing component to approach or move away from a cargo position; the picking and placing component is rotatably connected to the straight-moving component, and the picking and placing component can rotate around the straight-moving component, and is configured to make the extension direction of the picking and placing component opposite.

[0006] Preferably, a rotating assembly is provided between the straight-moving assembly and the pick-and-place assembly, the rotating assembly includes a rotating table, the pick-and-place assembly is fixedly connected to the rotating table via a rotating table mounting plate, the rotating table is connected to a rotating drive assembly, and the pick-and-place assembly is driven to rotate by the rotating drive assembly.

[0007] Preferably, the pick-and-place assembly can be extended and retracted along the direction of picking up and placing goods. When the pick-and-place assembly is extended, it is close to the cargo position, and when it is retracted, it is far away from the cargo position.

[0008] Preferably, the pick-and-place assembly includes a pick-and-place drive mechanism, a telescopic mechanism and a pick-and-place mechanism that are connected in sequence. The pick-and-place drive mechanism controls the telescopic mechanism to extend and retract along the direction of picking and placing goods. When the telescopic mechanism is extended, the pick-and-place mechanism is close to the cargo position, and when the telescopic mechanism is retracted, the pick-and-place mechanism is away from the cargo position.

[0009] Preferably, the pick-and-place drive mechanism includes a drive mounting plate and a telescopic drive motor arranged on the drive mounting plate, the output end of the telescopic drive motor is connected to the telescopic transmission mechanism, and the telescopic transmission mechanism is connected to the telescopic mechanism to control the telescopic structure to extend and retract along the direction of picking up and placing goods.

[0010] Preferably, the telescopic transmission mechanism includes a transmission screw and a nut, the transmission screw is transmission-connected to the output end of the telescopic drive motor, a nut is matched with the transmission screw, and the nut is fixedly connected to the telescopic mechanism, and the transmission screw drives the telescopic mechanism to extend and retract along the direction of picking up and placing goods under the drive of the drive motor.

[0011] Preferably, the pick-and-place mechanism includes a grabbing member and a grabbing driving member for driving the grabbing member to move, and the output end of the grabbing driving member is transmission-connected to the grabbing member to control the grabbing member to grab or release the goods.

[0012] Preferably, a pick-and-place mounting frame is provided at one end of the telescopic mechanism close to the cargo position, and the grabbing member and the grabbing driving member are provided on the pick-and-place mounting frame.

[0013] Preferably, the pick-and-place mounting frame includes a first mounting frame and a second mounting frame arranged vertically, the pick-and-place mechanism is arranged on the first mounting frame, and a guide slider is fixedly provided on the end of the telescopic mechanism close to the cargo position, and the guide slider slides on the first mounting frame as the telescopic mechanism is extended and retracted;

[0014] One end of the second mounting frame is fixedly connected to the midpoint of the first mounting frame, and the other end is hinged to the telescopic mechanism.

[0015] Preferably, the straight-moving component includes a sliding wheel, and travel limiting grooves are provided on both sides of the sliding wheel, and the sliding wheel travels in the travel limiting grooves; the straight-moving drive component is connected to the sliding wheel to drive the sliding wheel to travel.

[0016] Preferably, the straight-moving assembly includes a straight-moving slider and straight-moving guide rails arranged on both sides of the straight-moving slider, and the straight-moving slider slides along the straight-moving guide rails.

[0017] Preferably, a straight-moving mounting seat is provided between the straight-moving slider and the straight-moving guide rail, the straight-moving slider is provided on the straight-moving mounting seat, and both ends of the straight-moving mounting seat are respectively slidably connected to the straight-moving guide rail.

[0018] Preferably, the straight driving component includes a straight driving motor and a straight transmission group, the output end of the straight driving motor is in transmission connection with the straight transmission group, the straight driving component is fixedly connected to the straight transmission group, and the straight driving component is driven to move by the straight transmission group.

[0019] Preferably, the straight-moving transmission group includes a transmission pulley group, which includes transmission wheels arranged at both ends and a synchronous belt wrapped around the transmission wheels. The straight-moving drive motor is connected to at least one of the transmission wheels, and the straight-moving component is fixedly connected to the synchronous belt, and the straight-moving component is driven to move by the synchronous belt.

[0020] A second aspect of the present application provides a cargo carrying device, characterized in that it includes a cargo picking and placing device and a load-bearing portion, the load-bearing portion is used to carry cargo, and the cargo slides along the load-bearing portion under the traction of the cargo picking and placing device.

[0021] A third aspect of the present application provides a transport robot, characterized in that it includes a chassis, a body frame and a cargo-carrying device, wherein the chassis and the body frame form a placement slot that passes through the front and back, and the cargo-carrying device is arranged in the placement slot.

[0022] Preferably, a guide bar is provided between the vehicle frame and the cargo-carrying device, and the guide bar is used to limit the cargo when it slides along the load-bearing part; walking wheels are provided between the chassis and the vehicle frame, and the walking direction of the transport robot is perpendicular to the extension direction of the cargo picking and placing device along the placement slot.

[0023] Preferably, the running wheel comprises a track running wheel, and the track running wheel is in contact with a running track; or, the running wheel comprises a ground running wheel, and the ground running wheel is in contact with the ground.

[0024] Beneficial effect: This application sets a pick-up and place component that is rotatably connected to the straight-moving component. The pick-up and place component can rotate around the straight-moving component, and the pick-up and place component can be rotated without changing its posture to grab goods on both sides, thereby improving transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of a cargo picking and placing device provided by this application;

[0026] Figure 2 It is a structural diagram of a pick-and-place assembly provided by this application;

[0027] Figure 3 yes Figure 2 A partial enlarged view of part A in the middle;

[0028] Figure 4 This is a structural diagram of another cargo picking and placing device provided by this application;

[0029] Figure 5 It is a structural schematic diagram of a cargo carrying equipment provided by this application;

[0030] Figure 6This is a structural diagram of a handling robot provided by this application;

[0031] Figure 7 This is a schematic diagram of the usage status of a multi-deep shelf provided by this application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0033] See this application Figure 1-4 A cargo picking and placing device includes a straight-moving component 200 and a picking and placing component 100 arranged on the straight-moving component 200; the straight-moving component 200 moves back and forth under the drive of the straight-moving drive component 300, and drives the picking and placing component 100 to approach or move away from the cargo position; the picking and placing component 100 is rotatably connected to the straight-moving component 200, and the picking and placing component 100 can rotate around the straight-moving component 200, and is configured to make the extension direction of the picking and placing component 100 opposite.

[0034] In the storage system, the picking and placing device is set on the travel track, and cargo spaces for placing goods are set on both sides of the travel track. The picking and placing device disclosed in this application can be used for cargo spaces with multiple depths, such as Figure 7 As shown, two rows of cargo boxes placed closely together are double-deep cargo spaces. Similarly, this application can be used to set multi-deep cargo spaces according to specific application scenarios.

[0035] When the cargo picking and placing device disclosed in the present application is in use, the straight-moving component 200 will drive the cargo picking and placing component 100 to approach the cargo position, and the cargo is grabbed by the cargo picking and placing component 100. Since cargo positions are provided on both sides of the driving track, the direction in which the cargo picking and placing device picked up and placed cargo last time may not be consistent with the direction in which the cargo picking and placing device picked up and placed cargo next time. In order to improve the efficiency of picking up and placing cargo, the cargo picking and placing component 100 and the straight-moving component 200 are set to be rotatably connected. The cargo picking and placing device does not need to adjust the driving direction intentionally. It only needs to rotate the angle of the cargo picking and placing component 100 according to the direction of picking up cargo so that the rotation direction of the cargo picking and placing cargo is changed to the opposite direction. Moreover, the angular rotation of the cargo picking and placing component 100 and the driving of the cargo picking and placing device can be performed synchronously.

[0036] In order to realize the rotational connection between the pick-and-place assembly 100 and the straight-moving assembly 200, in a possible embodiment, a rotating assembly 400 is provided between the straight-moving assembly 200 and the pick-and-place assembly 100, and the rotating assembly 400 includes a rotating table 410. The pick-and-place assembly 100 is fixedly connected to the rotating table 410 through a rotating table mounting plate 420. The rotating table 410 is connected to a rotating drive assembly 430, and the pick-and-place assembly 100 is driven to rotate by the rotating drive assembly 430.

[0037] Specifically, an output shaft is provided at the center of the rotating table 410 , and the output shaft is fixedly connected to the rotating table mounting plate 420 . When the output shaft rotates, the rotating table mounting plate 420 is driven to rotate, thereby realizing the rotation of the pick-and-place assembly 100 .

[0038] In other possible embodiments, the rotating assembly 400 may also be a transmission bearing structure, in which the bearing is composed of an inner bearing sleeve and an outer bearing sleeve that are sleeved together. The inner bearing sleeve and the outer bearing sleeve are respectively fixed on the pick-and-place assembly 100 and the straight-moving assembly 200, and a transmission belt is provided on the outer bearing sleeve. The transmission belt drives the outer bearing sleeve to rotate, thereby realizing the rotation of the pick-and-place device.

[0039] In the embodiment of the present application, the straight-moving component 200 drives the pick-and-place component 100 to approach or move away from the cargo location to perform pick-and-place operations. When the application scenario is a multi-deep cargo location, it is difficult for the pick-and-place component 100 to grab the cargo in the deep cargo location. Therefore, in other embodiments, the pick-and-place component 100 can be extended and retracted along the direction of picking and placing cargo. The pick-and-place component 100 is close to the cargo location in the extended state and away from the cargo location in the retracted state.

[0040] When the cargo picking and placing device disclosed in the present application is in use, the straight-moving component 200 will drive the picking and placing component 100 to approach the cargo location. When the picking and placing component 100 is transporting cargo at the outermost cargo location, the picking and placing component 100 may not extend outward, or the extended part may be used to grab the cargo. When it is necessary to grab cargo at a deeper cargo location, the picking and placing component 100 extends outward until it contacts the cargo, and then the picking and placing component 100 is retracted to place the cargo on the transport cart.

[0041] In the present application, the straight-moving component 200 and the telescopic mechanism 220 of the pick-and-place component 100 for realizing the telescopic function are two different structures, but their specific implementation methods may be the same or different. For example, the straight-moving component 200 may be a slide rail slider structure, a hydraulic structure, a scissors fork or a lead screw nut 242 structure, etc. Similarly, the telescopic mechanism 220 of the pick-and-place component 100 may also adopt a slide rail slider structure, a hydraulic structure, a scissors fork or a lead screw nut 242 structure. During implementation, the straight-moving component 200 and the telescopic mechanism 220 may both adopt a slide rail slider structure, or the straight-moving component 200 may adopt a slide rail slider structure and the telescopic mechanism 220 may adopt a scissors fork structure. They are not listed one by one here.

[0042] In the embodiment disclosed in the present application, a straight-moving component 200 is provided at the same time to compensate for the telescopic distance of the pick-and-place component 100. The straight-moving component 200 can drive the pick-and-place component 100 to move forward and backward. In a possible embodiment, the straight-moving component 200 includes a sliding wheel, and travel limit grooves are provided on both sides of the sliding wheel, and the sliding wheel travels in the travel limit grooves; the straight-moving drive component 300 is connected to the sliding wheel to drive the sliding wheel to move.

[0043] In other possible embodiments, the straight-moving assembly 200 includes a straight-moving slider 110 and straight-moving guide rails 120 disposed on both sides of the straight-moving slider 110 , and the straight-moving slider ( 110 ) slides along the straight-moving guide rails 120 .

[0044] A straight-moving mounting seat 111 is provided between the straight-moving slider 110 and the straight-moving guide rail 120 . The straight-moving slider 110 is provided on the straight-moving mounting seat 111 . Both ends of the straight-moving mounting seat 111 are respectively slidably connected to the straight-moving guide rail 120 .

[0045] The embodiment of the present application also includes the straight-moving drive assembly 300 for driving the straight-moving assembly 200 to move. The straight-moving drive assembly 300 includes a straight-moving drive motor 310 and a straight-moving transmission group 320. The output end of the straight-moving drive motor 310 is in transmission connection with the straight-moving transmission group 320. The straight-moving assembly 200 is fixedly connected to the straight-moving transmission group 320, and the straight-moving assembly 200 is driven to move by the straight-moving transmission group 320.

[0046] The straight-moving transmission group 320 includes a transmission pulley group, which includes transmission wheels 321 arranged at both ends and a synchronous belt 322 wound around the transmission wheels 321. The straight-moving drive motor 310 is in transmission connection with at least one of the transmission wheels 321. The straight-moving component 200 is fixedly connected to the synchronous belt 322, and the straight-moving component 200 is driven to move by the synchronous belt 322.

[0047] When the linear drive motor 310 rotates, its output shaft drives one of the transmission wheels 321 to rotate. Since the timing belt 322 is in a tensioned state on the transmission wheels 321 at both ends, the transmission belt also slides accordingly as the transmission wheels 321 rotate. The linear assembly 200 is fixedly connected to the timing belt 322, thereby driving the linear assembly 200 forward.

[0048] In other possible embodiments, the straight-moving transmission group 320 may also be a gear-chain combination, where the gear is fixedly mounted on the straight-moving component 200 and connected to the output shaft of the straight-moving drive component 300. When the straight-moving drive component 300 rotates, the gear moves along the chain, and the chain can also position the moving direction of the straight-moving component 200.

[0049] In other possible embodiments, all driving components in the present application may share one motor.

[0050] In the cargo picking and placing device disclosed in the present application, the picking and placing assembly 100 includes a picking and placing drive mechanism 210, a telescopic mechanism 220, and a picking and placing mechanism 230 that are connected in sequence. The picking and placing drive mechanism 210 controls the telescopic mechanism 220 to extend and retract along the cargo picking and placing direction. When the telescopic mechanism 220 is extended, the picking and placing mechanism 230 approaches the cargo position. When the telescopic mechanism 220 is retracted, the picking and placing mechanism 230 moves away from the cargo position.

[0051] The pick-and-place drive mechanism 210 includes a drive mounting plate 211 and a telescopic drive motor 212 mounted on the drive mounting plate 211. The output end of the telescopic drive motor 212 is transmission-connected to a telescopic transmission mechanism 240, which is connected to the telescopic mechanism 220 to control the telescopic mechanism 220's extension and retraction along the direction of pick-and-place. In other possible embodiments, the pick-and-place drive structure may include only the telescopic drive motor 212, with its output shaft directly transmission-connected to the telescopic transmission mechanism 240, so that the telescopic mechanism 220 is driven solely by the telescopic drive motor 212.

[0052] The telescopic transmission mechanism 240 includes a transmission screw 241 and a nut 242. The transmission screw 241 is transmission-connected to the output end of the telescopic drive motor 212. A nut 242 is matched with the transmission screw 241. The nut 242 is fixedly connected to the telescopic mechanism 220. Driven by the drive motor, the transmission screw 241 drives the telescopic mechanism 220 to extend and retract along the direction of picking up and placing goods.

[0053] When the telescopic drive motor 212 rotates, it drives the transmission screw 241 to rotate, and the nuts 242 mounted on the transmission screw 241 move closer to or farther away from each other along the transmission screw 241. The nuts 242 are fixedly connected to the telescopic mechanism 220. As the position of the nut 242 changes, the shape of the telescopic mechanism 220 changes accordingly, thereby realizing the telescopic function of the telescopic mechanism 220.

[0054] The pick-and-place mechanism 230 includes a grabbing member 232 and a grabbing driving member 231 for driving the grabbing member 232 . The output end of the grabbing driving member 231 is in transmission connection with the grabbing member 232 to control the grabbing member 232 to grab or release the goods.

[0055] In possible embodiments, the gripping member 232 may be a hook, a lever, a suction cup, or other structure capable of engaging with the cargo. The specific structure employed may be adjusted based on the shape of the cargo space being handled. For example, when the cargo is a material box, a hook can be used to engage the cargo due to the curved edge of the material box. However, when the cargo space is a smooth container, such as a cardboard box, there is no available hooking position, so the gripping member 232 may be a lever or a suction cup. Furthermore, the gripping drive member 231 may vary accordingly depending on the gripping member 232. For example, when the gripping member 232 is a hook or a lever, the gripping drive member 231 may be a motor; when the gripping member 232 is a suction cup, the gripping drive member 231 may be a negative pressure generator.

[0056] A pick-and-place mounting frame 221 is provided at one end of the telescopic mechanism 220 close to the cargo position, and the grabbing member 232 and the grabbing driving member 231 are provided on the pick-and-place mounting frame 221 .

[0057] The pick-and-place mounting frame 221 includes a first mounting frame 2211 and a second mounting frame 2212 arranged vertically. The pick-and-place mechanism 230 is arranged on the first mounting frame 2211. A guide slider 222 is fixedly provided on the end of the telescopic mechanism 220 close to the cargo position. The guide slider 222 slides on the first mounting frame 2211 as the telescopic mechanism 220 extends and retracts.

[0058] The pick-and-place mechanism 230 is arranged at one end of the telescopic mechanism 220 close to the cargo position. However, since the telescopic mechanism 220 frequently switches between the extended and retracted states, if the pick-and-place mechanism 230 is directly arranged on the telescopic mechanism 220, it will cause the mounting part to be firm. Therefore, a pick-and-place mounting frame 221 is provided on the telescopic mechanism 220. By setting the pick-and-place mechanism 230 on the pick-and-place mounting frame 221, the influence of the state switching of the telescopic mechanism 220 on the firmness of the pick-and-place mechanism 230 can be avoided.

[0059] Furthermore, in order to fix the pick-up and placement mounting frame 221, the pick-up and placement mounting frame 221 includes a vertical first mounting frame 2211 and a second mounting frame 2212, one end of the second mounting frame 2212 is fixedly connected to the midpoint of the first mounting frame 2211, and the other end is hinged to the telescopic mechanism 220, and the two ends of the first mounting frame 2211 are respectively hinged to the telescopic mechanism 220, which can avoid the pick-up and placement mounting frame 221 from being displaced relative to the telescopic mechanism 220, thereby improving the firmness of the fixation of the pick-up and placement mechanism 230.

[0060] See also Figure 5 In a second aspect, the present application provides a cargo carrying device, comprising a cargo picking and placing device and a load-bearing portion 400 , wherein the load-bearing portion 400 is used to carry cargo, and the cargo slides along the load-bearing portion 400 under the traction of the cargo picking and placing device.

[0061] Since the transported goods are generally heavy, in order to avoid the picking and placing device always bearing the weight of the goods, the present application also provides a cargo loading device, on which a load-bearing portion 400 is provided, and the grabbed goods are carried on the load-bearing portion 400, which is convenient for long-distance transportation.

[0062] See also Figure 6 In the third aspect of the present application, a transport robot includes a chassis 500, a vehicle frame 510, and a cargo-carrying device. The chassis 500 and the vehicle frame 510 form a placement slot that runs through the front and back, and the cargo-carrying device is arranged in the placement slot.

[0063] A guide bar 520 is provided between the vehicle frame 510 and the cargo carrying equipment, and the guide bar 520 is used to limit the cargo when it slides along the load-bearing part 400; a walking wheel 530 is provided between the chassis 500 and the vehicle frame 510, and the walking direction of the transport robot is perpendicular to the extension direction of the cargo picking and placing device along the placement slot.

[0064] The running wheel 530 includes a track running wheel 530 , and the track running wheel 530 is in contact with the running track; or the running wheel 530 includes a ground running wheel 530 , and the ground running wheel 530 is in contact with the ground.

[0065] The handling robot provided in this application can realize bidirectional rotating grasping, and can realize walking on track and ground by selecting two wheel sets, namely track walking wheels 530 and ground walking wheels 530 for installation. It can be imagined that track walking wheels 530 and ground walking wheels 530 can also be installed on the handling robot at the same time.

[0066] The present application can realize the picking and placing of goods at multiple cargo space depths by setting a straight-moving component 200 and a picking and placing component 100 that can be extended and retracted along the picking and placing direction. The straight-moving component 200 drives the picking and placing component 100 to approach the goods, and the picking and placing component 100 then extends and retracts according to the depth of the cargo space, thereby increasing the number of cargo spaces, reducing the ratio of the transport trolley running track to the number of cargo spaces, and improving the utilization rate of the storage space.

[0067] Of course, the present application may have many other embodiments. Without departing from the spirit and essence of the present application, technicians familiar with the field can make various corresponding changes and modifications based on the present application, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present application.

Claims

1. A cargo picking and placing device, characterized in that: The invention comprises a straight-moving component (200) and a pick-and-place component (100) arranged on the straight-moving component (200); the straight-moving component (200) moves forward and backward under the drive of a straight-moving driving component (300), and drives the pick-and-place component (100) to approach or move away from a cargo position; the pick-and-place component (100) is rotatably connected to the straight-moving component (200), and the pick-and-place component (100) can rotate around the straight-moving component (200), and is configured to make the extension direction of the pick-and-place component (100) opposite.

2. The cargo picking and placing device according to claim 1, characterized in that: A rotating assembly (400) is provided between the straight-moving assembly (200) and the pick-and-place assembly (100), the rotating assembly (400) comprising a rotating table (410), the pick-and-place assembly (100) being fixedly connected to the rotating table (410) via a rotating table mounting plate (420), the rotating table (410) being connected to a rotating drive assembly (430), and the pick-and-place assembly (100) is driven to rotate by the rotating drive assembly (430).

3. The cargo picking and placing device according to claim 1, characterized in that: The pick-and-place assembly (100) can be extended and retracted along the direction of picking and placing goods; the pick-and-place assembly (100) is close to the cargo position in an extended state and is far away from the cargo position in a retracted state.

4. The cargo picking and placing device according to claim 3, characterized in that: The pick-and-place assembly (100) comprises a pick-and-place drive mechanism (210), a telescopic mechanism (220), and a pick-and-place mechanism (230) which are sequentially connected and arranged. The pick-and-place drive mechanism (210) controls the telescopic mechanism (220) to telescope along a direction of picking and placing goods. When the telescopic mechanism (220) is extended, the pick-and-place mechanism (230) approaches a cargo position. When the telescopic mechanism (220) is retracted, the pick-and-place mechanism (230) moves away from the cargo position.

5. The cargo picking and placing device according to claim 4, characterized in that: The pick-and-place drive mechanism (210) comprises a drive mounting plate (211) and a telescopic drive motor (212) arranged on the drive mounting plate (211); an output end of the telescopic drive motor (212) is transmission-connected to a telescopic transmission mechanism (240); and the telescopic transmission mechanism (240) is connected to the telescopic mechanism (220) to control the telescopic structure to telescope along a direction of picking and placing goods.

6. The cargo picking and placing device according to claim 5, characterized in that: The telescopic transmission mechanism (240) comprises a transmission screw (241) and a nut (242); the transmission screw (241) is transmission-connected to the output end of the telescopic drive motor (212); a nut (242) is matched with the transmission screw (241); the nut (242) is fixedly connected to the telescopic mechanism (220); and the transmission screw (241) drives the telescopic mechanism (220) to telescope along the direction of picking up and releasing goods under the drive of the drive motor.

7. The cargo picking and placing device according to claim 4, characterized in that: The pick-and-place mechanism (230) comprises a grabbing member (232) and a grabbing driving member (231) for driving the grabbing member (232) to move, wherein the output end of the grabbing driving member (231) is transmission-connected to the grabbing member (232) to control the grabbing member (232) to grab or release goods.

8. The cargo picking and placing device according to claim 7, characterized in that: A pick-and-place mounting frame (221) is provided at one end of the telescopic mechanism (220) close to the cargo position, and the grabbing member (232) and the grabbing driving member (231) are provided on the pick-and-place mounting frame (221).

9. The cargo picking and placing device according to claim 8, characterized in that: The pick-and-place mounting frame (221) comprises a first mounting frame (2211) and a second mounting frame (2212) which are arranged vertically, the pick-and-place mechanism (230) is arranged on the first mounting frame (2211), a guide slider (222) is fixedly arranged on one end of the telescopic mechanism (220) close to the cargo position, and the guide slider (222) slides on the first mounting frame (2211) as the telescopic mechanism (220) is extended or retracted; One end of the second mounting frame (2212) is fixedly connected to the midpoint of the first mounting frame (2211), and the other end is hinged to the telescopic mechanism (220).

10. The cargo picking and placing device according to claim 1, characterized in that: The straight-moving component (200) comprises a sliding wheel, and travel limit grooves are arranged on both sides of the sliding wheel, and the sliding wheel travels in the travel limit grooves; the straight-moving driving component is connected to the sliding wheel to drive the sliding wheel to travel.

11. The cargo picking and placing device according to claim 1, characterized in that: The straight-moving assembly (200) comprises a straight-moving slider (110) and straight-moving guide rails (120) arranged on both sides of the straight-moving slider (110), and the straight-moving slider (110) slides along the straight-moving guide rails (120).

12. The cargo picking and placing device according to claim 11, characterized in that: A straight-moving mounting seat (111) is provided between the straight-moving slider (110) and the straight-moving guide rail (120), the straight-moving slider (110) is provided on the straight-moving mounting seat (111), and both ends of the straight-moving mounting seat (111) are respectively slidably connected to the straight-moving guide rail (120).

13. The cargo picking and placing device according to claim 1, characterized in that: The straight-moving drive assembly (300) comprises a straight-moving drive motor (310) and a straight-moving transmission group (320); the output end of the straight-moving drive motor (310) is in transmission connection with the straight-moving transmission group (320); the straight-moving assembly (200) is fixedly connected to the straight-moving transmission group (320); and the straight-moving assembly (200) is driven to move by the straight-moving transmission group (320).

14. The cargo picking and placing device according to claim 12, characterized in that: The straight-moving transmission group (320) comprises a transmission pulley group, the transmission pulley group comprises transmission wheels (321) arranged at two ends, and a synchronous belt (322) wound around the transmission wheels (321); the straight-moving drive motor (310) is transmission-connected to at least one of the transmission wheels (321); the straight-moving component (200) is fixedly connected to the synchronous belt (322), and the straight-moving component (200) is driven to move by the synchronous belt (322).

15. A cargo carrying device, characterized in that: It comprises a cargo picking and placing device as claimed in any one of claims 1 to 14 and a carrying portion (400), wherein the carrying portion (400) is used for carrying cargo, and the cargo slides along the carrying portion (400) under the traction of the cargo picking and placing device.

16. A transport robot, characterized in that: It comprises a chassis (500), a vehicle body frame (510) and the cargo carrying device as claimed in claim 15, wherein the chassis (500) and the vehicle body frame (510) form a placement groove penetrating front to back, and the cargo carrying device is arranged in the placement groove.

17. The transport robot according to claim 16, characterized in that: A guide bar (520) is provided between the vehicle frame (510) and the cargo carrying device, and the guide bar (520) is used to limit the position of the cargo when it slides along the carrying portion (400); walking wheels (530) are provided between the chassis (500) and the vehicle frame (510), and the walking direction of the transport robot is perpendicular to the extension direction of the cargo picking and placing device along the placement slot.

18. The transport robot according to claim 17, characterized in that: The running wheel (530) comprises a track running wheel, and the track running wheel is in contact with a running track; or the running wheel comprises a ground running wheel, and the ground running wheel is in contact with the ground.

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