Goods taking and placing equipment and warehousing system

Abstract

The invention provides goods taking and placing equipment and a warehousing system.The goods taking and placing equipment is used for moving on the ground and a goods shelf and taking, placing and conveying goods on the goods shelf, the goods taking and placing equipment comprises a chassis, a first driving assembly and a plurality of balance arm assemblies, and the first driving assembly is arranged on the chassis; the multiple balance arm assemblies are arranged on the two sides of the chassis in the width direction correspondingly, the balance arm assemblies are connected with the first driving assembly, and the first driving assembly is configured to drive the balance arm assemblies to rotate in the vertical plane or telescopically move in the width direction of the chassis; the balance arm assembly has the first state and the second state, by switching the different states, the balance arm assembly can horizontally move along the ground or vertically climb along the goods shelf, and the space utilization rate is increased.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly to a goods picking and placing device and a warehousing system. Background Art

[0002] With the development of artificial intelligence and automation technologies, robots are widely used in the field of warehousing logistics for picking, placing, transporting, and sorting goods. In a logistics system, goods are usually stored on shelves, and picking and placing robots with corresponding functions pick and place goods or complete the task of transporting goods by docking with shelves or conveyor lines, etc.

[0003] In related technologies, shelves usually have a relatively high height and are provided with areas for storing goods in layers. When a picking and placing robot works, it first uses a ground moving mechanism to move horizontally along the ground to a specified area, then climbs along the shelf to a specified layer through a climbing mechanism, and finally takes out the goods on the shelf or puts the goods into the shelf.

[0004] However, the climbing mechanism of the picking and placing robot needs to be designed independently of the ground moving mechanism, resulting in a complex chassis structure of the robot, a large chassis size, low space utilization rate, and occupying a large space between shelves, leading to a low warehousing density. Summary of the Invention

[0005] This application provides a goods picking and placing device and a warehousing system to solve the technical problems that the chassis structure of the picking and placing robot is complex, the chassis size is large, the space utilization rate is low, and it occupies a large space between shelves, resulting in a low warehousing density.

[0006] In a first aspect, this application provides a goods picking and placing device for moving on the ground or on a shelf and picking, placing, and transporting goods on the shelf; the goods picking and placing device includes:

[0007] A chassis;

[0008] A first driving component, which is arranged on the chassis;

[0009] A plurality of balance arm components, which are respectively arranged on both sides in the width direction of the chassis; the balance arm components are all connected to the first driving component; the first driving component is configured to drive the balance arm components to rotate in a vertical plane or to telescopically move along the width direction of the chassis;

[0010] Wherein, the balance arm component has a first state, a second state, and a third state. When the balance arm is in the first state, the balance arm component retracts relative to the chassis and is horizontally arranged, and the balance arm component can contact the ground; when the balance arm component is in the second state, the balance arm component extends relative to the chassis and is vertically arranged, and the balance arm component docks with the shelf and can move vertically along the shelf.

[0011] The picking and placing device provided by this application can move at different positions by switching different states of the balance arm assembly. When the balance arm assembly is in the first state, the picking and placing device can move horizontally along the ground. When the balance arm assembly is in the second state, the picking and placing device can climb vertically along the shelf through the balance arm assembly. The balance arm assembly in the picking and placing device provided by this application can be used for ground movement and shelf climbing respectively by switching between the first state and the second state, realizing the coupled design of the vertical climbing structure and the horizontal movement structure, simplifying the structure of the picking and placing device, adapting to narrow ground aisles, and improving the space utilization rate.

[0012] As an alternative implementation, the balance arm assembly includes moving wheels and climbing wheels; the shelf has a vertical track;

[0013] When the balance arm assembly is in the first state, the moving wheels can contact the ground; when the balance arm assembly is in the second state, the climbing wheels can be docked with the vertical track.

[0014] With such a setting, the required moving function of the picking and placing device can be achieved by switching the state of the balance arm, improving the space utilization rate and the picking and placing efficiency.

[0015] As an alternative implementation, the first driving assembly includes a first driving mechanism, a second driving mechanism, a ball spline screw, a screw nut, and a spline nut. The screw nut and the spline nut are coaxially connected to the ball spline screw; the ball spline screw is connected to the balance arm assembly;

[0016] The first driving mechanism is used to drive the screw nut to rotate, and the second driving mechanism is used to drive the spline nut to rotate, so that the ball spline screw generates at least one of rotational motion and axial motion.

[0017] With such a setting, through the combination of two driving mechanisms, multiple motion modes can be achieved to adapt to different application requirements.

[0018] As an alternative implementation, when the screw nut rotates and the spline nut is stationary, the ball screw moves axially along it; when the screw nut is stationary and the spline nut rotates, the ball screw rotates and moves axially along it at the same time; when the screw nut and the spline nut rotate simultaneously, and the rotation speeds are equal and the rotation directions are opposite, the ball screw rotates.

[0019] With such a setting, the ball spline screw can perform multi-degree-of-freedom motion to switch different states of the balance arm.

[0020] As an alternative embodiment, the first driving mechanism includes a first driving unit, a first transmission wheel, a second transmission wheel, and a first flexible transmission member; the first driving unit is connected to the chassis, the first transmission wheel is connected to the output end of the first driving unit, the second transmission wheel is coaxially and fixedly connected to the lead screw nut; the first flexible transmission member is wound around the first transmission wheel and the second transmission wheel.

[0021] With such a setting, through the precise cooperation of the first driving unit and multiple transmission components, the operation of the first driving mechanism is realized, and the transmission efficiency is improved.

[0022] As an alternative embodiment, the second driving mechanism includes a second driving unit, a third transmission wheel, a fourth transmission wheel, and a second flexible transmission member; the second driving unit is connected to the chassis, the third transmission wheel is connected to the output end of the second driving unit, the fourth transmission wheel is coaxially and fixedly connected to the spline nut; the second flexible transmission member is wound around the third transmission wheel and the fourth transmission wheel.

[0023] With such a setting, through the precise cooperation of the second driving unit and multiple transmission components, the operation of the second driving mechanism is realized, and the transmission efficiency is improved.

[0024] As an alternative embodiment, the first driving assembly includes a first bearing seat, a second bearing seat, a first bearing, and a second bearing. Both the first bearing seat and the second bearing seat are connected to the chassis. The first bearing is arranged in the first bearing seat, and the second bearing is arranged in the second bearing seat;

[0025] The lead screw nut passes through the first bearing and is coaxially and fixedly connected to the inner ring of the first bearing; the spline nut passes through the second bearing and is coaxially and fixedly connected to the inner ring of the second bearing.

[0026] With such a setting, through the support of the bearing seats and bearings for the lead screw nut and the spline nut, the smoothness and precision of the rotation and linear motion of the ball spline screw are ensured.

[0027] As an alternative embodiment, there are multiple first driving assemblies, and multiple first driving assemblies are respectively arranged in one-to-one correspondence with multiple balance arm assemblies.

[0028] With such a setting, multiple balance arm assemblies can be driven to work together, or some balance arm assemblies can be driven separately to realize the moving or climbing function of the picking and placing device.

[0029] As an alternative embodiment, the balance arm assembly includes a housing and a climbing driving mechanism. The housing is connected to the output end of the first driving assembly; the climbing driving mechanism is arranged in the housing, the climbing wheel is connected to the climbing driving mechanism, and the climbing driving mechanism is configured to drive the climbing wheel to rotate.

[0030] With such a setting, the housing is driven to rotate by the first driving component to adjust the direction of the climbing wheel, and the climbing wheel is driven to rotate by the climbing driving mechanism, so that the climbing function can be realized without adjusting the direction of the loading and unloading equipment, improving the flexibility of the equipment.

[0031] As an alternative implementation, the climbing driving mechanism includes a climbing driving unit, a first bracket, a guiding member, a linear bearing and an elastic member. The guiding member is connected to the housing, the linear bearing is movably sleeved on the guiding member, the first bracket is connected to the linear bearing, the climbing driving unit is connected to the first bracket, and the climbing wheel is connected to the output end of the climbing driving unit;

[0032] The elastic member abuts between the housing and the linear bearing; when the climbing wheel is docked with the vertical track, the elastic member is configured to apply a force towards the vertical track to the climbing wheel.

[0033] With such a setting, the elastic member can ensure that the contact force between the climbing wheel and the track is always kept within a reasonable range, avoiding slipping or getting off the track, and improving the climbing stability.

[0034] As an alternative implementation, the balance arm assembly further includes a guiding driving mechanism and a guiding executing mechanism arranged on the housing. The guiding executing mechanism is connected with a first guiding wheel; the guiding driving mechanism is docked with the guiding executing mechanism and can drive the first guiding wheel to move, so that the first guiding wheel and the climbing wheel hold the vertical track tightly from different sides of the vertical track.

[0035] With such a setting, the first guiding wheel and the climbing wheel hold the vertical track tightly from different sides of the vertical track, improving the climbing stability.

[0036] As an alternative implementation, the guiding driving mechanism includes a guiding driving unit, a transmission mechanism, and a first gear and a second gear arranged coaxially; the guiding driving unit is connected to the housing, the transmission mechanism is connected to the guiding driving unit, and the transmission mechanism is configured to make the first gear and the second gear rotate in opposite directions;

[0037] There are two guiding executing mechanisms, and the two guiding executing mechanisms are respectively docked with the first gear and the second gear, and the first guiding wheels on the two guiding executing mechanisms respectively abut against both sides of the vertical track.

[0038] With such a setting, the guiding driving unit can drive the two first guiding wheels to hold the vertical track tightly through the transmission mechanism and the first gear and the second gear, improving the climbing stability.

[0039] As an alternative embodiment, the transmission mechanism includes a transmission shaft, a first bevel gear, a second bevel gear, and a third bevel gear. The transmission shaft is connected to the output end of the guiding drive unit; the first bevel gear is coaxially and fixedly connected to the transmission shaft, and the second bevel gear is coaxially arranged with the first bevel gear; the rotating shaft of the third bevel gear is perpendicular to the transmission shaft and meshes with both the first bevel gear and the second bevel gear simultaneously.

[0040] The first gear is coaxially and fixedly connected to the transmission shaft, and the second gear is coaxially and fixedly connected to the second bevel gear.

[0041] With such an arrangement, through the meshing of the bevel gears with the first gear and the second gear, the accuracy and reliability of the transmission are improved.

[0042] As an alternative embodiment, the guiding actuator includes a second bracket and a half gear. The second bracket is connected to the housing, the half gear is rotatably arranged on the second bracket, the half gear meshes with either the first gear or the second gear, and the first guide wheel is rotatably connected to the half gear.

[0043] With such an arrangement, the movement of the first guide wheel is controlled by the rotation of the half gear, which can avoid interference between the half gear and the track.

[0044] As an alternative embodiment, the half gear is arc-shaped, and the meshing teeth of the half gear are located on the outer side of the arc; the guiding actuator further includes a guiding bearing. The guiding bearing is arranged on the second bracket and abuts against the inner side of the arc of the half gear.

[0045] With such an arrangement, the half gear can rotate around the center of the circle, and at the same time, the half gear is axially limited, improving the rotational stability and load capacity.

[0046] As an alternative embodiment, a first rolling groove is provided on the inner side of the arc of the half gear, and the guiding bearing is rotatably arranged in the first rolling groove;

[0047] The guiding actuator further includes a plurality of needle rollers. The plurality of needle rollers are distributed on both axial sides of the half gear, and the plurality of needle rollers are all rotatably connected to the second bracket. Second rolling grooves are provided on both axial sides of the half gear, and the needle rollers on both sides are respectively rotatably arranged in the second rolling grooves.

[0048] With such an arrangement, the half gear is radially limited by the plurality of needle rollers, improving the rotational stability and load capacity.

[0049] As an alternative embodiment, the balance arm assembly further includes a second guide wheel. The second guide wheel is rotatably arranged on the housing; the second guide wheel and the climbing wheel abut against the same side of the vertical track.

[0050] With such an arrangement, the second guide wheel can play a guiding and supporting role during climbing, improving the climbing stability.

[0051] As an alternative implementation, the balance arm assembly has a third state; the shelf has a horizontal track. When the balance arm assembly is in the third state, the balance arm assembly extends relative to the chassis and is horizontally arranged, and the moving wheels can be docked with the horizontal track and can move horizontally along the shelf.

[0052] With such an arrangement, the goods picking and placing device can move horizontally on the shelf to pick and place goods at different horizontal positions without repeated climbing, improving the efficiency of goods handling.

[0053] As an alternative implementation, the goods picking and placing device further includes a driving wheel assembly and a second driving assembly. The second driving assembly is arranged on the chassis; the driving wheel assembly is connected to the second driving assembly, and the second driving assembly is configured to drive the driving wheel assembly to extend or retract along the width direction of the chassis;

[0054] Wherein, when the driving wheel assembly extends, it can be docked with the horizontal track so that the goods picking and placing device can move along the horizontal track on the shelf.

[0055] With such an arrangement, the driving wheel assembly can be telescoped to adapt to different moving scenarios, improving the flexibility of the device.

[0056] As an alternative implementation, the second driving assembly includes a third driving unit, a guide rail mechanism, a driving gear and a transmission rack; the third driving unit is connected to the chassis, and the driving gear is connected to the output end of the third driving unit; the transmission rack extends along the width direction of the chassis and meshes with the driving gear;

[0057] The guide rail mechanism includes an inner rail and an outer rail that are relatively slidably arranged along the width direction of the chassis, and the outer rail is fixedly connected to the chassis; the transmission rack is connected to the inner rail; the driving wheel assembly is connected to the inner rail.

[0058] With such an arrangement, through the design of transmission parts and double tracks, the transmission efficiency and transmission stability are improved.

[0059] As an alternative implementation, the driving wheel assembly includes a driving base, a fourth driving unit and a traveling driving wheel. The driving base is fixedly connected to the inner rail, the fourth driving unit is connected to the driving base, and the traveling driving wheel is connected to the output end of the fourth driving unit.

[0060] With such an arrangement, the traveling stability of the traveling driving wheel is improved.

[0061] As an alternative implementation, driving wheel assemblies are provided on both sides in the width direction of the chassis; there are two transmission racks, and the two transmission racks are meshed on both sides of the driving gear so that the driving gear drives the two transmission racks to move in opposite directions; the two transmission racks respectively drive the driving wheel assemblies on both sides in the width direction of the chassis to extend or retract.

[0062] With such a setting, the driving wheel assembly can be extended or retracted to adapt to different moving scenarios.

[0063] As an alternative implementation, two balance arm assemblies are provided on both sides in the width direction of the chassis, and the driving wheel assembly is located between the two balance arm assemblies.

[0064] With such a setting, by providing balance arm assemblies on both sides of the chassis, the picking and placing device can climb on the double-sided shelves without turning, improving the flexibility of the device; and there are two balance arm assemblies on each side of the chassis, and the driving wheel assembly is located between the two balance arm assemblies, improving the horizontal movement stability.

[0065] As an alternative implementation, the picking and placing device further includes a bridge assembly, which is located above the chassis and connected to the chassis; the bridge assembly has a plurality of storage positions for storing goods, and the plurality of storage positions are arranged along the length direction of the chassis.

[0066] With such a setting, multiple goods can be picked and placed at one time, improving the handling efficiency.

[0067] As an alternative implementation, the bridge assembly includes a bridge main body, a shifting mechanism and a picking and placing mechanism. The shifting mechanism and the picking and placing mechanism are both arranged on the bridge main body. The shifting mechanism is configured to move goods between different storage positions, and the picking and placing mechanism is configured to pick goods into or out of the bridge assembly along the width direction of the chassis.

[0068] With such a setting, goods are picked and placed through the picking and placing mechanism, and goods are discharged through the shifting mechanism, realizing automatic picking and placing of multiple goods and improving the handling efficiency.

[0069] As an alternative implementation, there are at least three storage positions; edges of the storage positions at both ends in the length direction of the bridge main body are provided with edge guards; the picking and placing mechanism is located in the middle of the length direction of the bridge main body and is movably arranged along the width direction of the bridge main body.

[0070] With such a setting, the handling efficiency and safety can be improved.

[0071] In a second aspect, the present application provides a warehousing system, including shelves and the above-mentioned picking and placing device; there are multiple shelves, and there are aisles between adjacent shelves;

[0072] Among them, the picking and placing device can drive into the aisle along the ground; the picking and placing device can be docked with the shelves on either side of the aisle and move vertically by climbing.

[0073] The warehousing system provided by the present application transports goods through the above-mentioned picking and placing device, which can shorten the aisle width, reduce the distance between the shelves, and thus increase the storage density and improve the storage efficiency of the warehousing system.

[0074] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, other technical problems that the supporting device, the picking and placing device, and the warehousing system provided by the present application can solve, other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manners. Description of the Drawings

[0075] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0076] Figure 1 Structural schematic diagram of the picking and placing device provided by the embodiment of the present application;

[0077] Figure 2 Structural schematic diagram of the chassis of the picking and placing device provided by the embodiment of the present application;

[0078] Figure 3 First perspective schematic diagram of the first driving component provided by the embodiment of the present application;

[0079] Figure 4 Second perspective schematic diagram of the first driving component provided by the embodiment of the present application;

[0080] Figure 5 Partial structural sectional view of the first driving component provided by the embodiment of the present application;

[0081] Figure 6 Schematic diagram of the retraction of the first guide wheel in the balance arm assembly provided by the embodiment of the present application;

[0082] Figure 7 Schematic diagram of the extension of the first guide wheel in the balance arm assembly provided by the embodiment of the present application;

[0083] Figure 8 Exploded view of the balance arm assembly provided by the embodiment of the present application;

[0084] Figure 9 Structural schematic diagram of the climbing drive mechanism provided by the embodiment of the present application;

[0085] Figure 10 Exploded view of the climbing drive mechanism provided by the embodiment of the present application;

[0086] Figure 11 Structural schematic diagram of the climbing guide assembly provided by the embodiment of the present application;

[0087] Figure 12 Schematic diagram of the retraction of the first guide wheel in the climbing guide assembly provided by the embodiment of the present application;

[0088] Figure 13 Schematic diagram of the extension of the first guide wheel in the climbing guide assembly provided by the embodiment of the present application;

[0089] Figure 14 Schematic diagram of the structure of the guide drive mechanism provided by the embodiment of the present application;

[0090] Figure 15 Exploded view of the guide drive mechanism provided by the embodiment of the present application;

[0091] Figure 16 Schematic diagram of the structure of the guide execution mechanism provided by the embodiment of the present application;

[0092] Figure 17 Exploded view of the guide execution mechanism provided by the embodiment of the present application;

[0093] Figure 18 First cross-sectional view of the guide execution mechanism provided by the embodiment of the present application;

[0094] Figure 19 Second cross-sectional view of the guide execution mechanism provided by the embodiment of the present application;

[0095] Figure 20 Schematic diagram of the half-width gear in the guide execution mechanism provided by the embodiment of the present application;

[0096] Figure 21 Schematic diagram of the narrowest position of the adjustable-width chassis drive assembly provided by the embodiment of the present application;

[0097] Figure 22 Schematic diagram of the widest position of the adjustable-width chassis drive assembly provided by the embodiment of the present application;

[0098] Figure 23 Exploded view of the adjustable-width chassis drive assembly provided by the embodiment of the present application;

[0099] Figure 24 Exploded view of the drive wheel assembly provided by the embodiment of the present application;

[0100] Figure 25 Schematic diagram of the bridge assembly provided by the embodiment of the present application;

[0101] Figure 26 Schematic diagram of the shelf provided by the embodiment of the present application;

[0102] Figure 27 Schematic diagram of the vertical track and the horizontal track provided by the embodiment of the present application;

[0103] Figure 28 Schematic diagram of the cooperation between the first guide wheel provided by the embodiment of the present application and the vertical track;

[0104] Figure 29 Schematic diagram of the cooperation between the first guide wheel provided by the embodiment of the present application and the I-beam track;

[0105] Figure 30 Schematic diagram of the movement of the goods picking and placing device in the roadway provided by the embodiment of the present application;

[0106] Figure 31 Schematic diagram of the extension of the single-sided balance arm before the goods picking and placing device climbs provided by the embodiment of the present application;

[0107] Figure 32 Schematic diagram of the structure of the single-sided balance arm extended by the goods picking and placing device provided by the embodiment of the present application;

[0108] Figure 33 Schematic diagram of the vertical erection of the single-sided balance arm before the goods picking and placing device climbs provided by the embodiment of the present application;

[0109] Figure 34 Schematic diagram of the structure of the single-sided balance arm vertically erected by the goods picking and placing device provided by the embodiment of the present application;

[0110] Figure 35 Schematic diagram of the cooperation between the first guide wheel and the I-beam track before the goods picking and placing device climbs provided by the embodiment of the present application;

[0111] Figure 36 Schematic diagram of the goods picking and placing device when it climbs to the designated floor provided by the embodiment of the present application;

[0112] Figure 37 Schematic diagram of the horizontal extension of the other side balance arm after the goods picking and placing device climbs to the designated floor provided by the embodiment of the present application;

[0113] Figure 38 Schematic diagram of the structure of the other side balance arm horizontally extended after the goods picking and placing device climbs to the designated floor provided by the embodiment of the present application;

[0114] Figure 39 Schematic diagram of the goods picking and placing device when it can walk along the horizontal track provided by the embodiment of the present application;

[0115] Figure 40 Schematic diagram of the structure of the goods picking and placing device when it can walk along the horizontal track provided by the embodiment of the present application;

[0116] Figure 41 Schematic diagram of the goods picking of the goods picking and placing device provided by the embodiment of the present application;

[0117] Figure 42Schematic diagram of the picking and placing device provided by the embodiment of the present application when picking up one item;

[0118] Figure 43 Schematic diagram of the picking and placing device provided by the embodiment of the present application when picking up three items.

[0119] Explanation of reference numerals:

[0120] 10 - Picking and placing device;

[0121] 100 - Chassis;

[0122] 200 - First driving assembly; 210 - First driving mechanism; 211 - First driving unit; 212 - First driving pulley; 213 - Second driving pulley; 214 - First flexible transmission member; 220 - Second driving mechanism; 221 - Second driving unit; 222 - Third driving pulley; 223 - Fourth driving pulley; 224 - Second flexible transmission member; 230 - Ball spline screw; 231 - Threaded hole; 240 - Screw nut; 250 - Spline nut; 260 - First bearing seat; 261 - Snap ring; 270 - Second bearing seat; 280 - First bearing; 290 - Second bearing;

[0123] 300 - Balance arm assembly; 310 - Moving wheel; 320 - Climbing wheel; 330 - Housing; 340 - Climbing driving mechanism; 341 - Climbing driving unit; 342 - First bracket; 343 - First guide member; 344 - Linear bearing; 345 - Elastic member; 350 - Guide driving mechanism; 351 - Guide driving unit; 352 - Transmission mechanism; 3521 - Transmission shaft; 3522 - First bevel gear; 3523 - Second bevel gear; 3524 - Third bevel gear; 353 - First gear; 354 - Second gear; 355 - Motor mounting bracket; 356 - Bearing bracket; 357 - Flat key; 358 - Sleeve; 359a - First pedestal bearing; 359b - Second pedestal bearing; 359c - Third pedestal bearing; 360 - Guide execution mechanism; 361 - First guide wheel; 362 - Second bracket; 363 - Half - width gear; 3631 - First rolling groove; 3632 - Second rolling groove; 364 - Guide bearing; 365 - Needle roller; 366 - Second guide wheel; 367 - Axle pin; 368 - Nut; 369 - Step; 370 - Plug screw; 371 - Third bearing;

[0124] 400 - Second driving assembly; 410 - Third driving unit; 420 - Guide rail mechanism; 421 - Inner rail; 422 - Outer rail; 430 - Driving gear; 440 - Transmission rack; 450 - Width - adjusting motor mounting seat;

[0125] 500 - Driving wheel assembly; 510 - Driving base; 520 - Fourth driving unit; 521 - Motor; 522 - Reducer; 523 - Reducer seat; 530 - Travel driving wheel; 540 - Fixing screw;

[0126] 600 - Bridge assembly; 610 - Bridge main body; 611 - Edge guard; 620 - Shifting mechanism; 630 - Pick - and - place mechanism;

[0127] 20 - Shelf; 201 - Vertical track; 202 - Horizontal track; 203 - I - beam rail; 204 - Cross beam; 205 - Column; 206 - Cross member. Detailed implementation manners

[0128] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0129] First of all, those skilled in the art should understand that these implementation manners are only used to explain the technical principle of this application and are not intended to limit the protection scope of this application. Those skilled in the art can adjust it as needed to adapt to specific application scenarios.

[0130] Secondly, it should be noted that in the description of this application, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this application.

[0131] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this disclosure. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0132] In this application, the terms "installation" or "connection" are used interchangeably. "Connection" can be a direct connection or an indirect connection through middleware; it can be a movable connection or a fixed connection. The term "and / or" includes any combination of the listed items. For example, "A and / or B" includes three cases: "A and B", "only A", or "only B".

[0133] Various types of robots are widely used in various fields such as industry and life. Robots play an important role in industries such as transportation and logistics. In a warehousing and logistics system, goods are usually stored on shelves. The robot docks with the shelves or conveyor lines to pick up and place goods and can transport the goods.

[0134] In the related art, the shelves usually have a relatively high height and are provided with areas for storing goods in layers. When the goods picking and placing robot works, it first moves horizontally along the ground to the designated area, then climbs to the designated layer along the shelf through a climbing mechanism, and finally takes out the goods on the shelf or puts the goods into the shelf.

[0135] However, the climbing mechanism of the goods picking and placing robot needs to be designed independently of the ground moving mechanism. The robot chassis structure is complex, the chassis size is large, the space utilization rate is low, and it occupies a large space between the shelves, resulting in a low warehousing density.

[0136] In view of the above problems, the embodiments of the present application provide a goods picking and placing device and a warehousing system, by

[0137] setting a balance arm assembly with two different states, enabling the goods picking and placing device to move horizontally along the ground or climb vertically along the shelf, improving the space utilization rate and the goods picking and placing efficiency. For the convenience of understanding, the application scenarios of the goods picking and placing device and the warehousing system provided by the embodiments of the present application will be described first.

[0138] The goods picking and placing device provided by the present application is applied to a warehousing system. The goods picking and placing device can be a robot for picking up, placing, and transporting goods. Specifically, the goods picking and placing device can be applied to logistics distribution on an industrial production line, the inbound and outbound of inventory products in manufacturing, the inbound and outbound of products in retail, and can also be applied to different fields such as the inbound and outbound of express deliveries in e-commerce logistics. The products or goods involved in transportation can be industrial parts, electronic accessories or products, drugs, clothing and ornaments, food, books, etc. The goods picking and placing device can directly transfer goods or transfer material boxes containing goods. The present application does not make specific limitations on this. Hereinafter, "goods" will be used to refer to the handling objects of the goods picking and placing device without specific examples.

[0139] Such as Figures 1 to 8As shown in the figure, the present application provides a goods picking and placing device 10, which is used to move on the ground or the shelf 20, and pick, place and carry the goods on the shelf 20. The goods picking and placing device 10 includes a chassis 100, a first driving assembly 200 and a plurality of balance arm assemblies 300. The first driving assembly 200 is arranged on the chassis 100. The plurality of balance arm assemblies 300 are respectively arranged on both sides in the width direction of the chassis 100. The balance arm assemblies 300 are all connected to the first driving assembly 200. The first driving assembly 200 is configured to drive the balance arm assemblies 300 to rotate in a vertical plane or to telescopically move along the width direction of the chassis 100.

[0140] Wherein, the balance arm assembly 300 has a first state and a second state. When the balance arm assembly 300 is in the first state, the balance arm assembly 300 retracts relative to the chassis 100 and is horizontally arranged, and the balance arm assembly 300 can contact the ground. When the balance arm assembly 300 is in the second state, the balance arm assembly 300 extends relative to the chassis 100 and is vertically arranged, and the balance arm assembly 300 is docked with the shelf 20 and can move vertically along the shelf 20.

[0141] It can be understood that the chassis 100, as the basic structure of the goods picking and placing device 10, is used to connect other components and support the operation of the entire device. The first driving assembly 200 is arranged on the chassis 100 and is used to drive the balance arm assembly 300 to telescopically move or move in the vertical direction. The plurality of balance arm assemblies 300 are respectively arranged on both sides in the width direction of the chassis 100 to ensure the balance of the operation of the goods picking and placing device 10.

[0142] It should be noted that the two states of the balance arm assembly 300 correspond to the movement of the goods picking and placing device 10 at different positions. When the goods picking and placing device 10 moves in the ground roadway, the balance arm assembly 300 is in the first state, reducing the width dimension of the goods picking and placing device 10. When the goods picking and placing device 10 moves to a designated area in the ground roadway and needs to climb upward along the shelf 20, the balance arm assembly 300 switches to the second state to dock with the shelf 20, and the goods picking and placing device 10 can climb to the designated shelf layer to carry goods. Similarly, when the goods picking and placing device returns to the ground from the shelf, the balance arm assembly 300 switches from the second state to the first state, so that the goods picking and placing device switches from the climbing state to the horizontal moving state.

[0143] The balance arm assembly 300 in the goods picking and placing device 10 provided by the present application can be respectively used for moving on the ground and climbing the shelf 20 by switching between the first state and the second state, realizing the coupling design of the vertical climbing structure and the horizontal moving structure, simplifying the structure of the goods picking and placing device 10, adapting to a narrower ground roadway, improving the space utilization rate, and further increasing the warehousing density.

[0144] In a possible implementation, the balance arm assembly 300 includes a moving wheel 310 and a climbing wheel 320; the shelf 20 has a vertical track 201; when the balance arm assembly 300 is in the first state, the moving wheel 310 can contact the ground; when the balance arm assembly 300 is in the second state, the climbing wheel 320 can be docked with the vertical track 201.

[0145] It should be noted that the moving wheel 310 is a driven universal wheel. When the balance arm assembly 300 is in a horizontal state, that is, in the first state, the moving wheel 310 contacts the ground, which is used to support the picking and placing device 10 and cooperate with the driving wheel to assist the whole device to move. The moving wheel 310 and the climbing wheel 320 are perpendicular to each other; the climbing wheel 320 only works when the picking and placing device 10 climbs, and is driven by the corresponding driving unit to climb along the vertical track 201.

[0146] Next, the first driving assembly 200 will be introduced. Refer to Figures 3 to 5 .

[0147] In a possible implementation, the first driving assembly 200 includes a first driving mechanism 210, a second driving mechanism 220, a ball spline lead screw 230, a lead screw nut 240, and a spline nut 250. The lead screw nut 240 and the spline nut 250 are coaxially connected to the ball spline lead screw 230; the ball spline lead screw 230 is connected to the balance arm assembly 300; the first driving mechanism 210 is used to drive the lead screw nut 240 to rotate, and the second driving mechanism 220 is used to drive the spline nut 250 to rotate, so that the ball spline lead screw 230 generates at least one of rotational motion and axial motion.

[0148] It can be understood that the first driving assembly 200 drives the lead screw nut 240 and the spline nut 250 through the first driving mechanism 210 and the second driving mechanism 220 to drive the ball spline lead screw 230 to rotate or extend. The ball spline lead screw 230 is connected to the balance arm assembly 300. The rotation or extension of the ball spline lead screw 230 can drive the balance arm assembly 300 to rotate or extend, so that the balance arm is in the first state, the second state, or the third state.

[0149] In a possible implementation, when the lead screw nut 240 rotates and the spline nut 250 is stationary, the ball spline lead screw 230 moves axially along it; when the lead screw nut 240 is stationary and the spline nut 250 rotates, the ball spline lead screw 230 rotates and moves axially along it at the same time; when the lead screw nut 240 and the spline nut 250 rotate simultaneously, and the rotation speeds are equal and the rotation directions are opposite, the ball spline lead screw 230 rotates.

[0150] It should be noted that the ball spline screw 230 includes a screw shaft portion and a spline shaft portion. There are balls inside the screw nut 240, and there are spiral grooves on the surface of the screw shaft. The rotation of the screw nut 240 can drive the balls to roll to achieve the axial movement of the screw shaft; there are spline grooves on the spline shaft, and there are spline teeth meshing with them inside the spline nut 250. The spline nut 250 drives the spline shaft to rotate through the meshing of the spline groove and the spline teeth.

[0151] It can be understood that through the combination of different driving methods of the first driving mechanism 210 and the second driving mechanism 220, the ball spline screw 230 can be in different motion states. When the screw nut 240 rotates and the spline nut 250 is stationary, the screw nut 240 cooperates with the screw shaft portion of the ball spline screw 230 to convert the rotational motion into the axial movement of the ball spline screw 230. Since the spline nut 250 is stationary, the spline shaft portion of the ball spline screw 230 is fixed and cannot rotate. At this time, the ball spline screw 230 only performs telescopic motion in the axial direction; when the screw nut 240 is stationary and the spline nut 250 rotates, the spline nut 250 cooperates with the spline shaft portion of the ball spline screw 230 to drive the ball spline screw 230 to rotate. Since the screw nut 240 is stationary, the ball spline screw 230 rotates relative to the screw nut 240, and the ball spline screw 230 generates axial movement. At this time, the ball spline screw 230 rotates and moves axially along it; when the screw nut 240 and the spline nut 250 rotate simultaneously, and the rotation speeds are equal and the rotation directions are opposite, since the rotations of the screw nut 240 and the spline nut 250 cancel out the axial movement component, the ball spline screw 230 only retains the rotational motion.

[0152] Among them, double flat positions and threaded holes 231 can be provided at the end of the ball spline screw 230 to fix and drive the balance arm to perform telescopic and / or rotational motions.

[0153] In a possible implementation manner, the first driving mechanism 210 includes a first driving unit 211, a first transmission wheel 212, a second transmission wheel 213, and a first flexible transmission member 214; the first driving unit 211 is connected to the chassis 100, the first transmission wheel 212 is connected to the output end of the first driving unit 211, and the second transmission wheel 213 is coaxially and fixedly connected to the screw nut 240; the first flexible transmission member 214 is wound around the first transmission wheel 212 and the second transmission wheel 213.

[0154] The second driving mechanism 220 includes a second driving unit 221, a third transmission wheel 222, a fourth transmission wheel 223, and a second flexible transmission member 224; the second driving unit 221 is connected to the chassis 100, the third transmission wheel 222 is connected to the output end of the second driving unit 221, and the fourth transmission wheel 223 is coaxially and fixedly connected to the spline nut 250; the second flexible transmission member 224 is wound around the third transmission wheel 222 and the fourth transmission wheel 223.

[0155] It can be understood that the first driving unit 211 and the second driving unit 221 are fixedly connected to the chassis 100, which can increase the stability during driving. The first driving mechanism 210 is used to drive the lead screw nut 240 to rotate to control the axial movement of the ball spline lead screw 230, and the second driving mechanism 220 is used to drive the spline nut 250 to rotate to control the rotational movement of the ball spline lead screw 230.

[0156] Among them, the first flexible transmission member 214 and the second flexible transmission member 224 can be a belt, a timing belt, a chain, etc. Exemplarily, the first flexible transmission member 214 and the second flexible transmission member 224 are timing belts. The timing belts are transmitted through the meshing of the belt teeth and the gears of the transmission wheels, which can improve the transmission efficiency and accuracy.

[0157] In a possible implementation manner, the first driving assembly 200 includes a first bearing seat 260, a second bearing seat 270, a first bearing 280, and a second bearing 290. Both the first bearing seat 260 and the second bearing seat 270 are connected to the chassis 100. The first bearing 280 is arranged in the first bearing seat 260, and the second bearing 290 is arranged in the second bearing seat 270; the lead screw nut 240 passes through the first bearing 280 and is coaxially and fixedly connected to the inner ring of the first bearing 280; the spline nut 250 passes through the second bearing 290 and is coaxially and fixedly connected to the inner ring of the second bearing 290.

[0158] It can be understood that both the first bearing seat 260 and the second bearing seat 270 are connected to the chassis 100 and are used to support the first bearing 280 and the second bearing 290, which can provide a stable installation foundation and ensure the position accuracy of the first bearing 280 and the second bearing 290. Among them, the first bearing 280 is used to support the lead screw nut 240 and allows the lead screw nut 240 to rotate in its inner ring. The second bearing 290 is used to support the spline nut 250 and allows the spline nut 250 to rotate in its inner ring. The second transmission wheel 213 and the fourth transmission wheel 223 are respectively connected to the first bearing seat 260 and the second bearing seat 270 through the first bearing 280 and the second bearing 290, and are axially limited by a snap ring 261, so that the second transmission wheel 213 and the fourth transmission wheel 223 can rotate.

[0159] In a possible implementation, there are multiple first drive components 200, and the multiple first drive components 200 are respectively arranged in one-to-one correspondence with multiple balance arm components 300.

[0160] Exemplarily, there are four first drive components 200 and four balance arm components 300. There are two balance arm components 300 on each side in the width direction of the chassis 100, and the two balance arm components 300 on each side are respectively arranged at both ends in the length direction. The four first drive components 200 are arranged in one-to-one correspondence with the four balance arm components 300 to drive the four balance arm components 300 to work together.

[0161] The following introduces the balance arm component 300. Refer to Figures 6 to 20 .

[0162] In a possible implementation, the balance arm component 300 includes a housing 330 and a climbing drive mechanism 340. The housing 330 is connected to the output end of the first drive component 200; the climbing drive mechanism 340 is arranged in the housing 330, the climbing wheel 320 is connected to the climbing drive mechanism 340, and the climbing drive mechanism 340 is configured to drive the climbing wheel 320 to rotate.

[0163] It can be understood that the housing 330 can be driven by the first drive component 200 to rotate to adjust the direction of the climbing wheel 320, and the climbing wheel 320 can be driven by the climbing drive mechanism 340 to rotate, so as to realize the vertical climbing of the picking and placing device 10.

[0164] It should be noted that the housing 330 is also provided with a moving wheel 310 mounting hole and a balance arm mounting shaft. The moving wheel 310 mounting hole is used to mount the moving wheel 310. The balance arm mounting shaft is fixedly connected to the spline shaft of the ball spline screw 230 having a double flat position and a threaded hole 231. The bottom surface and side surface of the housing 330 are also respectively provided with mounting holes to mount the climbing drive mechanism 340, the guiding drive mechanism 350 and the guiding execution mechanism 360.

[0165] In a possible implementation, the climbing drive mechanism 340 includes a climbing drive unit 341, a first bracket 342, a guiding member 343, a linear bearing 344 and an elastic member 345. The guiding member 343 is connected to the housing 330. The linear bearing 344 is movably sleeved on the guiding member 343. The first bracket 342 is connected to the linear bearing 344. The climbing drive unit 341 is connected to the first bracket 342. The climbing wheel 320 is connected to the output end of the climbing drive unit 341; the elastic member 345 abuts between the housing 330 and the linear bearing 344; when the climbing wheel 320 is docked with the vertical track 201, the elastic member 345 is configured to apply a force towards the vertical track 201 to the climbing wheel 320.

[0166] It can be understood that the climbing drive unit 341 can be a motor and a right-angle speed reducer. The motor is used to provide a power source, and the right-angle speed reducer is used to change the power transmission direction, reduce the speed, and increase the torque. The first bracket 342 is connected to the linear bearing 344 and is used to support the climbing drive unit 341 and the climbing wheel 320. The first bracket 342 can be provided with a limiting edge to ensure that the climbing wheel 320 does not protrude too much from the housing 330. The guiding member 343 can be a dowel screw, and the dowel screw is connected to the housing 330 and serves as a guiding track for the linear bearing 344 to ensure that the linear bearing 344 moves along a predetermined direction. The linear bearing 344 is movably sleeved on the guiding member 343 and is connected to the first bracket 342 to support the climbing drive unit 341 and the climbing wheel 320. The elastic member 345 can be a suspension spring, which abuts between the housing 330 and the linear bearing 344 and is used to apply a force to the climbing wheel 320 towards the vertical track 201 to ensure that the climbing wheel 320 is in close contact with the vertical track 201. The climbing wheel 320 is connected to the output end of the climbing drive unit 341, and the vertical movement of the balance arm assembly 300 is realized by docking with the vertical track 201.

[0167] In a possible implementation manner, the balance arm assembly 300 further includes a guiding drive mechanism 350 and a guiding execution mechanism 360 disposed on the housing 330. The guiding execution mechanism 360 is connected with a first guiding wheel 361. The guiding drive mechanism 350 is docked with the guiding execution mechanism 360 and can drive the first guiding wheel 361 to move, so that the first guiding wheel 361 and the climbing wheel 320 hold the vertical track 201 tightly from different sides.

[0168] It can be understood that the guiding drive mechanism 350 and the guiding execution mechanism 360 are disposed inside the housing 330. The guiding drive mechanism 350 provides a power source, and the guiding execution mechanism 360 is used to transmit power to drive the first guiding wheel 361 to hold or release the vertical track 201.

[0169] Among them, the vertical track 201 has an I-beam rail 203, and the I-beam rail 203 is disposed on the shelf column 205. When the picking and placing device 10 climbs, the first guiding wheel 361 extends out of the housing 330 and holds the I-beam rail 203 tightly from both sides, playing a role in support, guidance, and anti-falling.

[0170] In a possible implementation, the guiding and driving mechanism 350 includes a guiding and driving unit 351, a transmission mechanism 352, and a first gear 353 and a second gear 354 arranged coaxially; the guiding and driving unit 351 is connected to the housing 330, the transmission mechanism 352 is connected to the guiding and driving unit 351, and the transmission mechanism 352 is configured to rotate the first gear 353 and the second gear 354 in opposite directions; there are two guiding and executing mechanisms 360, and the two guiding and executing mechanisms 360 are respectively docked with the first gear 353 and the second gear 354, and the first guiding wheels 361 on the two guiding and executing mechanisms 360 respectively abut against both sides of the vertical track 201.

[0171] In a possible implementation, the transmission mechanism 352 includes a transmission shaft 3521, a first bevel gear 3522, a second bevel gear 3523, and a third bevel gear 3524. The transmission shaft 3521 is connected to the output end of the guiding and driving unit 351; the first bevel gear 3522 is coaxially and fixedly connected to the transmission shaft 3521, and the second bevel gear 3523 is coaxially arranged with the first bevel gear 3522; the axis of rotation of the third bevel gear 3524 is perpendicular to the transmission shaft 3521 and meshes with both the first bevel gear 3522 and the second bevel gear 3523 at the same time; the first gear 353 is coaxially and fixedly connected to the transmission shaft 3521, and the second gear 354 is coaxially and fixedly connected to the second bevel gear 3523.

[0172] It should be noted that the guiding and driving mechanism 350 further includes a motor bracket 355, a bearing bracket 356, a first pedestal bearing 359a, a second pedestal bearing 359b, a third pedestal bearing 359c, a circlip 261, a third bearing 371, a flat key 357, and a spacer 358.

[0173] Among them, the guiding and driving unit 351 can be a driving motor. The output shaft of the driving motor is in flat position fit with the hole position of the transmission shaft 3521, playing a role in outputting power. The motor bracket 355 and the bearing bracket 356 jointly support the guiding and driving unit 351, the first bearing with housing 359a, the second bearing with housing 359b, the third bearing with housing 359c, the transmission shaft 3521, the transmission mechanism 352 and related components. The first gear 353 is fixed on the transmission shaft 3521 through components such as a flat key 357, a spacer sleeve 358, the third bearing with housing 359c, and the shoulder structure of the transmission shaft 3521. When the transmission shaft 3521 rotates, it can drive the first gear 353 to rotate in the same direction. The first bevel gear 3522 is fixed on the transmission shaft 3521 through components such as a flat position structure, a shoulder structure, and the first bearing with housing 359a. When the transmission shaft 3521 rotates, it can drive the first bevel gear 3522 to rotate in the same direction. The second bearing with housing 359b is fixed on the bearing bracket 356, and its inner ring is engaged with the second gear 354. The second gear 354 can rotate around its center. The second gear 354 is a hollow structure and does not contact the transmission shaft 3521. The second gear 354 and the second bevel gear 3523 are axially and circumferentially limited through components such as a flat position structure, a circlip 261, and the second bearing with housing 359b, and they are fixedly connected. The third bevel gear 3524 is fixed on the bearing bracket 356 through a third bearing 371 and a circlip 261 and can rotate around its center. When the first bevel gear 3522 rotates, it can drive the third bevel gear 3524 to rotate 90 degrees in the opposite direction, thereby driving the second bevel gear 3523 to rotate in the reverse direction and simultaneously driving the second gear 354 to rotate in the reverse direction.

[0174] Through the cooperation of the above structures, the reverse rotation function of the first gear 353 and the second gear 354 can be completed, enabling the two guiding actuating mechanisms 360 to move in the reverse direction, so that the two first guiding wheels 361 in the two guiding actuating mechanisms 360 can extend from opposite directions and be buckled on the I-beam rail 203.

[0175] In a possible implementation manner, the guiding actuating mechanism 360 includes a second bracket 362 and a half gear 363. The second bracket 362 is connected to the housing 330, the half gear 363 is rotatably arranged on the second bracket 362, the half gear 363 is meshed with the first gear 353 or the second gear 354, and the first guiding wheel 361 is rotatably connected to the half gear 363.

[0176] It can be understood that the second bracket 362 is connected to the housing 330 for supporting the half gear 363. The two half gears 363 are respectively meshed with the first gear 353 and the second gear 354, and rotate in the reverse direction under the drive of the first gear 353 and the second gear 354 to drive the two first guiding wheels 361 to move in the reverse direction.

[0177] Among them, the first guide wheel 361 can be a bearing roller. The bearing roller is fixed to the first guide wheel mounting hole at the end of the half gear 363 through a set screw 370, so that the bearing roller can roll around its center, reducing the resistance during climbing guidance.

[0178] It should be noted that since the first guide wheel 361 needs to cooperate with the vertical track 201 when the balance arm assembly 300 climbs and retracts during horizontal movement, in order to avoid interference with the vertical track 201, the relevant transmission gears cannot be designed completely and a central rotating shaft cannot be designed either. Therefore, a half gear 363 is designed, and the half gear 363 rotates, is fixed, and is driven through specific technologies.

[0179] In a possible implementation manner, the half gear 363 is arc-shaped, and the meshing teeth of the half gear 363 are located on the outer side of the arc; the guiding actuator 360 further includes a guiding bearing 364. The guiding bearing 364 is arranged on the second bracket 362, and the guiding bearing 364 abuts against the inner side of the arc of the half gear 363.

[0180] It should be noted that two circles of hole positions are evenly arranged on the side of the second bracket 362. The hole positions in the inner circle are used to fix the pin shaft 367, and the hole positions in the outer circle are used to install the needle rollers 365; a first rolling groove 3631 is provided on the inner side of the half gear 363, and steps 369 higher than the first rolling groove 3631 are provided on both sides of the first rolling groove 3631. The steps 369 are used to prevent the axial displacement of the guiding bearing 364; one end of the pin shaft 367 has a bolt head and the other end has a thread. The pin shaft 367 can be fixed to both sides of the second bracket 362 using a nut 368. The pin shaft 367 passes through the guiding bearing 364 and is used to fix the guiding bearing 364. Through the design of the shoulder of the pin shaft 367, the snap ring 261, the first rolling groove 3631, and the step 369, the half gear 363 is axially limited so that it cannot axially move. And when the bearing roller extends for climbing, multiple guiding bearings 364 can bear a large tensile load, and the number of guiding bearings 364 can be determined according to the load.

[0181] In a possible implementation manner, a first rolling groove 3631 is provided on the inner side of the arc of the half gear 363, and the guiding bearing 364 is rotatably arranged in the first rolling groove 3631; the guiding actuator 360 further includes a plurality of needle rollers 365. The plurality of needle rollers 365 are distributed on both axial sides of the half gear 363, and the plurality of needle rollers 365 are all rotatably connected to the second bracket 362. Second rolling grooves 3632 are provided on both axial sides of the half gear 363, and the needle rollers 365 on both sides are respectively rotatably arranged in the second rolling grooves 3632.

[0182] It can be understood that multiple needle rollers 365 are symmetrically inserted into the outer ring hole positions from both sides of the second support 362. One end is installed on the outer ring hole positions, and the other end is installed in the second rolling groove 3632. Through the design of the multiple needle rollers 365, the half gear 363 is radially limited, so that the half gear 363 cannot move radially. The number of needle rollers 365 can be determined according to the load.

[0183] Through the design of the needle rollers 365 and the guiding bearings 364, the half gear 363 has only the freedom of rotation around its center and cannot move axially or radially. Since the half gear 363 is arc-shaped, the meshing teeth of the half gear 363 are located on the outer side of the arc and mesh with the first gear 353 and the second gear 354. The rotation of the first gear 353 and the second gear 354 can drive the arc of the half gear 363 to rotate circumferentially around its center, and the structural load capacity is large.

[0184] In a possible implementation, the balance arm assembly 300 further includes a second guiding wheel 366, and the second guiding wheel 366 is rotatably arranged on the housing 330; the second guiding wheel 366 and the climbing wheel 320 are abutted on the same side of the vertical track 201.

[0185] It should be noted that the second guiding wheel 366 can be a small roller with rubber coating, and its surface is coated with a layer of rubber or other elastic materials to provide better friction, buffering performance and sound insulation effect. The second guiding wheel 366 and the climbing wheel 320 are located on the same side of the housing 330. When climbing, the second guiding wheel 366 and the climbing wheel 320 are abutted on the same side of the vertical track 201, playing a guiding and supporting role.

[0186] In a possible implementation, the balance arm assembly 300 has a third state; the shelf 20 has a horizontal track 202. When the balance arm assembly 300 is in the third state, the balance arm assembly 300 extends relative to the chassis 100 and is horizontally arranged, and the moving wheels 310 can be docked with the horizontal track 202 and can move horizontally along the shelf 20.

[0187] In some embodiments, there are multiple storage positions at the horizontal position of the shelf. After the picking and placing device 10 climbs to the designated shelf layer, the balance arm assembly 300 can be switched from the second state to the third state. At this time, the walking drive wheels 530 and the moving wheels 310 on both sides of the picking and placing device 10 are respectively docked with the horizontal tracks 202 of the shelves 20 on both sides. The driving force is provided by the walking drive wheels 530, and at the same time, the cooperation of the moving wheels 310 enables the picking and placing device 10 to move along the horizontal track 202 to the corresponding storage position to handle goods, without repeated landing and climbing, improving the handling efficiency.

[0188] Next, the intermediate walking drive structure will be introduced. Refer to Figures 21 to 24 .

[0189] In a possible implementation, the picking and placing device 10 further includes a driving wheel assembly 500 and a second driving assembly 400. The second driving assembly 400 is disposed on the chassis 100. The driving wheel assembly 500 is connected to the second driving assembly 400. The second driving assembly 400 is configured to drive the driving wheel assembly 500 to extend or retract along the width direction of the chassis 100. When the driving wheel assembly 500 extends, it can be docked with the horizontal track 202 so that the picking and placing device 10 moves along the horizontal track 202 on the shelf 20.

[0190] It can be understood that the driving wheel assembly 500 is used to drive the picking and placing device 10 to move horizontally. When the picking and placing device 10 is on the ground, the driving wheel assembly 500 retracts below the chassis 100, and the balance arm assembly 300 retracts at the same time. The driving wheel assembly 500 can be driven by the second driving assembly 400 and cooperate with the moving wheels 310 to make the picking and placing device 10 move horizontally. At this time, the width of the picking and placing device 10 is relatively narrow. When the picking and placing device 10 climbs to a specified shelf layer to pick up goods, the driving wheel assembly 500 extends out of the chassis 100, and the balance arm assembly 300 extends at the same time. The two walking driving wheels 530 and multiple moving wheels 310 straddle the horizontal tracks 202 on both sides of the shelf 20, enabling the picking and placing device 10 to move along the horizontal track 202. At this time, the width of the picking and placing device 10 is relatively wide, and its width can be adjusted according to the distance between the horizontal tracks 202 of the shelves 20 on both sides.

[0191] In a possible implementation, the second driving assembly 400 includes a third driving unit 410, a guide rail mechanism 420, a driving gear 430, and a transmission rack 440. The third driving unit 410 is connected to the chassis 100, and the driving gear 430 is connected to the output end of the third driving unit 410. The transmission rack 440 extends along the width direction of the chassis 100 and meshes with the driving gear 430. The guide rail mechanism 420 includes an inner rail 421 and an outer rail 422 that are relatively slidably arranged along the width direction of the chassis 100. The outer rail 422 is fixedly connected to the chassis 100. The transmission rack 440 is connected to the inner rail 421. The driving wheel assembly 500 is connected to the inner rail 421.

[0192] It can be understood that the third driving unit 410 can be a width adjustment motor. The third driving unit 410 is connected to the width adjustment motor mounting seat 450, and the width adjustment motor mounting seat 450 is fixed to the chassis 100. The third driving unit 410 is fixedly connected to the driving gear 430 through parts such as keys. Both sides of the driving gear 430 mesh with the transmission rack 440. The third driving unit 410 can drive the driving gear 430 to rotate, so that the transmission rack 440 expands and contracts. The transmission rack 440 can drive the driving wheel assembly 500 to expand and contract through the inner rail 421. The inner rail 421 is arranged on the track of the outer rail 422, and the outer rail 422 is used to limit the movement path of the inner rail 421.

[0193] In a possible implementation, the drive wheel assembly 500 includes a drive base 510, a fourth drive unit 520, and a walking drive wheel 530. The drive base 510 is fixedly connected to the inner rail 421. The fourth drive unit 520 is connected to the drive base 510, and the walking drive wheel 530 is connected to the output end of the fourth drive unit 520.

[0194] It can be understood that the fourth drive unit 520 includes a motor 521, a speed reducer 522, and a speed reducer seat 523. The motor 521 and the speed reducer 522 are connected through the speed reducer seat 523. The motor 521 is used to output power, and the speed reducer 522 is used to increase torque and reduce speed. The drive base 510 is used to fix the fourth drive unit 520. The walking drive wheel 530 can rotate under the drive of the fourth drive unit 520 to drive the picking and placing device 10 to move horizontally. The drive base 510 can move along with the inner rail 421, thereby driving the drive wheel assembly 500 to expand and contract in the width direction of the chassis 100. Each component of the drive wheel assembly 500 can be fixedly connected through fixing screws 540.

[0195] In a possible implementation, drive wheel assemblies 500 are provided on both sides in the width direction of the chassis 100; there are two transmission racks 440, and the two transmission racks 440 are engaged on both sides of the drive gear 430 so that the drive gear 430 drives the two transmission racks 440 to move in opposite directions; the two transmission racks 440 respectively drive the drive wheel assemblies 500 on both sides in the width direction of the chassis 100 to extend or retract.

[0196] It can be understood that the two transmission racks 440 extend in opposite directions. The third drive unit 410 can drive the drive gear 430 to rotate to drive the two transmission racks 440 to symmetrically expand and contract in opposite directions. The two transmission racks 440 can drive the two drive wheel assemblies 500 to expand and contract through the inner rail 421 to adapt to different moving scenarios.

[0197] In a possible implementation, two balance arm assemblies 300 are provided on both sides in the width direction of the chassis 100, and the drive wheel assembly 500 is located between the two balance arm assemblies 300.

[0198] It can be understood that by providing balance arm assemblies 300 on both sides of the chassis 100, the picking and placing device 10 can climb on the double-sided shelves 20 without turning; the two balance arm assemblies 300 on one side of the chassis 100 can be respectively arranged at both ends in the length direction of the chassis 100, so that the four moving wheels 310 are located at the four ends of the chassis 100, and the walking drive wheel 530 is located in the middle of the chassis 100 to provide walking driving force. Cooperating with the four moving wheels 310 can improve the horizontal movement stability of the picking and placing device 10.

[0199] The following introduces the bridge assembly 600. See Figure 25。

[0200] In a possible implementation, the picking and placing device 10 further includes a bridge assembly 600. The bridge assembly 600 is located above the chassis 100 and connected to the chassis 100. The bridge assembly 600 has a plurality of storage positions for storing goods, and the plurality of storage positions are arranged along the length direction of the chassis 100.

[0201] It can be understood that the bridge assembly 600 is fixedly connected to the chassis 100, providing a plurality of storage positions for temporarily storing goods, and the number of storage positions can be determined according to the actual working scenario.

[0202] In a possible implementation, the bridge assembly 600 includes a bridge body 610, a shifting mechanism 620, and a picking and placing mechanism 630. The shifting mechanism 620 and the picking and placing mechanism 630 are both arranged on the bridge body 610. The shifting mechanism 620 is configured to move goods between different storage positions, and the picking and placing mechanism 630 is configured to pick goods into or out of the bridge assembly 600 along the width direction of the chassis 100.

[0203] It can be understood that the bridge body 610 serves as a support structure for the shifting mechanism 620 and the picking and placing mechanism 630, providing a stable installation foundation. The shifting mechanism 620 is arranged on the bridge body 610 and is used to move goods between different storage positions. The shifting mechanism 620 may include components such as guide rails, sliders, and drive units. The picking and placing mechanism 630 is arranged on the bridge body 610 and is used to pick goods into or out of the bridge assembly 600 along the width direction of the chassis 100. The picking and placing mechanism 630 may include components such as telescopic arms, grippers, and drive units.

[0204] In a possible implementation, there are at least three storage positions. Baffles 611 are provided at the edges of the storage positions at both ends of the length direction of the bridge body 610. The picking and placing mechanism 630 is located in the middle of the length direction of the bridge body 610 and is movably arranged along the width direction of the bridge body 610.

[0205] Exemplarily, there are three storage positions on the bridge body 610. The picking and placing mechanism 630 is a hook assembly, and the shifting mechanism 620 is an electric roller. When three goods need to be picked at one time, the picking and placing device 10 moves to the first goods position according to the instruction. The hook assembly hooks the hook holes on the goods through the hooks and transports them to the middle storage position on the bridge body 610. The electric roller can move the goods to the storage position at the first end of the two ends by rolling. The baffle 611 can prevent the goods from continuing to move after reaching the storage position and prevent the goods from slipping off the bridge body 610. In this way, the first good is successfully picked. Then the picking and placing device 10 moves to the second goods position according to the instruction, and repeats the above steps to roll the goods to the storage position at the second end. The third good does not need to be adjusted in position by the electric roller and is directly transported to the middle storage position by the hook assembly.

[0206] See Figures 1 to 43 , this application provides a warehousing system, including a shelf 20 and the above-mentioned goods picking and placing device 10; there are multiple shelves 20, and there are aisles between adjacent shelves 20; among them, the goods picking and placing device 10 can drive into the aisle along the ground; the goods picking and placing device 10 can be docked with the shelf 20 on either side of the aisle and move vertically.

[0207] It should be noted that the shelf 20 provided in this application includes a cross beam 204, a column 205 and a cross member 206. The vertical track 201 is arranged on the column 205, and the horizontal track 202 is arranged on the cross member 206. The warehousing system provided in the embodiments of this application may include all the technical solutions and technical effects of the above-mentioned shelf 20 and the goods picking and placing device 10, which will not be elaborated here.

[0208] The following introduces the specific steps of the goods picking and placing device 10 for picking and placing goods through specific embodiments.

[0209] Step 1, the control center issues a goods picking instruction, gives the coordinate position of the goods, and the goods picking and placing device 10 receives the instruction and moves along the aisle to the climbing position, such as Figure 30 , Figure 1 .

[0210] Step 2, horizontally extend two sets of balance arms on one side from below the chassis 100, such as Figure 31 , Figure 32 .

[0211] Step 3, the first driving component 200 drives the balance arm to rotate 90 degrees, from horizontal to vertical, and the climbing wheels 320 and the second guiding wheels 366 are connected to the vertical track 201, such as Figure 33 , Figure 34 .

[0212] Step 4, the first guiding wheel 361 extends out and hugs the I-beam rail 203 of the vertical track 201 to complete the cooperation between the wheel set and the I-beam rail 203, such as Figure 35 , Figure 29 .

[0213] Step 5, the climbing wheels 320 rotate, and the goods picking and placing device 10 climbs to the specified height and layer of the shelf 20, such as Figure 36 .

[0214] Step 6, horizontally extend the two balance arms on the other side and the driving wheel assembly 500 at the center of the chassis 100, and the two traveling driving wheels 530 and the two moving wheels 310 on one side are in contact with the horizontal track 202 on the shelf 20, so that the goods picking and placing device 10 is loaded on the horizontal track 202, such as Figure 37 , Figure 38 .

[0215] Step 7: retract the first guide wheel 361, and rotate the two balance arms on the climbing side by 90 degrees to make all four moving wheels 310 cooperate with the horizontal track 202. At this point, the cargo pick-up and placement device 10 can move normally on the horizontal track 202. Figure 39 , Figure 40 .

[0216] Step 8: The cargo pick-up and release device 10 moves to the designated location to pick up the cargo. Figure 41 .

[0217] Step 9: The cargo is transported to the middle storage position of the bridge frame body 610, and the electric roller rotates to adjust the cargo position, such as Figure 42 .

[0218] Step 10: The cargo pickup and delivery device 10 moves to another location and completes three cargo pickups. Figure 43 .

[0219] So far, the cargo picking and placing device 10 has completed the process of picking up multiple cargoes, and the cargo placing process is similar to this.

[0220] The present application provides a cargo picking and placing device 10 and a warehousing system. The cargo picking and placing device 10 provided in the present application is used to move on the ground and the shelf 20, and to pick up, place and transport the cargo on the shelf 20. The cargo picking and placing device 10 includes a chassis 100, a first drive assembly 200 and a plurality of balance arm assemblies 300. The first drive assembly 200 is arranged on the chassis 100, and the plurality of balance arm assemblies 300 are respectively arranged on both sides of the width direction of the chassis 100. The balance arm assemblies 300 are all connected to the first drive assembly 200. The first drive assembly 200 is configured to drive the balance arm assembly 300 to rotate in a vertical plane, or to telescopically move along the width direction of the chassis 100; wherein the balance arm assembly 300 has a first state and a second state. By switching between different states, the balance arm can move horizontally along the ground or vertically climb along the shelf 20, thereby improving space utilization.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A cargo picking and placing device (10), characterized in that: Used to move on the ground or on the shelf (20), and to pick up, place and carry goods on the shelf (20); The cargo picking and placing device (10) comprises: chassis (100); A first driving assembly (200), wherein the first driving assembly (200) is disposed on the chassis (100); a plurality of balancing arm assemblies (300), the plurality of balancing arm assemblies (300) being respectively arranged on both sides of the chassis (100) in the width direction; the balancing arm assemblies (300) are all connected to the first driving assembly (200); the first driving assembly (200) is configured to drive the balancing arm assemblies (300) to rotate in a vertical plane, or to telescopically move along the width direction of the chassis (100); The balancing arm assembly (300) has a first state and a second state. When the balancing arm assembly (300) is in the first state, the balancing arm assembly (300) is retracted relative to the chassis (100) and is arranged horizontally, and the balancing arm assembly (300) can contact the ground; when the balancing arm assembly (300) is in the second state, the balancing arm assembly (300) is extended relative to the chassis (100) and is arranged vertically, and the balancing arm assembly (300) is docked with the shelf (20) and can move vertically along the shelf (20).

2. The cargo picking and placing device (10) according to claim 1, characterized in that: The balancing arm assembly (300) comprises a moving wheel (310) and a climbing wheel (320); the shelf (20) has a vertical track (201); When the balancing arm assembly (300) is in the first state, the moving wheel (310) can be in contact with the ground; when the balancing arm assembly (300) is in the second state, the climbing wheel (320) can be docked with the vertical track (201).

3. The cargo picking and placing device (10) according to claim 1, characterized in that: The first drive assembly (200) comprises a first drive mechanism (210), a second drive mechanism (220), a ball spline screw (230), a screw nut (240) and a spline nut (250); the screw nut (240) and the spline nut (250) are coaxially connected to the ball spline screw (230); the ball spline screw (230) is connected to the balance arm assembly (300); The first driving mechanism (210) is used to drive the screw nut (240) to rotate, and the second driving mechanism (220) is used to drive the spline nut (250) to rotate, so that the ball spline screw (230) generates at least one of rotation and axial movement.

4. The cargo picking and placing device (10) according to claim 3, characterized in that: When the screw nut (240) rotates and the spline nut (250) is stationary, the ball spline screw (230) moves along its axial direction; when the screw nut (240) is stationary and the spline nut (250) rotates, the ball spline screw (230) moves along its axial direction while rotating; when the screw nut (240) and the spline nut (250) rotate simultaneously and the rotation speeds are equal and the rotation directions are opposite, the ball spline screw (230) rotates.

5. The cargo picking and placing device (10) according to claim 3, characterized in that: The first driving mechanism (210) comprises a first driving unit (211), a first transmission wheel (212), a second transmission wheel (213) and a first flexible transmission member (214); the first driving unit (211) is connected to the chassis (100), the first transmission wheel (212) is connected to the output end of the first driving unit (211), and the second transmission wheel (213) is coaxially fixedly connected to the lead screw nut (240); and the first flexible transmission member (214) is wound around the first transmission wheel (212) and the second transmission wheel (213).

6. The cargo picking and placing device (10) according to claim 3, characterized in that: The second driving mechanism (220) comprises a second driving unit (221), a third transmission wheel (222), a fourth transmission wheel (223) and a second flexible transmission member (224); the second driving unit (221) is connected to the chassis (100), the third transmission wheel (222) is connected to the output end of the second driving unit (221), and the fourth transmission wheel (223) is coaxially fixedly connected to the spline nut (250); and the second flexible transmission member (224) is wound around the third transmission wheel (222) and the fourth transmission wheel (223).

7. The cargo picking and placing device (10) according to claim 3, characterized in that: The first driving assembly (200) further comprises a first bearing seat (260), a second bearing seat (270), a first bearing (280) and a second bearing (290), wherein the first bearing seat (260) and the second bearing seat (270) are both connected to the chassis (100), the first bearing (280) is arranged on the first bearing seat (260), and the second bearing (290) is arranged on the second bearing seat (270); The screw nut (240) is inserted into the first bearing (280) and is coaxially fixed to the inner ring of the first bearing (280); the spline nut (250) is inserted into the second bearing (290) and is coaxially fixed to the inner ring of the second bearing (290).

8. The cargo picking and placing device (10) according to claim 3, characterized in that: There are a plurality of the first drive assemblies (200), and the plurality of the first drive assemblies (200) are respectively arranged in one-to-one correspondence with the plurality of the balance arm assemblies (300).

9. The cargo picking and placing device (10) according to claim 2, characterized in that: The balancing arm assembly (300) comprises a shell (330) and a climbing drive mechanism (340); the shell (330) is connected to the output end of the first drive assembly (200); the climbing drive mechanism (340) is arranged on the shell (330), the climbing wheel (320) is connected to the climbing drive mechanism (340), and the climbing drive mechanism (340) is configured to drive the climbing wheel (320) to rotate.

10. The cargo picking and placing device (10) according to claim 9, characterized in that: The climbing drive mechanism (340) comprises a climbing drive unit (341), a first bracket (342), a guide member (343), a linear bearing (344) and an elastic member (345); the guide member (343) is connected to the housing (330); the linear bearing (344) is movably sleeved on the guide member (343); the first bracket (342) is connected to the linear bearing (344); the climbing drive unit (341) is connected to the first bracket (342); and the climbing wheel (320) is connected to the output end of the climbing drive unit (341); The elastic member (345) abuts between the housing (330) and the linear bearing (344); when the climbing wheel (320) is docked with the vertical track (201), the elastic member (345) is configured to apply a force to the climbing wheel (320) toward the vertical track (201).

11. The cargo picking and placing device (10) according to claim 9, characterized in that: The balancing arm assembly (300) further comprises a guide drive mechanism (350) and a guide actuator (360) arranged on the housing (330); the guide actuator (360) is connected to a first guide wheel (361); the guide drive mechanism (350) is docked with the guide actuator (360) and can drive the first guide wheel (361) to move, so that the first guide wheel (361) and the climbing wheel (320) embrace the vertical track (201) from different sides thereof.

12. The cargo picking and placing device (10) according to claim 11, characterized in that: The guide drive mechanism (350) comprises a guide drive unit (351), a transmission mechanism (352), and a first gear (353) and a second gear (354) which are coaxially arranged; the guide drive unit (351) is connected to the housing (330), the transmission mechanism (352) is connected to the guide drive unit (351), and the transmission mechanism (352) is configured to make the first gear (353) and the second gear (354) rotate in opposite directions; There are two guide actuators (360), and the two guide actuators (360) are respectively connected to the first gear (353) and the second gear (354), and the first guide wheels (361) on the two guide actuators (360) are respectively abutted against two sides of the vertical track (201).

13. The cargo picking and placing device (10) according to claim 12, characterized in that: The transmission mechanism (352) comprises a transmission shaft (3521), a first bevel gear (3522), a second bevel gear (3523) and a third bevel gear (3524); the transmission shaft (3521) is connected to the output end of the guide drive unit (351); the first bevel gear (3522) is coaxially fixedly connected to the transmission shaft (3521), and the second bevel gear (3523) is coaxially arranged with the first bevel gear (3522); the rotation axis of the third bevel gear (3524) is perpendicular to the transmission shaft (3521), and is meshed with the first bevel gear (3522) and the second bevel gear (3523) at the same time; The first gear (353) is coaxially fixedly connected to the transmission shaft (3521), and the second gear (354) is coaxially fixedly connected to the second bevel gear (3523).

14. The cargo picking and placing device (10) according to claim 12, characterized in that: The guide actuator (360) comprises a second bracket (362) and a half-width gear (363); the second bracket (362) is connected to the housing (330); the half-width gear (363) is rotatably arranged on the second bracket (362); the half-width gear (363) is meshed with the first gear (353) or the second gear (354); and the first guide wheel (361) is rotatably connected to the half-width gear (363).

15. The cargo pick-up and release device (10) according to claim 14, characterized in that: The half-width gear (363) is in an arc shape, and the meshing teeth of the half-width gear (363) are located outside the arc; the guide actuator (360) further comprises a guide bearing (364), the guide bearing (364) is arranged on the second bracket (362), and the guide bearing (364) abuts against the inner side of the arc of the half-width gear (363).

16. The cargo pick-up and release device (10) according to claim 15, characterized in that: A first rolling groove (3631) is provided on the inner side of the circular arc of the half-width gear (363), and the guide bearing (364) is rollingly arranged in the first rolling groove (3631); The guide actuator (360) further comprises a plurality of needle rollers (365), the plurality of needle rollers (365) being distributed on both axial sides of the half-width gear (363), the plurality of needle rollers (365) being rotationally connected to the second bracket (362), the second rolling grooves (3632) being provided on both axial sides of the half-width gear (363), the needle rollers (365) on both sides being respectively rollingly arranged in the second rolling grooves (3632).

17. The cargo picking and placing device (10) according to claim 9, characterized in that: The balancing arm assembly (300) further comprises a second guide wheel (366), wherein the second guide wheel (366) is rotatably disposed on the housing (330); the second guide wheel (366) and the climbing wheel (320) are abutted on the same side of the vertical track (201).

18. The cargo picking and placing device (10) according to claim 2, characterized in that: The balancing arm assembly (300) has a third state; the shelf (20) has a horizontal track (202); when the balancing arm assembly (300) is in the third state, the balancing arm assembly (300) is extended relative to the chassis (100) and is arranged horizontally, and the moving wheel (310) can dock with the horizontal track (202) and can move horizontally along the shelf (20).

19. The cargo pick-up and release device (10) according to claim 18, characterized in that: The cargo picking and placing device (10) further comprises a driving wheel assembly (500) and a second driving assembly (400), wherein the second driving assembly (400) is arranged on the chassis (100); the driving wheel assembly (500) is connected to the second driving assembly (400), and the second driving assembly (400) is configured to drive the driving wheel assembly (500) to extend or retract along the width direction of the chassis (100); When the driving wheel assembly (500) is extended, it can dock with the horizontal track (202), so that the cargo picking and placing device (10) can move along the horizontal track (202) on the shelf (20).

20. The cargo picking and placing device (10) according to claim 19, characterized in that: The second driving assembly (400) comprises a third driving unit (410), a guide rail mechanism (420), a driving gear (430) and a transmission rack (440); the third driving unit (410) is connected to the chassis (100), and the driving gear (430) is connected to the output end of the third driving unit (410); the transmission rack (440) extends along the width direction of the chassis (100) and meshes with the driving gear (430); The guide rail mechanism (420) comprises an inner rail (421) and an outer rail (422) which are arranged to slide relative to each other along the width direction of the chassis (100); the outer rail (422) is fixedly connected to the chassis (100); the transmission rack (440) is connected to the inner rail (421); and the driving wheel assembly (500) is connected to the inner rail (421).

21. The cargo picking and placing device (10) according to claim 20, characterized in that: The driving wheel assembly (500) comprises a driving base (510), a fourth driving unit (520) and a travel driving wheel (530); the driving base (510) is fixedly connected to the inner rail (421); the fourth driving unit (520) is connected to the driving base (510); and the travel driving wheel (530) is connected to an output end of the fourth driving unit (520).

22. The cargo picking and placing device (10) according to claim 20, characterized in that: The driving wheel assembly (500) is provided on both sides of the chassis (100) in the width direction; there are two transmission racks (440), and the two transmission racks (440) are meshed with the two sides of the driving gear (430), so that the driving gear (430) drives the two transmission racks (440) to move in opposite directions; the two transmission racks (440) respectively drive the driving wheel assemblies (500) on both sides of the chassis (100) in the width direction to extend or retract.

23. The cargo pick-up and release device (10) according to claim 22, characterized in that: Two balancing arm assemblies (300) are arranged on both sides of the chassis (100 degrees), and the driving wheel assembly (500) is located between the two balancing arm assemblies (300).

24. The cargo pick-up and release device (10) according to claim 1, characterized in that: The cargo picking and placing device (10) further comprises a bridge assembly (600), wherein the bridge assembly (600) is located above the chassis (100) and is connected to the chassis (100); the bridge assembly (600) has a plurality of storage locations for storing cargo, and the plurality of storage locations are arranged along the length direction of the chassis (100).

25. The cargo pick-up and release device (10) according to claim 24, characterized in that: The bridge assembly (600) comprises a bridge body (610), a shifting mechanism (620) and a pick-and-place mechanism (630); the shifting mechanism (620) and the pick-and-place mechanism (630) are both arranged on the bridge body (610); the shifting mechanism (620) is configured to move goods between different storage locations; and the pick-and-place mechanism (630) is configured to take goods into or out of the bridge assembly (600) along the width direction of the chassis (100).

26. The cargo pick-up and release device (10) according to claim 25, characterized in that: There are at least three storage positions; the edges of the storage positions at both ends of the bridge frame body (610) in the length direction are provided with retaining edges (611); the pick-and-place mechanism (630) is located in the middle of the bridge frame body (610) in the length direction and is movably arranged along the width direction of the bridge frame body (610).

27. A storage system, characterized in that: It comprises a shelf (20) and a cargo picking and placing device (10) according to any one of claims 1 to 26; the shelf (20) is multiple, and there are lanes between adjacent shelves (20); The cargo picking and placing device (10) can be driven into the lane along the ground; the cargo picking and placing device (10) can dock with the shelf (20) on either side of the lane and climb and move vertically.

Images