Goods storing and taking system

Abstract

The invention discloses a goods storing and taking system which comprises a goods shelf device comprising a first goods shelf and a second goods shelf which are adjacent to each other and are arranged at an interval to form a roadway; the goods storing and taking device comprises a pallet fork component arranged between the first goods shelf and the second goods shelf, the pallet fork component comprises a storing and taking mechanism, and the goods storing and taking device is configured in the mode that the pallet fork component can move in the first direction so as to ascend or descend in the vertical direction and move in the second direction so as to move forwards or backwards in the extending direction of the roadway. The storing and taking mechanism can move in the third direction to be close to the first goods shelf or the second goods shelf. The goods storing and taking device can move in the first direction through a goods fork component of the goods storing and taking device. The fork component moves in the second direction and / or the storing and taking mechanism moves in the third direction so that the storing and taking mechanism can take out goods from any one of the first goods shelf and the second goods shelf on the two sides of the roadway and store the goods into any one of the first goods shelf and the second goods shelf.

Description

Technical Field

[0001] The present invention relates to the technical field of goods access logistics, and particularly relates to a goods access system. Background Art

[0002] In the existing goods access system, such as a bin access system, a bin robot moving through a chassis is often used in cooperation with a shelf to form a goods inbound and outbound system. When accessing goods, the bin robot moves in the aisle between the shelves, moves to the shelf position where the goods are to be accessed, and then the goods access device provided on the bin robot takes out the goods from the shelf or places the goods on the shelf. In some occasions with a high utilization rate of shelf space, such as occasions with a large volume of goods access, the space density of the shelf is large, the aisle between the shelves is narrow, and the bin robot is relatively large in volume. Usually, one bin robot is used to access goods on the shelves on both sides, and the efficiency of accessing goods is low, and the usage cost of the robot is also high. Summary of the Invention

[0003] The purpose of the present invention is to provide a goods access system with higher efficiency.

[0004] The present invention discloses a goods access system, including:

[0005] A shelf device, including at least two shelves for storing goods, the at least two shelves including adjacent first and second shelves, the first and second shelves being spaced apart to form an aisle therebetween;

[0006] At least two goods access devices, including a first goods access device and a second goods access device, the goods access device including a fork component disposed between the first and second shelves, the fork component including an access mechanism, the goods access device being configured such that: the fork component can move along a first direction to rise or fall in the vertical direction and move along a second direction to move forward or backward in the extending direction of the aisle, the access mechanism can move along a third direction to move away from the second shelf in the direction close to the first shelf or move away from the first shelf in the direction close to the second shelf, and the goods access device can make the access mechanism take out goods from any one of the first and second shelves on both sides of the aisle and deposit the goods into any one of the first and second shelves through the movement of its fork component along the first direction, the movement of its fork component along the second direction, and / or the movement of its access mechanism along the third direction.

[0007] In some embodiments, the goods access and storage system further has a passing state, and the goods access and storage system is configured to: in the passing state, the fork components of the first access and storage device and the fork components of the second access and storage device are respectively moved to positions vertically offset from each other, and when the access mechanisms of the first access and storage device and the second access and storage device can be respectively moved to passing contraction positions on their respective access and storage devices along a third direction, the movement of the fork component of the first access and storage device in the second direction is not interfered with by the second access and storage device, and the movement of the fork component of the second access and storage device in the second direction is not interfered with by the first access and storage device.

[0008] In some embodiments, the access and storage device includes two tracks, and the two tracks include a first track extending in a first direction and a second track extending in a second direction. One of the first track and the second track is fixed relative to the goods shelf, and the fork component is arranged on the track that is movable relative to the goods shelf among the first track and the second track. The access and storage device further includes a first driving device arranged between the first track and the second track and a second driving device arranged between the fork component and the track where the fork component is located. The first driving device is used to drive the track that is fixed relative to the goods shelf among the first track and the second track to move along the track that is fixed relative to the goods shelf, and the second driving device is used to drive the fork component to move along the track where the fork component is located.

[0009] In some embodiments, the first access and storage device and the second access and storage device are respectively arranged on the first goods shelf and the second goods shelf, and one of the first track and the second track is fixedly connected to the goods shelf.

[0010] In some embodiments, the second track is fixedly connected to the goods shelf.

[0011] In some embodiments, the second track is an overhead track that is fixed relative to the goods shelf and arranged above the goods shelf.

[0012] In some embodiments, the first direction is the vertical direction, and the second direction is the horizontal direction.

[0013] In some embodiments, the fork component includes a mounting rack and a first driving assembly, and the access mechanism includes an access assembly for accessing goods. The access assembly is movably arranged on the mounting rack; the first driving assembly is drivingly connected to the access assembly, and the first driving unit is configured to: drive the access assembly to move relative to the mounting rack to take out goods from any one of the first goods shelf and the second goods shelf on both sides of the roadway or deposit the goods into any one of the first goods shelf and the second goods shelf.

[0014] In some embodiments, the access component includes a hook component movably disposed on the mounting bracket. The hook component includes a hook body. The first driving component is drivingly connected to the hook component and is configured to drive the hook component to move in a fourth direction so as to realize the pulling effect on the goods in the fourth direction through the hook body, or drive the hook component to move in a fifth direction so as to realize the pushing effect on the goods in the fifth direction through the hook body. Wherein, the access mechanism takes out the goods from any one of the first shelf and the second shelf on both sides of the lane and deposits the goods into any one of the first shelf and the second shelf through the pulling and pushing effects of the hook body on the goods.

[0015] In some embodiments, the fourth direction is parallel to the fifth direction.

[0016] In some embodiments, the hook component includes a bracket and at least one set of hook bodies connected to the bracket. Each set of hook bodies includes a single hook body or a plurality of hook bodies located on the same side of the bracket.

[0017] In some embodiments, the at least one set of hook bodies includes a first set of hook bodies and a second set of hook bodies. The first set of hook bodies is located on a side of the bracket away from the second set of hook bodies along the fourth direction, and the second set of hook bodies is located on a side of the bracket away from the first set of hook bodies along the fifth direction.

[0018] Wherein, the fork component is configured to:

[0019] Drive the hook component to move in the fourth direction to realize the pulling effect on the goods in the fourth direction through the first set of hook bodies, or drive the hook component to move in the fourth direction to realize the pushing effect on the goods in the fourth direction through the second set of hook bodies; and / or

[0020] Drive the hook component to move in the fifth direction to realize the pushing effect on the goods in the fifth direction through the first set of hook bodies, or drive the hook component to move in the fifth direction to realize the pulling effect on the goods in the fifth direction through the second set of hook bodies

[0021] In some embodiments,

[0022] The at least one set of hook bodies includes a single set of hook bodies, and the fork component is configured to:

[0023] Drive the hook assembly to move in the fourth direction to realize the pulling effect on the goods in the fourth direction through the single set of hook bodies in the first rotation position, or drive the hook assembly to move in the fourth direction to realize the pushing effect on the goods in the fourth direction through the single set of hook bodies in the second rotation position, wherein the single set of hook bodies rotates to switch between the first rotation position and the second rotation position, and the single set of hook bodies in the first rotation position and the single set of hook bodies in the second rotation position are centrosymmetric; and / or,

[0024] Drive the hook assembly to move in the fifth direction to realize the pushing effect on the goods in the fifth direction through the single set of hook bodies in the third rotation position, or drive the hook assembly to move in the fifth direction to realize the pulling effect on the goods in the fifth direction through the single set of hook bodies in the fourth rotation position, wherein the single set of hook bodies rotates to switch between the third rotation position and the fourth rotation position, and the single set of hook bodies in the third rotation position and the single set of hook bodies in the fourth rotation position are centrosymmetric.

[0025] In some embodiments, when realizing the pulling effect on the goods, the hook body is configured to enter or leave the hookable part of the goods in a direction that intersects both the fourth direction and the fifth direction.

[0026] In some embodiments, the hook body is configured to enter the hookable part of the goods in the vertically upward direction.

[0027] In some embodiments, the first driving assembly includes:

[0028] A hook seat, connected to the hook assembly;

[0029] A first linear transmission mechanism; and

[0030] A first power element, connected to the hook seat through the first linear transmission mechanism, and configured to drive the hook seat to move in the fourth direction or the fifth direction through the first linear transmission mechanism.

[0031] In some embodiments, the first linear transmission mechanism includes:

[0032] A transmission pulley set, arranged on the mounting frame and connected to the first power element; and

[0033] A transmission belt, wound around the transmission pulley set and fixedly connected to the hook seat.

[0034] In some embodiments, the first driving assembly further includes:

[0035] The first linear guiding structure is disposed between the hook seat and the mounting bracket and is configured to guide the movement of the hook seat relative to the mounting bracket in the fourth direction or the fifth direction.

[0036] In some embodiments, the first linear guiding structure includes:

[0037] A first slide rail is disposed on the mounting bracket and extends along the fourth direction;

[0038] A first slider is disposed on the hook seat and is in sliding fit with the first slide rail.

[0039] In some embodiments, the access mechanism further includes:

[0040] A second driving assembly is drivingly connected to the hook assembly or the first driving assembly and is configured to drive the hook assembly to move in a sixth direction; wherein, the sixth direction is perpendicular to the fourth direction.

[0041] In some embodiments, the fourth direction is parallel to the horizontal plane and the sixth direction is parallel to the vertical direction.

[0042] In some embodiments, the first driving assembly includes a hook seat connected to the hook assembly, and the second driving assembly includes:

[0043] A second power element is connected to both the hook seat and the hook assembly and is configured to drive the hook assembly to move relative to the hook seat.

[0044] In some embodiments, the second power element includes:

[0045] A first lead screw penetrates through a motor, having a motor housing fixedly connected to the hook seat and a lead screw penetrating through the motor housing, one end of the lead screw is connected to the hook assembly, and the other end passes through the hook seat.

[0046] In some embodiments, the second driving assembly further includes:

[0047] A second linear guiding structure is disposed between the hook seat and the hook assembly and is configured to guide the movement of the hook assembly relative to the hook seat in the sixth direction or the opposite direction of the sixth direction.

[0048] In some embodiments, the second linear guiding structure includes:

[0049] A second slide rail is disposed on the hook assembly and extends along the sixth direction; and

[0050] A second slider is disposed on the hook seat and is in sliding fit with the second slide rail.

[0051] In some embodiments, the fork component further includes:

[0052] A transmission component, disposed on the mounting bracket, configured to transmit goods along the fourth direction or the fifth direction.

[0053] In some embodiments, the time ranges in which the transmission component and the hook component act on the goods are configured to at least partially overlap.

[0054] In some embodiments, the transmission component is located on the upper side of the mounting bracket in the vertical direction, and the fork component further includes:

[0055] A second driving component, drivingly connected to the hook component or the first driving component, configured to drive the hook component to move along a sixth direction, so that the hook component extends out and retracts relative to the transmission surface of the transmission component.

[0056] In some embodiments, the fork component further includes:

[0057] A bracket, on which the mounting bracket is disposed.

[0058] A third driving component, disposed on the bracket and drivingly connected to the mounting bracket, configured to drive the mounting bracket to move relative to the bracket along the fourth direction.

[0059] In some embodiments, the third driving component includes:

[0060] A second lead screw through motor, having a motor housing fixedly connected to the bracket and a lead screw passing through the motor housing, with both ends of the lead screw connected to the mounting bracket.

[0061] In some embodiments, the third driving component further includes:

[0062] A third linear guiding structure, disposed between the bracket and the mounting bracket, configured to guide the mounting bracket relative to the bracket along the fourth direction.

[0063] In some embodiments, the third linear guiding structure includes:

[0064] A third slide rail, disposed on the mounting bracket and extending along the fourth direction; and

[0065] A third slider, disposed on the bracket and slidably engaged with the third slide rail.

[0066] Based on the goods storage and retrieval system provided by the present invention, by arranging two fork components in the aisle between two adjacent shelves, and the two fork components can lift in the vertical direction and move back and forth along the aisle direction, the storage and retrieval mechanism can approach or move away from the shelves on both sides. Through the movement of the fork components and the movement of the storage and retrieval mechanism, the radiation of the same fork component for storing and retrieving goods on the shelves on both sides is realized, greatly improving the goods storage and retrieval efficiency of the goods storage and retrieval system and giving full play to the goods storage and retrieval ability of the fork components. At the same time, when the two fork components adjust their positions, they can avoid interference between them by lifting in the vertical direction, so that the fork components can move smoothly and orderly when moving to store and retrieve goods at different positions of the shelves, thereby also being able to reduce the layout distance between adjacent shelves when arranging the shelves and improving the space utilization rate.

[0067] Other features and advantages of the present invention will become clear from the following detailed description of the exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0069] Figure 1 is a schematic structural diagram of a part of the goods storage and retrieval system according to an embodiment of the present invention;

[0070] Figure 2 is Figure 1 a schematic structural diagram of the shown structure from another angle;

[0071] Figure 3 is a schematic structural diagram of a part of the shelves of the goods storage and retrieval system according to some other embodiments of the present invention;

[0072] Figure 4 is a schematic structural diagram of a part of the goods storage and retrieval system according to some embodiments of the present invention;

[0073] Figure 5 is a schematic structural diagram of the storage and retrieval device of the goods storage and retrieval system according to some embodiments of the present invention;

[0074] Figure 6 is Figure 5 a schematic structural diagram of the shown structure from another angle;

[0075] Figure 7 is a schematic structural diagram of the shelves of the goods storage and retrieval system according to some embodiments of the present invention;

[0076] Figure 8 is a schematic structural diagram of the fork component of the goods storage and retrieval system according to some embodiments of the present invention;

[0077] Figure 9 is Figure 8 A schematic structural view of the fork component shown from another angle;

[0078] Figure 10 A schematic structural view of the mounting bracket of the fork component according to some embodiments of the present invention;

[0079] Figure 11 is Figure 8 A schematic structural view of a partial structure of the fork component shown;

[0080] Figure 12 A schematic structural view of the bracket of the fork component according to some embodiments of the present invention;

[0081] Figure 13 is Figure 8 A schematic structural view of the hook assembly of the fork component shown in a descending state along the sixth direction;

[0082] Figure 14 is Figure 8 A schematic structural view of the hook assembly of the fork component shown in an ascending state along the sixth direction;

[0083] Figure 15 A schematic structural view of the hook assembly of the present invention in some embodiments for pulling a cargo from one side of the fork component;

[0084] Figure 16 is Figure 15 A schematic structural view of the hook assembly shown for pushing the cargo from the other side of the fork component;

[0085] Figure 17 A schematic structural view of the fork component of the present invention in some embodiments when carrying a cargo;

[0086] Figure 18 A schematic structural view of the rotation of a single hook body of the hook assembly according to some embodiments of the present invention;

[0087] Figure 19 A schematic structural view of a cargo access system according to some embodiments of the present invention. Detailed implementation manners

[0088] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way constitutes a limitation on the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0089] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods, and devices should be regarded as part of the description. In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0090] In the description of the present invention, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above terms have no special meanings and thus cannot be construed as limiting the scope of protection of the present invention.

[0091] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected", and "coupled" should be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature shown in the figures with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientation of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used herein.

[0093] As Figures 1 to 7 shown, the goods access and storage system of this embodiment includes a shelf device and at least two goods access and retrieval devices.

[0094] The shelf device includes at least two shelves for storing goods. There are multiple storage locations on the shelves for storing goods. The goods access and retrieval devices place goods into the storage locations on the shelves or retrieve goods from the storage locations. In this application, goods refer to integral units that can be transported or carried, and can be empty bins, bins containing items, or original packages stored separately, etc. In the embodiment shown in the figure, the goods include bin 200.

[0095] The at least two shelves include adjacent first shelf 110 and second shelf 120. As Figure 1 and Figure 2 shown, the first shelf 110 and the second shelf 120 are spaced apart to form an aisle 100 therebetween. The aisle 100 is also the spaced space between the first shelf 110 and the second shelf 120. When accessing goods, the goods access and retrieval devices move within the aisle to reach the position corresponding to the storage location of the goods to be accessed on the shelves.

[0096] The at least two goods access and retrieval devices include a first goods access and retrieval device 210 and a second goods access and retrieval device 220. The goods access and retrieval devices include a fork component 230 disposed between the first shelf 110 and the second shelf 120. The fork component 230 includes an access mechanism. The goods access and retrieval devices are configured such that the fork component 230 can move along a first direction to rise or fall in the vertical direction and can move along a second direction to move forward or backward in the extending direction of the aisle 100. The access mechanism can move along a third direction z to move away from the second shelf 120 in the direction close to the first shelf 110 or move away from the first shelf 110 in the direction close to the second shelf 120.

[0097] In this application, if there is no special indication, a certain direction refers to the positive or negative direction of that direction. For example, for the vertical direction x, it includes the vertically upward direction or the vertically downward direction. For example, if the fork component can move along the first direction, then the fork component can move along the positive direction of the first direction or the negative direction of the first direction.

[0098] In this embodiment, the first direction is not perpendicular to the vertical direction x, so the fork component 230 can move up or down in the vertical direction when moving along the first direction. In some embodiments, the first direction is parallel to the vertical direction x. In this embodiment, the second direction is not perpendicular to the extending direction y of the roadway 100, so the fork component 230 can move forward or backward in the extending direction y of the roadway 100 when moving along the second direction. In the embodiment shown in the figure, the second direction is parallel to the extending direction y of the roadway 100. Moving forward or backward in the extending direction y of the roadway 100 means moving in the positive direction or the negative direction of the extending direction y of the roadway 100. The access mechanism moves along the third direction z to approach the first shelf or the second shelf, which means the access mechanism moves towards the first shelf or the second shelf or extends into the storage locations of the first shelf or the second shelf to pick up or store goods from the storage locations.

[0099] The goods access device can make the access mechanism pick up goods from any one of the first shelf 110 and the second shelf 120 on both sides of the roadway 100 and store the goods into any one of the first shelf 110 and the second shelf 120 by moving its fork component 230 along the first direction, moving its fork component 230 along the second direction, and / or moving its access mechanism along the third direction. By moving the fork component 230 along the first direction and the second direction, and by moving the access mechanism along the third direction, the access mechanism can reach different storage locations of the first shelf and the second shelf, pick up and store goods from different storage locations of the first shelf and the second shelf, so as to achieve coverage of the goods access range of different storage locations of the first shelf and the second shelf.

[0100] The cargo storage and retrieval system of this embodiment is provided with two fork components 230 in the lane 100 between two adjacent shelves, and the two fork components 230 can be raised and lowered in the vertical direction and moved forward and backward along the lane 100 direction, and the storage and retrieval mechanism can approach or move away from the shelves on both sides, and the same fork component 230 can be used to store and retrieve the cargo on the shelves on both sides through the movement of the fork components 230 and the movement of the storage and retrieval mechanism, which greatly improves the cargo storage and retrieval efficiency of the cargo storage and retrieval system and gives full play to the cargo storage and retrieval capacity of the fork components 230. At the same time, the two fork components 230 can avoid interference between the two by raising and lowering in the vertical direction when adjusting their positions, so that the fork components 230 can move smoothly and orderly when moving to store and retrieve cargo at different positions of the shelves, thereby reducing the arrangement distance between adjacent shelves when arranging the shelves and improving space utilization.

[0101] In some embodiments, the cargo storage and retrieval system also has a staggered state, that is, the state in which the two fork components of the two storage and retrieval devices of the cargo storage and retrieval system meet, and the cargo storage and retrieval system is configured as follows: in the staggered state, the fork component of the first storage and retrieval device and the fork component of the second storage and retrieval device are respectively moved to positions staggered from each other in the vertical direction, that is, the fork component of the first storage and retrieval device and the fork component of the second storage and retrieval device do not cross in the vertical direction, and when the storage and retrieval mechanism of the first storage and retrieval device and the storage and retrieval mechanism of the second storage and retrieval device are respectively moved along the third direction to the staggered retracted position located on their respective storage and retrieval devices, the movement of the fork component of the first storage and retrieval device along the second direction is not interfered with by the second storage and retrieval device, and the movement of the fork component of the second storage and retrieval device along the second direction is not interfered with by the first storage and retrieval device. The storage and retrieval mechanism of the first storage and retrieval device is in the staggered retracted position of the first storage and retrieval device, that is, the storage and retrieval mechanism of the first storage and retrieval device moves along the third direction to a position away from the second storage and retrieval device and does not extend into the shelf close to the first storage and retrieval device. The storage and retrieval mechanism of the second storage and retrieval device is in the staggered retracted position of the second storage and retrieval device, that is, the storage and retrieval mechanism of the second storage and retrieval device moves along the third direction to a position away from the first storage and retrieval device and does not extend into the shelf close to the second storage and retrieval device. Figure 4In the illustrated embodiment, the first storage and retrieval device includes a track extending in the vertical direction fixedly connected to the first shelf, and the second storage and retrieval device includes a track extending in the vertical direction fixedly connected to the second shelf. The storage and retrieval mechanism of the first storage and retrieval device is in the passing and retracting position of the first storage and retrieval device, that is, the storage and retrieval mechanism of the first storage and retrieval device is located between the first shelf and the track extending in the vertical direction of the second storage and retrieval device and does not contact either of them; the storage and retrieval mechanism of the second storage and retrieval device is in the passing and retracting position of the second storage and retrieval device, that is, the storage and retrieval mechanism of the second storage and retrieval device is located between the second shelf and the track extending in the vertical direction of the first storage and retrieval device and does not contact either of them. In the passing state, the fork components 230 of the first storage and retrieval device and the fork components 230 of the second storage and retrieval device can smoothly move forward or backward along the extension direction of the roadway 100 in the second direction without being interfered by the fork components 230 of the other party. In the goods storage and retrieval system of this embodiment, the two fork components located in the roadway can pass by smoothly and reach the position where the goods are to be stored and retrieved smoothly.

[0102] In some embodiments, the storage and retrieval device includes two tracks. The two tracks include a first track extending in a first direction and a second track extending in a second direction. One of the first track and the second track is fixed relative to the shelf. Being relatively fixed means being relatively stationary. In the illustrated embodiment, the shelf is arranged statically. The track fixed relative to the shelf can be directly fixedly connected to the shelf or fixedly connected to a stationary object, such as Figure 19 shown, the track fixed relative to the shelf can be set as an overhead track installed above the shelf. Both methods can achieve fixation relative to the shelf. The fork component is arranged on the track that is movable relative to the shelf among the first track and the second track. The storage and retrieval device further includes a first driving device arranged between the first track and the second track and a second driving device arranged between the fork component and the track where the fork component is located. The first driving device is used to drive the track that is fixed relative to the shelf among the first track and the second track to move along the track that is fixed relative to the shelf, and the second driving device is used to drive the fork component to move along the track where the fork component is located.

[0103] In some embodiments, the first storage and retrieval device and the second storage and retrieval device are respectively arranged on the first shelf and the second shelf, and one of the first track and the second track is fixedly connected to the shelf. In some embodiments, as shown in the figure, the second track is fixedly connected to the shelf.

[0104] In some embodiments, such as Figure 19As shown, the second track is the overhead track fixed relative to the shelf above the shelf, and a ground track 370 can also be provided on the ground. The ground track 370 is a track for assisting the smooth movement of the first track. The setting of the overhead track can further reduce the interval between the first shelf and the second shelf, and further improve the space utilization rate of the shelf.

[0105] In some embodiments, the first direction is the vertical direction and the second direction is the horizontal direction.

[0106] In some embodiments, as Figures 1 to 7 As shown, the first storage and retrieval device 210 and the second storage and retrieval device 220 are respectively arranged on the first shelf 110 and the second shelf 120. The storage and retrieval device includes two tracks. The two tracks include a first track 310 extending along the first direction and a second track 320 extending along the second direction on the shelf where the storage and retrieval device is located. One of the first track 310 and the second track 320 is fixedly connected to the shelf, and the fork component 230 is arranged on the track that is not fixedly connected to the shelf among the first track 310 and the second track 320. That is, either the first track 310 or the second track 320 is fixedly connected to the shelf. When the first track 310 is fixedly connected to the shelf, the fork component 230 is arranged on the second track 320. When the second track 320 is fixedly connected to the shelf, the fork component 230 is arranged on the first track 310.

[0107] The storage and retrieval device further includes a first driving device 330 arranged between the first track 310 and the second track 320 and a second driving device 340 arranged between the fork component 230 and the track where the fork component 230 is located. The first driving device 330 is used to drive the track that is not fixedly connected to the shelf among the first track 310 and the second track 320 to move along the track fixedly connected to the shelf, and the second driving device 340 is used to drive the fork component 230 to move along the track where the fork component 230 is located.

[0108] In the embodiment shown in the figure, the second rail 320 is fixedly connected to the shelf, the first rail 310 is not fixedly connected to the shelf, and the rail where the fork component is located is the first rail 310. The first driving device 330 drives the first rail 310 to move along the second rail 320, so that the first rail 310 can drive the fork component to move in the second direction. The second driving device 330 drives the first rail 310 to move along the second rail 320, so that the first rail 310 can drive the fork component to move in the second direction. The second driving device 340 drives the fork component 230 to move along the first rail 310, so that the fork component can move in the first direction. The first driving device 330 includes a driving wheel connected to the first rail 310. The driving wheel travels on the second rail. The driving wheel is driven by a driving device such as a motor. By rotating the driving wheel, the movement of the first rail on the second rail is realized. In some embodiments not shown in the figure, a lead screw extending in the second direction is provided on the second rail, and a rotatable nut connected to the first rail is provided on the first rail. The nut is in threaded transmission cooperation with the lead screw. By driving the nut to rotate, the movement of the first rail on the second rail can also be realized. The movement of the fork component on the first rail can also be realized by providing a driving wheel connected to the fork component to make the driving wheel travel on the first rail, or by providing a lead screw-nut transmission mechanism between the fork component and the first rail, or by a crank-slider mechanism, or by pulling with a traction rope and other various ways to realize the movement of the fork component relative to the first rail.

[0109] In some embodiments, the fork component includes a mounting frame and a first driving assembly, and the access mechanism includes an access assembly for accessing goods. The access assembly is movably arranged on the mounting frame; the first driving assembly is drivingly connected to the access assembly, and the first driving unit is configured to: drive the access assembly to move relative to the mounting frame to take out goods from any one of the first shelf and the second shelf on both sides of the aisle or deposit the goods into any one of the first shelf and the second shelf.

[0110] In some embodiments, as Figures 9 to 11 , Figures 13 to 17 shown, the access assembly includes a hook assembly 2. The hook assembly 2 is movably arranged on the mounting frame 1, that is, the hook assembly 2 can rotate and / or move relative to the mounting frame 1. The hook assembly 2 includes a hook body 21. The hook body 21 in the hook assembly 20 can realize the hooking of the goods 200. The shape of the hook body 21 can be L-shaped, U-shaped or other shapes.

[0111] The first driving assembly 3 is drivingly connected to the hook assembly 2, and the first driving assembly 3 is configured to: drive the hook assembly 2 to move along the fourth direction m to realize the hooking effect on the goods in the fourth direction m through the hook body 21, and drive the hook assembly 2 to move along the fifth direction n to realize the pushing effect on the goods in the fifth direction n through the hook body 21.

[0112] Among them, the access mechanism takes out goods from any one of the first shelf 110 and the second shelf 120 on both sides of the roadway 100 and stores the goods on any one of the first shelf 110 and the second shelf 120 through the pulling and pushing actions of the hook body 21 on the goods.

[0113] For the goods access system of this embodiment, by moving the fork component in the first direction and in the second direction, the access mechanism can be moved to a position aligned with the goods location on the shelf where goods are to be stored or taken. After the access mechanism is aligned with the location to be operated, when taking goods, after the hook body hooks the goods, by moving the hook assembly in the fourth direction m, the goods can be hooked out from the goods location on the shelf and moved onto the fork component. When it is necessary to store the goods on the fork component onto the shelf, by moving the hook assembly in the fifth direction n, the goods are pushed out by using the hook body, so that the goods can be pushed onto the goods location on the shelf. In this embodiment, the first drive assembly is drivingly connected to the hook assembly. By driving the hook assembly to move in the first direction, the hook body in the hook assembly can realize the pulling action on the goods in the first direction, so that the hook body can pull the goods on the side facing the goods to make the goods move in the first direction. Compared with the clamping fork and the lifting fork in the related art, the hook assembly does not need to clamp or lift the goods, so the requirements for the spacing between goods and the height of the goods location in the shelf can be reduced, which is beneficial to achieving a higher shelf storage density. In the embodiment as Figure 8 shown, the fourth direction is parallel to the fifth direction. In some embodiments not shown in the drawings, the fourth direction is different from the fifth direction. In some embodiments, the fourth direction m, the fifth direction n, and the third direction z are parallel.

[0114] In some embodiments, the hook assembly 2 includes a bracket 22 and at least one set of hook bodies connected to the bracket 22. Each set of hook bodies includes a single hook body 21 or multiple hook bodies 21 located on the same side of the bracket 22.

[0115] In some embodiments, at least one set of hook bodies includes a first set of hook bodies and a second set of hook bodies. The first set of hook bodies is located on the side of the bracket 22 away from the second set of hook bodies along the fourth direction m, and the second set of hook bodies is located on the side of the bracket 22 away from the first set of hook bodies along the fifth direction n.

[0116] Among them, the fork component is configured to:

[0117] Drive the hook assembly 2 to move in the fourth direction to realize the pulling action on the goods in the fourth direction through the first set of hook bodies, or drive the hook assembly 2 to move in the fourth direction to realize the pushing action on the goods in the fourth direction through the second set of hook bodies; and / or

[0118] Drive the hook assembly 2 to move in the fifth direction to push the goods in the fifth direction through the first set of hook bodies, or drive the hook assembly 2 to move in the fifth direction to pull the goods in the fifth direction through the second set of hook bodies.

[0119] In the embodiment as Figure 8 shown, the fourth direction and the fifth direction are parallel. The first set of hook bodies includes two hook bodies 21, the second set of hook bodies includes two hook bodies 21, and the first set of hook bodies and the second set of hook bodies are fixedly connected to opposite sides of the bracket 22 along the fourth direction.

[0120] In some embodiments, as Figure 18 shown, at least one set of hook bodies 21 includes a single set of hook bodies, and the forklift component 230 is configured to:

[0121] Drive the hook assembly 2 to move in the fourth direction to pull the goods in the fourth direction through the single set of hook bodies 21 in the first rotation position, or drive the hook assembly 2 to move in the fourth direction to push the goods in the fourth direction through the single set of hook bodies 21 in the second rotation position, wherein the single set of hook bodies 21 rotates to switch between the first rotation position and the second rotation position, and the single set of hook bodies 21 in the first rotation position and the single set of hook bodies 21 in the second rotation position are centrosymmetric; and / or,

[0122] Drive the hook assembly 2 to move in the fifth direction to push the goods in the fifth direction through the single set of hook bodies 21 in the third rotation position, or drive the hook assembly 2 to move in the fifth direction to pull the goods in the fifth direction through the single set of hook bodies 21 in the fourth rotation position, wherein the single set of hook bodies 21 rotates to switch between the third rotation position and the fourth rotation position, and the single set of hook bodies 21 in the third rotation position and the single set of hook bodies 21 in the fourth rotation position are centrosymmetric. In this embodiment, by arranging the hook bodies only on one side of the bracket, the pulling and pushing effects on the goods can be achieved. As Figure 18 shown, the solid line form of the hook body represents the rotation position of the single set of hook bodies 21 on the left side of the bracket 22, and the pulling or pushing of the goods 100 on the left side can be realized. After rotating 180°, the single set of hook bodies represented by the dotted line form is located at the rotation position on the right side of the bracket 22, and the pulling or pushing of the goods 200 on the right side can be realized.

[0123] In some embodiments, when realizing the pulling effect on the goods, the hook body 21 is configured to enter or leave the hookable part of the goods in a direction that intersects both the fourth direction and the fifth direction. The hookable part of the goods is the part used for the hook body to hook, and in the embodiment shown in the figure, it is a groove-shaped part. In some embodiments, the hook body 21 is configured to enter or leave the hookable part of the goods along the sixth direction k. In some embodiments, as Figure 8As shown, the hook body 21 is configured to enter the hookable part of the goods in the vertically upward direction. For example, Figure 8 in the illustrated embodiment, the sixth direction k is parallel to the vertical direction.

[0124] In some embodiments, the first driving assembly 3 includes a hook seat 31, a first linear transmission mechanism 32, and a first power element 33. The hook seat 31 is connected to the hook assembly 2, the first power element 33 is connected to the hook seat 31 through the first linear transmission mechanism 32, and the first power element 33 is configured to drive the hook seat 31 to move along the fourth direction or the fifth direction through the first linear transmission mechanism 32. The hook assembly 20 is connected to the hook seat 31. When the hook seat 31 moves under the drive of the first power element 33 through the first linear transmission mechanism 32, the hook seat 31 also drives the hook assembly 20 to move accordingly. The first power element 33 may include, but is not limited to, a motor or a pneumatic motor, etc.

[0125] In some embodiments, the first linear transmission mechanism 32 includes a transmission pulley set 321 and a transmission belt 322. The transmission pulley set 321 is arranged on the mounting frame 1, and the transmission pulley set 321 is connected to the first power element 33. The transmission belt 322 is wound around the transmission pulley set 321, and the transmission belt 322 is fixedly connected to the hook seat 31. The first power element 33 can output torque to some of the transmission pulleys in the transmission pulley set 321 to drive the transmission pulleys to rotate. Driven by the transmission pulleys, the transmission belt 322 runs around the transmission pulley set 321, and the hook seat 31 fixedly connected to the transmission belt 322 also moves accordingly with the transmission belt 322. The first power element 33 can be arranged outside the first linear transmission mechanism 32 to avoid interference with the hook seat 31 and the hook assembly 2.

[0126] In some other embodiments, the first linear transmission mechanism 32 can also adopt other transmission forms, such as a gear-rack transmission structure or a lead screw-nut transmission structure, etc.

[0127] In some embodiments, the first driving assembly 3 further includes a first linear guiding structure. The first linear guiding structure is arranged between the hook seat 31 and the mounting frame 1, and the first linear guiding structure is configured to guide the movement of the hook seat 31 relative to the mounting frame 1 in the fourth direction or the fifth direction. The first linear guiding structure can assist the first linear transmission mechanism 32 to enable the hook seat 31 to move linearly and stably along the fourth direction or the fifth direction, reducing the risk of the goods falling due to instability during the movement.

[0128] In some embodiments, the first linear guide structure includes a first slide rail 341 and a first slider 342. The first slide rail 341 is disposed on the mounting frame 1 and extends along the fourth direction; the first slider 342 is disposed on the hook seat 31 and slides with the first slide rail 341. A continuous sliding guide effect can be formed between the first slide rail 341 and the first slider 342, so that the movement of the hook seat 31 relative to the mounting frame 1 is smoother and more stable. In other embodiments, the first linear guide structure can adopt other structural forms, such as a guide structure with an optical axis sleeve.

[0129] In some embodiments, the storage and retrieval mechanism further includes a second drive assembly 4. The second drive assembly 4 is drivingly connected to the hook assembly 2 or the first drive assembly 3, and the second drive assembly 4 is configured to drive the hook assembly 2 to move along a sixth direction; wherein the sixth direction is perpendicular to the fourth direction. The hook assembly 2 can move along the sixth direction under the direct drive of the second drive assembly 4 or the indirect drive of the second drive assembly 4 via the first drive assembly 3. The hook assembly 2 moves in the sixth direction k to avoid the goods. Figure 5 When the cargo has reached the fork assembly, the hook assembly 2 can move to the lower side of the cargo 200 to avoid interfering with the support and movement of the cargo 200.

[0130] In some embodiments, the fourth direction is parallel to the horizontal plane, and the sixth direction is parallel to the vertical direction. That is, the hook assembly 2 can realize the hooking and pulling effect in the horizontal direction, and reach or leave the position where the goods 200 can be hooked and pulled in the vertical direction. In conjunction with the driving of the hook assembly 2 by the first driving assembly 3, the position of the hook assembly 2 when hooking and pulling the goods 200 can also be adjusted, so that the hook assembly 2 can adjust the orientation and distance relative to the goods 200.

[0131] In some embodiments, the first drive assembly 3 includes a hook seat 31 connected to the hook assembly 2, and the second drive assembly 4 includes a second power element 41. The second power element 41 is connected to both the hook seat 31 and the hook assembly 2, and the second power element 41 is configured to drive the hook assembly 2 to move relative to the hook seat 31. The second power element 41 may include a motor or a pneumatic motor, and the hook assembly 2 is driven to move relative to the hook seat 31 along the sixth direction.

[0132] In some embodiments, the second power element 41 includes a first lead screw through motor. The first lead screw through motor has a motor housing fixedly connected to the hook seat 31 and a lead screw passing through the motor housing. One end of the lead screw is connected to the hook assembly 2, and the other end passes through the hook seat 31. When the first lead screw through motor rotates forward or backward, the lead screw can move forward or backward along its axis. By fixedly connecting the motor housing of the first lead screw through motor to the hook seat 31 and connecting one end of the lead screw to the hook assembly 2, the hook assembly 2 can be driven to move away from or close to the hook seat 31 when the lead screw moves relative to the motor housing. The axial direction of the lead screw of the first lead screw through motor is parallel to the sixth direction. The length of the lead screw between the hook seat 31 and the hook assembly 2 of such a lead screw through motor can decrease as the length of the lead screw passing through the hook seat 31 increases, which is beneficial to achieving a more compact structure. Moreover, the motor housing can also form a support and limit function for the hook assembly 2.

[0133] In some embodiments, in order to make the movement of the hook assembly 2 relative to the hook seat 31 along the sixth direction smoother, the second driving assembly 4 further includes a second linear guiding structure.

[0134] The second linear guiding structure is arranged between the hook seat 31 and the hook assembly 2, and is configured to guide the movement of the hook assembly 2 relative to the hook seat 31 in the sixth direction or the opposite direction of the sixth direction.

[0135] In some embodiments, the second linear guiding structure includes a second slide rail 421 and a second slider 422. The second slide rail 421 is arranged on the hook assembly 2, and the second slide rail 421 extends along the sixth direction. The second slider 422 is arranged on the hook seat 31 and is in sliding fit with the second slide rail 421.

[0136] In some embodiments, the forklift tine component further includes a transmission assembly 5.

[0137] The transmission assembly 5 is arranged on the mounting frame 1, and the transmission assembly 5 is configured to transmit goods along the fourth direction or the fifth direction. Both the hook assembly 2 and the transmission assembly 5 can act on the goods 200 to move the goods 200. In this way, the hook assembly 2 and the transmission assembly 5 can be appropriately configured according to actual needs to achieve a more complex working process and improve the adaptability to the storage and retrieval of goods in different scenarios.

[0138] In some embodiments, the time ranges in which the transmission assembly 5 and the hook assembly 2 act on the goods 200 are configured not to overlap. For example, first the hook assembly 2 pulls the goods, and after pulling a preset displacement, the transmission assembly 5 continues to transmit the goods. Another example is that first the transmission assembly 5 transmits the goods, and after transmitting a preset displacement, the hook assembly 2 pushes the goods. This configuration method can effectively reduce the risk of interference between the transmission assembly 5 and the hook assembly 2.

[0139] In some embodiments, the time ranges in which the transmission component 5 and the hook component 2 act on the goods are configured to at least partially overlap. For example, during at least part of the process of the hook component 2 pulling the goods, the transmission component 5 transports the goods in the same direction. Another example is that during at least part of the process of the transmission component 5 transporting the goods, the hook component 2 pushes the goods in the same direction. This configuration allows the transmission component 5 and the hook component 2 to act on the goods in the same direction, enhancing the driving force on the goods, thus meeting the driving requirements for heavier goods. Correspondingly, it is also easy to realize the connection process in which the transmission component 5 and the hook component 2 act on the goods respectively, which is beneficial to improving efficiency.

[0140] In some embodiments, the transmission component 5 is located on the upper side of the mounting bracket 1 in the vertical direction. The forklift fork component 230 further includes a second driving component 4. The second driving component 4 is drivingly connected to the hook component 2 or the first driving component 3. The second driving component 4 is configured to drive the hook component 2 to move in a sixth direction so that the hook component 2 extends and retracts relative to the transmission surface of the transmission component 5. The transmission component 5 can adopt a structure such as a roller, a belt, or other structures that can achieve transmission. Figure 8 and Figure 9 In, the transmission component 5 adopts two conveyor belts arranged side by side, and the conveyor belts are driven by a driving motor 51. The transmission component 5 located on the upper side of the mounting bracket 1 not only realizes the function of transporting the goods but also serves as a support for the goods, which includes the moving support function formed by the transmission component 5 for the goods when the hook component 2 acts on the goods. The hook component 2 can move in the sixth direction through the second driving component 4 to extend and retract relative to the transmission surface of the transmission component 5. When the hook component 2 extends relative to the transmission surface of the transmission component 5, the hook component 2 can hook or push the goods. When the hook component 2 retracts relative to the transmission surface of the transmission component 5, the goods can run on the transmission surface without interfering with the hook component 2. In addition, the second driving component 4 can cooperate with the first driving component to move the hook component below the transmission surface of the transmission component 5 to adjust the position when it extends.

[0141] In some embodiments, the forklift fork component 230 further includes a bracket 6 and a third driving component 7. The bracket 6 is arranged on the mounting bracket 1. The third driving component 7 is arranged on the bracket 6. The third driving component 7 is drivingly connected to the mounting bracket 1. The third driving component 7 is configured to drive the mounting bracket 1 to move relative to the bracket 6 in a fourth direction. The bracket 6 may include two L-shaped vertical plates 61 and at least one cross plate connecting the two L-shaped vertical plates 61 and located between the two L-shaped vertical plates 61.

[0142] The mounting bracket 1 can be fixedly connected to the bracket 6 (including the case where the two are integrally formed), so that the mounting bracket 1 can move synchronously with the movement of the bracket 6. The mounting bracket 1 can also be detachable relative to the bracket 6, so that the mounting bracket 1 and the structures thereon can be removed from the bracket 6 together, facilitating maintenance and replacement. The mounting bracket 1 can also be movable relative to the bracket 6, so that when the bracket 6 moves, the mounting bracket 1 can be moved to a position at a preset distance from the shelf, avoiding interference between the fork components and the shelf during movement. When goods need to be stored or retrieved, the mounting bracket can be moved to a position adjacent to the shelf, reducing the docking gap and the risk of the goods getting stuck or falling during storage and retrieval.

[0143] In some embodiments, the third drive assembly 7 includes a second lead screw through motor 71.

[0144] The second lead screw through motor 71 has a motor housing fixedly connected to the bracket 6 and a lead screw passing through the motor housing. Both ends of the lead screw are connected to the mounting bracket 1.

[0145] When the second lead screw through motor rotates forward or backward, the lead screw can move axially relative to the motor housing. By fixedly connecting the motor housing of the second lead screw through motor to the cross plate of the bracket 6 and connecting both ends of the lead screw to the mounting bracket 1, when the lead screw moves relative to the motor housing, the mounting bracket 1 is driven to translate on the bracket 6. The moving direction of the lead screw is parallel to the third direction.

[0146] In some embodiments, the third drive assembly 7 further includes a third linear guiding structure.

[0147] The third linear guiding structure is disposed between the bracket 6 and the mounting bracket 1, and is configured to guide the mounting bracket 1 to move relative to the bracket 6 along a fourth direction.

[0148] In some embodiments, the third linear guiding structure includes a third slide rail 721 and a third slider 722. The third slide rail 721 is disposed on the mounting bracket 1 and extends along the fourth direction; the third slider 722 is disposed on the bracket 6 and is in sliding cooperation with the third slide rail 721.

[0149] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: still modifications can be made to the specific embodiments of the present invention or equivalent replacements can be made to some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A goods storage and retrieval system, characterized in that, Comprising: A shelf device, including at least two shelves for storing goods, the at least two shelves including adjacent first shelf (110) and second shelf (120), the first shelf (110) and the second shelf (120) being spaced apart to form an aisle (100) therebetween; At least two loading and unloading devices, including a first loading and unloading device (210) and a second loading and unloading device (220), the loading and unloading device including a fork component (230) disposed between the first shelf (110) and the second shelf (120), the fork component (230) including a loading and unloading mechanism, the loading and unloading device being configured such that: the fork component (230) can move in a first direction to rise or fall in the vertical direction and move in a second direction to move forward or backward in the extending direction of the aisle (100), the loading and unloading mechanism can move in a third direction to move away from the second shelf (120) in a direction close to the first shelf (110) or move away from the first shelf (110) in a direction close to the second shelf (120), and the loading and unloading device can, through the movement of its fork component (230) in the first direction, the movement of its fork component (230) in the second direction, and / or the movement of its loading and unloading mechanism in the third direction, take out goods from any one of the first shelf (110) and the second shelf (120) on both sides of the aisle (100) and deposit the goods on any one of the first shelf (110) and the second shelf (120).

2. The goods access system according to claim 1, characterized in that, It also has a passing state, and the goods storage and retrieval system is configured such that: in the passing state, the fork components of the first loading and unloading device and the fork components of the second loading and unloading device respectively move to positions that are vertically staggered from each other, and when the loading and unloading mechanisms of the first loading and unloading device and the second loading and unloading device respectively move to passing contraction positions on their respective loading and unloading devices in the third direction, the movement of the fork component of the first loading and unloading device in the second direction is not interfered by the second loading and unloading device, and the movement of the fork component of the second loading and unloading device in the second direction is not interfered by the first loading and unloading device.

3. The goods storage and retrieval system according to claim 2, wherein The access device includes two tracks, the two tracks including a first track (310) extending along a first direction and a second track (320) extending along a second direction. One of the first track (310) and the second track (320) is fixed relative to the shelf. The fork component (230) is disposed on the track that is movable relative to the shelf among the first track (310) and the second track (320). The access device further includes a first driving device (330) disposed between the first track (310) and the second track (320), and a second driving device (340) disposed between the fork component (230) and the track where the fork component (230) is located. The first driving device (330) is configured to drive the track that is fixed relative to the shelf among the first track (310) and the second track (320) to move along the track that is fixed relative to the shelf, and the second driving device (340) is configured to drive the fork component (230) to move along the track where the fork component (230) is located.

4. The goods storage and retrieval system according to claim 3, characterized in that, The first access device (210) and the second access device (220) are respectively disposed on the first shelf (110) and the second shelf (120), and one of the first track (310) and the second track (320) is fixedly connected to the shelf.

5. The goods access system according to claim 4, wherein The second track is fixedly connected to the shelf.

6. The goods storage and retrieval system according to claim 3, characterized in that, The second track (320) is an overhead track disposed above the shelf and fixed relative to the shelf.

7. The goods storage and retrieval system according to any one of claims 1 to 6, characterized in that, The first direction is the vertical direction, and the second direction is the horizontal direction.

8. The goods storage and retrieval system according to claim 1, wherein, The fork component (230) includes a mounting bracket (1) and a first driving assembly (3). The access mechanism includes an access component for accessing goods. The access component is movably disposed on the mounting bracket (1); the first driving assembly (3) is drivingly connected to the access component, and the first driving assembly is configured to: drive the access component to move relative to the mounting bracket to take out goods from any one of the first shelf (110) and the second shelf (120) on both sides of the aisle (100) or deposit the goods into any one of the first shelf (110) and the second shelf (120).

9. The goods access system according to claim 8, characterized in that, The access component includes a hook component (2) movably arranged on the mounting bracket (1). The hook component (2) includes a hook body (21). The first driving component (3) is drivingly connected to the hook component (2) and is configured to drive the hook component (2) to move in a fourth direction so as to realize the hooking effect on the goods in the fourth direction through the hook body (21), or drive the hook component (2) to move in a fifth direction so as to realize the pushing effect on the goods in the fifth direction through the hook body (21). Wherein, the access mechanism takes out goods from any one of the first shelf (110) and the second shelf (120) on both sides of the lane (100) and stores the goods on any one of the first shelf (110) and the second shelf (120) through the hooking and pushing effects of the hook body (21) on the goods.

10. The goods storage and retrieval system according to claim 9, characterized in that, The fourth direction is parallel to the fifth direction.

11. The goods storage and retrieval system according to claim 9, characterized in that, The hook component (2) includes a bracket (22) and at least one group of hook bodies connected to the bracket (22). Each group of hook bodies includes a single hook body (21) or a plurality of hook bodies (21) located on the same side of the bracket (22).

12. The goods storage and retrieval system according to claim 11, characterized in that, The at least one group of hook bodies includes a first group of hook bodies and a second group of hook bodies. The first group of hook bodies is located on one side of the bracket (22) away from the second group of hook bodies along the fourth direction, and the second group of hook bodies is located on one side of the bracket (22) away from the first group of hook bodies along the fifth direction. Wherein, the fork component (230) is configured to: Drive the hook component (2) to move in the fourth direction so as to realize the hooking effect on the goods in the fourth direction through the first group of hook bodies, or drive the hook component (2) to move in the fourth direction so as to realize the pushing effect on the goods in the fourth direction through the second group of hook bodies; and / or Drive the hook component (2) to move in the fifth direction so as to realize the pushing effect on the goods in the fifth direction through the first group of hook bodies, or drive the hook component (2) to move in the fifth direction so as to realize the hooking effect on the goods in the fifth direction through the second group of hook bodies.

13. The goods access system according to claim 11, wherein The at least one group of hook bodies includes a single group of hook bodies, and the fork component (230) is configured to: Drive the hook component (2) to move in the fourth direction so as to realize the hooking effect on the goods in the fourth direction through the single group of hook bodies in the first rotation position, or drive the hook component (2) to move in the fourth direction so as to realize the pushing effect on the goods in the fourth direction through the single group of hook bodies in the second rotation position, wherein the single group of hook bodies rotates to switch between the first rotation position and the second rotation position, and the single group of hook bodies in the first rotation position and the single group of hook bodies in the second rotation position are centrosymmetric; and / or, Drive the hook assembly (2) to move along the fifth direction so as to realize the pushing effect on the goods in the fifth direction through the single set of hook bodies in the third rotation position, or drive the hook assembly (2) to move along the fifth direction so as to realize the pulling effect on the goods in the fifth direction through the single set of hook bodies in the fourth rotation position, wherein the single set of hook bodies rotate to switch between the third rotation position and the fourth rotation position, and the single set of hook bodies in the third rotation position and the single set of hook bodies in the fourth rotation position are centrosymmetric.

14. The goods access system according to claim 9, wherein When realizing the pulling effect on the goods, the hook body (21) is configured to enter or leave the pullable part of the goods in a direction intersecting both the fourth direction and the fifth direction.

15. The goods access system according to claim 14, wherein The hook body (21) is configured to enter the pullable part of the goods in the vertically upward direction.

16. The goods access system according to claim 9, characterized in that, The first driving assembly (3) includes: A hook seat (31) connected to the hook assembly (2); A first linear transmission mechanism (32); and A first power element (33) connected to the hook seat (31) through the first linear transmission mechanism (32), and configured to drive the hook seat (31) to move along the fourth direction or the fifth direction through the first linear transmission mechanism (32).

17. The goods access system according to claim 16, characterized in that, The first linear transmission mechanism (32) includes: A transmission pulley set (321) provided on the mounting frame (1) and connected to the first power element (33); and A transmission belt (322) wound around the transmission pulley set (321) and fixedly connected to the hook seat (31).

18. The goods access system according to claim 9, characterized in that, The access mechanism further includes: A second driving assembly (4) drivingly connected to the hook assembly (2) or the first driving assembly (3), and configured to drive the hook assembly (2) to move along the sixth direction; wherein the sixth direction is perpendicular to the fourth direction.

19. The goods access system according to claim 18, characterized in that, The fourth direction is parallel to the horizontal plane, and the sixth direction is parallel to the vertical direction.

20. The goods storage and retrieval system according to claim 18, wherein, The first driving assembly (3) includes a hook seat (31) connected to the hook assembly (2), and the second driving assembly (4) includes: A second power element (41) connected to both the hook seat (31) and the hook assembly (2), and configured to drive the hook assembly (2) to move relative to the hook seat (31).

21. The goods storage and retrieval system according to claim 9, wherein, The fork component (230) further includes: A transmission assembly (5) provided on the mounting frame (1) and configured to transmit goods along the fourth direction or the fifth direction.

22. The goods storage and retrieval system according to claim 21, wherein The time ranges in which the transmission assembly (5) and the hook assembly (2) act on the goods are configured to at least partially overlap.

23. The goods storage and retrieval system according to claim 22, characterized in that, The transmission assembly (5) is located on the upper side of the mounting frame (1) in the vertical direction, and the fork component (230) further includes: A second driving assembly (4) drivingly connected to the hook assembly (2) or the first driving assembly (3), and configured to drive the hook assembly (2) to move along the sixth direction so that the hook assembly (2) extends out of and retracts from the transmission surface of the transmission assembly (5).

24. The goods storage and retrieval system according to claim 8, characterized in that, The fork component (230) further includes: Bracket (6), and the mounting bracket (1) is arranged on the bracket (6). The third driving component (7) is arranged on the bracket (6), is drivingly connected to the mounting bracket (1), and is configured to drive the mounting bracket (1) to move relative to the bracket (6) along the fourth direction.

Images