Arm structure, objective table and intelligent storage equipment

Abstract

The invention discloses an arm structure, an objective table and intelligent storage equipment. The arm structure comprises a first fixing base, a first rocker arm, a second rocker arm, a grabbing piece, a first transmission assembly and a second transmission assembly. The first end of the first rocker arm is rotationally mounted on the first fixed seat; the first end of the second rocker arm is rotationally mounted at the second end of the first rocker arm; the grabbing piece is rotationally installed at the second end of the second rocker arm. The first transmission assembly is installed on the first fixing base and the first rocker arm and is in transmission fit with the second rocker arm. The second transmission assembly is installed on the first rocker arm and the second rocker arm and is in transmission fit with the grabbing piece. Therefore, when the arm structure does not work, the arm structure can be completely overlapped to be parallel to the edge of the objective table, so that the arm structure does not occupy extra area at all; when the arm structure works, the first rocker arm and the second rocker arm form a two-section type deep arm, the compactness and the operation range are both considered, and the arm structure adapts to the high-density storage environment.

Description

Technical Field

[0001] This invention relates to the field of warehousing equipment technology, specifically to an arm structure, a platform, and intelligent warehousing equipment suitable for high-density warehousing scenarios, and is particularly suitable for automated warehousing systems that require compact storage and omnidirectional safety protection. Background Technology

[0002] With the rapid development of e-commerce, logistics, and intelligent manufacturing, the efficient utilization of warehouse space has become crucial for improving operational efficiency. As a core component of modern logistics systems, intelligent warehousing equipment directly impacts warehousing efficiency, operational accuracy, and operating costs. However, numerous technical bottlenecks remain in practical applications, particularly in areas such as space utilization, equipment structural complexity, and operational efficiency.

[0003] Intelligent warehousing systems are gradually changing traditional warehouse management models and are being applied in multiple fields. For example, with the booming development of e-commerce, intelligent warehousing systems have played a crucial role in express delivery sorting and order processing, significantly shortening delivery times. Alternatively, intelligent manufacturing has placed higher demands on the supply chain, and intelligent warehousing systems help manufacturers achieve efficient management of raw materials and finished products.

[0004] In automated warehousing systems, with the widespread application of intelligent handling equipment (such as bin robots, AGVs, and unmanned forklifts), the safety of these devices during operation is receiving increasing attention. Especially during lifting, forward movement, backward movement, and aisle movement, failure to promptly identify obstacles in the surrounding environment can easily lead to collisions, jams, or even equipment damage, impacting the system's stable operation and work efficiency. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides an arm structure, a platform and an intelligent warehousing device to solve at least some of the technical problems mentioned in the background art.

[0006] To achieve the above objectives, a first aspect of the present invention provides an arm structure, the arm structure comprising: First fixed seat, A first rocker arm, the first end of which is rotatably mounted on the first fixed base; The second rocker arm, the first end of which is rotatably mounted on the second end of the first rocker arm; The gripper is rotatably mounted on the second end of the second rocker arm; The first transmission component is mounted on the first fixed base and the first rocker arm, and is in transmission cooperation with the second rocker arm. The second transmission component is installed on the first rocker arm and the second rocker arm, and is in transmission cooperation with the gripper. When the first rocker arm is driven and rotates around the first fixed base, the first transmission component can drive the second rocker arm to rotate around the second end of the first rocker arm, and the rotation direction of the second rocker arm is opposite to the rotation direction of the first rocker arm; and the second transmission component can drive the gripper to rotate around the second end of the second rocker arm, and the rotation direction of the gripper is opposite to the rotation direction of the second rocker arm.

[0007] The specific technical effects of this embodiment are as follows: By driving the first rocker arm to rotate around the first fixed base, the first rocker arm can be extended or retracted within the range of 0° to ±90°, forming a first-stage "foldable telescopic arm". The first transmission component synchronously transmits the rotational motion of the first rocker arm to the second rocker arm, causing the second rocker arm to rotate in the opposite direction relative to the first rocker arm; after the two-stage rocker arms are superimposed in opposite directions, the trajectory of the second end of the second rocker arm tends to extend in a straight line, achieving coverage of the deep storage space. The second transmission component then synchronously transmits the rotational motion of the second rocker arm to the gripping component, causing the gripping component to rotate in the opposite direction relative to the second rocker arm; the two-stage reverse rotation compensates for each other, greatly reducing the orientation change of the gripping component, maintaining a relatively stable gripping direction during the unfolding process, without the need for an additional attitude motor. In this way, when the arm structure is not working, the arm structure can be completely folded to be parallel to the edge of the platform, so that the arm structure does not occupy any additional area; when the arm structure is working, the first rocker arm and the second rocker arm form a "two-stage deep arm", taking into account both compactness and operating range, adapting to high-density storage environments.

[0008] Optionally, the first transmission assembly includes a first fixed wheel, a first transmission wheel, and a first transmission belt; the first fixed wheel is fixedly mounted on the first fixed base; the first transmission wheel is rotatably mounted on the second end of the first rocker arm and fixedly connected to the second rocker arm; the two ends of the first transmission belt are respectively wound around the first fixed wheel and the first transmission wheel.

[0009] The specific technical effects of this embodiment are as follows: the first fixed base itself does not rotate and serves as a "ground reference system" to provide a fixed-length circumferential reference for the first transmission belt; the first transmission wheel serves as the "rotation input end" of the second rocker arm; when the first rocker arm rotates around the first fixed base, the first fixed wheel forces the transmission belt to generate a relative displacement between the fixed wheel and the first transmission wheel. According to "linear velocity v = angular velocity ω × radius r", the first transmission wheel and the second rocker arm are driven to rotate in the opposite direction to the first rocker arm, ensuring transmission synchronization and forming "differential coupling".

[0010] Optionally, the length of the first rocker arm is equal to the length of the second rocker arm; the diameter of the first fixed wheel is twice the diameter of the first transmission wheel.

[0011] The specific technical effect of this embodiment is as follows: the diameter of the first fixed wheel is twice the diameter of the first transmission wheel to form a speed ratio relationship, so that the rotation angle of the second rocker arm is twice that of the first rocker arm. Combined with the fact that the lengths of the first and second rocker arms are equal, they form an isosceles triangular linkage mechanism, ensuring that the second end of the second rocker arm moves in a straight line and avoiding trajectory deviation.

[0012] Optionally, the first transmission assembly further includes a first rotating shaft, which is rotatably mounted on the second end of the first rocker arm, and the first rotating shaft is coaxially arranged and fixedly connected to the first transmission wheel, and the first rotating shaft is fixedly connected to the first end of the second rocker arm.

[0013] The specific technical advantages of this embodiment are as follows: the first rotating shaft connects both the first transmission wheel and the second rocker arm, forming a rigid transmission. When the transmission belt drives the first transmission wheel to rotate, the rotating shaft directly transmits the torque to the second rocker arm without elastic deformation, ensuring precise synchronization of the rotation angle and avoiding operational deviations caused by transmission lag.

[0014] Optionally, the arm structure further includes a second fixed seat and a bearing component; the second fixed seat is fixedly connected to the first rocker arm and partially encloses the second end of the first rocker arm; the first rotating shaft is rotatably mounted on the second fixed seat through the bearing component; the first transmission wheel is located inside the second fixed seat; and the second transmission assembly is at least partially mounted on the second fixed seat.

[0015] The specific technical effects of this embodiment are as follows: the second fixed seat partially encloses the second end of the first rocker arm, forming a semi-enclosed cavity, protecting the first transmission wheel and bearing from dust and debris. The bearing is mounted via the second fixed seat, improving the overall structural rigidity, preventing cantilever structure deformation, reducing maintenance frequency, and extending equipment lifespan.

[0016] Optionally, the second transmission assembly includes a second fixed wheel, a second transmission wheel, and a second transmission belt; the second fixed wheel is fixedly installed on the second end of the first rocker arm; the second transmission wheel is rotatably installed on the second end of the second rocker arm and fixedly connected to the gripping member; the two ends of the second transmission belt are respectively wound around the second fixed wheel and the second transmission wheel.

[0017] The specific technical effect of this embodiment is as follows: the second fixed wheel serves as a "reference wheel" and does not rotate with the second rocker arm. The second transmission wheel serves as the "rotation input end" of the gripper. When the second rocker arm rotates relative to the first rocker arm, the second fixed wheel forces the transmission belt to wind in the opposite direction on the second transmission wheel, giving the gripper an additional rotation angle opposite to the direction of the second rocker arm. This reverse rotation angle partially offsets the swing of the second rocker arm, significantly reducing or even eliminating the actual rotation angle of the gripper, thus ensuring a stable gripping posture.

[0018] Optionally, the ratio of the diameter of the second transmission wheel to the diameter of the second fixed wheel is A, and the ratio of the diameter of the first fixed wheel to the diameter of the first transmission wheel is B, where A=B.

[0019] The specific technical effects of this embodiment are as follows: the two-stage transmission speed ratios are strictly matched to ensure that the rotation angle of the gripper is equal in magnitude and opposite in direction to the rotation angle of the second rocker arm, accurately offsetting the swaying effect of the rotation angle of the second rocker arm, achieving zero attitude deviation, that is, the orientation of the gripper always remains unchanged, eliminating the need for an additional attitude adjustment motor, simplifying the structure and reducing energy consumption.

[0020] Optionally, the second transmission assembly further includes a second rotating shaft, which is rotatably mounted on the second end of the second rocker arm, and is coaxially arranged and fixedly connected to the second transmission wheel, and is fixedly connected to the gripping member.

[0021] The specific technical advantages of this embodiment are as follows: the second rotating shaft connects both the second transmission wheel and the gripping component, forming a rigid transmission. When the second transmission wheel rotates, the rotating shaft directly drives the gripping component to rotate without any backlash, ensuring posture locking accuracy and avoiding the risk of the goods falling due to posture deviation during the gripping process.

[0022] Optionally, the arm structure further includes a tensioning mechanism; the tensioning mechanism is disposed on the first rocker arm and abuts against the first transmission belt to tension the first transmission belt. The tensioning mechanism includes a tensioning seat, an adjusting screw, and a rotating wheel; the first rocker arm has a waist-shaped groove, the adjusting screw passes through the waist-shaped groove and is threadedly connected to the tensioning seat, and the rotating wheel is rotatably mounted on the tensioning seat and abuts against the first transmission belt.

[0023] The specific technical effect of this embodiment is as follows: turning the adjusting screw can drive the tensioning seat and the rotating wheel to move along the waist-shaped groove, thereby adjusting the pressure of the rotating wheel on the first transmission belt, ensuring that the transmission belt is always in a taut state, avoiding angular errors caused by the loosening of the transmission belt, and maintaining transmission accuracy.

[0024] A second aspect of the present invention provides a stage, the stage comprising a body and an arm structure as described above; the arm structure is fixedly mounted to the body via a first fixing seat and has a folded state and an unfolded state; when the arm structure is in the folded state, both the first rocker arm and the second rocker arm are parallel to the edge of the body and conform to the side of the body, and are completely retracted within the outline of the body; when the arm structure is in the unfolded state, at least a portion of the first rocker arm extends out of the body, and at least a portion of the second rocker arm extends out of the body.

[0025] Optionally, the platform further includes a picking motor and a picking unit; the picking unit is movably mounted on the main body via a slider rail structure; the first fixed base is mounted on the picking unit; the picking motor is used to drive the picking unit to move along the orientation direction of the gripper.

[0026] The specific technical advantages of this embodiment are as follows: the arm structure is fixed to the platform body via the first fixed seat. When folded, the two rocker arms are parallel to the edge of the body, achieving complete storage without encroaching on aisle space. When unfolded, the two rocker arms extend sequentially, providing double-stage coverage of the double-depth rack, balancing compactness and operating range. Simultaneously, the picking section itself can also move along the picking direction, thus forming a multi-stage extension that fully meets the needs of warehousing and picking.

[0027] A third aspect of the present invention provides an intelligent warehousing device, the intelligent warehousing device comprising a lateral moving device, a vertical moving device, and a platform as described above; the platform is mounted on the vertical moving device, and the vertical moving device is mounted on the lateral moving device.

[0028] The specific technical advantages of this embodiment are as follows: the lateral moving device drives the entire vertical device to move horizontally; the vertical moving device drives the platform to rise and fall; the arm structure is integrated into the platform, forming a three-dimensional integrated motion chain. The lateral movement, rising and falling, and picking-up actions are coordinated by a single control logic, and the end position error depends only on the superposition of two levels of linear motion. There are no intermediate docking links, the structure is extremely simple, and the reliability is high.

[0029] Optionally, the intelligent warehousing equipment further includes a control system and a forward camera, a backward camera, an upward camera, a downward camera, a left camera, and a right camera mounted on the platform; when any one of the forward camera, backward camera, upward camera, downward camera, left camera, and right camera detects an obstacle in its respective direction, the control system controls the platform to stop moving.

[0030] Specifically, the upward, forward, and backward cameras are mounted on the top of the platform body; the left, right, and downward cameras are mounted on the bottom of the platform body; the forward camera is defined as the direction closest to the shelf and is used to detect obstacles that have not reached a specified depth when the equipment moves forward; the backward camera is used to detect obstacles during the equipment's backward movement; the left and right cameras are used to detect obstacles on the left and right sides when the aisle moves; the upward camera is used to detect obstacles above the platform during its ascent; and the downward camera is used to detect obstacles below the platform during its descent.

[0031] The specific technical effects of this implementation are as follows: the six cameras move with the platform to form a "six-sided real-time surround view" with no blind spots; if any camera detects an obstacle, it immediately sends an "emergency stop" signal to the control system, and the entire platform (including the arm, vertical movement, and horizontal movement) brakes instantly to avoid collision; the six-way visual redundancy design means that even if a single camera fails, the other directions can still fill the gap, improving the overall safety margin; the cameras are directly mounted on the platform, and the field of view always coincides with the current working path, eliminating the need to place a large number of additional sensors on the side of the shelf, reducing system complexity and modification costs.

[0032] The intelligent warehousing equipment also includes a displacement sensor for accurately detecting the depth and deviation distance of the material bin, improving the picking and placing accuracy of the arm structure, and being compatible with material bin depth errors; after the displacement sensor measures the distance from the material bin, the control system controls the walking distance of the arm structure based on the distance. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of an intelligent warehousing device according to the present invention; Figure 2 For the present invention Figure 1 A magnified view of point A in the image; Figure 3 For the present invention Figure 1 A magnified view of point B in the image; Figure 4 This is a schematic diagram of the overall structure of an intelligent warehousing device according to the present invention from the back. Figure 5 For the present invention Figure 1 A magnified view of point C in the image; Figure 6 For the present invention Figure 1 A magnified view of point D in the image; Figure 7 This is a schematic diagram of the overall structure of a stage according to the present invention; Figure 8 This is a schematic diagram of the cooperation between a platform and a track component according to the present invention; Figure 9 This is a schematic diagram of the overall structure of a stage according to the present invention. Figure 1 ; Figure 10 This is a schematic diagram of the overall structure of a stage according to the present invention. Figure 2 ; Figure 11 This is a schematic diagram of the overall structure of a stage according to the present invention. Figure 3 .

[0034] The attached figures are labeled as follows: 1. Lateral moving device; 2. Vertical moving device; 3. Platform; 10. Active track; 11. First driven track; 12. First driven mechanism; 14. Drive frame; 13. Lateral motor; 15. Drive wheel; 16. First driven frame; 17. First driven wheel; 18. Second driven track; 19. Second driven mechanism; 20. Vertical drive mechanism; 21. Lifting mechanism; 22. Crossbeam; 23. Track component; 24. Mounting platform; 210. Synchronous pulley; 211. Synchronous belt; 212. First slider; 241. Front mounting plate; 242. Rear mounting plate; 243. Side mounting plate; 231. First side; 232. Second side; 233. Third side; 213. First stabilizing wheel; 214. Second stabilizing wheel. ; 215. Auxiliary wheel; 31. Arm structure; 310. First fixed seat; 311. First rocker arm; 312. Second rocker arm; 313. Gripping component; 314. First fixed wheel; 315. First transmission wheel; 316. First transmission belt; 317. First rotating shaft; 318. Gripping motor; 319. Tensioning mechanism; 390. Second fixed seat; 391. Second fixed wheel; 392. Second transmission wheel; 393. Second transmission belt; 32. Body; 33. Picking part; 394. Tensioning seat; 395. Adjusting screw; 396. Rotating wheel; 397. Second rotating shaft. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figure 1 and Figure 4The illustrated intelligent warehousing equipment includes a horizontal moving device 1, a vertical moving device 2, and a platform 3. The platform 3 is mounted on the vertical moving device 2, which in turn is mounted on the horizontal moving device 1. The horizontal moving device 1 drives the entire vertical device to move horizontally; the vertical moving device 2 drives the platform 3 to move up and down. An arm structure 31 is integrated into the platform 3, forming a three-dimensional integrated motion chain. The horizontal movement, lifting, and picking actions are coordinated by a single control logic, and the end-position error depends only on the superposition of two linear movements. There are no intermediate docking links, resulting in a minimalist structure and high reliability.

[0037] The lateral movement device 1 includes an active track 10, a lateral drive mechanism, a first driven track 11, and a first driven mechanism 12. When retrieving goods laterally between ultra-high-density racks, if multiple motors are used to drive multiple tracks separately, motor synchronization becomes difficult, and even slight speed differences can cause the retrieving device to twist, jam, or even become stuck. Therefore, as... Figure 1 , Figure 4 and Figure 6 As shown, the lateral drive mechanism includes a drive frame 14 and a lateral motor 13 and a drive wheel 15 mounted on the drive frame 14. The drive frame 14 is fixedly connected to the picking device. The lateral motor 13 drives the drive wheel 15 to roll along the active track 10. The first driven track 11 is parallel to the active track 10. The first driven mechanism 12 includes a first driven frame 16 and a first driven wheel 17 mounted on the first driven frame 16. The first driven frame 16 is fixedly connected to the picking device. The first driven wheel 17 and the first driven track 11 roll in cooperation. In this embodiment, only one "active track 10" is retained as the power source. The lateral motor 13 and the drive wheel 15 are all integrated on the "drive frame 14". The drive frame 14 is rigidly connected to the picking device, forming a single-point traction. The remaining load is supported by pure rolling through the "first driven track 11 + first driven wheel 17" and does not bear the driving task. As a result, the speed of all wheels is naturally consistent, completely eliminating the problem of multi-motor synchronization. At the same time, the driven mechanism has no motor, greatly simplifying the structure. During maintenance, only one power chain needs to be focused on, reducing the number of failure points. This structural design not only provides a stable support foundation for the drive wheel 15, but also ensures its guiding accuracy and smooth operation during movement. By reasonably matching the contact surface shape and material properties between the drive wheel 15 and the cross rail, friction and wear resistance can be effectively improved, slippage can be prevented, and the transmission efficiency and service life of the system can be further enhanced.

[0038] like Figure 1 and Figure 4As shown, as an optional implementation, the lateral movement device 1 further includes a second driven track 18 and a second driven mechanism 19. The second driven track 18 is parallel to the active track 10; the second driven mechanism 19 includes a second driven frame and a second driven wheel mounted on the second driven frame, the second driven frame being fixedly connected to the picking device; the second driven wheel and the second driven track 18 are in rolling cooperation; wherein, the second driven track 18 and the first driven track 11 are located on both sides of the active track 10 respectively. In this embodiment, a "second driven track 18" is added to each side of the active track 10, forming a "three-track side-by-side" layout: the active track outputs power in the center, and the first driven track 11 and the second driven track 18 symmetrically share the load. The weight of the picking device is evenly distributed among the three tracks, significantly reducing the bending moment; any lateral inertial force is counteracted by the driven wheels on both sides, maintaining the overall posture horizontal. The three tracks share a single drive, which avoids the problem of multi-motor synchronization and achieves stability similar to a "gantry" through geometric symmetry, resulting in higher space utilization. In this lateral movement device 1, the active track 10 is driven by a lateral motor 13. Drive wheels 15 roll along the active track 10, causing the drive frame 14 and the picking device to move laterally. The first driven wheel 17 rolls along the first driven track 11, and the second driven wheel rolls along the second driven track 18, providing only support and not participating in the driving function. The three tracks are arranged in parallel, with the active track in the center and the driven tracks symmetrically distributed on both sides, ensuring balanced force distribution during the lateral movement of the picking device and eliminating the risk of twisting or jamming. Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the vertical moving device 2 includes a vertical drive mechanism 20 and two sets of parallel lifting mechanisms 21. The two sets of lifting mechanisms 21 are connected by a crossbeam 22. The crossbeam 22 should be positioned to avoid the operating space of the platform 3, for example, it can be positioned at the same height as the shelf platform.

[0039] In multi-tiered shelving systems, the two sets of vertical tracks must be strictly parallel; otherwise, uneven tension on one side of the belt will cause the platform 3 to exhibit a tendency to "twist." Traditionally, the belts are completely enclosed within the profile, making it impossible to see belt wear or whether the belt has slipped off the track. Therefore, if... Figure 3As shown in the figure, the lifting mechanism 21 in the embodiments of the present disclosure includes a track member 23, a mounting table 24, two synchronous pulleys 210, a synchronous belt 211, and a first slider 212. The track member 23 is arranged vertically. The mounting table 24 is at least partially located above the track member 23 and is fixedly connected to the track member 23. One of the two synchronous pulleys 210 is installed at the bottom of the track member 23, and the other of the two synchronous pulleys 210 is installed on the mounting table 24. The synchronous belt 211 is in transmission cooperation with the two synchronous pulleys 210, and one end of the synchronous belt 211 is wound around one of the synchronous pulleys 210, and the other end passes through the inside of the track member 23 and is wound around the other synchronous pulley 210; the first slider 212 is used to connect with the load platform 3; the first slider 212 is slidably installed on the track member 23 and is fixedly connected to the synchronous belt 211.

[0040] Among them, the vertical driving mechanism 20 is used to drive one of the two synchronous pulleys 210 to rotate, so as to drive the load platform 3 to move vertically; the mounting table 24 is provided with a mounting space for accommodating the synchronous pulley 210; the mounting space is communicated with the inside of the track member 23 and has a top opening and a side opening.

[0041] The track member 23 penetrates vertically. The mounting table 24 is fixed at the top and provides a space with a "top opening + side opening", so that the upper half of the belt is exposed. The belt is arranged in a way that "one end is wound around the synchronous pulley 210 at the bottom → passes through the inside of the track → is wound around the synchronous pulley 210 at the top", forming a layout of "half hidden and half visible". When the inspection personnel stand in the roadway, the line of sight can directly sweep across the entire length of the belt along the side opening, and any surface cracks or tooth-shaped angular defects can be immediately detected; during maintenance, there is no need to remove the track end cover, and only need to reach in from the top or side opening to lift the belt for inspection. The maintenance path is simplified to "visible and touchable". The first slider 212 is fixed to the belt, and the slider is guided by the track. Thus, the belt-slider-load platform 3 forms a rigid motion chain; the vertical driving mechanism 20 only needs to drive any one of the synchronous pulleys 210 on one side, and can synchronize the torque to the other side through the linkage shaft, ensuring the same lifting of the double tracks and eliminating the hidden danger of torsion.

[0042] Specifically, the vertical track is in a "U" shape or a C shape or a C-like shape, and the openings of the track are arranged opposite to each other, and a part of the synchronous belt 211 is located inside the track profile.

[0043] The vertical drive mechanism 20 drives the synchronous pulley 210 at the bottom of the lifting mechanism 21 to rotate, and the synchronous pulley 210 drives the synchronous belt 211 to circulate. The first stabilizing pulley 213 and the second stabilizing pulley 214 on the platform 3, which is fixed to the synchronous belt 211, slide vertically on the third side 233, thereby driving the platform 3 to rise and fall. The top and side openings of the mounting platform 24 facilitate observation of the status of the synchronous belt 211, and the L-shaped side mounting plate 243 facilitates maintenance of the synchronous pulley 210 and bearings. The two sets of lifting mechanisms 21 are connected by a crossbeam 22 to ensure synchronous lifting and prevent the platform 3 from tilting. If the mounting platform 24 adopts a closed box, the internal synchronous pulley 210, bearings, and tensioning components are all buried deep inside, and the entire platform must be disassembled when replacing the bearings. Therefore, if Figure 3 As shown, in one optional implementation, the mounting platform 24 includes a front mounting plate 241, a rear mounting plate 242, and two side mounting plates 243. The front mounting plate 241, side mounting plates 243, rear mounting plate 242, and side mounting plates 243 are connected sequentially and enclose to form an installation space; wherein, the side mounting plates 243 are L-shaped. The four plates, front, rear, left, and right, form a "U"-shaped installation space, with the left and right side plates being L-shaped, the short side of the L-shape resting on the top of the track, and the long side extending downwards. This forms a "semi-open drawer": by loosening a few screws, the L-shaped side plates along with the tensioning assembly can be pulled out as a whole; the synchronous pulley 210, bearings, and detection plates are all exposed in the open space, allowing for component-level maintenance without disassembling the track. The short side of the L-shape also serves as the frame of the top opening, and the belt is still constrained by the short side after it passes through, preventing instability due to the open structure.

[0044] like Figure 3 As shown, the track component 23 has a first side 231, a second side 232, and a third side 233; the first side 231 and the third side 233 are arranged opposite to each other, and the second side 232 is connected between the first side 231 and the third side 233; wherein, the first side 231, the second side 232, and the third side 233 are all arranged vertically, and the first side 231 and the third side 233 are arranged parallel to each other, and the second side 232 is perpendicular to the first side 231 and the third side 233. The normal direction of the first side 231 is the front-back direction, that is, the direction of the goods entering and exiting the platform 3, and the normal direction of the second side 232 is the left-right direction.

[0045] like Figure 7 and Figure 8 As shown, the platform 3 is mounted on the track 23 in a manner that allows it to move along the track 23; the platform 3 includes a first stabilizing wheel 213 and a second stabilizing wheel 214; the first stabilizing wheel 213 rolls with the first side 231 and has a gap between it and the third side 233; the second stabilizing wheel 214 rolls with the third side 233 and has a gap between it and the first side 231.

[0046] When unavoidable manufacturing or installation deviations occur in the track, the loading platform may tend to slip laterally due to uneven force on both sides. This solution addresses this by using a first stabilizing wheel 213 that maintains rolling contact with the first side 231 while retaining a non-contact gap with the third side 233, and then superimposing a cross-layout of a second stabilizing wheel 214 that maintains rolling contact with the third side 233 while retaining a non-contact gap with the first side 231. This forms a chain of opposing rolling constraints. When the loading platform shifts to the left, the second stabilizing wheel 214 immediately generates rolling resistance with the third side 233, preventing further leftward movement. When shifting to the right, the first stabilizing wheel 213 immediately generates opposing rolling resistance with the first side 231, preventing rightward movement. The existence of gaps on both sides ensures that the two wheels will never be simultaneously jammed, thus transforming "rigid jamming" into "flexible alignment," achieving continuous adaptive stability. Furthermore, both the first stabilizing wheel 213 and the second stabilizing wheel 214 are located inside the track component 23, without utilizing any additional space.

[0047] During sudden stops or sudden load changes, the swing amplitude of the loading platform may briefly exceed the clearance reserved by the stabilizing wheels. Therefore, as an optional implementation, the loading platform 3 also includes an auxiliary wheel 215; the auxiliary wheel 215 is located between the first stabilizing wheel 213 and the second stabilizing wheel 214, and its rolling direction is consistent with that of the first stabilizing wheel 213 and the second stabilizing wheel 214; wherein, the clearance between the auxiliary wheel 215 and the third side 233 is smaller than the clearance between the first stabilizing wheel 213 and the third side 233. Of course, in other implementations, the clearance between the auxiliary wheel 215 and the first side 231 can also be smaller than the clearance between the second stabilizing wheel 214 and the first side 231. The auxiliary wheel 215 is deliberately positioned between the first stabilizing wheel 213 and the second stabilizing wheel 214, and its clearance is even smaller, forming a three-level progressive limiting mechanism. Under normal operating conditions, the auxiliary wheel 215 is in a "standby" state and does not contact any side to avoid additional friction. Once the swing amplitude exceeds the gap of the stabilizing wheel, the auxiliary wheel 215 immediately rolls in to lock the swing range within a narrower range. Since the rolling direction of the auxiliary wheel 215 is completely consistent with that of the stabilizing wheel, the intervention process does not generate shear force. It only converts kinetic energy into controllable rolling resistance through rolling contact, thereby achieving secondary limiting without increasing wear.

[0048] After prolonged use, wear or temperature changes can alter the theoretical clearance of the track. Therefore, as an optional implementation, an auxiliary wheel 215 is movably mounted on the platform 3 along a direction perpendicular to the first side 231. This embodiment, by movably mounting the auxiliary wheel 215 along a direction perpendicular to the first side 231, enables the auxiliary wheel 215 to have a "clearance redistribution" capability. Specifically, when wear on one side of the track causes an increase in clearance, the auxiliary wheel 215 can be pushed towards the worn side to reduce the effective clearance; when temperature rises causing track expansion, the auxiliary wheel 215 can be retracted to avoid interference jamming. This unidirectional degree-of-freedom design retains the limiting function of the auxiliary wheel 215 while transforming "irreversible structural deformation" into "reversible position compensation," ensuring the stable system always maintains the intended equilibrium state.

[0049] As an optional implementation, the intelligent warehousing equipment also includes a control system and a forward camera, a backward camera, an upward camera, a downward camera, a left camera, and a right camera mounted on the platform 3; when any of the forward camera, backward camera, upward camera, downward camera, left camera, and right camera detects an obstacle in its respective direction, the control system controls the platform 3 to stop moving.

[0050] The specific technical effects of this implementation are as follows: Six cameras (front, rear, top, bottom, left, and right) are arranged on the platform 3 to form a "six-sided real-time surround view"; once any camera detects an obstacle, it immediately sends an "emergency stop" signal to the control system, and the entire platform 3 (including the arm, vertical movement, and horizontal movement) brakes instantly to avoid collision; the six-way visual redundancy design means that even if a single camera fails, the other directions can still fill the gap, improving the overall safety margin; the cameras are directly mounted on the platform 3 and move with the platform 3, and the field of view always overlaps with the current work path, eliminating the need to arrange a large number of additional sensors on the side of the shelf, reducing system complexity and modification costs.

[0051] Specifically, the upward, forward, and backward cameras are mounted on the top of the platform 3 body 32; the left, right, and downward cameras are mounted on the bottom of the platform 3 body 32. The upward motor detects obstacles above the platform 3 during its ascent. When an abnormal object is detected, the control system automatically issues a deceleration or emergency stop command to prevent collisions. The forward camera (defined as the direction closest to the shelf): If a hopper or other obstacle is detected before reaching the designated depth during the equipment's forward movement, the system will trigger an alarm and execute an emergency stop or prompt for manual intervention. The backward camera detects obstacles during the equipment's backward movement. Similarly, if an abnormal object is detected before reaching the target position, the system will also trigger an alarm and take emergency stop or manual intervention measures. The left and right cameras detect obstacles on the left and right sides during aisle movement, ensuring safe operation of the equipment in confined spaces. The downward camera monitors for obstacles below in real time during descent to avoid collisions.

[0052] As an optional implementation, the intelligent warehousing equipment also includes displacement sensors to accurately detect the depth of the bins and measure the bin deviation distance, thereby improving the picking and placing accuracy of the arm structure 31 and enabling it to accommodate bin depth errors. The displacement sensors measure the distance from the bins, and then control the distance traveled by the arm structure 31.

[0053] like Figure 7 As shown, the stage 3 includes a body 32 and an arm structure 31; the arm structure 31 is fixedly installed on the body 32 by a first fixing seat 310 and has a folded state and an unfolded state; when the arm structure 31 is in the folded state, the first rocker arm 311 and the second rocker arm 312 are both parallel to the edge of the body 32; when the arm structure 31 is in the unfolded state, at least a portion of the first rocker arm 311 extends out of the body 32, and at least a portion of the second rocker arm 312 extends out of the body 32.

[0054] like Figure 7 As shown, in one optional implementation, the platform 3 further includes a picking motor and a picking unit 33; the picking unit 33 is movably mounted on the main body 32 via a slider rail structure; a first fixing seat 310 is mounted on the picking unit 33; the picking motor is used to drive the picking unit 33 to move along the orientation direction of the gripper 313. The specific technical advantages of this implementation are: the arm structure 31 is fixed to the main body 32 of the platform 3 via the first fixing seat 310; when folded, the two rocker arms are parallel to the edge of the main body 32, achieving complete storage without encroaching on aisle space. When unfolded, the two rocker arms extend sequentially, providing double-stage extension to cover the double-depth shelving, balancing compactness and operating range; simultaneously, the picking unit 33 itself can also move along the picking direction, thus forming a multi-stage extension, fully meeting the needs of warehouse picking.

[0055] In this way, after receiving the picking signal from the control system, the platform 3 rises or falls to the preset position under the drive of the vertical moving device 2. The picking part 33 on the platform 3 picks up the goods under the drive of the picking motor and the gripping motor 318 mentioned below. The goods are carried to the platform 3 and then moved down to connect with the transfer AGV trolley under the drive of the transmission mechanism, and the goods are placed on the AGV trolley; or it can move up or down / or left / right under the drive of the horizontal moving device 1 and the vertical moving device 2, so as to realize the picking and placing of goods between different positions on the shelf.

[0056] After receiving a signal from the control system, the platform 3 rises or falls to the docking position with the transfer AGV trolley under the drive of the vertical moving device 2. After the goods are taken from the transfer AGV trolley, they are placed on the platform 3. Then, under the drive of the vertical moving device 2, they move up or down to the shelf. Similarly, the goods can be transferred at different positions on the shelf.

[0057] like Figure 9 , Figure 10 and Figure 11As shown, the arm structure 31 includes a first fixed base 310, a first rocker arm 311, a second rocker arm 312, a gripping member 313, a first transmission assembly, and a second transmission assembly. The first end of the first rocker arm 311 is rotatably mounted on the first fixed base 310; the first end of the second rocker arm 312 is rotatably mounted on the second end of the first rocker arm 311; the gripper 313 is rotatably mounted on the second end of the second rocker arm 312; the first transmission assembly is mounted on the first fixed base 310 and the first rocker arm 311, and is in transmission cooperation with the second rocker arm 312; the second transmission assembly is mounted on the first rocker arm 311 and the second rocker arm 312, and is in transmission cooperation with the gripper 313; wherein, when the first rocker arm 311 is driven and rotates around the first fixed base 310, the first transmission assembly can drive the second rocker arm 312 to rotate around the second end of the first rocker arm 311, and the rotation direction of the second rocker arm 312 is opposite to the rotation direction of the first rocker arm 311; and the second transmission assembly can drive the gripper 313 to rotate around the second end of the second rocker arm 312, and the rotation direction of the gripper 313 is opposite to the rotation direction of the second rocker arm 312. By driving the first rocker arm 311 to rotate around the first fixed base 310, the first rocker arm 311 can be extended or retracted within the range of 0° to ±90°, forming a first-stage "foldable telescopic arm". The first transmission assembly synchronously transmits the rotational motion of the first rocker arm 311 to the second rocker arm 312, and causes the second rocker arm 312 to rotate in the opposite direction relative to the first rocker arm 311; after the two stages of rocker arms are superimposed in opposite directions, the trajectory of the second end of the second rocker arm 312 tends to extend in a straight line, achieving coverage of the deep cargo space. The second transmission assembly then synchronously transmits the rotational motion of the second rocker arm 312 to the gripping member 313, and causes the gripping member 313 to rotate in the opposite direction relative to the second rocker arm 312; the two stages of opposite rotation compensate for each other, greatly reducing the orientation change of the gripping member 313, maintaining a relatively stable gripping direction during the unfolding process, without the need for an additional attitude motor. In this way, when the arm structure 31 is not in operation, the arm structure 31 can be completely stacked parallel to the edge of the platform 3, so that the arm structure 31 does not occupy any extra area. When the arm structure 31 is in operation, the first rocker arm 311 and the second rocker arm 312 form a "two-stage deep arm", which takes into account both compactness and operating range, and adapts to high-density storage environment.

[0058] It should be noted that the arm structure 31 in this embodiment includes, but is not limited to, the first rocker arm 311 and the second rocker arm 312, and may also include a third rocker arm, a fourth rocker arm, a fifth rocker arm, a sixth rocker arm, etc. The transmission relationship between the third rocker arm, the fourth rocker arm, the fifth rocker arm, and the sixth rocker arm can be referred to as the transmission relationship between the first rocker arm 311 and the second rocker arm 312. The gripping member 313 only needs to be installed on the rocker arm at the very end of the transmission. It can be understood that when the gripping member 313 is installed on the rocker arm at the very end of the transmission, it is equivalent to the gripping member 313 being installed on the second end of the second rocker arm 312.

[0059] As an optional implementation, the arm structure 31 also includes a gripping motor 318 for driving the first rocker arm 311 to rotate.

[0060] As an optional implementation, the first transmission assembly includes a first fixed wheel 314, a first transmission wheel 315, and a first transmission belt 316. The first fixed wheel 314 is fixedly mounted on a first fixed base 310. The first transmission wheel 315 is rotatably mounted on the second end of a first rocker arm 311 and fixedly connected to a second rocker arm 312. The two ends of the first transmission belt 316 are respectively wound around the first fixed wheel 314 and the first transmission wheel 315. The first fixed wheel 314 is fixed to the first fixed base 310 and does not rotate itself, serving as a "ground reference frame" to provide a fixed-length circumferential reference for the first transmission belt 316. The first transmission wheel 315 is rotatably mounted on the second end of the first rocker arm 311 and fixedly connected to the second rocker arm 312, becoming the "rotation input end" of the second rocker arm 312. The first transmission belt 316 is wound in a closed loop between the two wheels, forming a "differential coupling": when the first rocker arm 311 rotates around the first fixed seat 310, the first fixed wheel 314 forces the transmission belt to generate a relative displacement between the fixed wheel and the transmission wheel, thereby driving the first transmission wheel 315 (i.e. the second rocker arm 312) to rotate in the opposite direction to the first rocker arm 311.

[0061] It should be noted that the first fixed wheel 314 can be fixedly installed on the first rocker arm 311, or the first fixed wheel 314 can be part of the first rocker arm 311, that is, the first fixed wheel 314 and the first rocker arm 311 are integrally formed.

[0062] As an optional implementation, the lengths of the first rocker arm 311 and the second rocker arm 312 are equal; the diameter of the first fixed wheel 314 is twice the diameter of the first transmission wheel 315. The diameter of the first fixed wheel 314 being twice the diameter of the first transmission wheel 315 creates a speed ratio, ensuring that the rotation angle of the second rocker arm 312 is twice that of the first rocker arm 311. Combining the equal lengths of the first rocker arm 311 and the second rocker arm 312, an isosceles triangular linkage mechanism is formed, ensuring that the second end of the second rocker arm 312 moves in a straight line and avoiding trajectory deviation.

[0063] It should be noted that the length of the first rocker arm 311 refers to the horizontal distance between the centers of the first fixed wheel 314 and the first transmission wheel 315, and the length of the second rocker arm 312 refers to the horizontal distance between the centers of the second fixed wheel 391 and the second transmission wheel 392.

[0064] As an optional implementation, the first transmission assembly further includes a first rotating shaft 317, which is rotatably mounted on the second end of the first rocker arm 311. The first rotating shaft 317 is coaxially arranged and fixedly connected to the first transmission wheel 315, and the first rotating shaft 317 is fixedly connected to the first end of the second rocker arm 312. The first rotating shaft 317 connects both the first transmission wheel 315 and the second rocker arm 312, forming a rigid transmission. When the transmission belt drives the first transmission wheel 315 to rotate, the rotating shaft directly transmits the torque to the second rocker arm 312 without elastic deformation, ensuring precise and synchronized rotation angles.

[0065] As an optional implementation, the arm structure 31 further includes a second fixed base 390 and a bearing component; the second fixed base 390 is fixedly connected to the first rocker arm 311 and partially encloses the second end of the first rocker arm 311; the first rotating shaft 317 is rotatably mounted on the second fixed base 390 via the bearing component; the first transmission wheel 315 is located inside the second fixed base 390; and the second transmission assembly is at least partially mounted on the second fixed base 390. The second fixed base 390 partially encloses the second end of the first rocker arm 311, forming a semi-closed cavity to protect the first transmission wheel 315 and the bearing. The bearing is mounted via the second fixed base 390, which improves rigidity, prevents deformation of the cantilever structure, and reduces maintenance frequency.

[0066] As an optional implementation, the second transmission assembly includes a second fixed wheel 391, a second transmission wheel 392, and a second transmission belt 393. The second fixed wheel 391 is fixedly mounted on the second end of the first rocker arm 311. The second transmission wheel 392 is rotatably mounted on the second end of the second rocker arm 312 and fixedly connected to the gripper 313. The two ends of the second transmission belt 393 are respectively wound around the second fixed wheel 391 and the second transmission wheel 392. The second fixed wheel 391 is fixed to the second end of the first rocker arm 311 and serves as a "reference wheel," not rotating with the second rocker arm 312. The second transmission wheel 392 is mounted on the second end of the second rocker arm 312 and fixedly connected to the gripper 313, becoming the "rotation input end" of the gripper 313. The second transmission belt 393 is wound in a closed loop between the second fixed wheel 391 and the second transmission wheel 392. When the second rocker arm 312 rotates relative to the first rocker arm 311, the fixed wheel forces the transmission belt to wind in the opposite direction on the second transmission wheel 392, thereby giving the gripper 313 an additional rotation angle opposite to that of the second rocker arm 312. This reverse rotation angle partially counteracts the swing of the second rocker arm 312, significantly reducing or even eliminating the actual rotation angle of the gripper 313.

[0067] As an optional implementation, the ratio of the diameter of the second transmission wheel 392 to the diameter of the second fixed wheel 391 is A, and the ratio of the diameters of the first fixed wheel 314 and the first transmission wheel 315 is B, where A=B.

[0068] The specific technical effect of this embodiment is as follows: the diameter ratio A of the second transmission wheel 392 to the second fixed wheel 391 is equal to the diameter ratio B of the first fixed wheel 314 to the first transmission wheel 315. The two-stage transmission speed ratios are strictly matched, ensuring that the rotation angle of the gripper 313 precisely offsets the rotation angle of the second rocker arm 312, achieving zero attitude deviation, that is, the orientation of the gripper 313 remains unchanged. Specifically, the diameter ratio of the second transmission wheel 392 to the second fixed wheel 391 is 2, and the diameter ratio of the first fixed wheel 314 to the first transmission wheel 315 is also 2. As an optional implementation, the second transmission assembly further includes a second rotating shaft 397, which is rotatably mounted on the second end of the second rocker arm 312. The second rotating shaft 397 is coaxially arranged and fixedly connected to the second transmission wheel 392, and is also fixedly connected to the gripper 313. The second rotating shaft 397 connects both the second transmission wheel 392 and the gripper 313, forming a rigid transmission. When the second transmission wheel 392 rotates, the rotating shaft directly drives the gripper 313 to rotate without backlash, ensuring posture locking accuracy.

[0069] like Figure 10 As shown, as an optional embodiment, the arm structure 31 further includes a tensioning mechanism 319. The tensioning mechanism 319 is disposed on the first rocker arm 311 and abuts against the first transmission belt 316 to tension the first transmission belt 316 to maintain a precise angle. The tensioning mechanism 319 includes a tensioning seat 394 and an adjusting screw 395 and a rotating wheel 396 disposed on the tensioning seat 394. The adjusting screw 395 drives the tensioning seat 394 and the rotating wheel 396 on the tensioning seat 394 to move to the right along the waist-shaped groove, thereby pressing the rotating wheel 396 against the first transmission belt 316 and achieving tension of the first transmission belt 316.

[0070] A through slot is provided on the first rocker arm 311. The tensioning seat 394 is a C-shaped connector and is placed on the first rocker arm 311 and passes through the through slot. Specifically, the bottom extension plate of the C-shaped connector passes through the through slot and is fixedly connected to the adjusting plate by screws. The adjusting plate has waist-shaped slots at both ends. The screws fix the two ends of the adjusting plate to the first rocker arm 311 respectively through the waist-shaped slots on both sides of the adjusting plate.

[0071] An adjusting screw 395 is also fixed on the extension plate, which can pull the C-shaped plate to move. When adjusted to the appropriate position, the bottom is fixed. A connecting shaft is provided on the C-shaped plate, and a rotating wheel 396 is connected to the connecting shaft. The first transmission belt 316 passes through the gap between the rotating wheel 396 and the C-shaped plate. The first transmission belt 316 abuts against the rotating wheel 396 when running.

[0072] The working process of intelligent warehousing equipment is as follows: After receiving the picking signal from the control system, the platform 3 rises or falls to the preset cargo height under the drive of the vertical moving device 2. The lateral moving device 1 drives the platform 3 to move to the target aisle, so that the arm structure 31 is aligned with the cargo position; The picking motor drives the picking part 33 to move along the direction of the gripper 313, while the gripping motor 318 drives the first rocker arm 311 to rotate around the first fixed base 310. The first transmission component drives the second rocker arm 312 to rotate synchronously in the opposite direction, and the second transmission component drives the gripper 313 to rotate in the opposite direction to maintain a stable posture. The gripper 313 completes the gripping after contacting the goods. The picking unit 33 moves in the opposite direction, and the first rocker arm 311 rotates in the opposite direction, causing the second rocker arm 312 to fold and store in the main body 32 of the platform 3. The platform 3 transfers goods through the horizontal / vertical moving device 2.

[0073] The loading platform 3 carries the goods to the corresponding horizontal and vertical positions of the target storage location; The picking unit 33 moves and drives the arm structure 31 to unfold, and the gripper 313 places the goods at the target location; The arm structure 31 is folded and stored, and the platform 3 is reset, awaiting the next operation instruction.

[0074] During the movement of the platform 3, six cameras capture images from all directions in real time and transmit them to the control system. When any camera detects an obstacle (such as a protruding shelf or missing goods), the control system immediately cuts off the power to the lateral movement device 1, the vertical movement device 2, and the picking motor, stopping the platform 3 from moving. After the obstacle is cleared, the control system receives the operation command again and resumes equipment operation. Displacement sensors detect the position deviation of the material box in real time and feed it back to the control system, adjusting the extension distance of the arm structure 31 to ensure the accuracy of picking and placing goods.

[0075] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An arm structure, characterized in that: The arm structure includes: First fixed seat (310), The first rocker arm (311) has its first end rotatably mounted on the first fixed base (310); The second rocker arm (312) has its first end rotatably mounted on the second end of the first rocker arm (311); The gripper (313) is rotatably mounted on the second end of the second rocker arm (312); The first transmission component is mounted on the first fixed base (310) and the first rocker arm (311) and is in transmission cooperation with the second rocker arm (312); The second transmission assembly is mounted on the first rocker arm (311) and the second rocker arm (312) and is in transmission cooperation with the gripper (313); When the first rocker arm (311) is driven and rotates around the first fixed base (310), the first transmission component can drive the second rocker arm (312) to rotate around the second end of the first rocker arm (311), and the rotation direction of the second rocker arm (312) is opposite to the rotation direction of the first rocker arm (311); and the second transmission component can drive the gripper (313) to rotate around the second end of the second rocker arm (312), and the rotation direction of the gripper (313) is opposite to the rotation direction of the second rocker arm (312).

2. The arm structure according to claim 1, characterized in that: The first transmission assembly includes a first fixed wheel (314), a first transmission wheel (315), and a first transmission belt (316); the first fixed wheel (314) is fixedly mounted on the first fixed seat (310); the first transmission wheel (315) is rotatably mounted on the second end of the first rocker arm (311) and fixedly connected to the second rocker arm (312); the two ends of the first transmission belt (316) are respectively wound around the first fixed wheel (314) and the first transmission wheel (315).

3. The arm structure according to claim 2, characterized in that: The length of the first rocker arm (311) is equal to the length of the second rocker arm (312); the diameter of the first fixed wheel (314) is twice the diameter of the first transmission wheel (315).

4. The arm structure according to claim 2, characterized in that: The first transmission assembly further includes a first rotating shaft (317), which is rotatably mounted on the second end of the first rocker arm (311), and the first rotating shaft (317) is coaxially arranged and fixedly connected to the first transmission wheel (315), and the first rotating shaft (317) is fixedly connected to the first end of the second rocker arm (312).

5. The arm structure according to claim 2, characterized in that: The arm structure also includes a second fixed seat (390) and a bearing component; the second fixed seat (390) is fixedly connected to the first rocker arm (311) and partially encloses the second end of the first rocker arm (311); the first rotating shaft (317) is rotatably mounted on the second fixed seat (390) through the bearing component; the first transmission wheel (315) is located inside the second fixed seat (390); the second transmission assembly is at least partially mounted on the second fixed seat (390).

6. The arm structure according to claim 2, characterized in that: The second transmission assembly includes a second fixed wheel (391), a second transmission wheel (392), and a second transmission belt (393); the second fixed wheel (391) is fixedly installed on the second end of the first rocker arm (311); the second transmission wheel (392) is rotatably installed on the second end of the second rocker arm (312) and fixedly connected to the gripper (313); the two ends of the second transmission belt (393) are respectively wound around the second fixed wheel (391) and the second transmission wheel (392).

7. The arm structure according to claim 6, characterized in that: The ratio of the diameter of the second transmission wheel (392) to the diameter of the second fixed wheel (391) is A, and the ratio of the diameters of the first fixed wheel (314) and the first transmission wheel (315) is B, where A=B.

8. An arm structure according to claim 6, characterized in that: The second transmission assembly further includes a second rotating shaft (397), which is rotatably mounted on the second end of the second rocker arm (312), and the second rotating shaft (397) is coaxially arranged and fixedly connected with the second transmission wheel (392), and the second rotating shaft (397) is fixedly connected with the gripper (313).

9. An arm structure according to claim 2, characterized in that: The arm structure also includes a tensioning mechanism (319); the tensioning mechanism (319) is disposed on the first rocker arm (311) and abuts against the first transmission belt (316) to tension the first transmission belt (316).

10. A stage, characterized in that, The platform includes a body (32) and an arm structure according to any one of claims 1-9; the arm structure is mounted on the body (32) via the first fixing seat (310) and has a folded state and an unfolded state; when the arm structure is in the folded state, the first rocker arm (311) and the second rocker arm (312) are both parallel to the edge of the body (32); when the arm structure is in the unfolded state, at least a portion of the first rocker arm (311) extends out of the body (32), and at least a portion of the second rocker arm (312) extends out of the body (32).

11. A stage according to claim 10, characterized in that: The platform also includes a picking motor and a picking unit (33); the picking unit (33) is movably mounted on the body (32) via a slider rail structure; the first fixed seat (310) is mounted on the picking unit (33); the picking motor is used to drive the picking unit (33) to move along the orientation direction of the gripper (313).

12. An intelligent warehousing equipment, characterized in that, The intelligent warehousing equipment includes a horizontal moving device (1), a vertical moving device (2), and a platform according to claim 10; the platform is mounted on the vertical moving device (2), and the vertical moving device (2) is mounted on the horizontal moving device (1).

13. The intelligent warehousing equipment according to claim 12, characterized in that: The intelligent warehousing equipment also includes a control system and a forward camera, a backward camera, an upward camera, a downward camera, a left camera, and a right camera mounted on the platform; when any one of the forward camera, backward camera, upward camera, downward camera, left camera, and right camera detects an obstacle in its respective direction, the control system controls the platform to stop moving.

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