Unmanned intelligent storage equipment and control method thereof

Abstract

The invention relates to the technical field of storage equipment, and discloses unmanned intelligent storage equipment and a control method thereof.The unmanned intelligent storage equipment comprises a bottom plate, a left stand column, a right stand column and a lifting rod, the top of the left stand column and the top of the right stand column are each provided with a first driving motor, the top of the lifting rod is provided with a second driving motor, and the left stand column and the right stand column are symmetrically arranged; a left stand column and a right stand column are symmetrically arranged and vertically erected on a bottom plate, a first driving motor is arranged at the top to drive a first threaded rod to rotate, and in cooperation with lifting motion of a first sliding block in an adjusting cavity and linkage of a third rotating shaft, a supporting rod and a second rotating shaft, a bearing plate can be overturned and unfolded around a butt joint base, and the angle and height are adjusted; the limitation of a fixed bearing surface in the prior art is broken through, through expansion of a three-dimensional space, the positions of the bearing plates can be dynamically adjusted according to the size of goods and the layer position of the goods shelf, stacking storage of multiple layers of goods is achieved, the goods containing capacity is effectively increased, and the problem that in the prior art, the single-time goods carrying amount is small is solved.

Description

Technical Field

[0001] This invention relates to the field of warehousing equipment technology, specifically to an unmanned intelligent warehousing equipment and its control method. Background Technology

[0002] Intelligent warehousing equipment refers to a warehousing model that uses advanced technologies and equipment to improve the efficiency of warehousing, sorting, distribution and management. Intelligent warehousing equipment mainly includes: handling vehicles, forklifts, stacker cranes, etc. The load-bearing structure of traditional warehousing equipment in the current technology is mostly fixed, which can only carry goods in a fixed plane. This greatly limits the upper limit of the amount of goods that can be handled in a single operation. At the same time, it is impossible to extend the storage space of goods through three-dimensional expansion. It is difficult to improve warehousing efficiency through multi-layer load-bearing. Often, multiple handling operations are required to complete the transportation of the same amount of goods, which increases the operation time and reduces the overall operating efficiency of the warehousing system. Summary of the Invention

[0003] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an unmanned intelligent warehousing device and its control method, solving the problems mentioned in the background section.

[0004] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: an unmanned intelligent warehousing device, comprising a base plate, a left column, a right column, and a lifting rod, wherein a first drive motor is provided at the top of both the left and right columns, and a second drive motor is provided at the top of the lifting rod; the left and right columns are arranged symmetrically and are respectively vertically erected on the left and right sides of the top of the base plate. The upper and lower parts of the inner side of the left column are provided with first sliding grooves. The inner side of the left column is fixedly connected with two docking seats. The two docking seats are located above the two first sliding grooves respectively. The front of the docking seat is provided with a movable bearing plate. The first drive motor output end is connected to a first threaded rod, the left column is provided with two adjustment chambers, and the first threaded rod vertically passes through the two adjustment chambers of the left column. The outer wall of the first threaded rod is threadedly connected to a first slider. The first slider is fixedly connected to a third rotating shaft on the side near the first sliding groove. The outer wall of the third rotating shaft is provided with a movable support rod. The end of the support rod away from the third rotating shaft is provided with a second rotating shaft, and the second rotating shaft is fixedly connected to the bearing plate. The lifting plate is equipped with a conveying assembly, which includes a conveyor belt, a conveying roller and a motor. The upper surface of the base plate is equipped with a navigation and positioning module, which is located directly in front of the two lifting rods. The left and right columns have the same structure.

[0005] Preferably, the first rotating shaft is fixedly connected to the left and right ends of the bearing plate away from the second rotating shaft. Ball bearings are provided in the docking seat and at both ends of the support rod. The ball bearing in the docking seat is sleeved with the first rotating shaft. The ball bearings at both ends of the support rod are coaxially distributed and are respectively sleeved with the second rotating shaft and the third rotating shaft.

[0006] Preferably, the output end of the second drive motor is connected to a second threaded rod, and the second threaded rod is located inside the lifting rod. A second sliding groove is provided on the inner side of the lifting rod. A second slider is threadedly connected to the outer wall of the second threaded rod. A connecting rod is fixedly connected to the side of the second slider near the second sliding groove. The connecting rod moves up and down along the second sliding groove. A lifting plate is fixedly connected to the end of the connecting rod located outside the lifting rod. The second slider has a rectangular shape, and the outer diameter of the second slider matches the inner diameter of the lifting rod.

[0007] Preferably, the third rotating shaft moves up and down along the first sliding groove, the first slider and the adjusting cavity are both rectangular in shape, and the outer diameter of the first slider matches the inner diameter of the adjusting cavity.

[0008] Preferably, the lifting rod is erected vertically on the top of the base plate and is located at the front end between the left column and the right column.

[0009] Preferably, the upper surface of the bearing plate is provided with an anti-slip pad layer, and a baffle is fixedly connected to the upper surface of the bearing plate, and the baffle is in a straight line with the first rotating shaft.

[0010] Preferably, the support rod is made of high-strength carbon fiber composite material, and the surface of the support rod is coated with a wear-resistant coating.

[0011] A control method for unmanned intelligent warehousing equipment includes the following steps: S1. Position the components in the designated storage area, ensuring that all components are ready for operation. At the same time, ensure that the first and second sliders are in their initial positions, allowing the support plate to be stored vertically downwards. S2. Based on the quantity of goods to be transported, control the operation of the first drive motors at the top of the left and right columns. The output end of the motor drives the first threaded rod to rotate. Since the first slider is threadedly connected to the first threaded rod, and the outer diameter of the first slider matches the inner diameter of the adjustment cavity, when the first threaded rod rotates, the first slider moves up and down linearly along the adjustment cavity. When the first slider moves up and down, it drives the support rod to move synchronously through the third rotating shaft. Since the ball bearings at both ends of the support rod are respectively sleeved on the second and third rotating shafts, and the ball bearings in the docking seat are sleeved on the first rotating shaft of the bearing plate, when the support rod pushes or pulls the bearing plate, it uses the first rotating shaft as the fulcrum to realize the bearing plate flipping and unfolding or storing around the docking seat, completing the angle and position adjustment of the bearing plate to adapt to the loading and unloading height requirements of the goods. S3. After the carrying plate is unfolded, the lifting plate is used to assist in loading and unloading goods. Start the second drive motor at the top of the lifting rod to rotate the second threaded rod. The rotation of the second threaded rod drives the second slider to move up and down along the inside of the lifting rod. When the second slider moves, because one end of the connecting rod is fixed to the second slider and the other end is fixed to the lifting plate, and the connecting rod is located in the second slide groove, it achieves the function of guiding the sliding. While maintaining the stability of the moving position, it also links the lifting plate to lift and lower synchronously, and adjusts the auxiliary position for loading and unloading goods precisely in accordance with the height of the carrying plate. S4. After the goods are placed on the support plate, the anti-slip pad on the support plate prevents the goods from sliding, and the baffle limits and regulates the goods. At the same time, the equipment plans the optimal movement path through the navigation and positioning module and moves along the path to the target shelf area. During this period, the conveyor belt and conveyor roller of the conveying component can work with the motor to assist in the transfer of goods between the lifting plate and the support plate. S5. After the operation is completed, the first drive motor and the second drive motor rotate to return the support plate and the lifting plate to their initial positions. The equipment then navigates back to the storage standby area through the navigation and positioning module, waiting for the next operation instruction.

[0012] (III) Beneficial Effects This invention provides an unmanned intelligent warehousing device and its control method, which has the following beneficial effects: This invention features a left and right upright column arranged symmetrically and vertically on a base plate. A first drive motor at the top drives a first threaded rod to rotate. This, combined with the lifting and lowering movement of a first slider within an adjustment cavity, and the linkage of a third rotating shaft, a support rod, and a second rotating shaft, allows the support plate to rotate and unfold around the docking seat, adjusting its angle and height. This overcomes the limitations of existing technologies with fixed support surfaces. By expanding the three-dimensional space, the position of the support plate can be dynamically adjusted according to the size of the goods and the shelf level, enabling multi-layer stacking of goods, effectively increasing the storage capacity, and solving the problem of small single-handled cargo volume in existing technologies. Attached Figure Description

[0013] Figure 1 This is an overall schematic diagram of the present invention; Figure 2 This is a top view of the present invention; Figure 3 This is a side view of the present invention; Figure 4 This is a partial unfolded schematic diagram of the left column of the present invention; Figure 5 This is a schematic diagram of the left column side view of the present invention; Figure 6 This is a schematic diagram of the first slider structure of the present invention; Figure 7 This is a side view of the lifting rod of the present invention.

[0014] In the diagram: 1. Base plate; 2. Left column; 3. Right column; 4. Lifting rod; 5. First drive motor; 6. Second drive motor; 7. First slide rail; 8. Docking seat; 9. Bearing plate; 10. Second slide rail; 11. Lifting plate; 12. First rotating shaft; 13. Second rotating shaft; 14. Support rod; 15. First threaded rod; 16. First slider; 17. Third rotating shaft; 18. Second threaded rod; 19. Second slider; 20. Connecting rod; 21. Conveying assembly; 22. Navigation and positioning module. Detailed Implementation

[0015] 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.

[0016] like Figure 1-7 As shown, the present invention provides a technical solution: an unmanned intelligent warehousing equipment, including a base plate 1, a left column 2, a right column 3, and a lifting rod 4. The top of the left column 2 and the right column 3 are each provided with a first drive motor 5, and the top of the lifting rod 4 is provided with a second drive motor 6. The left column 2 and the right column 3 are arranged symmetrically and are respectively vertically erected on the left and right sides of the top of the base plate 1. The upper and lower parts of the inner side of the left column 2 are provided with first sliding grooves 7. The inner side of the left column 2 is fixedly connected with docking seats 8. There are two docking seats 8, and the two docking seats 8 are located above the two first sliding grooves 7 respectively. The front of the docking seat 8 is provided with a movable bearing plate 9. The output end of the first drive motor 5 is connected to the first threaded rod 15. The left column 2 has two adjustment chambers inside, and the first threaded rod 15 vertically passes through the two adjustment chambers of the left column 2. The outer wall of the first threaded rod 15 is threadedly connected to the first slider 16. A third rotating shaft 17 is fixedly connected to the side of the first slider 16 near the first sliding groove 7. A movable support rod 14 is provided on the outer wall of the third rotating shaft 17. A second rotating shaft 13 is provided inside the end of the support rod 14 away from the third rotating shaft 17, and the second rotating shaft 13 is fixedly connected to the bearing plate 9. The lifting plate 11 is equipped with a conveying assembly 21, which includes a conveyor belt, a conveying roller and a motor. The upper surface of the base plate 1 is equipped with a navigation and positioning module 22, which is located directly in front of the two lifting rods 4. The left column 2 and the right column 3 have the same structure; By setting up left column 2 and right column 3 symmetrically arranged and vertically erected on the base plate 1, and configuring the first drive motor 5 at the top to drive the first threaded rod 15 to rotate, in conjunction with the lifting and lowering movement of the first slider 16 in the adjustment cavity, and the linkage of the third rotating shaft 17, support rod 14 and second rotating shaft 13, the bearing plate 9 can be flipped and unfolded around the docking seat 8 and its angle and height can be adjusted. This breaks through the limitation of the fixed bearing surface in the prior art. Through the expansion of three-dimensional space, the position of the bearing plate 9 can be dynamically adjusted according to the size of the goods and the shelf level, realizing the stacking and storage of multi-layer goods, effectively increasing the goods placement capacity, and solving the problem of small single handling capacity in the prior art.

[0017] Furthermore, the first rotating shaft 12 is fixedly connected to the ends of the bearing plate 9 on both sides away from the second rotating shaft 13. Ball bearings are provided in the docking seat 8 and at both ends of the support rod 14. The ball bearing in the docking seat 8 is sleeved with the first rotating shaft 12. The ball bearings at both ends of the support rod 14 are coaxially distributed and are respectively sleeved with the second rotating shaft 13 and the third rotating shaft 17. With the help of the low friction characteristics of the ball bearings, the bearing plate 9 can be flexibly rotated and its angle adjusted with the first rotating shaft 12 as the fulcrum. At the same time, the coaxial cooperation between the ball bearings at both ends of the support rod 14 and the rotating shaft ensures the uniform transmission of force during the lifting process, so that the bearing plate 9 remains stable when adjusted at multiple angles, improving the adaptability of the equipment to goods of different heights and the linkage flexibility of the bearing structure.

[0018] Furthermore, the output end of the second drive motor 6 is connected to a second threaded rod 18, which is located inside the lifting rod 4. A second slide groove 10 is provided on the inner side of the lifting rod 4. A second slider 19 is threadedly connected to the outer wall of the second threaded rod 18. A connecting rod 20 is fixedly connected to the side of the second slider 19 near the second slide groove 10. The connecting rod 20 moves up and down along the second slide groove 10. A lifting plate 11 is fixedly connected to the end of the connecting rod 20 outside the lifting rod 4. The second slider 19 has a rectangular shape, and its outer diameter matches the inner diameter of the lifting rod 4. By utilizing the precision of the transmission of the second threaded rod 18 and the guiding nature of the second slide groove 10, the height of the lifting plate 11 can be precisely adjusted to assist the load-bearing plate 9 in loading and unloading goods. The matching design between the rectangular second slider 19 and the inner diameter of the lifting rod 4 can limit the rotation of the second slider 19, ensuring the stability and reliability of the lifting process.

[0019] Furthermore, the third rotating shaft 17 moves up and down along the first slide groove 7. The first slider 16 and the adjustment cavity are both rectangular in shape, and the outer diameter of the first slider 16 matches the inner diameter of the adjustment cavity. With the guiding effect of the first slide groove 7 and the limiting characteristics of the rectangular structure, the linearity of the movement trajectory of the third rotating shaft 17 is ensured, so that the position of the bearing plate 9 is accurately controllable when the angle is adjusted. This improves the equipment's adaptability to shelves of different heights during the loading and unloading of goods, while also enhancing the stability and reliability of the structural transmission.

[0020] Furthermore, the lifting rod 4 stands vertically on the top of the base plate 1 and is located at the front end between the left column 2 and the right column 3. The symmetrical support of the left column 2 and the right column 3 enhances the overall stability of the equipment. The setting of the front lifting rod 4 also allows the lifting plate 11 to be closer to the cargo loading and unloading area, shortening the cargo handling path and improving loading and unloading efficiency.

[0021] Furthermore, an anti-slip pad is provided on the upper surface of the bearing plate 9, and a baffle is fixedly connected to the upper surface of the bearing plate 9. The baffle is in a straight line with the first rotating shaft 12. When the goods are placed, the anti-slip pad increases the friction of the contact surface, effectively preventing the goods from sliding and improving the safety during handling. The straight line layout of the baffle and the first rotating shaft 12 can form a regular limiting boundary with the rotating shaft as a reference, accurately positioning and limiting the goods. It can also ensure that the baffle always provides limiting force along the axis of the rotating shaft when the bearing plate 9 is flipped to adjust the angle, preventing the goods from shifting due to angle changes.

[0022] Furthermore, the support rod 14 is made of high-strength carbon fiber composite material, and the surface of the support rod 14 is coated with a wear-resistant coating.

[0023] A control method for unmanned intelligent warehousing equipment includes the following steps: S1. Position the components in the designated storage area, ensuring that each component is ready for operation. At the same time, ensure that the first slider 16 and the second slider 19 are in their initial positions, so that the support plate 9 is stored vertically downwards. S2. Based on the quantity of goods to be transported, control the operation of the first drive motor 5 at the top of the left column 2 and right column 3. The motor output drives the first threaded rod 15 to rotate. Because the first slider 16 is threadedly connected to the first threaded rod 15, and the outer diameter of the first slider 16 matches the inner diameter of the adjustment cavity, when the first threaded rod 15 rotates, the first slider 16 moves up and down linearly along the adjustment cavity. When the first slider 16 rises and falls, it drives the support rod 14 to move synchronously through the third rotating shaft 17. Because the ball bearings at both ends of the support rod 14 are respectively sleeved on the second rotating shaft 13 and the third rotating shaft 17, and the inner rollers of the mating seat 8 are also connected... The ball bearing sleeve connects to the first rotating shaft 12 of the bearing plate 9, so that when the support rod 14 pushes or pulls the bearing plate 9, the bearing plate 9 can be rotated and unfolded or stored around the docking seat 8 with the first rotating shaft 12 as the fulcrum, thus completing the angle and position adjustment of the bearing plate 9 to adapt to the loading and unloading height requirements of goods. The bearing space can be dynamically expanded according to the quantity of goods, adapting to the height of the shelf at multiple angles, significantly improving the single handling capacity and loading and unloading efficiency. At the same time, the low friction characteristics of the bearing reduce energy consumption, and the cooperation between the rectangular slider and the adjustment cavity enhances the structural stability, ensuring the reliability and durability of the equipment in high-frequency operation. S3. After the support plate 9 is unfolded, the lifting plate 11 is used to assist in loading and unloading goods. The second drive motor 6 at the top of the lifting rod 4 is started to rotate the second threaded rod 18. The rotation of the second threaded rod 18 drives the second slider 19 to move up and down along the lifting rod 4. When the second slider 19 moves, since one end of the connecting rod 20 is fixed to the second slider 19 and the other end is fixed to the lifting plate 11, and the connecting rod 20 is located in the second slide groove 10, it achieves the function of guiding the sliding. While maintaining the stability of the moving position, the lifting plate 11 is linked to lift and lower synchronously, and the loading and unloading auxiliary position is precisely adjusted in accordance with the height of the support plate 9. S4. After the goods are placed on the support plate 9, the anti-slip pad on the support plate 9 prevents the goods from sliding, and the baffle limits and regulates the goods. At the same time, the equipment plans the optimal movement path through the navigation and positioning module 22 and moves along the path to the target shelf area. During this period, the conveyor belt and conveyor roller of the conveying component 21 can cooperate with the motor to assist the transfer of goods between the lifting plate 11 and the support plate 9. S5. After the operation is completed, the first drive motor 5 and the second drive motor 6 rotate to return the bearing plate 9 and the lifting plate 11 to their initial positions. The equipment then navigates back to the storage standby area through the navigation and positioning module 22 to wait for the next operation instruction.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An unmanned intelligent warehousing device, comprising a bottom plate (1), a left vertical column (2), a right vertical column (3), and a lifting rod (4), characterized in that: The top of the left stand column (2) and the right stand column (3) is provided with a first driving motor (5), the top of the lifting rod (4) is provided with a second driving motor (6), the left stand column (2) and the right stand column (3) are arranged symmetrically, and are vertically erected on the left and right sides of the top of the bottom plate (1) respectively; The upper part and the lower part of the inner side of the left stand column (2) are provided with a first sliding groove (7), the inner side of the left stand column (2) is fixedly connected with a butt joint seat (8), the number of the butt joint seat (8) is two, and the two butt joint seats (8) are located above the two first sliding grooves (7) respectively, and the front of the butt joint seat (8) is provided with a movable bearing plate (9); The output end of the first driving motor (5) is connected with a first threaded rod (15), the inside of the left stand column (2) is provided with two adjusting cavities, and the first threaded rod (15) vertically penetrates the two adjusting cavities in the left stand column (2), and the outer wall of the first threaded rod (15) is threadedly connected with a first sliding block (16); The side, close to the first sliding groove (7), of the first sliding block (16) is fixedly connected with a third rotating shaft (17), the outer wall of the third rotating shaft (17) is provided with a movable supporting rod (14), the inside of the end, away from the third rotating shaft (17), of the supporting rod (14) is provided with a second rotating shaft (13), and the second rotating shaft (13) is fixedly connected with the bearing plate (9); The inside of the lifting plate (11) is provided with a conveying assembly (21), the conveying assembly (21) comprises a conveying belt, a conveying roller and a motor, the upper surface of the bottom plate (1) is provided with a navigation positioning module (22), and the navigation positioning module (22) is located in front of the two lifting rods (4). The left stand column (2) and the right stand column (3) are the same in structure.

2. The unmanned intelligent warehousing device according to claim 1, characterized in that: The end, away from the second rotating shaft (13), of the left and right sides of the bearing plate (9) is fixedly connected with a first rotating shaft (12), the inner side of the butt joint seat (8) and the two ends of the supporting rod (14) are provided with ball bearings, the inner side of the butt joint seat (8) is sleeved with the first rotating shaft (12), and the two ends of the supporting rod (14) are coaxially distributed with the ball bearings and are respectively sleeved with the second rotating shaft (13) and the third rotating shaft (17).

3. The unmanned intelligent warehousing device according to claim 1, characterized in that: The output end of the second driving motor (6) is connected with a second threaded rod (18), and the second threaded rod (18) is located in the lifting rod (4), the inner side of the lifting rod (4) is provided with a second sliding groove (10), the outer wall of the second threaded rod (18) is threadedly connected with a second sliding block (19), the side, close to the second sliding groove (10), of the second sliding block (19) is fixedly connected with a connecting rod (20), the connecting rod (20) moves up and down along the second sliding groove (10), and the end, located outside the lifting rod (4), of the connecting rod (20) is fixedly connected with a lifting plate (11).

4. The unmanned intelligent warehousing device according to claim 1, characterized in that: The third rotating shaft (17) moves up and down along the first sliding groove (7), and the first sliding block (16) and the adjusting cavity are both rectangular in shape, and the outer diameter size of the first sliding block (16) matches the inner diameter size of the adjusting cavity. 5.The unmanned intelligent storage device according to claim 1, characterized in that: The lifting rod (4) is vertically erected on the top of the bottom plate (1) and located at the front end between the left stand column (2) and the right stand column (3).

6. The unmanned intelligent warehousing device according to claim 1, characterized in that: The upper surface of the bearing plate (9) is provided with an anti-skid pad layer, and the upper surface of the bearing plate (9) is fixedly connected with a baffle, and the baffle is in a straight line with the first rotating shaft (12).

7. The unmanned intelligent warehousing device according to claim 1, characterized in that: The support rod (14) is made of high-strength carbon fiber composite material, and the surface of the support rod (14) is coated with a wear-resistant coating. 8.A method for controlling an unmanned intelligent warehousing device, comprising the unmanned intelligent warehousing device according to any one of claims 1-7, characterized in that, The operation steps include the following: S1, to the designated area of the warehouse operation, ensure that each part is in the standby state, and ensure that the first sliding block (16) and the second sliding block (19) are in the initial position, so that the bearing plate (9) is vertically stored downward; S2, according to the number of goods to be transported, control the first driving motor (5) at the top of the left stand column (2) and the right stand column (3) to operate, and the motor output end drives the first threaded rod (15) to rotate, because the first sliding block (16) is threadedly connected with the first threaded rod (15), and the outer diameter of the first sliding block (16) matches the inner diameter of the adjusting cavity, when the first threaded rod (15) rotates, the first sliding block (16) moves up and down in a straight line along the adjusting cavity, when the first sliding block (16) moves up and down, the support rod (14) moves synchronously through the third rotating shaft (17), because the ball bearings at both ends of the support rod (14) are respectively sleeved with the second rotating shaft (13) and the third rotating shaft (17), and the ball bearings in the butt joint seat (8) are sleeved with the first rotating shaft (12) of the bearing plate (9), when the support rod (14) pushes or pulls the bearing plate (9), the first rotating shaft (12) is used as a fulcrum to realize the bearing plate (9) around the butt joint seat (8) to flip and unfold or store, complete the angle and position adjustment of the bearing plate (9), and adapt to the height requirement of goods loading and unloading; S3, when the bearing plate (9) is unfolded, lifting plate (11) is needed to assist the loading and unloading of goods, start the second driving motor (6) at the top of the lifting rod (4) to make the second threaded rod (18) rotate, the second threaded rod (18) rotates to drive the second sliding block (19) to move up and down in the lifting rod (4), when the second sliding block (19) moves, because one end of the connecting rod (20) is fixed with the second sliding block (19) and the other end is fixed with the lifting plate (11), and the connecting rod (20) is located in the second sliding groove (10), the connecting rod (20) achieves the effect of guiding sliding, keeps the moving position stable, and then links the lifting plate (11) to move up and down synchronously, adjusts the precise loading and unloading auxiliary position of the goods according to the height of the bearing plate (9); S4, when the goods are placed on the bearing plate (9), the anti-skid pad layer on the bearing plate (9) prevents the goods from sliding, and the baffle limits the goods, at the same time, the device plans the optimal moving path through the navigation positioning module (22), moves to the target shelf area along the path, and during the movement, the conveying belt and the conveying drum of the conveying assembly (21) cooperate with the motor to assist the transfer of the goods between the lifting plate (11) and the bearing plate (9); S5, after the operation is completed, the first driving motor (5) and the second driving motor (6) rotate to make the bearing plate (9) and the lifting plate (11) return to the initial position, the device retreats to the warehouse standby area through the navigation positioning module (22), and waits for the next operation instruction.

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