Rail walking mechanism and goods taking device

Abstract

The utility model relates to the technical field of intelligent logistics, in particular to a track walking mechanism and a goods taking device. The rail walking mechanism comprises a mounting plate, a first guide wheel and a second guide wheel, and the first guide wheel and the second guide wheel are both in pivot joint with the mounting plate and can both rotate in the vertical direction. The first guide wheel and the second guide wheel are located on the two sides, in the thickness direction, of the vertical plate and abut against the side faces of the vertical plate correspondingly, and the first guide wheel and the second guide wheel are matched with the two side faces of the vertical plate, so that the good guide effect on the vertical rail can be achieved. By applying the rail walking mechanism, a good guiding effect on the vertical rail can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent logistics, and in particular to a track traveling mechanism and a cargo picking device. Background Art

[0002] The existing cargo storage and retrieval system includes a shelf, a pickup device and a transfer vehicle. The shelf is provided with multiple rows of storage locations for placing cargo. The pickup device is movably arranged relative to the shelf. The pickup device can move to a designated storage location of the shelf to pick up the cargo thereon and deliver the cargo to the storage location or the transfer vehicle, or can deliver the cargo to the designated storage location of the shelf and place the cargo thereon. The transfer vehicle is used to travel on the site of the cargo storage and retrieval system to transport cargo and deliver the cargo to the storage location or the pickup device.

[0003] The existing cargo picking device includes a transverse rail, a vertical rail, a fork and a guide wheel. The fork can move along the vertical rail, the vertical rail can move along the transverse rail, and the guide wheel is arranged on the vertical rail and abuts against one side of the transverse rail. The setting of this guide wheel has a slightly weaker guiding effect on the vertical rail.

[0004] Therefore, it is urgent to design a new track running mechanism and a picking device to improve the above problems. Utility Model Content

[0005] One purpose of the utility model is to provide a track travel mechanism which can achieve a better guiding effect of the opposing rails.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A track travel mechanism can cooperate with a vertical plate of a transverse guide rail, wherein the vertical plate is arranged in the up-down direction and extends in the horizontal direction, wherein the up-down direction, the horizontal direction and the thickness direction of the vertical plate are perpendicular to each other, and the track travel mechanism comprises:

[0008] Mounting plate;

[0009] A first guide wheel, pivotally connected to the mounting plate and capable of rotating about the up-down direction; and

[0010] The second guide wheel is pivotally connected to the mounting plate and can rotate around the up-down direction. The first guide wheel and the second guide wheel are located on both sides of the vertical plate along the thickness direction and are respectively in contact with the side surfaces of the vertical plate.

[0011] As an optional solution, the mounting plate includes:

[0012] A first connecting plate is arranged parallel to the vertical plate, and the first connecting plate and the vertical plate are arranged at intervals along the thickness direction of the vertical plate; and

[0013] The second connecting plate is perpendicular to the first connecting plate and fixedly connected to the first connecting plate. The first guide wheel and the second guide wheel are both arranged on the second connecting plate. The gap between the first guide wheel and the second guide wheel is located on the side of the first connecting plate facing the vertical plate.

[0014] As an optional solution, the second guide wheel is located on the side of the first connecting plate facing the vertical plate, and an avoidance opening is opened on the first connecting plate. The first guide wheel is inserted into the avoidance opening from the side of the first connecting plate facing away from the vertical plate, and part of the first guide wheel is located on the side of the first connecting plate facing the vertical plate.

[0015] As an optional solution, the second connecting plate includes:

[0016] A connecting plate body, fixedly connected to the first connecting plate; and

[0017] A disassembly plate, the first guide wheel and the second guide wheel are both arranged on the disassembly plate, and the disassembly plate is detachably connected to the connecting plate body.

[0018] As an optional solution, the track travel mechanism further includes:

[0019] An encoder is arranged on the mounting plate, and the encoder includes an idler wheel, and the idler wheel abuts against the vertical plate.

[0020] Another object of the utility model is to provide a picking device that can achieve a better guiding effect on the opposing rails.

[0021] To achieve this purpose, the utility model adopts the following technical solutions:

[0022] A cargo picking device includes a transverse guide rail and a vertical rail, wherein the transverse guide rail includes a vertical plate arranged in the up-down direction and extending in the horizontal direction, and the vertical rail extends in the up-down direction. The cargo picking device also includes the above-mentioned cargo picking device, which is arranged on the vertical rail, and the track walking mechanism cooperates with the vertical plate.

[0023] As an optional solution, the cargo picking device further includes:

[0024] The track travel mechanism is connected to the vertical rail through the buffer component, and the track travel mechanism can float in the up and down directions relative to the vertical rail.

[0025] As an optional solution, the vertical rail includes a mounting seat assembly, the mounting seat assembly is provided with a guide hole extending in the up-down direction, the track travel mechanism includes a guide shaft extending in the up-down direction, the guide shaft is inserted into the guide hole and can be slidably connected along the guide hole.

[0026] As an optional solution, the mounting seat assembly includes a first mounting seat and a second mounting seat arranged at intervals in the up and down directions, and the track walking mechanism also includes a first limit member and a second limit member, the first limit member is connected to the second limit member through the guide shaft, the first mounting seat is located between the first limit member and the second limit member, and the second limit member is located between the first mounting seat and the second mounting seat.

[0027] As an optional solution, the buffer member is sleeved on the guide shaft.

[0028] As an optional solution, the buffer member is located between the first mounting seat and the second limiting member.

[0029] As an optional solution, the buffer member is located between the second limiting member and the second mounting seat.

[0030] As an optional solution, at least one of the first mounting seat and the second limiting member includes a fixed portion and a movable portion, the movable portion abuts against the buffer member, and the length of the movable portion extending from the fixed portion is adjustable.

[0031] As an optional solution, the picking device also includes a driving mechanism and a fork, the driving mechanism includes an annular transmission belt, a first transmission wheel, a second transmission wheel and a first motor, the first transmission wheel and the second transmission wheel are both pivotally connected to the vertical rail, and the first transmission wheel and the second transmission wheel are arranged in the up and down directions, the annular transmission belt is arranged around the outer circumference of the first transmission wheel and the second transmission wheel and is tensioned by the first transmission wheel and the second transmission wheel, the fork is fixedly connected to the annular transmission belt, and the first motor can drive the first transmission wheel or the second transmission wheel to rotate.

[0032] As an optional solution, the picking device also includes a driving mechanism and a fork, the driving mechanism includes a belt, a driving gear and a second motor, the belt extends in the up and down directions, the two ends of the belt are respectively fixedly connected to the vertical rails, the second motor is arranged on the fork, the driving gear is fixedly connected to the output shaft of the second motor, and the belt is arranged around the periphery of the driving gear and meshes with the driving gear.

[0033] As an optional solution, the picking device also includes a fork and a guide wheel assembly arranged thereon, the guide wheel assembly includes a support, a third guide wheel and a fourth guide wheel, the third guide wheel and the fourth guide wheel are both pivotally connected to the support, the third guide wheel and the fourth guide wheel can both cooperate with the vertical rail, and the rotating shaft of the third guide wheel and the rotating shaft of the fourth guide wheel have different directions.

[0034] As an optional solution, the support member includes a first support plate and a second support plate which are vertically arranged, the third guide wheel is pivotally connected to the first support plate, the rotating axis of the third guide wheel is perpendicular to the first support plate, the fourth guide wheel is pivotally connected to the second support plate, and the rotating axis of the fourth guide wheel is perpendicular to the second support plate.

[0035] As an optional solution, a guide groove penetrating in the up-down direction is provided on the vertical rail, the guide groove has a bottom guide surface and side guide surfaces arranged oppositely on both sides thereof, the third guide wheel and the fourth guide wheel are both arranged in the guide groove, the outer peripheral surface of the third guide wheel can roll along the side guide surface, and the outer peripheral surface of the fourth guide wheel can roll along the bottom guide surface; and / or

[0036] The second support plate is provided with an avoidance groove, and the third guide wheel is accommodated in the avoidance groove.

[0037] As an optional solution, the vertical rail further includes:

[0038] A limiting portion extends from the free end of the side guide surface toward the middle position of the notch of the guide groove, and the limiting portion can limit the third guide wheel and the fourth guide wheel in the guide groove.

[0039] As an optional solution, the guide wheel assembly further includes:

[0040] A fifth guide wheel is pivotally connected to the first support plate, and the fifth guide wheel is located outside the limiting portion and can roll along the limiting portion.

[0041] As an optional solution, a through hole is formed on the first support plate and penetrates the first support plate along the thickness direction thereof, and the fifth guide wheel is located in the through hole.

[0042] As an optional solution, the number of the third guide wheels is at least two, and the at least two third guide wheels are spaced apart in the up-down direction.

[0043] As an optional solution, the fourth guide wheels are provided on both sides of the second support plate.

[0044] As an optional solution, the number of the fifth guide wheels is at least two, and the at least two fifth guide wheels are spaced apart in the up-down direction.

[0045] As an optional solution, the support member is fixedly connected to the fork, the fork is provided with an avoidance hole, and part of the fifth guide wheel is accommodated in the avoidance hole.

[0046] Beneficial effects of the utility model:

[0047] The track travel mechanism provided by the utility model comprises a mounting plate, a first guide wheel and a second guide wheel. The first guide wheel and the second guide wheel are both pivotally connected to the mounting plate, and the first guide wheel and the second guide wheel can rotate in the up and down directions. The first guide wheel and the second guide wheel are located on both sides of the vertical plate along the thickness direction and are respectively in contact with the side surfaces of the vertical plate. By cooperating with the first guide wheel and the second guide wheel and the two side surfaces of the vertical plate, a better guiding effect for the vertical rail can be achieved.

[0048] The track running mechanism provided by the utility model can achieve a better guiding effect of the opposing rail by applying the above track running mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the structure of the cargo storage and retrieval system provided in the first embodiment of the utility model. Figure 1 ;

[0050] Figure 2 This is a schematic diagram of the structure of the cargo storage and retrieval system provided in the first embodiment of the utility model. Figure 2 ;

[0051] Figure 3 This is a schematic diagram of the structure of the cargo storage and retrieval system provided in the first embodiment of the utility model. Figure 3 ;

[0052] Figure 4 It is a structural schematic diagram of the picking device provided in the first embodiment of the utility model;

[0053] Figure 5 It is a structural schematic diagram of the track travel mechanism provided in the first embodiment of the utility model;

[0054] Figure 6 yes Figure 5 A partial enlarged view of the P in the middle;

[0055] Figure 7 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 1 ;

[0056] Figure 8 It is a partial structural schematic diagram of the track travel mechanism provided in the first embodiment of the utility model;

[0057] Fig. 9 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 2 ;

[0058] Fig.10 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 3 ;

[0059] Fig.11 It is an exploded view of the first mounting seat and the buffer member provided in the first embodiment of the utility model;

[0060] Fig.12 This is a partial structural diagram of the vertical rail, cargo fork and driving mechanism provided in the first embodiment of the utility model;

[0061] Fig.13 This is a schematic diagram of the partial structure of the vertical rail provided in the first embodiment of the utility model. Figure 1 ;

[0062] Fig.14 This is a schematic diagram of the partial structure of the vertical rail provided in the first embodiment of the utility model. Figure 2 ;

[0063] Fig.15 It is a structural schematic diagram of the guide wheel assembly provided in the first embodiment of the utility model;

[0064] Fig.16 It is a structural schematic diagram of the vertical rail and part of the driving mechanism provided in the second embodiment of the utility model;

[0065] Fig.17 It is a partial structural schematic diagram of the vertical rail, cargo fork, guide wheel assembly and driving mechanism provided in the second embodiment of the utility model;

[0066] Fig.18 It is a partial structural schematic diagram of the fork, guide wheel assembly and driving mechanism provided in the second embodiment of the utility model;

[0067] Fig.19 It is an exploded view of the guide wheel assembly and the fork provided in the second embodiment of the present utility model.

[0068] In the figure:

[0069] 100, picking device; 200, shelf; 210, storage location; 220, temporary storage location; 230, vertical beam; 240, horizontal beam; 300, transfer vehicle; 500, workstation; 600, goods;

[0070] 10. Track travel mechanism; 11. Mounting plate; 111. First connecting plate; 1111. Avoidance; 1112. Opening; 1113. Rear side; 1114. Front side; 112. Second connecting plate; 1121. Connecting plate body; 1122. Disassembly plate; 12. First guide wheel; 13. Second guide wheel; 14. Gap; 15. Encoder; 151. Idle wheel; 16. Travel wheel assembly; 161. Travel wheel; 162. Travel wheel motor; 17. First stopper; 18. Second stopper; 19. Guide shaft;

[0071] 20. Transverse guide rail; 21. Vertical plate; 22. Transverse plate;

[0072] 30. vertical rail; 31. vertical rail body; 311. guide groove; 3111. bottom guide surface; 3112. side guide surface; 3113. notch; 312. limiter; 32. mounting seat assembly; 321. first mounting seat; 3211. first guide hole; 3212. fixed portion; 3213. movable portion; 322. second mounting seat; 3221. second guide hole;

[0073] 40. Buffer parts;

[0074] 60. driving mechanism; 61. annular transmission belt; 63. second transmission wheel; 64. first motor; 66. driving gear; 67. second motor; 68. tensioning wheel;

[0075] 71. Fork; 711. Avoidance hole; 72. Guide wheel assembly; 721. Third guide wheel; 722. Fourth guide wheel; 723. Support member; 7231. First support plate; 72311. Through hole; 72312. First connecting portion; 72313. Second connecting portion; 72314. Fixing member; 7232. Second support plate; 72321. Avoidance groove; 724. Fifth guide wheel. DETAILED DESCRIPTION

[0076] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and implementation methods. It is understood that the specific embodiments described herein are only used to explain the utility model, rather than to limit the utility model. It should also be noted that, for the convenience of description, only the parts related to the utility model are shown in the accompanying drawings, rather than all.

[0077] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0079] In the description of this embodiment, the terms "upper", "lower", "left", "right", etc., and the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplified operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0080] Embodiment 1

[0081] like Figure 1 to Figure 3 As shown, the embodiment of the present disclosure provides a cargo storage and retrieval system, which includes a shelf 200, a pickup device 100 and a transfer vehicle 300. The shelf 200 is provided with a plurality of rows of storage positions 210 for placing cargo 600. The pickup device 100 is movably arranged relative to the shelf 200. The pickup device 100 can move to the designated storage position 210 of the shelf 200 to take the cargo 600 thereon, and deliver the cargo 600 to the storage position 210 or the transfer vehicle 300, or deliver the cargo 600 to the designated storage position 210 of the shelf 200 and place the cargo 600 thereon. The transfer vehicle 300 is used to travel on the site of the cargo storage and retrieval system to transport the cargo 600, and can be navigated by a QR code, a magnetic stripe, an RFID or a SLAM, and is used to deliver the cargo 600 to the storage position 210 or the pickup device 100. The cargo 600 in the embodiment of the present disclosure refers to an integral unit that can be transported or carried, and may be a box filled with cargo 600, an empty box, or original packaged cargo 600 stored separately, and the like.

[0082] In an optional embodiment, if Figure 2 and 3 As shown, the shelf 200 is composed of a vertical beam 230 and a horizontal beam 240, and can be arranged in a single layer or multiple layers, and each layer of the shelf 200 can be provided with one or more storage locations 210 for storing goods 600, for storing the goods 600. The multiple storage locations 210 of each layer can be separated from each other or can be interconnected.

[0083] In an optional embodiment, if Figure 2 and 3 As shown, the shelf 200 also includes a temporary storage position 220, which can be set below the lowest storage position 210 of the shelf 200. The temporary storage position 220 is used to temporarily store the goods 600 from the transfer vehicle 300 and the picking device 100.

[0084] In an optional embodiment, if Figure 1 As shown, the cargo storage and retrieval system also includes a workstation 500, which is a workstation for sorting cargo 600. An operator or a robotic arm can wait at this workstation for the transfer vehicle 300 to sort the cargo 600 thereon. The transfer vehicle 300 is used to transport the cargo 600 to the workstation 500 or to transport the cargo 600 out of the workstation 500.

[0085] like Figure 4 As shown, the cargo picking device 100 includes a track travel mechanism 10, a transverse guide rail 20, a vertical rail 30 and a fork 71, wherein the vertical rail 30 extends in the up-down direction, and the fork 71 is arranged on the vertical rail 30 and can move in the up-down direction relative to the vertical rail 30, so as to achieve the docking of the fork 71 with storage positions 210 of different heights. Specifically, two vertical rails 30 are provided, and the two vertical rails 30 are arranged at intervals in the left-right direction (i.e., the horizontal direction), and the two vertical rails 30 jointly support the fork 71, so as to achieve a better supporting effect of the vertical rail 30 on the fork 71. In addition, since a cargo channel is formed between the two vertical rails 30, the fork 71 can be used to pick up and place the cargo 600 to the storage position 210.

[0086] like Figure 4 As shown, the transverse guide rail 20 extends in the left-right direction, the vertical rail 30 is located in front of the transverse guide rail 20, the track travel mechanism 10 is arranged on the vertical rail 30, and the track travel mechanism 10 can move along the transverse guide rail 20, so as to adjust the position of the vertical rail 30 along the transverse guide rail 20, so as to achieve the docking of the fork 71 with the storage position 210 at different positions along the left-right direction. Figure 3 The horizontal beam 240 in the middle, and the extension direction of the transverse guide rail 20 is the same as that of the horizontal beam 240.

[0087] In an optional embodiment, it is also possible to Figure 3 The horizontal beam 240 is used as the transverse guide rail 20, so that the overall structure of the picking device 100 is simple and easy to assemble.

[0088] In summary, by adjusting the position of the fork 71 relative to the vertical rail 30 along the up-down direction and adjusting the position of the vertical rail 30 relative to the transverse rail 20 along the left-right direction, the fork 71 can be accurately docked with any storage position 210 .

[0089] In an optional embodiment, if Figure 4 As shown, at least two transverse guide rails 20 are provided, and at least two transverse guide rails 20 are arranged at intervals in the up and down directions. Each transverse guide rail 20 corresponds one-to-one to a track running mechanism 10. By providing at least two transverse guide rails 20, the transverse guide rails 20 can provide stable support for the vertical rails 30.

[0090] Specifically, if Figure 4 As shown, the transverse guide rail 20 includes a transverse plate 22 and a vertical plate 21 . The transverse plate 22 is arranged in a horizontal plane and extends in the left-right direction, and the vertical plate 21 is arranged in a longitudinal plane and extends in the left-right direction.

[0091] like Figure 4 to Figure 7 As shown, the track travel mechanism 10 includes a mounting plate 11, and the two vertical rails 30 are connected through the mounting plate 11, so that the two vertical rails 30 are integrated into one. Figure 5 and Figure 8 As shown, the track travel mechanism 10 further includes a travel wheel assembly 16, which includes a travel wheel 161, which is pivotally connected to the mounting plate 11 and can rotate in the front-to-back direction (i.e., the thickness direction of the vertical plate 21), and the outer peripheral surface of the travel wheel 161 abuts against the horizontal plate 22 to realize the travel action of the travel wheel 161 along the horizontal plate 22. Figure 8 As shown, the travel wheel assembly 16 further includes a travel wheel motor 162 , and the travel wheel motor 162 can drive the travel wheel 161 to rotate, thereby realizing the travel movement of the travel wheel 161 along the transverse board 22 .

[0092] In the prior art, the track travel mechanism 10 also includes a guide wheel, which is arranged on the mounting plate 11 and is pivotally connected to the mounting plate 11. The guide wheel rotates in the up and down directions, and the outer peripheral surface of the guide wheel abuts against an outer side surface of the vertical plate 21. The method of setting the guide wheel on one side of the vertical plate 21 has a slightly weaker guiding effect on the vertical rail 30.

[0093] In order to solve the above problems, Figure 5 As shown, the track travel mechanism 10 includes a first guide wheel 12 and a second guide wheel 13, both of which are pivotally connected to the mounting plate 11 and can rotate in an up-and-down direction. The first guide wheel 12 and the second guide wheel 13 are arranged in the front-to-back direction and are located on both sides of the vertical plate 21. Figure 5 and Figure 6As shown, the first connecting plate 111 includes a front side surface 1114 and a rear side surface 1113, and the front side surface 1114 and the rear side surface 1113 are arranged at intervals from front to back. The vertical plate 21 is located on the rear side of the front side surface 1114, and the first guide wheel 12 abuts against the front side surface 1114 of the vertical plate 21, and the second guide wheel 13 abuts against the rear side surface 1113 of the vertical plate 21. By cooperating with the first guide wheel 12 and the second guide wheel 13 and the two side surfaces of the vertical plate 21, a better guiding effect for the vertical rail 30 can be achieved.

[0094] As an optional embodiment, Figures 4 to 8 As shown, the mounting plate 11 includes a first connecting plate 111 and a second connecting plate 112. The first connecting plate 111 is arranged parallel to the vertical plate 21 and arranged in a front-to-back interval. The walking wheel 161 is arranged on the first connecting plate 111. Figures 4 to 8 As shown, the second connecting plate 112 is perpendicular to the first connecting plate 111 and is fixedly connected to the first connecting plate 111. The first guide wheel 12 and the second guide wheel 13 are both arranged on the second connecting plate 112. The gap 14 between the first guide wheel 12 and the second guide wheel 13 is located on the side of the first connecting plate 111 facing the vertical plate 21. The vertical plate 21 is inserted into the gap 14. When the track running mechanism 10 moves relative to the transverse guide rail 20, the first connecting plate 111 and the vertical plate 21 can be effectively prevented from interfering. For example, as shown in FIG. Figure 5 and Figure 6 As shown, the side of the first connecting plate 111 facing the vertical plate 21 refers to the rear side of the rear side surface 1113 .

[0095] As an optional embodiment, Figure 8 As shown, the second guide wheel 13 is located on the side of the first connecting plate 111 facing the vertical plate 21, and the first connecting plate 111 is provided with an escape opening 1111. The first guide wheel 12 is inserted into the escape opening 1111 from the side of the first connecting plate 111 facing away from the vertical plate 21. Part of the first guide wheel 12 is located on the side of the first connecting plate 111 facing the vertical plate 21. The distance between the first connecting plate 111 and the vertical plate 21 along the front-to-back direction is not too large, so as to ensure that the arrangement of the picking device 100 and the shelf 200 along the front-to-back direction is relatively compact. For example, as shown in FIG. Figure 5 and Figure 6 As shown, the side of the first connecting plate 111 facing away from the upright plate 21 refers to the front side of the front side surface 1114 .

[0096] As an optional embodiment, the second connecting plate 112 includes a connecting plate body 1121 and a disassembly plate 1122. The connecting plate body 1121 is fixedly connected to the first connecting plate 111. The first guide wheel 12 and the second guide wheel 13 are both arranged on the disassembly plate 1122. The disassembly plate 1122 is detachably connected to the connecting plate body 1121, which is convenient for realizing the rapid replacement of the first guide wheel 12 and the second guide wheel 13. On the one hand, the first guide wheel 12 and the second guide wheel 13 with severe wear can be quickly replaced. On the other hand, the first guide wheel 12 and the second guide wheel 13 with different arrangements can also be replaced, so as to realize the adaptation of the first guide wheel 12 and the second guide wheel 13 to different models of shelves 200, thereby improving the adaptability of the picking device 100 to different shelves 200. It should be noted that the connecting plate body 1121 and the disassembly plate 1122 can be detachably connected by screws, pins, snap assemblies, magnetic suction assemblies, etc.

[0097] As an optional embodiment, Figure 5 and Figure 8 As shown, the track travel mechanism 10 also includes an encoder 15, which is arranged on the mounting plate 11. The encoder 15 includes an idler wheel 151, which is in contact with the vertical plate 21. When the track travel mechanism 10 moves along the transverse guide rail 20, the rotation of the idler wheel 151 is converted into the travel distance of the track travel mechanism 10, so that the cargo storage and retrieval system can control the cargo retrieval device 100 accordingly in combination with the corresponding information. It should be noted that the specific structure of the encoder 15 is a relatively conventional structure in the art, and will not be described in detail in the disclosed embodiment.

[0098] As an optional embodiment, Figure 5 and Figure 8 As shown, the encoder 15 includes a main body, an idler wheel 151 is arranged on the main body, and the main body is arranged on the side of the first connecting plate 111 away from the vertical plate 21. The first connecting plate 111 is also provided with an opening 1112, and at least part of the idler wheel 151 is inserted into the opening 1112. The idler wheel 151 located on the rear side of the first connecting plate 111 can abut against the front side surface 1114 of the vertical plate 21.

[0099] As an optional embodiment, Fig. 9 As shown, the pickup device 100 further includes a buffer 40, the track travel mechanism 10 is connected to the vertical rail 30 through the buffer 40, the track travel mechanism 10 can float in the up and down direction relative to the vertical rail 30, and the vertical rail 30 is floatable relative to the transverse guide rail 20, which can achieve a better shock absorption effect on the vertical rail 30. Exemplarily, the buffer 40 can be a spring, rubber, a buffer cylinder, etc. All structures that can realize the track travel mechanism 10 and the vertical rail 30 are within the protection scope of the embodiments of the present disclosure.

[0100] As an optional embodiment, Fig.10 As shown, the vertical rail 30 includes a vertical rail body 31 and a mounting seat assembly 32 arranged thereon, the vertical rail body 31 extends in the up-down direction, and a guide hole extending in the up-down direction is provided on the mounting seat assembly 32, the track travel mechanism 10 also includes a guide shaft 19 extending in the up-down direction, the guide shaft 19 is fixedly connected to the mounting plate 11, the guide shaft 19 is inserted into the guide hole and can be slidably connected along the guide hole, and through the sliding cooperation between the guide shaft 19 and the guide hole, a better guiding effect of the track travel mechanism 10 and the vertical rail 30 in the up-down direction can be achieved.

[0101] As an optional embodiment, Fig.10 As shown, the mounting seat assembly 32 includes a first mounting seat 321 and a second mounting seat 322 arranged at intervals in the vertical direction, and the track travel mechanism 10 also includes a first limiter 17 and a second limiter 18. The first limiter 17 is connected to the second limiter 18 through a guide shaft 19. The first mounting seat 321 is located between the first limiter 17 and the second limiter 18, and the second limiter 18 is located between the first mounting seat 321 and the second mounting seat 322. The mutual cooperation between the first limiter 17, the second limiter 18, the first mounting seat 321 and the second mounting seat 322 can prevent the track travel mechanism 10 from being separated from the vertical rail 30. Specifically, as Fig.10 As shown, the first mounting seat 321 is provided with a first guide hole 3211 extending in the up-down direction, and the second mounting seat 322 is provided with a second guide hole 3221 extending in the up-down direction. The guide shaft 19 is respectively inserted into the first guide hole 3211 and the second guide hole 3221, which can achieve a better guiding effect for the guide shaft 19.

[0102] As an optional embodiment, Fig. 9 As shown, the buffer member 40 is sleeved on the guide shaft 19, which enables the buffer member 40 to deform in the up-down direction and prevents the buffer member 40 from bending when deforming.

[0103] As an optional embodiment, Fig. 9 As shown, the buffer member 40 can be located between the first mounting seat 321 and the second stopper 18. As an optional embodiment, the buffer member 40 can also be located between the second stopper 18 and the second mounting seat 322, so as to facilitate the disassembly, assembly and replacement of the buffer member 40. As an optional embodiment, the buffer member 40 can be arranged between the first mounting seat 321 and the second stopper 18, and the buffer member 40 can also be arranged between the second stopper 18 and the second mounting seat 322 at the same time, so as to achieve a better buffering and shock absorbing effect.

[0104] As an optional embodiment, Fig. 9 and Fig.11As shown, the first mounting seat 321 includes a fixed portion 3212 and a movable portion 3213. The fixed portion 3212 is arranged on the vertical rail body 31, and the movable portion 3213 abuts against the buffer 40. The length of the movable portion 3213 extending out of the fixed portion 3212 is adjustable, thereby being able to adjust the preload force of the buffer 40 and avoiding the problem of insufficient elastic restoring force caused by using the buffer 40 for too long.

[0105] For example, Fig. 9 and Fig.11 As shown, the fixed portion 3212 and the movable portion 3213 can be connected by threads, and the user can quickly adjust the length of the movable portion 3213 extending out of the fixed portion 3212 by simply turning the knob, which is convenient for user operation.

[0106] In an optional embodiment, the fixed portion 3212 is plugged with the movable portion 3213, and at least two first limiting holes are provided on the fixed portion 3212 and the movable portion 3213 located on the outside, and at least one second limiting hole is provided on the fixed portion 3212 and the movable portion 3213 located on the inside, and the first mounting seat 321 also includes a pin, and the relative position of the fixed portion 3212 and the movable portion 3213 is locked by adjusting the required first limiting hole to face the corresponding second limiting hole, and passing the pin through the facing first limiting hole and second limiting hole in sequence. Of course, other forms of connection between the fixed portion 3212 and the movable portion 3213 are also possible, and as long as the structure can achieve the adjustment of the length of the movable portion 3213 extending out of the fixed portion 3212, it is within the protection scope of the embodiment of the present disclosure.

[0107] In an optional embodiment, the second limiting member 18 may also be configured as the fixed portion 3212 and the movable portion 3213 of the aforementioned structure, and the specific connection method will not be described in detail.

[0108] As an optional embodiment, Fig.12 and Fig.13 As shown, the picking device 100 further includes a driving mechanism 60 and a fork 71 . The driving mechanism 60 can drive the fork 71 to move in the up-down direction relative to the vertical rail 30 , thereby adjusting the relative position of the fork 71 and the vertical rail 30 in the up-down direction.

[0109] As an optional embodiment, Fig.14As shown, the picking device 100 also includes a driving mechanism 60 and a fork 71. The driving mechanism 60 includes a belt (not shown in the figure), a driving gear 66 and a second motor 67. The belt extends in the up-down direction. Both ends of the belt are fixedly connected to the vertical rail 30 respectively. The second motor 67 is arranged on the fork 71. The driving gear 66 is fixedly connected to the output shaft of the second motor 67. The belt is arranged around the outer periphery of the driving gear 66 and meshes with the driving gear 66. When the second motor 67 is working, the driving gear 66 can rotate, so that the driving gear 66 can crawl along the belt, thereby realizing the adjustment of the position of the fork 71 in the up-down direction. It should be noted that the second motor 67 has a self-locking function, which can ensure the stability of the relative position of the fork 71 and the belt.

[0110] In an optional embodiment, if Fig.14 As shown, the driving mechanism 60 further includes a tensioning wheel 68, which abuts against the belt. The tensioning wheel 68 can achieve a better tensioning effect on the belt.

[0111] As an optional embodiment, Figure 13 to Figure 15 As shown, the picking device 100 also includes a fork 71 and a guide wheel assembly 72 disposed thereon, the guide wheel assembly 72 includes a support member 723, a third guide wheel 721 and a fourth guide wheel 722, the third guide wheel 721 and the fourth guide wheel 722 are both pivotally connected to the support member 723, the third guide wheel 721 and the fourth guide wheel 722 can cooperate with the vertical rail 30, and can achieve a better guiding effect when the fork 71 moves in the up and down direction, and avoid the fork 71 from deflecting when it moves in the up and down direction. Fig.15 As shown, the rotation axis of the third guide wheel 721 and the rotation axis of the fourth guide wheel 722 are in different directions, which further improves the guiding effect of the fork 71 moving in the up and down directions.

[0112] For example, Fig.15 As shown, the support member 723 includes a first support plate 7231 and a second support plate 7232 which are vertically arranged, the third guide wheel 721 is pivoted to the first support plate 7231, and the rotating axis of the third guide wheel 721 is perpendicular to the first support plate 7231, the fourth guide wheel 722 is pivoted to the second support plate 7232, and the rotating axis of the fourth guide wheel 722 is perpendicular to the second support plate 7232.

[0113] In an optional embodiment, if Fig.15 As shown, at least two third guide wheels 721 are provided, and at least two third guide wheels 721 are arranged at intervals in the up-down direction. A larger number of third guide wheels 721 can achieve a more stable guiding effect for the movement of the fork 71 in the up-down direction.

[0114] In an optional embodiment, if Fig.15As shown, the second support plate 7232 is provided with an avoidance groove 72321, and the third guide wheel 721 is accommodated in the avoidance groove 72321, so that the third guide wheel 721 and the fourth guide wheel 722 can be compactly arranged in a limited space. In addition, the provision of the second support plate 7232 can also effectively increase the strength and hardness of the first support plate 7231, prevent the support member 723 from being deformed during use, and ensure that the fork 71 moves smoothly in the up and down directions.

[0115] In an optional embodiment, if Fig.15 As shown, fourth guide wheels 722 are provided on both sides of the second support plate 7232. A larger number of fourth guide wheels 722 can achieve a more stable guiding effect for the movement of the fork 71 in the up and down directions.

[0116] In an optional embodiment, if Fig.13 and Fig.14 As shown, a guide groove 311 penetrating in the up-down direction is provided on the vertical rail 30, and the guide groove 311 has a bottom guide surface 3111 and side guide surfaces 3112 arranged opposite to each other on both sides thereof. The third guide wheel 721 and the fourth guide wheel 722 are both arranged in the guide groove 311, and the outer peripheral surface of the third guide wheel 721 can roll along the side guide surface 3112, and the outer peripheral surface of the fourth guide wheel 722 can roll along the bottom guide surface 3111. The vertical rail 30 and the guide wheel assembly 72 are compactly arranged, and can achieve the guiding effect of the guide wheel assembly 72 and multiple different surfaces of the vertical rail 30, further improving the guiding effect of the fork 71 moving in the up-down direction.

[0117] In an optional embodiment, if Fig.14 As shown, the vertical rail 30 also includes a limiting portion 312, which extends from the free end of the side guide surface 3112 toward the middle position of the notch 3113 of the guide groove 311. The limiting portion 312 can limit the third guide wheel 721 and the fourth guide wheel 722 in the guide groove 311 to prevent the guide wheel assembly 72 from falling off the vertical rail 30.

[0118] Embodiment 2

[0119] The structure of the embodiment of the present disclosure is basically the same as that of the first embodiment. The main difference between the two is that: Figure 16 to Figure 18As shown, the driving mechanism 60 includes an annular transmission belt 61, a first transmission wheel (not shown in the figure), a second transmission wheel 63 and a first motor 64. The first transmission wheel and the second transmission wheel 63 are both pivotally connected to the vertical rail 30, and the first transmission wheel and the second transmission wheel 63 are arranged in the up-down direction. The annular transmission belt 61 is arranged around the outer periphery of the first transmission wheel and the second transmission wheel 63 and is tensioned by the first transmission wheel and the second transmission wheel 63. The fork 71 is fixedly connected to the annular transmission belt 61, and the first motor 64 can drive the first transmission wheel or the second transmission wheel 63 to rotate. Through the operation of the first motor 64, the first transmission wheel (not shown in the figure), the second transmission wheel 63 and the annular transmission belt 61 can be driven to rotate, thereby converting the rotation of the fork 71 in the up-down direction, thereby realizing the adjustment of the position of the fork 71 in the up-down direction. The setting of this driving mechanism 60 can achieve a driving effect of a large driving force on the fork 71.

[0120] In an optional embodiment, if Figure 17 to Figure 19 As shown, the guide wheel assembly 72 also includes a fifth guide wheel 724, which is pivotally connected to the first support plate 7231. The fifth guide wheel 724 is located on the outer side of the limiting portion 312 and can roll along the limiting portion 312, which can further enhance the guiding effect of the guide wheel assembly 72 and ensure that the fork 71 can better move in the up and down directions.

[0121] In an optional embodiment, if Figure 17 to Figure 19 As shown, the first support plate 7231 is provided with a through hole 72311 which penetrates along the thickness direction thereof, and the fifth guide wheel 724 is located in the through hole 72311. In a limited space, the vertical rail body 31, the guide wheel assembly 72 and the fork 71 can be reasonably arranged, and the interference of the first support plate 7231 with the fifth guide wheel 724 can be avoided, thereby ensuring the smooth rotation of the fifth guide wheel 724.

[0122] In an optional embodiment, if Figure 17 to Figure 19 As shown, at least two fifth guide wheels 724 are provided, and at least two fifth guide wheels 724 are arranged at intervals along the up-down direction. A larger number of fifth guide wheels 724 can achieve a more stable guiding effect for the movement of the fork 71 along the up-down direction.

[0123] In an optional embodiment, if Figure 17 to Figure 19 As shown, the support member 723 is fixedly connected to the fork 71, and an avoidance hole 711 is opened on the fork 71. Part of the fifth guide wheel 724 is accommodated in the avoidance hole 711. In a limited space, the vertical rail body 31, the guide wheel assembly 72 and the fork 71 can be reasonably arranged, and the interference of the fork 71 on the fifth guide wheel 724 can be avoided, thereby ensuring the smooth rotation of the fifth guide wheel 724.

[0124] In an optional embodiment, if Fig.17As shown, the first support plate 7231 includes a first connection portion 72312, a second connection portion 72313 and a fixing member 72314, wherein the second connection portion 72313 is fixedly connected to the fork 71, the first connection portion 72312 and the second connection portion 72313 can clamp the annular transmission belt 61 from both sides of the annular transmission belt 61, and the fixing member 72314 fixes the first connection portion 72312 and the second connection portion 72313, thereby realizing a stable connection between the first support plate 7231 and the annular transmission belt 61. Exemplarily, the fixing member 72314 can be a screw, a pin, a buckle assembly, etc., and all structures that can realize a stable connection between the first connection portion 72312 and the second connection portion 72313 are within the protection scope of the embodiment of the present disclosure. The number of fixing members 72314 can be one, two, three or more, and a large number of fixing members 72314 can realize a stable connection between the first connection portion 72312 and the second connection portion 72313.

[0125] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A track travel mechanism, capable of cooperating with a vertical plate (21) of a transverse guide rail (20), wherein the vertical plate (21) is arranged in the up-down direction and extends in the horizontal direction, wherein the up-down direction, the horizontal direction and the thickness direction of the vertical plate (21) are perpendicular to each other, and characterized in that: The track travel mechanism comprises: Mounting plate (11); A first guide wheel (12) is pivotally connected to the mounting plate (11) and is rotatable about the up and down directions; and The second guide wheel (13) is pivotally connected to the mounting plate (11) and can rotate about the up and down direction. The first guide wheel (12) and the second guide wheel (13) are located on both sides of the vertical plate (21) along the thickness direction and are respectively in contact with the side surfaces of the vertical plate (21).

2. The track travel mechanism according to claim 1, characterized in that: The mounting plate (11) comprises: A first connecting plate (111) is arranged in parallel with the vertical plate (21), and the first connecting plate (111) and the vertical plate (21) are arranged at intervals along the thickness direction of the vertical plate (21); and A second connecting plate (112) is perpendicular to the first connecting plate (111) and fixedly connected to the first connecting plate (111); the first guide wheel (12) and the second guide wheel (13) are both arranged on the second connecting plate (112); and a gap (14) between the first guide wheel (12) and the second guide wheel (13) is located on a side of the first connecting plate (111) facing the vertical plate (21).

3. The track travel mechanism according to claim 2, characterized in that: The second guide wheel (13) is located on a side of the first connecting plate (111) facing the vertical plate (21); a clearance opening (1111) is provided on the first connecting plate (111); the first guide wheel (12) is inserted into the clearance opening (1111) from a side of the first connecting plate (111) facing away from the vertical plate (21); and a portion of the first guide wheel (12) is located on a side of the first connecting plate (111) facing the vertical plate (21).

4. The track travel mechanism according to claim 3, characterized in that: The second connecting plate (112) comprises: A connecting plate body (1121) fixedly connected to the first connecting plate (111); and A disassembly plate (1122), the first guide wheel (12) and the second guide wheel (13) are both arranged on the disassembly plate (1122), and the disassembly plate (1122) and the connecting plate body (1121) are detachably connected.

5. The track running mechanism according to any one of claims 1 to 4, characterized in that: The track running mechanism also includes: An encoder (15) is arranged on the mounting plate (11), and the encoder (15) comprises an idler wheel (151), and the idler wheel (151) is in contact with the vertical plate (21).

6. A cargo picking device, comprising a transverse guide rail (20) and a vertical rail (30), wherein the transverse guide rail (20) comprises a vertical plate (21) arranged in the up-down direction and extending in the horizontal direction, and the vertical rail (30) extends in the up-down direction, characterized in that: The cargo picking device also includes the cargo picking device according to any one of claims 1 to 5, wherein the cargo picking device is arranged on the vertical rail (30), and the track running mechanism cooperates with the vertical plate (21).

7. The cargo picking device according to claim 6, characterized in that: The pickup device also includes: A buffer (40), the track travel mechanism is connected to the vertical rail (30) via the buffer (40), and the track travel mechanism can float in an up-and-down direction relative to the vertical rail (30).

8. The cargo picking device according to claim 7, characterized in that: The vertical rail (30) comprises a mounting seat assembly (32), the mounting seat assembly (32) is provided with a guide hole extending in the up-down direction, the track travel mechanism comprises a guide shaft (19) extending in the up-down direction, the guide shaft (19) is inserted into the guide hole and can be slidably connected along the guide hole.

9. The cargo picking device according to claim 8, characterized in that: The mounting seat assembly (32) comprises a first mounting seat (321) and a second mounting seat (322) which are arranged at intervals in the up-down direction, and the track travel mechanism further comprises a first limiting member (17) and a second limiting member (18), wherein the first limiting member (17) is connected to the second limiting member (18) via the guide shaft (19), the first mounting seat (321) is located between the first limiting member (17) and the second limiting member (18), and the second limiting member (18) is located between the first mounting seat (321) and the second mounting seat (322).

10. The cargo picking device according to claim 9, characterized in that: The buffer member (40) is sleeved on the guide shaft (19); and / or The buffer member (40) is located between the first mounting seat (321) and the second limiting member (18); and / or The buffer member (40) is located between the second limiting member (18) and the second mounting seat (322).

11. The cargo picking device according to claim 10, characterized in that: At least one of the first mounting seat (321) and the second limiting member (18) comprises a fixed portion (3212) and a movable portion (3213), wherein the movable portion (3213) abuts against the buffer member (40), and the length of the movable portion (3213) extending from the fixed portion (3212) is adjustable.

12. The cargo picking device according to claim 6, characterized in that: The picking device further comprises a driving mechanism (60) and a cargo fork (71), wherein the driving mechanism (60) comprises an annular transmission belt (61), a first transmission wheel, a second transmission wheel (63) and a first motor (64), wherein the first transmission wheel and the second transmission wheel (63) are both pivotally connected to the vertical rail (30), and the first transmission wheel and the second transmission wheel (63) are arranged in the up-down direction, the annular transmission belt (61) is arranged around the outer circumference of the first transmission wheel and the second transmission wheel (63) and is tensioned by the first transmission wheel and the second transmission wheel (63), the cargo fork (71) is fixedly connected to the annular transmission belt (61), and the first motor (64) can drive the first transmission wheel or the second transmission wheel (63) to rotate; or The picking device also includes a driving mechanism (60) and a fork (71). The driving mechanism (60) includes a belt, a driving gear (66) and a second motor (67). The belt extends in the up-down direction. Both ends of the belt are respectively fixedly connected to the vertical rail (30). The second motor (67) is arranged on the fork (71). The driving gear (66) is fixedly connected to the output shaft of the second motor (67). The belt is arranged around the outer periphery of the driving gear (66) and meshes with the driving gear (66).

13. The cargo picking device according to claim 6, characterized in that: The cargo picking device also includes a cargo fork (71) and a guide wheel assembly (72) arranged thereon, wherein the guide wheel assembly (72) includes a support member (723), a third guide wheel (721) and a fourth guide wheel (722), wherein the third guide wheel (721) and the fourth guide wheel (722) are both pivotally connected to the support member (723), and the third guide wheel (721) and the fourth guide wheel (722) can both cooperate with the vertical rail (30), and the rotation axis of the third guide wheel (721) and the rotation axis of the fourth guide wheel (722) are in different directions.

14. The cargo picking device according to claim 13, characterized in that: The support member (723) includes a first support plate (7231) and a second support plate (7232) which are vertically arranged; the third guide wheel (721) is pivotally connected to the first support plate (7231); the rotation axis of the third guide wheel (721) is perpendicular to the first support plate (7231); the fourth guide wheel (722) is pivotally connected to the second support plate (7232); the rotation axis of the fourth guide wheel (722) is perpendicular to the second support plate (7232).

15. The cargo picking device according to claim 14, characterized in that: The vertical rail (30) is provided with a guide groove (311) penetrating in the up-down direction, the guide groove (311) having a bottom guide surface (3111) and side guide surfaces (3112) arranged opposite to each other on both sides thereof, the third guide wheel (721) and the fourth guide wheel (722) are both arranged in the guide groove (311), the outer peripheral surface of the third guide wheel (721) can roll along the side guide surface (3112), and the outer peripheral surface of the fourth guide wheel (722) can roll along the bottom guide surface (3111); and / or The second support plate (7232) is provided with an avoidance groove (72321), and the third guide wheel (721) is accommodated in the avoidance groove (72321).

16. The cargo picking device according to claim 15, characterized in that: The vertical rail (30) further comprises: A limiting portion (312) extends from the free end of the side guide surface (3112) toward the middle position of the notch (3113) of the guide groove (311), and the limiting portion (312) can limit the third guide wheel (721) and the fourth guide wheel (722) in the guide groove (311).

17. The cargo picking device according to claim 16, characterized in that: The guide wheel assembly (72) further includes: A fifth guide wheel (724), the fifth guide wheel (724) is pivotally connected to the first support plate (7231), and the fifth guide wheel (724) is located outside the limiting portion (312) and can roll along the limiting portion (312).

18. The cargo picking device according to claim 17, characterized in that: The first support plate (7231) is provided with a through hole (72311) penetrating along the thickness direction thereof, and the fifth guide wheel (724) is located in the through hole (72311).

19. The cargo picking device according to claim 18, characterized in that: The third guide wheels (721) are provided in at least two numbers, and the at least two third guide wheels (721) are arranged at intervals in the up-down direction; and / or The fourth guide wheels (722) are disposed on both sides of the second support plate (7232); and / or The fifth guide wheels (724) are provided in at least two numbers, and the at least two fifth guide wheels (724) are arranged at intervals in the up-down direction; and / or The support member (723) is fixedly connected to the fork (71); an avoidance hole (711) is provided on the fork (71); a portion of the fifth guide wheel (724) is accommodated in the avoidance hole (711).

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