Goods storing and taking system

Abstract

The utility model relates to the technical field of intelligent logistics, in particular to a goods storing and taking system. The goods storing and taking system comprises a goods shelf, a goods taking device and a transfer trolley, a temporary storage mechanism is arranged below a storage position on the lowermost layer, the distance between the temporary storage mechanism and the ground of the goods storing and taking system in the vertical direction is a first distance L1, the goods taking device comprises a vertical rail and a goods fork mechanism, and the distance between the lower end of the vertical rail and the ground in the vertical direction is a second distance L2; and when the pallet fork mechanism is in butt joint with the temporary storage mechanism, the distance between the lower end of the pallet fork mechanism and the ground in the vertical direction is a third distance L3. When the transfer trolley is in a no-load state, the height of the transfer trolley is the first height H1, H1 is smaller than L1, and H1 is smaller than L2 and / or H1 is smaller than L3, the transfer trolley in the no-load state can pass through more paths, the interference of the temporary storage mechanism and the vertical rail on the advancing path of the transfer trolley is small, dispatching of the transfer trolley is relatively easy, and the transportation efficiency of the transfer trolley is relatively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent logistics, and in particular to a cargo storage and retrieval system. 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 positions for placing cargo. The pickup device is movably arranged relative to the shelf. The pickup device can move to the designated storage position of the shelf to pick up the cargo thereon, and deliver the cargo to the storage position or the transfer vehicle, or deliver the cargo to the designated storage position 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 is used to deliver cargo to the storage position or the pickup device. A temporary storage mechanism is provided below the storage position of the lowest layer, and the temporary storage mechanism can cache the cargo.

[0003] The existing cargo picking device includes a transverse track, a vertical track and a fork mechanism. The fork mechanism can move along the vertical track, and the vertical track can move along the transverse track, so that the fork mechanism can be docked with the corresponding storage position or temporary storage mechanism to realize the transportation of the cargo.

[0004] In the prior art, the height of the temporary storage mechanism from the ground is higher than the height of the empty transfer vehicle, but the height of the empty transfer vehicle is higher than the distance between the bottom end of the vertical rail and the ground. When the fork mechanism is docked with the temporary storage mechanism, the distance between the lower end of the fork mechanism and the ground is smaller than the height of the empty transfer vehicle. In other words, the empty transfer vehicle cannot pass through the bottom end of the vertical rail, and the empty transfer vehicle cannot pass through the lower end of the fork mechanism docked with the temporary storage mechanism.

[0005] Therefore, there are fewer paths available for the transfer vehicle to travel, and the greater the interference to the transfer vehicle's travel path caused by temporary storage mechanisms, pickup devices, and vertical rails, the more difficult and inefficient the transfer vehicle's scheduling will be.

[0006] Therefore, it is urgent to design a new cargo storage and retrieval system to improve the problem of difficulty and low efficiency in scheduling transfer vehicles. Utility Model Content

[0007] The utility model aims to provide a cargo storage and retrieval system, which has flexible scheduling of transfer vehicles and high working efficiency.

[0008] To achieve this purpose, the utility model adopts the following technical solutions:

[0009] A cargo storage and retrieval system, comprising:

[0010] The shelf comprises a plurality of storage locations arranged in a vertical direction, a temporary storage mechanism is arranged below the storage locations at the bottom layer, and the distance between the temporary storage mechanism and the ground of the cargo storage and retrieval system in the vertical direction is a first distance L1;

[0011] A cargo picking device, comprising a vertical rail and a fork mechanism, wherein the vertical rail extends in a vertical direction, the fork mechanism is arranged on the vertical rail and can move relative to the vertical rail in the vertical direction, and the distance between the lower end of the vertical rail and the ground in the vertical direction is a second distance L2; when the fork mechanism is docked with the temporary storage mechanism, the distance between the lower end of the fork mechanism and the ground in the vertical direction is a third distance L3; and

[0012] The transfer vehicle, when the transfer vehicle is in an empty state, the height of the transfer vehicle is a first height H1, wherein H1<L1, and H1<L2 and / or H1<L3.

[0013] As an optional solution, the transfer vehicle has a low-position load-bearing state. When the transfer vehicle is in the low-position load-bearing state, the carried goods are located at the upper end of the transfer vehicle, and the distance between the upper end of the goods and the ground in the vertical direction is a fourth distance L4, wherein:

[0014] L4<L1, and / or L4<L2, and / or L4<L3.

[0015] As an optional solution, the transfer vehicle has a low-load state. When the transfer vehicle is in the low-load state, the carried goods are located at the upper end of the transfer vehicle, and the distance between the upper end of the goods and the ground along the up and down direction is a fourth distance L4, wherein: L4≥L1, and L4≥L2, and L4≥L3.

[0016] As an optional solution, the length L5 of the vertical rail in the up-down direction is adjustable.

[0017] As an optional solution, the relative positions of the vertical rails and the shelves in the up-down direction are adjustable.

[0018] As an optional solution, a distance L6 between the lower end of the temporary storage mechanism and the lower end of the storage position of the lowest layer along the up-down direction is adjustable.

[0019] As an optional solution, the fork mechanism includes a fork body and a fork arranged thereon, and the upper end of the fork and the lower end of the fork body are adjustable along the up-down direction dimension L7.

[0020] As an optional solution, the type of the fork mechanism is adjustable.

[0021] As an optional solution, the temporary storage mechanism includes:

[0022] A fixing member fixedly connected to the storage position at the bottom layer;

[0023] Two cantilevers are fixedly connected to the fixing member and are located below the fixing member, the cantilevers extend in a horizontal direction, and the two cantilevers are arranged side by side and at intervals;

[0024] A pallet is arranged at the lower end of the cantilever, and the two pallets are arranged at intervals along the width direction of the transfer vehicle, and the two pallets can jointly support the goods.

[0025] As an optional solution, the fixing member includes two fixed beams and a reinforcing beam, the fixed beams are fixedly connected to the storage positions of the bottom layer, the two fixed beams are arranged at intervals along the width direction of the transfer vehicle, each of the fixed beams is fixedly connected to the corresponding cantilever, and the reinforcing beam is fixedly connected to the two fixed beams respectively.

[0026] As an optional solution, the temporary storage mechanism also includes two guide plates, each of which is arranged on a corresponding pallet, and the two guide plates are arranged at intervals along the width direction of the transfer vehicle. The two guide plates and the two pallets together form a storage space for accommodating the goods, and the guide plates can guide the goods into the storage space.

[0027] As an optional solution, the shelf includes a horizontal beam extending in a horizontal direction, and the picking device also includes a transverse rail extending in the same direction as the horizontal beam. The horizontal beam includes a horizontal beam body and a first connecting member, and the transverse rail includes a transverse rail body and a second connecting member. The first connecting member and the second connecting member are detachably connected, and the first connecting member and the second connecting member are both located between the horizontal beam body and the transverse rail body.

[0028] As an optional solution, the transverse rail body has a rear vertical plate facing the horizontal beam body, and the second connecting member includes a first connecting part and a second connecting part, the first connecting part is arranged at the upper end of the rear vertical plate, and the second connecting part is arranged at the lower end of the rear vertical plate, the first connecting part is hung with the first connecting member, and the second connecting part is clamped with the first connecting member.

[0029] As an optional solution, the first connecting member includes a main frame and a third connecting part, the upper end of the main frame is hung with the first connecting part, the third connecting part is detachably connected to the main frame, and the third connecting part and the main frame are combined to form a slot, and the second connecting part is clamped in the slot.

[0030] As an optional solution, the third connecting portion includes a pressure plate portion and an upper limit portion connected to the upper end of the pressure plate portion, the upper limit portion extends in a direction toward the main frame, and the upper limit portion, the pressure plate portion and the main frame together form the card slot.

[0031] As an optional solution, the second connecting portion includes a lower connecting arm portion and a hook portion, the lower connecting arm portion is connected between the rear vertical plate and the hook portion, the lower connecting arm portion is passed through a notch of the slot, and the hook portion is clamped in the slot and abuts against the upper slot wall of the slot.

[0032] As an optional solution, a lower limit portion is extended at the lower end of the third connection portion in a direction toward the main frame, and the main frame includes a fixed plate portion, the fixed plate portion is connected to the horizontal beam body, and a boss portion is protruded at the lower end of the fixed plate portion in a direction toward the transverse track body;

[0033] The lower limit portion abuts against the lower end surface of the main frame, and the boss portion abuts against the pressure plate portion; or the lower limit portion abuts against both the upper side surface of the boss portion and the side surface of the fixing plate portion.

[0034] As an optional solution, the lower limit portion and the boss portion are fastened by a fastening screw passing through both from bottom to top.

[0035] As an optional scheme, the upper end of the main frame is provided with an open hook groove, the first connecting part includes an upper connecting arm and a hook part, the upper connecting arm is connected between the rear vertical plate and the hook part, the hook part extends downward and is inserted in the hook groove, the hook part abuts against a side groove wall of the hook groove facing the transverse rail body, and the upper connecting arm abuts against the upper end surface of the main frame.

[0036] As an optional solution, the main frame body and the outer side surfaces of the horizontal beam body are combined to form an open hook groove, and the first connecting portion is hooked and matched with the hook groove.

[0037] As an optional solution, a hanging plate portion is protruding from the upper end of the main frame, the hook groove is located between the hanging plate portion and the outer side surface of the horizontal beam body, the hanging plate portion is clamped between the rear vertical plate and the hook portion and abuts against the upper connecting arm portion.

[0038] As an optional solution, the cargo picking device includes:

[0039] A transverse track, the transverse track comprising a front vertical plate arranged in the up-down direction and extending in the horizontal direction;

[0040] Vertical rails, extending in the up-down direction;

[0041] A track running mechanism is arranged on the vertical rail, and the track running mechanism matches with the front vertical plate.

[0042] As an optional solution, the track travel mechanism includes:

[0043] Mounting plate;

[0044] A first guide wheel, pivotally connected to the mounting plate and capable of rotating about the up-down direction; and

[0045] The second guide wheel is pivotally connected to the mounting plate and can rotate around the up and down direction. The first guide wheel and the second guide wheel are located on both sides of the front vertical plate along the thickness direction and are respectively in contact with the side surfaces of the front vertical plate.

[0046] As an optional solution, the cargo picking device further includes:

[0047] 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.

[0048] As an optional solution, the picking device also includes a guide wheel assembly, which is arranged on the fork mechanism. 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 axis of the third guide wheel and the rotating axis of the fourth guide wheel have different directions.

[0049] Beneficial effects of the utility model:

[0050] The cargo storage and retrieval system provided by the utility model includes a shelf, a picking device and a transfer vehicle, the shelf includes a plurality of storage positions arranged in an up-down direction, a temporary storage mechanism is arranged below the storage positions in the lowest layer, the distance between the temporary storage mechanism and the ground of the cargo storage and retrieval system in the up-down direction is a first distance L1, the picking device includes a vertical rail and a fork mechanism, the vertical rail extends in the up-down direction, the fork mechanism is arranged on the vertical rail and can move relative to the vertical rail in the up-down direction, the distance between the lower end of the vertical rail and the ground in the up-down direction is a second distance L2; when the fork mechanism is docked with the temporary storage mechanism, the distance between the lower end of the fork mechanism and the ground in the up-down direction is a third distance L3. When the transfer vehicle is in an unloaded state, the height of the transfer vehicle is a first height H1, wherein H1<L1, and H1<L2 and / or H1<L3. The transfer vehicle in an unloaded state has more traversable paths, and the travel path of the transfer vehicle is less affected by the temporary storage mechanism and the vertical rails. The transfer vehicle is relatively easy to dispatch, and the transportation efficiency of the transfer vehicle is relatively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 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 ;

[0052] 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 ;

[0053] 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 ;

[0054] Figure 4 It is a structural schematic diagram of the picking device provided in the first embodiment of the utility model;

[0055] Figure 5 It is a side view of the first cargo storage and retrieval system provided by the first embodiment of the utility model;

[0056] Figure 6 It is a side view of the second cargo storage and retrieval system provided by the first embodiment of the utility model;

[0057] Figure 7 This is a schematic diagram of the structure of the first type of shelf provided in the first embodiment of the utility model;

[0058] Figure 8 This is a schematic diagram of the structure of the second type of shelf provided in the first embodiment of the utility model;

[0059] Fig. 9 It is a structural schematic diagram of the temporary storage mechanism provided in the first embodiment of the utility model;

[0060] Fig.10 It is an exploded view of the horizontal beam provided in the first embodiment of the utility model;

[0061] Fig.11 This is a schematic diagram of the structure of the first transverse track and horizontal beam provided in the first embodiment of the utility model;

[0062] Fig.12 This is a schematic structural diagram of a first connecting member provided in Embodiment 1 of the present utility model;

[0063] Fig.13 This is a schematic structural diagram of a second first connecting member provided in Embodiment 1 of the present utility model;

[0064] Fig.14 This is a schematic diagram of the structure of the second transverse track and horizontal beam provided in the first embodiment of the utility model;

[0065] Fig.15 It is a structural schematic diagram of the track travel mechanism provided in the first embodiment of the utility model;

[0066] Fig.16 yes Fig.15 A partial enlarged view of the P in the middle;

[0067] Fig.17 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 1 ;

[0068] Fig.18 It is a partial structural schematic diagram of the track travel mechanism provided in the first embodiment of the utility model;

[0069] Fig.19 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 2 ;

[0070] Fig. 20 This is a partial structural diagram of the pickup device provided in the first embodiment of the utility model. Figure 3 ;

[0071] Fig.21 It is an exploded view of the first mounting seat and the buffer member provided in the first embodiment of the utility model;

[0072] Fig. 22 It is a partial structural diagram of the vertical rail and the first driving mechanism provided in the first embodiment of the utility model;

[0073] Fig.23 It is a partial structural schematic diagram of the vertical rail provided in the first embodiment of the utility model;

[0074] Fig.24 It is a structural schematic diagram of the vertical rail provided in the first embodiment of the utility model;

[0075] Fig.25 It is a structural schematic diagram of the guide wheel assembly provided in the first embodiment of the utility model;

[0076] Fig.26 This is a partial structural diagram of the driving mechanism and vertical rails provided in the second embodiment of the utility model;

[0077] Fig. 27 This is a schematic diagram of the structure of the fork body, guide wheel assembly and vertical rail provided in the second embodiment of the utility model;

[0078] Fig.28 It is a structural schematic diagram of a fork body and a guide wheel assembly provided in the second embodiment of the utility model;

[0079] Fig.29 It is an exploded view of the guide wheel assembly provided in the second embodiment of the present utility model.

[0080] In the figure:

[0081] 100, picking device; 200, shelf; 210, storage position; 2101, bottom storage position; 220, temporary storage mechanism; 2201, fixing member; 22011, fixing beam; 22012, reinforcing beam; 2202, cantilever; 2203, support plate; 2204, guide plate; 2205, accommodating space; 230, vertical beam; 240, horizontal beam; 2401, horizontal beam body; 2402, first connecting member; 24021, main frame; 24 0211, fixed plate portion; 240212, hanging plate portion; 240213, boss portion; 24022, third connecting portion; 240221, pressing plate portion; 240222, upper limit portion; 2402221, limit groove wall; 240223, lower limit portion; 24023, clamping groove; 24024, fastening screw; 24025, fastener; 250, connecting beam; 300, transfer vehicle; 500, workstation; 600, cargo; 700, ground;

[0082] 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;

[0083] 20. transverse track; 21. transverse track body; 211. front vertical plate; 212. transverse plate; 213. rear vertical plate; 22. second connecting member; 221. first connecting part; 2211. upper connecting arm; 2212. hook part; 222. second connecting part; 2221. lower connecting arm; 2222. hook part;

[0084] 30. vertical rail; 31. vertical rail body; 311. guide groove; 3111. bottom guide surface; 3112. side guide surface; 3113. guide notch; 312. vertical rail 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;

[0085] 40. Buffer parts;

[0086] 60. driving mechanism; 61. annular transmission belt; 63. second transmission wheel; 64. first motor; 66. driving gear; 67. second motor; 68. tensioning wheel;

[0087] 71. Fork mechanism; 711. Fork body; 7111. Avoidance hole; 712. Fork;

[0088] 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 structure; 72313. Second connecting structure; 72314. Fixed structure; 7232. Second support plate; 72321. Avoidance groove; 724. Fifth guide wheel. DETAILED DESCRIPTION

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Embodiment 1

[0094] like Figure 1 to Figure 3As shown, the embodiment of the present disclosure provides a cargo storage and retrieval system, including a shelf 200, a pickup device 100 and a transfer vehicle 300. Among them, the cargo storage and retrieval system can be a storage logistics system, an unmanned supermarket and other scenes, and all systems or scenes that require cargo storage and retrieval are within the protection scope of the embodiment of the present disclosure. The shelf 200 is provided with multiple rows of storage positions 210 for placing goods 600. The pickup device 100 is movably arranged relative to the shelf 200, and the pickup device 100 can move to the designated storage position 210 of the shelf 200 to take the goods 600 thereon, and send the goods 600 to the storage position 210 or the transfer vehicle 300, or send the goods 600 to the designated storage position 210 of the shelf 200 and place the goods 600 thereon. The transfer vehicle 300 is used to travel on the site of the cargo storage and retrieval system to transport the goods 600, and can be navigated by a QR code, a magnetic stripe, an RFID or a SLAM, and is used to send the goods 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, original packaged cargo 600 stored separately, and the like.

[0095] 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.

[0096] In an optional embodiment, if Figure 2 and 3 As shown, the shelf 200 further includes a temporary storage mechanism 220 , which can be disposed below the lowest storage position 210 of the shelf 200 . The temporary storage mechanism 220 is used to temporarily store the goods 600 from the transfer vehicle 300 and the pickup device 100 .

[0097] 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 cargo sorting. 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.

[0098] like Figure 4As shown, the cargo picking device 100 includes a track running mechanism 10, a transverse track 20, a vertical rail 30 and a fork mechanism 71, wherein the vertical rail 30 extends in the up-down direction, and the fork mechanism 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 mechanism 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 mechanism 71, so as to achieve a good supporting effect of the vertical rail 30 on the fork mechanism 71. In addition, since a cargo channel is formed between the two vertical rails 30, the fork mechanism 71 can be used to pick up and place the cargo 600 to the storage position 210.

[0099] like Figure 4 As shown, the transverse track 20 extends in the left-right direction, the vertical track 30 is located in front of the transverse track 20, the track travel mechanism 10 is arranged on the vertical track 30, and the track travel mechanism 10 can move along the transverse track 20, so as to adjust the position of the vertical track 30 along the transverse track 20, so as to achieve the docking of the fork mechanism 71 with the storage position 210 at different positions along the left-right direction. Figure 3 The horizontal beam 240 is disposed in the middle, and the extension direction of the transverse track 20 is the same as that of the horizontal beam 240.

[0100] In an optional embodiment, it is also possible to Figure 3 The horizontal beam 240 is used as the transverse track 20, so that the overall structure of the picking device 100 is simple and easy to assemble.

[0101] In summary, by adjusting the position of the fork mechanism 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 mechanism 71 can be accurately docked with any storage position 210 .

[0102] In an optional embodiment, if Figure 4 As shown, at least two transverse rails 20 are provided, and at least two transverse rails 20 are arranged at intervals in the up and down directions. Each transverse rail 20 corresponds one to one with a track running mechanism 10. By providing at least two transverse rails 20, the transverse rails 20 can provide stable support for the vertical rails 30.

[0103] Specifically, if Figure 4 As shown, the transverse track 20 includes a transverse plate 212, a front vertical plate 211 and a rear vertical plate 213. The transverse plate 212 is arranged in a horizontal plane and extends in the left-right direction. The front vertical plate 211 is arranged in a longitudinal plane and extends in the left-right direction. The rear vertical plate 213 is parallel to the front vertical plate 211 and is arranged at intervals in the front-to-back direction. The rear vertical plate 213 and the front vertical plate 211 are both fixedly connected to the transverse plate 212, and the rear vertical plate 213 is connected to the horizontal beam 240.

[0104] like Figure 5 As shown, the distance between the temporary storage mechanism 220 and the ground 700 of the cargo storage and retrieval system in the vertical direction is a first distance L1, and the distance between the lower end of the vertical rail 30 and the ground 700 in the vertical direction is a second distance L 2， When the fork mechanism 71 is docked with the temporary storage mechanism 220, the distance between the lower end of the fork mechanism 71 and the ground 700 in the up-down direction is the third distance L3, and when the transfer vehicle 300 is in an unloaded state, the height of the transfer vehicle 300 is the first height H1. In the prior art, the first height H1 is less than the first distance L1, and the first height H1 is greater than or equal to the second distance L2, and the first height H1 is greater than or equal to the third distance L3. In other words, the transfer vehicle 300 in an unloaded state cannot pass through the lower end of the vertical rail 30, and the transfer vehicle 300 in an unloaded state cannot pass through the lower end of the fork mechanism 71 in the docking state with the temporary storage mechanism 220. Therefore, the transfer vehicle 300 has fewer paths that can be passed, and the greater the interference of the temporary storage mechanism 220, the cargo picking device 100 and the vertical rail 30 on the travel path of the transfer vehicle 300, the more difficult it is to dispatch the transfer vehicle 300, and the efficiency of the transfer vehicle 300 is low.

[0105] To solve the above problem, in an optional embodiment, as Figure 5 and Figure 6 As shown, H1<L1 and H1<L2, that is, the transfer vehicle 300 in an unloaded state can smoothly pass through the lower end of the temporary storage mechanism 220 and the lower end of the vertical rail 30. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in an unloaded state of this optional embodiment has more passable paths, the travel path of the transfer vehicle 300 is less affected by the temporary storage mechanism 220 and the vertical rail 30, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0106] To solve the above problem, in an optional embodiment, as Figure 5 and Figure 6 As shown, H1<L1 and H1<L3, that is, the transfer vehicle 300 in an empty state can smoothly pass through the lower end of the temporary storage mechanism 220 and the lower end of the fork mechanism 71 in the docking state with the temporary storage mechanism 220. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in the empty state of this optional embodiment has more passable paths, the travel path of the transfer vehicle 300 is less affected by the temporary storage mechanism 220 and the fork mechanism 71, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0107] To solve the above problem, in an optional embodiment, as Figure 5 and Figure 6As shown, H1<L1, and H1<L2, and H1<L3, that is, the transfer vehicle 300 in an unloaded state can smoothly pass through the lower end of the temporary storage mechanism 220, the lower end of the vertical rail 30 and the lower end of the fork mechanism 71 in the docking state with the temporary storage mechanism 220. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in an unloaded state of this optional embodiment has further increased the passable paths, the travel path of the transfer vehicle 300 is less affected by the temporary storage mechanism 220, the vertical rail 30 and the fork mechanism 71, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0108] In an optional embodiment, the transfer vehicle 300 has a high load-bearing state and Figure 5 In the low-load state shown in FIG. 1 , when the transfer vehicle 300 is in the high-load state, the transfer vehicle 300 lifts the cargo 600 thereon, and the bottom surface of the cargo 600 is higher than the temporary storage mechanism 220; Figure 5 In the low-load state shown, the transfer vehicle 300 can drive the goods 600 to shuttle on the ground 700, and the upper end surface of the goods 600 is lower than the temporary storage mechanism 220.

[0109] In an optional embodiment, if Figure 5 and Figure 6 As shown, when the transfer vehicle 300 is in a low-load state, the carried goods 600 are located at the upper end of the transfer vehicle 300, and the distance between the upper end surface of the goods 600 and the ground 700 in the vertical direction is a fourth distance L4, L4<L1. In other words, the transfer vehicle 300 in a low-load state and the goods 600 thereon can smoothly pass through the lower end of the temporary storage mechanism 220. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in a low-load state and the goods 600 thereon of the optional embodiment have more paths that can be passed, and the travel path of the transfer vehicle 300 in a low-load state and the goods 600 thereon is less disturbed by the temporary storage mechanism 220, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0110] In an optional embodiment, if Figure 5 and Figure 6 As shown, L4<L2, that is, the transfer vehicle 300 in a low-load state and the cargo 600 thereon can smoothly pass through the lower end of the vertical rail 30. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in a low-load state and the cargo 600 thereon of this optional embodiment have further increased accessible paths, the travel paths of the transfer vehicle 300 in a low-load state and the cargo 600 thereon are less affected by the vertical rail 30, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0111] In an optional embodiment, if Figure 6 As shown, L4<L3, that is, the transfer vehicle 300 in a low-load state and the cargo 600 thereon can smoothly pass through the lower end of the fork mechanism 71 in a docking state with the temporary storage mechanism 220. Compared with the transfer vehicle 300 in the prior art, the transfer vehicle 300 in a low-load state and the cargo 600 thereon of this optional embodiment have more passable paths, the travel path of the transfer vehicle 300 is less affected by the fork mechanism 71, the scheduling of the transfer vehicle 300 is relatively easy, and the transportation efficiency of the transfer vehicle 300 is relatively improved.

[0112] It should be noted that, for the three conditions of L4<L1, L4<L2 and L4<L3, the transfer vehicle 300 in the low-load state and the goods 600 thereon may only meet one, two or three of the above three conditions. It should be noted that the more the number of the above conditions satisfied by the transfer vehicle 300 in the low-load state and the goods 600 thereon, the more paths the transfer vehicle 300 in the low-load state and the goods 600 thereon can pass, the less interference the travel path of the transfer vehicle 300 is subject to other structures, the easier it is to dispatch the transfer vehicle 300, and the higher the transportation efficiency of the transfer vehicle 300.

[0113] In an optional embodiment, when the transfer vehicle 300 is in a low-load state, L4≥L1, L4≥L2, and L4≥L3 can also be satisfied at the same time. In this case, although the transfer vehicle 300 has more paths when in an empty state, compared with the transfer vehicle 300 and the cargo 600 thereon in a low-load state that satisfy one, two or three of the aforementioned conditions, the transfer vehicle 300 and the cargo 600 thereon in a low-load state of this optional embodiment have relatively fewer paths, the travel paths of the transfer vehicle 300 and the cargo 600 thereon in a low-load state are relatively greatly interfered by other structures, the scheduling of the transfer vehicle 300 is relatively difficult, and the transportation efficiency of the transfer vehicle 300 is relatively low.

[0114] In an optional embodiment, if Figure 5 and Figure 6 As shown, the length L5 of the vertical rail 30 in the vertical direction is adjustable. By adjusting L5, L2 can be adjusted, and L3 can also be adjusted. By simply adjusting the existing cargo storage and retrieval system, the number of paths of the transfer vehicle 300 under different conditions can be increased and changed, which is convenient for the operator to quickly improve the existing old cargo storage and retrieval system. In addition, there is no need to re-establish the cargo storage and retrieval system, which can greatly save the overall cost, making a very great contribution to the field and a pioneering improvement.

[0115] For example, Figure 5 and Figure 6 As shown, the vertical rail 30 of this optional embodiment may include multiple sections of sub-vertical rails, and two adjacent sections of sub-vertical rails are detachably connected, and the length of the vertical rail 30 is adjusted by adjusting the number of sub-vertical rails. Specifically, adjacent sub-vertical rails can be detachably connected by threaded connection, snap connection, pin connection, magnetic attraction, etc., and all structures that can realize detachable connection of sub-vertical rails are within the protection scope of the embodiments of the present disclosure.

[0116] In an optional embodiment, the parts library may include a plurality of sub-vertical rails of the same or different lengths. The operator may select sub-vertical rails of different quantities or models to match a vertical rail 30 suitable for use in a corresponding cargo access system, thereby greatly enhancing the flexibility of adjustment of the vertical rail 30 and further improving the adaptability of the vertical rail 30 to different cargo access systems.

[0117] In an optional embodiment, if Figure 5 and Figure 6 As shown, the relative position of the vertical rail 30 and the shelf 200 in the vertical direction is adjustable, so that L2 can be adjusted, and L3 can also be adjusted. By simply adjusting the existing cargo storage and retrieval system, the path of the transfer vehicle 300 can be increased and changed under different conditions, which is convenient for the operator to quickly improve the existing old cargo storage and retrieval system. In addition, there is no need to re-establish the cargo storage and retrieval system, which can greatly save the overall cost, making a very great contribution to the field and a pioneering improvement.

[0118] For example, the relative positions of the transverse rail 20 and the shelf 200 in the vertical direction can be adjusted, that is, the transverse rail 20 can be fixedly connected to the horizontal beams 240 at different heights. The transverse rail 20 and the horizontal beam 240 can be detachably connected by screws, pins, buckle assemblies, magnetic assemblies, etc. All structures that can realize the detachable connection between the transverse rail 20 and the horizontal beam 240 are within the protection scope of the embodiments of the present disclosure.

[0119] In an optional embodiment, if Figure 5 and Figure 6As shown, the distance L6 between the lower end of the temporary storage mechanism 220 and the lower end of the bottom storage position 2101 along the up-down direction is adjustable. By adjusting L6, the adjustment of L1 and L3 can be achieved. By simply adjusting the existing cargo access system, the increase and change of the path of the transfer vehicle 300 under different states can be achieved, which is convenient for the operator to quickly improve the existing old cargo access system. In addition, there is no need to re-establish the cargo access system, which can greatly save the overall cost, which is a very great contribution to the field and a creative improvement. Exemplarily, the relative position of the temporary storage mechanism 220 and the vertical beam 230 along the up-down direction is adjustable, wherein the temporary storage mechanism 220 and the vertical beam 230 can be connected by screws, pins, snap-fit ​​assemblies, etc. All structures that can realize the detachable connection between the temporary storage mechanism 220 and the vertical beam 230 are within the protection scope of the embodiments of the present disclosure.

[0120] In an optional embodiment, if Figure 5 and Figure 6 As shown, the fork mechanism 71 includes a fork body 711 and a fork 712 arranged thereon. The upper end of the fork 712 and the lower end of the fork body 711 are adjustable along the vertical dimension L7, which can achieve the adjustment of L3. By simply adjusting the existing cargo storage and retrieval system, the path of the transfer vehicle 300 can be increased and changed under different conditions, which is convenient for the operator to quickly improve the existing old cargo storage and retrieval system. In addition, there is no need to re-establish the cargo storage and retrieval system, which can greatly save the overall cost, making a very great contribution to the field and a pioneering improvement.

[0121] In an optional embodiment, if Figure 5 and Figure 6 As shown, the type of the fork mechanism 71 is adjustable, and the adjustment of L3 can be realized. By simply adjusting the existing cargo storage and retrieval system, the path of the transfer vehicle 300 can be increased and changed under different conditions, which is convenient for the operator to quickly improve the existing old cargo storage and retrieval system. In addition, there is no need to re-establish the cargo storage and retrieval system, which can greatly save the overall cost, making a very great contribution to the field and a pioneering improvement.

[0122] In an alternative embodiment, Figure 7 and Figure 8 As shown, the shelf 200 is composed of multiple layers of support frames arranged at intervals in the vertical direction. The support frame includes two horizontal beams 240 arranged in the front-to-back direction. The support frame also includes a plurality of connecting beams 250. The plurality of connecting beams 250 are arranged at intervals along the extension direction of the horizontal beams 240. Each connecting beam 250 is fixedly connected to two horizontal beams 240. The setting of the connecting beams 250 can improve the strength and hardness of the support frame, thereby achieving stable support of the goods 600 by the support frame. It should be noted that Figure 7 and Figure 8 The structure of the shelf 200 is basically the same, the main difference between the two is that the length of the connecting beam 250 is different, that is, Figure 7 The depth of the shelf 200 is Figure 8 The depth of the rack 200 shown is large. Figure 7 The rack 200 shown is capable of storing more goods 600 in a single-layer support frame.

[0123] In an optional embodiment, in combination with Fig. 9 The temporary storage mechanism 220 is explained. The temporary storage mechanism 220 includes a fixing part 2201, two pallets 2203 and two cantilevers 2202. The fixing part 2201 is fixedly connected to the bottom storage position 2101, the two cantilevers 2202 are fixedly connected to the fixing part 2201 and are located below the fixing part 2201, the two cantilevers 2202 are arranged at intervals along the width direction of the transfer vehicle 300, the pallet 2203 is arranged at the lower end of the cantilever 2202, the two pallets 2203 are arranged at intervals along the width direction of the transfer vehicle 300, and the two pallets 2203 can jointly support the goods 600, and the space between the two pallets 2203 can avoid the jacking mechanism of the transfer vehicle 300 (not shown in the figure).

[0124] In an optional embodiment, if Fig. 9 As shown, the fixing part 2201 includes two fixed beams 22011 and a reinforcing beam 22012. The fixed beam 22011 is fixedly connected to the bottom storage position 2101. The two fixed beams 22011 are arranged at intervals along the width direction of the transfer vehicle 300. Each fixed beam 22011 is fixedly connected to a corresponding cantilever 2202. The reinforcing beam 22012 is fixedly connected to the two fixed beams 22011 respectively. The reinforcing beam 22012 can increase the overall strength and hardness of the temporary storage mechanism 220.

[0125] In an optional embodiment, if Fig. 9 As shown, the temporary storage mechanism 220 also includes two guide plates 2204, each guide plate 2204 is arranged on a one-to-one corresponding pallet 2203, and the two guide plates 2204 are arranged at intervals along the width direction of the transfer vehicle 300. The two guide plates 2204 and the two pallets 2203 together form a storage space 2205 for accommodating the goods 600. The guide plates 2204 can guide the goods 600 into the storage space 2205. The guide plates 2204 can achieve a better correction effect on the goods 600 and a better alignment effect between the goods 600 and the storage space 2205, so that the goods 600 can quickly enter and exit the shelf 200.

[0126] In an optional embodiment, if Figure 10 to Figure 12As shown, the horizontal beam 240 includes a horizontal beam body 2401 and a first connecting member 2402, the transverse track 20 includes a transverse track body 21 and a second connecting member 22, the first connecting member 2402 and the second connecting member 22 are detachably connected, and the first connecting member 2402 and the second connecting member 22 are both located between the horizontal beam body 2401 and the transverse track body 21, and there is no installation and fixing mechanism on the outer surface of the transverse track 20. The outer surface of the transverse track 20 is smooth, which minimizes the interference with the travel of the picking device 100.

[0127] In an optional embodiment, if Fig.11 As shown, the transverse track body 21 is installed on the side of the horizontal beam body 2401 away from the storage position 210, that is, the transverse track body 21 is installed on the outside of the horizontal beam body 2401. The second connecting member 22 includes a first connecting portion 221 and a second connecting portion 222. The first connecting portion 221 is arranged at the upper end of the rear vertical plate 213, and the second connecting portion 222 is arranged at the lower end of the rear vertical plate 213. The first connecting portion 221 is hung with the first connecting member 2402, and the second connecting portion 222 is clamped with the first connecting member 2402.

[0128] Since the first connecting portion 221 is hung on the first connecting piece 2402, and the second connecting portion 222 is clamped on the first connecting piece 2402, the upper and lower ends of the transverse rail body 21 are connected to the first connecting piece 2402, thereby ensuring the connection stability between the transverse rail body 21 and the first connecting piece 2402, thereby ensuring the reliability of the installation of the transverse rail body 21 on the shelf 200, and at the same time, it can improve the convenience of disassembly and assembly of the transverse rail body 21 on the horizontal beam body 2401, thereby improving the maintenance convenience of the transverse rail body 21; since the first connecting portion 221 and the second connecting portion 222 are both arranged on the side of the transverse rail body 21 facing the horizontal beam body 2401, it can effectively avoid the transverse rail body 21 and the first connecting piece 2402 from being disconnected. The connecting structure affects the flatness of the upper surface of the transverse rail body 21, and improves the running stability and reliability of the picking device 100 on the transverse rail body 21; furthermore, since the first connecting part 221 is hung with the first connecting member 2402, and the second connecting part 222 is clamped with the first connecting member 2402, the extrusion force between the transverse rail body 21 and the first connecting member 2402 is concentrated on the lower side of the transverse rail body 21, and the first connecting member 2402 only plays a role of hanging support for the first connecting part 221, thereby reducing the stress concentration of the transverse rail body 21 at the first connecting part 221, thereby alleviating or avoiding the deformation of the upper end of the transverse rail body 21 due to the tightening stress, and further ensuring the flatness of the upper surface of the transverse rail body 21.

[0129] In an optional embodiment, if Fig.11As shown, the transverse rail body 21 includes a rear vertical plate 213, a transverse plate 212 and a front vertical plate 211 which are connected to form a U-shaped structure. The rear vertical plate 213 and the front vertical plate 211 are opposite to each other and spaced apart in the front-to-back direction, and the upper end surface of the transverse plate 212 forms a walking surface for the picking device 100 to walk on.

[0130] In an optional embodiment, if Fig.11 As shown, the first connecting member 2402 includes a main frame body 24021 and a third connecting portion 24022. The upper end of the main frame body 24021 is hung with the first connecting portion 221. The third connecting portion 24022 is detachably connected to the main frame body 24021 and is combined with the main frame body 24021 to form a card slot 24023. The second connecting portion 222 is card-mounted in the card slot 24023.

[0131] The above arrangement enables that when assembling the transverse track body 21, the main frame 24021 is first installed on the horizontal beam body 2401, and then the installation and positioning of the transverse track body 21 is achieved by the hooking and cooperation between the first connecting part 221 and the horizontal beam body 2401; thereafter, the third connecting part 24022 is assembled with the main frame 24021, so that the second connecting part 222 is clamped between the third connecting part 24022 and the main frame 24021, and the cooperation between the second connecting part 222 and the card slot 24023 limits the second connecting part 222 from escaping upward from the first connecting part 2402, thereby ensuring that the transverse track body 21 is fixed on the horizontal beam body 2401 Installation stability; at the same time, this arrangement forms a slot 24023 through the cooperation between the third connection part 24022 and the main frame 24021, thereby clamping and preventing the second connection part 222 from falling off, and by removing the third connection part 24022 from the main frame 24021, the second connection part 222 can be separated from the first connection member 2402, without the need to deform the second connection part 222 to enter and exit the slot 24023, thereby not causing wear to the second connection part 222, and also helping to ensure the overall structural strength and rigidity of the second connection part 222, and ensure the long-term use performance of the transverse rail body 21 and the first connection member 2402.

[0132] In an optional embodiment, if Fig.11 and Fig.12 As shown, the slot 24023 has an upwardly arranged slot, and the width of the slot in the front-to-back direction is smaller than the slot bottom width of the slot 24023 in the front-to-back direction, that is, the slot 24023 has a limiting slot wall 2402221 opposite to and spaced from the slot bottom of the slot 24023, and the limiting slot wall 2402221 abuts against the second connecting portion 222 to limit the second connecting portion 222 from escaping the slot 24023 upward.

[0133] In an optional embodiment, if Fig.11 and Fig.12As shown, the second connection part 222 includes a lower connection arm part 2221 and a hook part 2222. The lower connection arm part 2221 is connected between the rear vertical plate 213 and the hook part 2222. The lower connection arm part 2221 is inserted into the notch of the slot 24023. The hook part 2222 is clamped in the slot 24023 and abuts against the upper side slot wall of the slot 24023. This facilitates the cooperation between the hook part 2222 and the slot 24023, and limits the upward shaking of the hook part 2222 relative to the first connection member 2402. The slot walls on both sides of the slot 24023 along the front-to-back direction are abutted against the hook part 2222 to limit the sliding of the hook part 2222 in the slot 24023 along the front-to-back direction, thereby ensuring the cooperation stability between the second connection part 222 and the first connection member 2402.

[0134] In an optional embodiment, if Fig.11 and Fig.12 As shown, the hook portion 2222 protrudes from the corresponding side of the lower connecting arm portion 2221 toward the side of the front vertical plate 211, and the side of the second connecting portion 222 away from the front vertical plate 211 abuts against the main frame 24021. This arrangement enables the limiting groove wall 2402221 to be arranged on the third connecting portion 24022, thereby simplifying the processing difficulty of the main frame 24021; at the same time, it is beneficial to realize the positioning between the transverse track body 21 and the main frame 24021 before the third connecting portion 24022 is assembled through the abutment between the second connecting portion 222 and the main frame 24021, thereby improving the assembly efficiency and assembly accuracy of the main frame 24021, the third connecting portion 24022 and the transverse track body 21.

[0135] In an optional embodiment, the hook portion 2222 may protrude from the corresponding side of the lower connecting arm portion 2221 on the side facing away from the front vertical plate 211, and the second connecting portion 222 may abut against the third connecting portion 24022 on the side facing the front vertical plate 211, and the limiting groove wall 2402221 may be formed on the main frame body 24021.

[0136] In an optional embodiment, if Fig.11 and Fig.12 As shown, the third connecting portion 24022 includes a pressing plate portion 240221 and an upper limit portion 240222 connected to the upper side of the pressing plate portion 240221, the pressing plate portion 240221 is opposite to the main frame 24021 and is arranged at intervals, the upper limit portion 240222, the pressing plate portion 240221 and the main frame 24021 are surrounded to form a slot 24023, and the lower side of the upper limit portion 240222 forms a limit slot wall 2402221. The hook portion 2222 is clamped between the pressing plate portion 240221 and the main frame 24021, and the lower connecting arm portion 2221 is clamped between the upper limit portion 240222 and the main frame 24021.

[0137] In an optional embodiment, if Fig.11and Fig.12 As shown, the limiting groove wall 2402221 is inclined from top to bottom in a direction away from the notch. This arrangement allows the limiting groove wall 2402221 to gradually contact and fit with the upper end surface of the hook portion 2222 when the third connecting portion 24022 approaches the main frame 24021, so as to ensure the downward pressure of the upper limit portion 240222 on the hook portion 2222, ensure the clamping effect on the second connecting portion 222, and avoid the cooperation between the limiting groove wall 2402221 and the hook portion 2222 to affect the installation of the third connecting portion 24022. The inclination angle of the limiting groove wall 2402221 relative to the horizontal plane is preferably 20° to 45°. In other embodiments, the limiting groove wall 2402221 can also be arranged horizontally.

[0138] In an optional embodiment, if Fig.11 and Fig.12 As shown, the third connecting part 24022 also includes a lower limit part 240223 connected to the lower side of the pressure plate part 240221. In this optional embodiment, the lower limit part 240223 is located on the lower side of the main frame body 24021 and abuts against the lower end surface of the main frame body 24021 to achieve installation limit of the third connecting part 24022 and the main frame body 24021, thereby ensuring the assembly accuracy of the third connecting part 24022, the main frame body 24021 and the transverse rail body 21.

[0139] In an optional embodiment, if Fig.11 and Fig.12 As shown, the third connection part 24022 and the main frame body 24021 are preferably fastened by fastening screws 24024 to ensure the stability of the third connection part 24022 and the main frame body 24021 after installation. At least two fastening screws 24024 are preferably arranged at intervals along the left and right directions to further ensure the installation reliability of the third connection part 24022 and the main frame body 24021. In this optional embodiment, the fastening screws 24024 extend along the front-to-back direction and pass through the pressure plate part 240221 and the main frame body 24021 in sequence, and the fastening screws 24024 are located below the second connection part 222.

[0140] In an optional embodiment, if Fig.11 and Fig.12As shown, the main frame 24021 includes a fixing plate portion 240211, which is fitted and fastened to the horizontal beam body 2401; a boss portion 240213 is protruded from the lower end of the fixing plate portion 240211 in the direction toward the horizontal rail body 21, the boss portion 240213 extends in the left-right direction and abuts against the pressing plate portion 240221, the lower limit portion 240223 abuts against the lower side of the boss portion 240213, and the boss portion 240213, the fixing plate portion 240211 and the third connecting portion 24022 are surrounded to form a slot 24023. An internal threaded hole is provided on the boss portion 240213, and a fixing through hole is provided on the pressing plate portion 240221, and the fixing through hole is aligned with the internal threaded hole in a one-to-one correspondence, and a fastening screw 24024 passes through the fixing through hole and is screwed into the internal threaded hole. The fixing through hole is preferably a countersunk hole to prevent the head of the fastening screw 24024 from protruding outward from the third connecting portion 24022. Fig.11 and Fig.12 As shown, the first connecting member 2402 further includes a fastener 24025, which can fix the main frame 24021 with the horizontal beam body 2401, thereby realizing the rapid disassembly and assembly of the first connecting member 2402 and the horizontal beam body 2401. Exemplarily, the fastener 24025 can be a screw, a pin, a buckle assembly, etc.

[0141] In an optional embodiment, if Fig.11 and Fig.12 As shown, a hook groove is provided at the upper end of the first connecting member 2402, and the first connecting portion 221 is hung in the hook groove. Specifically, the first connecting portion 221 includes an upper connecting arm portion 2211 and a hook portion 2212 connected at an angle, and one end of the upper connecting arm portion 2211 away from the hook portion 2212 is connected to a side of the rear vertical plate 213 away from the front vertical plate 211, and the hook portion 2212 extends downward. The hook portion 2212 is inserted into the hook groove and abuts against a side of the hook groove facing the transverse rail body 21, and the upper connecting arm portion 2211 abuts against the upper end of the first connecting member 2402, thereby making the bottom of the hook groove and the upper end of the first connecting member 2402 support the first connecting portion 221 upward, and the side groove wall of the hook groove restricts the hook portion 2212 from escaping from the hook groove in the front-back direction.

[0142] In an optional embodiment, if Fig.11 and Fig.12 As shown, the upper end of the first connecting member 2402 is in contact with the side of the rear vertical plate 213 away from the front vertical plate 211 toward the side of the transverse rail body 21, so as to realize the installation positioning and limiting of the first connecting member 2402 and the transverse rail body 21 in the front-to-back direction, and ensure the installation reliability of the transverse rail body 21 on the first connecting member 2402.

[0143] In an optional embodiment, if Fig.11 and Fig.12As shown, the width of the hook groove along the front-to-back direction is greater than the size of the hook portion 2212 along the front-to-back direction, thereby reducing the extrusion of the first connecting member 2402 and the horizontal beam body 2401 on the transverse rail body 21, avoiding deformation of the upper end of the transverse rail body 21, and also facilitating the disassembly and assembly of the first connecting portion 221 relative to the first connecting member 2402.

[0144] In an optional embodiment, if Fig.11 and Fig.12 As shown, the main frame 24021 and the outer side surface of the horizontal beam body 2401 are enclosed to form an open hook groove, and the first connecting portion 221 is hooked and matched with the hook groove. The main frame 24021 and the horizontal beam body 2401 are enclosed to form the hook groove, which is conducive to simplifying the structure of the main frame 24021, and while ensuring the width of the hook groove, the size of the main frame 24021 in the front and rear direction is reduced. In other embodiments, the hook groove can also be directly enclosed at the upper end of the main frame 24021.

[0145] In an optional embodiment, if Fig.11 and Fig.12 As shown, a hanging plate portion 240212 extends upward from the upper end of the fixed plate portion 240211, and the hanging plate portion 240212, the fixed plate portion 240211 and the horizontal beam body 2401 together form a hook groove, and the hanging plate portion 240212 is inserted into the groove formed by the rear vertical plate 213 and the first connecting portion 221. The upper end of the hanging plate portion 240212 abuts against the upper connecting arm portion 2211, and the opposite sides of the hanging plate portion 240212 abut against the rear vertical plate 213 and the hook portion 2212 respectively.

[0146] like Fig.13 and Fig.14 As shown, in an optional embodiment, the main frame 24021 and the third connecting portion 24022 are fastened by fastening screws 24024, and the fastening screws 24024 pass through the third connecting portion 24022 and the main frame 24021 from bottom to top. This arrangement can further prevent the fastening screws 24024 from scratching the internal structure of the transverse track body 21, thereby improving the safety of the track assembly 3.

[0147] In order to improve the convenience of connecting the main frame 24021 and the third connecting part 24022, the lower limit part 240223 is abutted against the upper side of the boss part 240213, and one end of the lower limit part 240223 away from the pressing plate part 240221 is abutted against the fixing plate part 240211 to achieve the assembly positioning of the third connecting part 24022 and the main frame 24021. The lower limit part 240223 is provided with a threaded hole, and the boss part 240213 is provided with an installation through hole extending up and down, and the fastening screw 24024 passes through the installation through hole from bottom to top and is screwed into the threaded hole.

[0148] In an optional embodiment, if Figure 4 , Fig.15 , Fig.16 as well as Fig.17 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. Fig.15 , Fig.16 and Fig.18 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 front vertical plate 211), and the outer peripheral surface of the travel wheel 161 abuts against the transverse plate 212 to realize the travel action of the travel wheel 161 along the transverse plate 212. Fig.18 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 212 .

[0149] 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. The outer peripheral surface of the guide wheel abuts against an outer side surface of the front vertical plate 211. The method of setting the guide wheel on one side of the front vertical plate 211 has a slightly weaker guiding effect on the vertical rail 30.

[0150] In order to solve the above problems, Fig.15 and Fig.16 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 front vertical plate 211, as shown in FIG. Fig.15 and Fig.16 As 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 front vertical plate 211 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 front vertical plate 211, and the second guide wheel 13 abuts against the rear side surface 1113 of the front vertical plate 211. By cooperating with the first guide wheel 12 and the second guide wheel 13 and the two side surfaces of the front vertical plate 211, a better guiding effect of the vertical rail 30 can be achieved.

[0151] In an optional embodiment, if Figure 4 , Fig.15 , Fig.16 as well as Fig.18As 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 front vertical plate 211 and arranged in a front-to-back interval. The walking wheel 161 is arranged on the first connecting plate 111. Figure 4 , Fig.15 , Fig.16 as well as Fig.18 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 front vertical plate 211. The front vertical plate 211 is inserted into the gap 14. When the track running mechanism 10 moves relative to the transverse track 20, the first connecting plate 111 and the front vertical plate 211 can be effectively prevented from interfering. For example, as shown in FIG. Fig.15 and Fig.16 As shown, the side of the first connecting plate 111 facing the front vertical plate 211 refers to the rear side of the rear side surface 1113 .

[0152] In an optional embodiment, if Fig.18 As shown, the second guide wheel 13 is located on the side of the first connecting plate 111 facing the front vertical plate 211, 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 front vertical plate 211. Part of the first guide wheel 12 is located on the side of the first connecting plate 111 facing the front vertical plate 211. The distance between the first connecting plate 111 and the front vertical plate 211 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. Fig.15 and Fig.16 As shown, the side of the first connecting plate 111 facing away from the front vertical plate 211 refers to the front side of the front side surface 1114 .

[0153] In 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, and the disassembly plate 1122 is detachably connected to the connecting plate body 1121, so as to facilitate 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, and on the other hand, the first guide wheel 12 and the second guide wheel 13 with different arrangements can be replaced, so as to achieve the adaptation of the first guide wheel 12 and the second guide wheel 13 to shelves 200 of different models, 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.

[0154] In an optional embodiment, if Fig.15 and Fig.18 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 front vertical plate 211. When the track travel mechanism 10 travels along the transverse track 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 further described in the embodiments of the present disclosure.

[0155] In an optional embodiment, if Fig.15 and Fig.18 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 front vertical plate 211. 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 front vertical plate 211.

[0156] In an optional embodiment, if Fig.19 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 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.

[0157] In an optional embodiment, if Fig. 20 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.

[0158] In an optional embodiment, if Fig. 20 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. 20 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.

[0159] In an optional embodiment, if Fig.19 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.

[0160] In an optional embodiment, if Fig.19 As shown, the buffer member 40 can be located between the first mounting seat 321 and the second stopper 18. In 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. In 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.

[0161] In an optional embodiment, if Fig.19 and Fig.21As 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.

[0162] For example, Fig.19 and Fig.21 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.

[0163] 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.

[0164] 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.

[0165] In an optional embodiment, if Fig. 22 and Fig.23 As shown, the picking device 100 further includes a driving mechanism 60, which can drive the fork mechanism 71 to move in the up-down direction relative to the vertical rail 30, thereby adjusting the relative position of the fork mechanism 71 and the vertical rail 30 in the up-down direction.

[0166] In an optional embodiment, if Fig. 22As shown, 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 mechanism 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 mechanism 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 between the fork mechanism 71 and the belt.

[0167] In an optional embodiment, if Fig. 22 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.

[0168] As an optional embodiment, Figure 23 to Figure 25 As shown, the cargo picking device 100 also includes a guide wheel assembly 72, which is arranged on the fork body 711. 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 to achieve a better guiding effect when the fork body 711 moves in the up and down directions, thereby preventing the fork body 711 from deflecting when it moves in the up and down directions. Fig.25 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 body 711 moving in the up and down directions.

[0169] For example, Fig.25 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.

[0170] In an optional embodiment, if Fig.25 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 body 711 in the up-down direction.

[0171] In an optional embodiment, if Fig.25As 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 body 711 moves smoothly in the up and down directions.

[0172] In an optional embodiment, if Fig.25 As shown, fourth guide wheels 722 are disposed on both sides of the second support plate 7232 . A larger number of fourth guide wheels 722 can achieve a more stable guiding effect on the movement of the fork body 711 in the up and down directions.

[0173] In an optional embodiment, if Fig.23 and Fig.24 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 body 711 moving in the up-down direction.

[0174] In an optional embodiment, if Fig.24 As shown, the vertical rail 30 also includes a vertical rail limiting portion 312, which extends from the free end of the side guide surface 3112 toward the middle position of the guide groove 3113 of the guide groove 311. The vertical rail 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.

[0175] Embodiment 2

[0176] 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 25-26As 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 surrounds 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 body 711 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 into the movement of the fork body 711 in the up-down direction, thereby realizing the adjustment of the position of the fork body 711 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 body 711.

[0177] In an optional embodiment, if Figure 27 to Figure 29 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 vertical rail limit portion 312 and can roll along the vertical rail limit portion 312, which can further enhance the guiding effect of the guide wheel assembly 72 and ensure that the fork body 711 can better move in the up and down directions.

[0178] In an optional embodiment, if Figure 27 to Figure 29 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 body 711 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.

[0179] In an optional embodiment, if Figure 27 to Figure 29 As shown, at least two fifth guide wheels 724 are provided, and at least two fifth guide wheels 724 are arranged at intervals in the up-down direction. A larger number of fifth guide wheels 724 can achieve a more stable guiding effect on the movement of the fork body 711 in the up-down direction.

[0180] In an optional embodiment, if Figure 27 to Figure 29 As shown, the support member 723 is fixedly connected to the fork body 711, and an avoidance hole 7111 is opened on the fork body 711. Part of the fifth guide wheel 724 is accommodated in the avoidance hole 7111. In a limited space, the vertical rail body 31, the guide wheel assembly 72 and the fork body 711 can be reasonably arranged, and the interference of the fork body 711 with the fifth guide wheel 724 can be avoided, thereby ensuring the smooth rotation of the fifth guide wheel 724.

[0181] In an optional embodiment, if Fig. 27 As shown, the first support plate 7231 includes a first connection structure 72312, a second connection structure 72313 and a fixing structure 72314, wherein the second connection structure 72313 is fixedly connected to the fork body 711, the first connection structure 72312 and the second connection structure 72313 can clamp the annular transmission belt 61 from both sides of the annular transmission belt 61, and the fixing structure 72314 fixes the first connection structure 72312 and the second connection structure 72313, thereby realizing a stable connection between the first support plate 7231 and the annular transmission belt 61. Exemplarily, the fixing structure 72314 can be a screw, a pin, a buckle assembly, etc., and all structures that can realize a stable connection between the first connection structure 72312 and the second connection structure 72313 are within the protection scope of the embodiments of the present disclosure. The number of the fixing structures 72314 may be one, two, three or more. A larger number of fixing structures 72314 can achieve a stable connection between the first connecting structure 72312 and the second connecting structure 72313 .

[0182] 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 cargo storage and retrieval system, characterized in that: The cargo storage and retrieval system comprises: The shelf (200) comprises a plurality of storage locations (210) arranged in a vertical direction, a temporary storage mechanism (220) being arranged below the storage location (210) at the bottom layer, and a first distance L1 being provided between the temporary storage mechanism (220) and a ground surface (700) of the cargo storage and retrieval system in the vertical direction; A cargo picking device (100) comprises a vertical rail (30) and a fork mechanism (71), wherein the vertical rail (30) extends in a vertical direction, the fork mechanism (71) is arranged on the vertical rail (30) and can move in a vertical direction relative to the vertical rail (30), and the distance between the lower end of the vertical rail (30) and the ground (700) in the vertical direction is a second distance L2; when the fork mechanism (71) is docked with the temporary storage mechanism (220), the distance between the lower end of the fork mechanism (71) and the ground (700) in the vertical direction is a third distance L3; and The transfer vehicle (300), when the transfer vehicle (300) is in an empty state, the height of the transfer vehicle (300) is a first height H1, wherein H1<L1, and H1<L2 and / or H1<L3.

2. The cargo storage and retrieval system according to claim 1, characterized in that: The transfer vehicle (300) has a low-position load-bearing state. When the transfer vehicle (300) is in the low-position load-bearing state, the carried cargo (600) is located at the upper end of the transfer vehicle (300), and the distance between the upper end of the cargo (600) and the ground (700) in the vertical direction is a fourth distance L4, wherein: L4<L1, and / or L4<L2, and / or L4<L3; or L4≥L1, and L4≥L2, and L4≥L3.

3. The cargo storage and retrieval system according to claim 1 or 2, characterized in that: The vertical rail (30) has an adjustable length L5 in the vertical direction; and / or The relative position of the vertical rail (30) and the shelf (200) in the up-down direction is adjustable; and / or The distance L6 between the lower end of the temporary storage mechanism (220) and the lower end of the storage position (210) at the bottom layer along the vertical direction is adjustable; and / or The fork mechanism (71) comprises a fork body (711) and a fork (712) arranged thereon, and the upper end of the fork (712) and the lower end of the fork body (711) are adjustable along a vertical direction dimension L7; and / or The type of the fork mechanism (71) is adjustable.

4. The cargo storage and retrieval system according to claim 1 or 2, characterized in that: The temporary storage mechanism (220) comprises: A fixing member (2201) fixedly connected to the storage position (210) at the bottom layer; Two cantilevers (2202) are fixedly connected to the fixing member (2201) and are located below the fixing member (2201); the cantilevers (2202) extend in a horizontal direction; and the two cantilevers (2202) are arranged side by side and at intervals; A pallet (2203) is arranged at the lower end of the cantilever (2202), and two pallets (2203) are arranged at intervals along the width direction of the transfer vehicle (300), and the two pallets (2203) can jointly support the goods (600).

5. The cargo storage and retrieval system according to claim 4, characterized in that: The fixing member (2201) includes two fixing beams (22011) and a reinforcing beam (22012), the fixing beam (22011) being fixedly connected to the storage position (210) of the bottom layer, the two fixing beams (22011) being arranged at intervals along the width direction of the transfer vehicle (300), each fixing beam (22011) being fixedly connected to a corresponding cantilever (2202), and the reinforcing beam (22012) being fixedly connected to the two fixing beams (22011), respectively.

6. The cargo storage and retrieval system according to claim 4, characterized in that: The temporary storage mechanism (220) further includes two guide plates (2204), each of the guide plates (2204) being arranged on a one-to-one corresponding support plate (2203), the two guide plates (2204) being arranged at intervals along the width direction of the transfer vehicle (300), the two guide plates (2204) and the two support plates (2203) jointly forming a storage space (2205) for accommodating the goods (600), and the guide plates (2204) being able to guide the goods (600) into the storage space (2205).

7. The cargo storage and retrieval system according to claim 1 or 2, characterized in that: The shelf (200) includes a horizontal beam (240) extending in a horizontal direction, and the picking device (100) also includes a transverse track (20) extending in the same direction as the horizontal beam (240). The horizontal beam (240) includes a horizontal beam body (2401) and a first connecting member (2402). The transverse track (20) includes a transverse track body (21) and a second connecting member (22). The first connecting member (2402) and the second connecting member (22) are detachably connected, and the first connecting member (2402) and the second connecting member (22) are both located between the horizontal beam body (2401) and the transverse track body (21).

8. The cargo storage and retrieval system according to claim 7, characterized in that: The transverse rail body (21) has a rear vertical plate (213) facing the horizontal beam body (2401), and the second connecting member (22) includes a first connecting portion (221) and a second connecting portion (222), the first connecting portion (221) is arranged at the upper end of the rear vertical plate (213), and the second connecting portion (222) is arranged at the lower end of the rear vertical plate (213), the first connecting portion (221) is hung with the first connecting member (2402), and the second connecting portion (222) is clamped with the first connecting member (2402).

9. The cargo storage and retrieval system according to claim 8, characterized in that: The first connecting member (2402) includes a main frame body (24021) and a third connecting portion (24022), the upper end of the main frame body (24021) is hung with the first connecting portion (221), the third connecting portion (24022) is detachably connected to the main frame body (24021), and the third connecting portion (24022) and the main frame body (24021) are combined to form a card slot (24023), and the second connecting portion (222) is card-mounted in the card slot (24023).

10. The cargo storage and retrieval system according to claim 9, characterized in that: The third connecting portion (24022) includes a pressing plate portion (240221) and an upper limit portion (240222) connected to the upper end of the pressing plate portion (240221), wherein the upper limit portion (240222) extends in a direction toward the main frame (24021), and the upper limit portion (240222), the pressing plate portion (240221) and the main frame (24021) together form the card slot (24023); and / or The second connecting portion (222) includes a lower connecting arm portion (2221) and a hook portion (2222), wherein the lower connecting arm portion (2221) is connected between the rear vertical plate (213) and the hook portion (2222), the lower connecting arm portion (2221) is inserted into the notch of the slot (24023), and the hook portion (2222) is clamped in the slot (24023) and abuts against the upper slot wall of the slot (24023).

11. The cargo storage and retrieval system according to claim 10, characterized in that: The lower end of the third connection portion (24022) is provided with a lower limit portion (240223) extending in a direction toward the main frame (24021), and the main frame (24021) includes a fixed plate portion (240211), the fixed plate portion (240211) is connected to the horizontal beam body (2401), and the lower end of the fixed plate portion (240211) is provided with a boss portion (240213) in a direction toward the transverse track body (21); The lower limit portion (240223) abuts against the lower end surface of the main frame (24021), and the boss portion (240213) abuts against the pressure plate portion (240221); or, the lower limit portion (240223) abuts against the upper side surface of the boss portion (240213) and the side surface of the fixed plate portion (240211).

12. The cargo storage and retrieval system according to claim 11, characterized in that: The lower limit portion (240223) and the boss portion (240213) are fastened by a fastening screw (24024) passing through the two from bottom to top.

13. The cargo storage and retrieval system according to claim 9, characterized in that: The upper end of the main frame (24021) is provided with an open hook groove, the first connecting portion (221) includes an upper connecting arm portion (2211) and a hook portion (2212), the upper connecting arm portion (2211) is connected between the rear vertical plate (213) and the hook portion (2212), the hook portion (2212) extends downward and is inserted into the hook groove, the hook portion (2212) abuts against a side groove wall of the hook groove facing the transverse rail body (21), and the upper connecting arm portion (2211) abuts against the upper end surface of the main frame (24021); and / or The main frame body (24021) and the outer side surface of the horizontal beam body (2401) are combined to form a hook groove with an upper opening, and the first connecting part (221) is hooked and matched with the hook groove.

14. The cargo storage and retrieval system according to claim 13, characterized in that: The upper end of the main frame (24021) is provided with a hanging plate portion (240212), and the hook groove is located between the hanging plate portion (240212) and the outer side surface of the horizontal beam body (2401). The hanging plate portion (240212) is clamped between the rear vertical plate (213) and the hook portion (2212) and abuts against the upper connecting arm portion (2211).

15. The cargo storage and retrieval system according to claim 1 or 2, characterized in that: The cargo picking device comprises: A transverse track (20), the transverse track (20) comprising a front vertical plate (211) arranged in the up-down direction and extending in the horizontal direction; A vertical rail (30) extending in the up-down direction; and A track running mechanism (10) is arranged on the vertical rail (30), and the track running mechanism (10) cooperates with the front vertical plate (211).

16. The cargo storage and retrieval system according to claim 15, characterized in that: The track running mechanism (10) 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 front vertical plate (211) along the thickness direction and are respectively in contact with the side surfaces of the front vertical plate (211).

17. The cargo storage and retrieval system according to claim 15, characterized in that: The pickup device also includes: A buffer (40), the track travel mechanism (10) and the vertical rail (30) are connected via the buffer (40), and the track travel mechanism (10) can float in an up-and-down direction relative to the vertical rail (30).

18. The cargo storage and retrieval system according to claim 15, characterized in that: The cargo picking device further comprises a guide wheel assembly (72), wherein the guide wheel assembly (72) is arranged on the cargo fork mechanism (71), and the guide wheel assembly (72) comprises 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.

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