Goods storing and taking system

Abstract

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

Description

Technical Field

[0001] The utility model relates to the technical field of cargo storage and retrieval logistics, in particular to a cargo storage and retrieval system. Background Art

[0002] The cargo storage and retrieval systems of the prior art, such as the material box storage and retrieval systems, often use a material box robot that moves through a chassis and cooperates with shelves to form a cargo storage and retrieval system. When storing and retrieving goods, the material box robot moves in the lanes between the shelves, moves to the shelf position where the goods are to be stored and retrieved, and then the cargo storage and retrieval device set on the material box robot takes the goods from the shelf or places the goods on the shelf. In some occasions where the shelf space utilization rate is high, such as occasions where the amount of goods stored and retrieved is large, the space density of the shelves is large, the lanes between the shelves are narrow, and the size of the material box robot is relatively large. Between the shelves, a material box robot is often used to store and retrieve goods on the shelves on both sides. The efficiency of storing and retrieving goods is low, and the cost of using the robot is also high. Summary of the invention

[0003] The purpose of the utility model is to provide a more efficient cargo storage and retrieval system.

[0004] The utility model discloses a cargo storage and retrieval system, comprising:

[0005] A shelf device, comprising at least two shelves for storing goods, wherein the at least two shelves include a first shelf and a second shelf adjacent to each other, wherein the first shelf and the second shelf are spaced apart to form an aisle therebetween;

[0006] At least two cargo storage and retrieval devices, including a first cargo storage and retrieval device and a second cargo storage and retrieval device, the cargo storage and retrieval device including a fork component arranged between the first shelf and the second shelf, the fork component including a storage and retrieval mechanism, the cargo storage and retrieval device being configured as follows: the fork component can move along a first direction to rise or fall in a vertical direction and move along a second direction to move forward or backward in an extension direction of the lane, the storage and retrieval mechanism can move along a third direction to move away from the second shelf in a direction close to the first shelf or away from the first shelf in a direction close to the second shelf, the cargo storage and retrieval device can enable the storage and retrieval mechanism to take out goods from any of the first shelf and the second shelf on both sides of the lane and to store the goods in any of the first shelf and the second shelf through the movement of its fork component along the first direction, the movement of its fork component along the second direction and / or the movement of its storage and retrieval mechanism along the third direction.

[0007] In some embodiments, the cargo storage and retrieval system also has a staggered state, and the cargo storage and retrieval system is configured as follows: in the staggered state, the fork component of the first storage and retrieval device and the fork component of the second storage and retrieval device are respectively moved to positions staggered from each other in the vertical direction, and when the storage and retrieval mechanism of the first storage and retrieval device and the storage and retrieval mechanism of the second storage and retrieval device can be respectively moved along the third direction to the staggered retracted position located on their respective storage and retrieval devices, the movement of the fork component of the first storage and retrieval device along the second direction is not interfered with by the second storage and retrieval device, and the movement of the fork component of the second storage and retrieval device along the second direction is not interfered with by the first storage and retrieval device.

[0008] In some embodiments, the cargo storage and retrieval device includes two tracks, the two tracks include a first track extending along a first direction and a second track extending along a second direction, one of the first track and the second track is fixed relative to the shelf, and the fork component is arranged on the track of the first track and the second track that is movable relative to the shelf, the cargo storage and retrieval device also includes a first driving device arranged between the first track and the second track and a second driving device arranged between the fork component and the track where the fork component is located, the first driving device is used to drive the track of the first track and the second track that is fixed relative to the shelf to move along the track fixed relative to the shelf, and the second driving device is used to drive the fork component to move along the track where the fork component is located.

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

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

[0011] In some embodiments, the second rail is a ceiling rail disposed above the shelf and fixed relative to the shelf.

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

[0013] In some embodiments, the fork component includes a mounting frame and a first drive assembly, the storage and retrieval mechanism includes a storage and retrieval assembly for storing and retrieving goods, and the storage and retrieval assembly is movably disposed on the mounting frame; the first drive assembly is drivingly connected to the storage and retrieval assembly, and the first drive unit is configured to: drive the storage and retrieval assembly to move relative to the mounting frame to take out goods from any one of the first shelf and the second shelf on both sides of the aisle or store the goods in any one of the first shelf and the second shelf.

[0014] In some embodiments, the storage and retrieval component includes a hook component, which is movably disposed on the mounting frame, and the hook component includes a hook body; the first drive component is drivingly connected to the hook component, and the first drive component is configured to: drive the hook component to move along a fourth direction, so as to achieve a hooking and pulling effect on the goods in the fourth direction through the hook body, or drive the hook component to move along a fifth direction, so as to achieve a pushing effect on the goods in the fifth direction through the hook body; wherein the storage and retrieval mechanism takes out the goods from any one of the first shelf and the second shelf on both sides of the aisle and stores the goods in any one of the first shelf and the second shelf through the hooking and pulling effect and the pushing effect of the hook body on the goods.

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

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

[0017] In some embodiments, the at least one group of hooks includes a first group of hooks and a second group of hooks, the first group of hooks is located along the fourth direction on a side of the bracket away from the second group of hooks, and the second group of hooks is located along the fifth direction on a side of the bracket away from the first group of hooks;

[0018] Wherein, the fork component is configured as follows:

[0019] driving the hook assembly to move along the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the first group of hooks, or driving the hook assembly to move along the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the second group of hooks; and / or

[0020] The hook assembly is driven to move along the fifth direction so as to push the goods in the fifth direction through the first group of hooks, or the hook assembly is driven to move along the fifth direction so as to pull the goods in the fifth direction through the second group of hooks.

[0021] In some embodiments,

[0022] The at least one set of hooks comprises a single set of hooks, and the fork assembly is configured as follows:

[0023] The hook assembly is driven to move along the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the single set of hooks in the first rotation position, or the hook assembly is driven to move along the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the single set of hooks in the second rotation position, wherein the single set of hooks is switched between the first rotation position and the second rotation position by rotating, and the single set of hooks in the first rotation position and the single set of hooks in the second rotation position are centrally symmetrical; and / or,

[0024] The hook assembly is driven to move along the fifth direction so as to push the goods in the fifth direction through the single set of hooks in the third rotation position, or the hook assembly is driven to move along the fifth direction so as to pull the goods in the fifth direction through the single set of hooks in the fourth rotation position, wherein the single set of hooks is switched between the third rotation position and the fourth rotation position by rotating, and the single set of hooks in the third rotation position and the single set of hooks in the fourth rotation position are centrally symmetrical.

[0025] In some embodiments, when the hooking effect on the goods is achieved, the hook body is configured to enter or leave the hookable portion of the goods in a direction intersecting both the fourth direction and the fifth direction.

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

[0027] In some embodiments, the first drive assembly comprises:

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

[0029] a first linear transmission mechanism; and

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

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

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

[0033] The transmission belt is wound around the transmission wheel set and fixedly connected to the hook seat.

[0034] In some embodiments, the first drive assembly further comprises:

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

[0036] In some embodiments, the first linear guide structure comprises:

[0037] A first slide rail, disposed on the mounting frame and extending along the fourth direction;

[0038] The first sliding block is arranged on the hook seat and is slidably matched with the first sliding rail.

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

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

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

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

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

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

[0045] The first lead screw passes through the motor, and comprises a motor housing fixedly connected to the hook seat and a lead screw passing through the motor housing, one end of the lead screw is connected to the hook assembly, and the other end passes through the hook seat.

[0046] In some embodiments, the second drive assembly further comprises:

[0047] The second linear guide structure is disposed between the hook seat and the hook component, and is configured to guide the movement of the hook component relative to the hook seat in the sixth direction or in a direction opposite to the sixth direction.

[0048] In some embodiments, the second linear guide structure comprises:

[0049] a second slide rail, disposed on the hook assembly and extending along the sixth direction; and

[0050] The second sliding block is arranged on the hook seat and is slidably matched with the second sliding rail.

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

[0052] The transport component is disposed on the mounting frame and is configured to transport goods along the fourth direction or the fifth direction.

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

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

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

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

[0057] A bracket, wherein the mounting frame is arranged on the bracket.

[0058] The third driving assembly is disposed on the bracket and is drivingly connected to the mounting frame, and is configured to drive the mounting frame to move relative to the bracket along the fourth direction.

[0059] In some embodiments, the third drive assembly includes:

[0060] The second lead screw passes through the motor, and comprises a motor housing fixedly connected to the bracket and a lead screw passing through the motor housing, wherein both ends of the lead screw are connected to the mounting frame.

[0061] In some embodiments, the third drive assembly further includes:

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

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

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

[0065] The third sliding block is arranged on the bracket and is slidably matched with the third sliding rail.

[0066] Based on the cargo storage and retrieval system provided by the utility model, two fork components are arranged in the lane between two adjacent shelves, and the two fork components can be lifted and lowered in the vertical direction and moved forward and backward along the lane direction, and the storage and retrieval mechanism can approach or move away from the shelves on both sides, and the same fork component can be used to store and retrieve the cargo on the shelves on both sides through the movement of the fork components and the movement of the storage and retrieval mechanism, which greatly improves the cargo storage and retrieval efficiency of the cargo storage and retrieval system and gives full play to the cargo storage and retrieval capacity of the fork components. At the same time, the two fork components can avoid interference between the two by lifting and lowering in the vertical direction when adjusting their positions, so that the fork components can move smoothly and orderly when moving to store and retrieve cargo at different positions of the shelves, so that the arrangement distance between adjacent shelves can be reduced when arranging the shelves, thereby improving space utilization.

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

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

[0069] Figure 1 It is a structural schematic diagram of a part of the structure of the cargo storage and retrieval system of an embodiment of the utility model;

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

[0071] Figure 3 A schematic diagram of the structure of some shelves of a cargo storage and retrieval system according to other embodiments of the utility model;

[0072] Figure 4 It is a structural schematic diagram of a part of the structure of the cargo storage and retrieval system of some embodiments of the utility model;

[0073] Figure 5 A schematic diagram of the structure of a cargo storage and retrieval device of a cargo storage and retrieval system of some embodiments of the utility model;

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

[0075] Figure 7 A schematic diagram of the structure of a shelf of a cargo storage and retrieval system according to some embodiments of the utility model;

[0076] Figure 8It is a schematic diagram of the structure of the fork component of the cargo storage and retrieval system of some embodiments of the utility model;

[0077] Fig. 9 for Figure 8 A schematic structural diagram of the fork assembly from another angle;

[0078] Fig.10 It is a schematic diagram of the structure of the mounting frame of the fork assembly of some embodiments of the utility model;

[0079] Fig.11 for Figure 8 A schematic diagram of a part of the structure of the fork assembly shown;

[0080] Fig.12 It is a schematic diagram of the structure of the bracket of the fork component of some embodiments of the utility model;

[0081] Fig.13 for Figure 8 A schematic diagram of the structure of the hook assembly of the fork member shown in the sixth direction in a descending state;

[0082] Fig.14 for Figure 8 A schematic structural diagram of the hook assembly of the fork component shown in the sixth direction in an ascending state;

[0083] Fig.15 It is a schematic diagram of the structure of the hook assembly in some embodiments of the utility model for hooking and pulling the cargo from one side of the fork component;

[0084] Fig.16 for Fig.15 A schematic diagram of the structure in which the hook assembly pushes the cargo from the other side of the fork assembly;

[0085] Fig.17 It is a schematic diagram of the structure of the fork components of some embodiments of the utility model when carrying goods;

[0086] Fig.18 It is a structural schematic diagram of a single hook body of a hook assembly of some embodiments of the utility model when rotating;

[0087] Fig.19 It is a schematic diagram of the structure of the cargo storage and retrieval system of some embodiments of the utility model. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0089] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the utility model. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0090] In the description of the present invention, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0091] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

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

[0094] The shelf device includes at least two shelves for storing goods, and the shelves have multiple cargo spaces for storing goods. The cargo storage and retrieval device puts the goods into the cargo spaces in the shelves or takes the goods out of the cargo spaces. In this application, the goods refer to an integral unit that can be transported or carried, which can be an empty material box, a material box filled with articles, or original packaged goods stored separately, etc. In the embodiment shown in the figure, the goods include a material box 200.

[0095] The at least two shelves include a first shelf 110 and a second shelf 120 that are adjacent to each other. Figure 1 and Figure 2 As shown, the first shelf 110 and the second shelf 120 are spaced apart to form an alley 100 therebetween. The alley 100 is also the spacing space between the first shelf 110 and the second shelf 120. When storing or retrieving goods, the storage and retrieval device moves in the alley to reach the position corresponding to the cargo position of the goods to be stored or retrieved on the shelf.

[0096] At least the cargo storage and retrieval device includes a first cargo storage and retrieval device 210 and a second cargo storage and retrieval device 220. The cargo storage and retrieval device includes a fork component 230 disposed between the first shelf 110 and the second shelf 120, and the fork component 230 includes a storage and retrieval mechanism. The cargo storage and retrieval device is configured such that the fork component 230 can move along a first direction to rise or fall in a vertical direction and can move along a second direction to move forward or backward in an extension direction of the lane 100. The storage and retrieval mechanism can move along a third direction z to move away from the second shelf 120 in a direction close to the first shelf 110 or away from the first shelf 110 in a direction close to the second shelf 120.

[0097] Unless otherwise specified in the present application, a certain direction refers to the positive direction or negative direction of the direction. For example, the vertical direction x includes the vertical upward direction or the vertical downward direction. For example, the fork component can move along the first direction, then the fork component can move along the positive direction of the first direction, or can move along the negative direction of the first direction.

[0098] In this embodiment, the first direction is not perpendicular to the vertical direction x, so the fork component 230 can move up or down in the vertical direction by moving along the first direction. In some embodiments, the first direction is parallel to the vertical direction x. In this embodiment, the second direction is not perpendicular to the extension direction y of the lane 100, so the fork component 230 can move forward or backward in the extension direction y of the lane 100 by moving along the second direction. In the embodiment shown in the figure, the second direction is parallel to the extension direction y of the lane 100. Moving forward or backward in the extension direction y of the lane 100 refers to moving in the positive direction or negative direction of the extension direction y of the lane 100. The storage and retrieval mechanism moves along the third direction z close to the first shelf or close to the second shelf, which means that the storage and retrieval mechanism moves toward the first shelf or the second shelf or extends into the cargo position of the first shelf or the second shelf to take goods from the cargo position or store goods.

[0099] The storage and retrieval device can make the storage and retrieval mechanism take out goods from any of the first shelf 110 and the second shelf 120 on both sides of the lane 100 and store goods in any of the first shelf 110 and the second shelf 120 by moving its fork component 230 along the first direction, moving its fork component 230 along the second direction and / or moving its storage and retrieval mechanism along the third direction. By moving the fork component 230 along the first direction and along the second direction, and by moving the storage and retrieval mechanism along the third direction, the storage and retrieval mechanism can reach different cargo positions of the first shelf and the second shelf, take out goods from different cargo positions of the first shelf and the second shelf and store goods, thereby achieving coverage of the cargo storage and retrieval range of different cargo positions of the first shelf and the second shelf.

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

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

[0102] In some embodiments, the storage and retrieval device includes two tracks, the two tracks include a first track extending along a first direction and a second track extending along a second direction, one of the first track and the second track is fixed relative to the shelf, and relatively fixed means relatively stationary. In the embodiment shown in the figure, the shelf is arranged stationary, and the track fixed relative to the shelf can be directly fixedly connected to the shelf, or fixedly connected to a stationary object, for example Fig.19 As shown, the track fixed relative to the shelf can be set as a ceiling track installed above the shelf, and both methods can achieve fixation relative to the shelf. The fork component is arranged on the track that is movable relative to the shelf among the first track and the second track, and the cargo storage and retrieval device also includes a first driving device arranged between the first track and the second track and a second driving device arranged between the fork component and the track where the fork component is located. The first driving device is used to drive the track fixed relative to the shelf among the first track and the second track to move along the track fixed relative to the shelf, and the second driving device is used to drive the fork component to move along the track where the fork component is located.

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

[0104] In some embodiments, Fig.19As shown, the second track is a ceiling track arranged above the shelf and fixed relative to the shelf, and a ground track 370 can also be arranged on the ground, and the ground track 370 is a track to assist the first track to move smoothly. The arrangement of the ceiling track can further reduce the interval between the first shelf and the second shelf, and further improve the space utilization rate of the shelf.

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

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

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

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

[0109] In some embodiments, the fork component includes a mounting frame and a first drive assembly, the storage and retrieval mechanism includes a storage and retrieval assembly for storing and retrieving goods, and the storage and retrieval assembly is movably disposed on the mounting frame; the first drive assembly is drivingly connected to the storage and retrieval assembly, and the first drive unit is configured to: drive the storage and retrieval assembly to move relative to the mounting frame to take out goods from any of the first shelves and the second shelves on both sides of the aisle or store goods in any of the first shelves and the second shelves.

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

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

[0112] The storage and retrieval mechanism takes out goods from any of the first shelves 110 and the second shelves 120 on both sides of the lane 100 and stores the goods in any of the first shelves 110 and the second shelves 120 through the hooking and pushing action of the hook body 21 on the goods.

[0113] The cargo storage and retrieval system of this embodiment can move the storage and retrieval mechanism to a position aligned with the cargo position on the shelf where the cargo is to be stored or retrieved by moving the fork component along the first direction and along the second direction. After the storage and retrieval mechanism is aligned with the cargo position to be operated, when picking up the cargo, the hook body hooks the cargo, and then the hook assembly moves along the fourth direction m to hook the cargo out of the cargo position on the shelf and move it to the fork component. When the cargo on the fork component needs to be stored on the shelf, the hook assembly moves along the fifth direction n and the hook body is used to push the cargo to the cargo position on the shelf. In this embodiment, the first driving assembly is connected to the hook assembly in a driving manner, and the hook assembly is driven to move along the first direction so that the hook body in the hook assembly can achieve a hooking and pulling effect on the cargo in the first direction, so that the hook body can hook and pull the cargo on the side facing the cargo to move the cargo along the first direction. Compared with the clamping forks and lifting forks in the related art, the hook assembly does not need to clamp or lift the goods, so it can reduce the requirements for the distance between goods and the height of the goods in the shelf, which is conducive to achieving a higher shelf storage density. Figure 8 In the illustrated embodiment, the fourth direction is parallel to the fifth direction. In some embodiments not shown in the drawings, the fourth direction is different from the fifth direction. In some embodiments, the fourth direction m, the fifth direction n and the third direction z are parallel.

[0114] In some embodiments, the hook assembly 2 includes a bracket 22 and at least one group of hooks connected to the bracket 22 , and each group of hooks includes a single hook 21 or a plurality of hooks 21 located on the same side of the bracket 22 .

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

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

[0117] The hook assembly 2 is driven to move in the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the first group of hook bodies, or the hook assembly 2 is driven to move in the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the second group of hook bodies; and / or

[0118] The hook assembly 2 is driven to move along the fifth direction to push the goods in the fifth direction through the first group of hooks, or the hook assembly 2 is driven to move along the fifth direction to pull the goods in the fifth direction through the second group of hooks.

[0119] In such Figure 8 In the illustrated embodiment, the fourth direction is parallel to the fifth direction, the first hook group includes two hooks 21, the second hook group includes two hooks 21, and the first hook group and the second hook group are fixedly connected to opposite sides of the bracket 22 along the fourth direction.

[0120] In some embodiments, Fig.18 As shown, at least one set of hooks 21 includes a single set of hooks, and the fork component 230 is configured as follows:

[0121] The hook assembly 2 is driven to move in the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the single set of hook bodies 21 in the first rotation position, or the hook assembly 2 is driven to move in the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the single set of hook bodies 21 in the second rotation position, wherein the single set of hook bodies 21 is switched between the first rotation position and the second rotation position by rotating, and the single set of hook bodies 21 in the first rotation position and the single set of hook bodies 21 in the second rotation position are centrally symmetrical; and / or,

[0122] The hook assembly 2 is driven to move along the fifth direction so as to achieve a pushing effect on the goods in the fifth direction through the single hook body 21 in the third rotation position, or the hook assembly 2 is driven to move along the fifth direction so as to achieve a hooking and pulling effect on the goods in the fifth direction through the single hook body 21 in the fourth rotation position, wherein the single hook body 21 is rotated to switch between the third rotation position and the fourth rotation position, and the single hook body 21 in the third rotation position and the single hook body 21 in the fourth rotation position are centrally symmetrical. In this embodiment, by only arranging the hook body on one side of the bracket, the hooking and pulling effect and the pushing effect on the goods can be achieved. Fig.18 As shown, the solid line form of the hook body indicates the rotation position of the single hook body 21 on the left side of the bracket 22, which can realize the hooking or pushing of the left cargo 100. After rotating 180°, the single hook body represented by the dotted line form is located at the rotation position on the right side of the bracket 22, which can realize the hooking or pushing of the right cargo 200.

[0123] In some embodiments, when the hooking action on the goods is realized, the hook body 21 is configured to enter or leave the hookable part of the goods in a direction intersecting both the fourth direction and the fifth direction. The hookable part of the goods is the part for the hook body to hook, which is a groove-shaped part in the embodiment shown in the figure. In some embodiments, the hook body 21 is configured to enter or leave the hookable part of the goods along the sixth direction k. In some embodiments, as Figure 8As shown, the hook body 21 is configured to enter the hookable portion of the cargo in a vertical upward direction, such as Figure 8 In the illustrated embodiment, the sixth direction k is parallel to the vertical direction.

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

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

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

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

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

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

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

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

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

[0133] In some embodiments, in order to make the hook assembly 2 move more smoothly relative to the hook seat 31 along the sixth direction, the second driving assembly 4 further includes a second linear guide structure.

[0134] The second linear guide structure is disposed between the hook seat 31 and the hook assembly 2 , and is configured to guide the hook assembly 2 to move relative to the hook seat 31 in the sixth direction or in a direction opposite to the sixth direction.

[0135] In some embodiments, the second linear guide structure includes a second slide rail 421 and a second slider 422. The second slide rail 421 is disposed on the hook assembly 2 and extends along the sixth direction. The second slider 422 is disposed on the hook seat 31 and slidably cooperates with the second slide rail 421.

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

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

[0138] In some embodiments, the time ranges during which the transport component 5 and the hook component 2 act on the goods 200 are configured not to overlap. For example, the hook component 2 first hooks and pulls the goods, and after the hook and pull have a preset displacement, the transport component 5 continues to transport the goods. Another example is that the transport component 5 first transports the goods, and after the preset displacement has been transported, the hook component 2 pushes the goods. This configuration can effectively reduce the risk of interference between the transport component 5 and the hook component 2.

[0139] In some embodiments, the time ranges in which the transmission component 5 and the hook component 2 act on the goods are configured to overlap at least partially. For example, in at least part of the process in which the hook component 2 hooks and pulls the goods, the transmission component 5 transmits the goods in the same direction. For another example, in at least part of the process in which the transmission component 5 transmits the goods, the hook component 2 pushes the goods in the same direction. This configuration allows the transmission component 5 and the hook component 2 to act on the goods in the same direction, thereby increasing the driving force on the goods and meeting the driving needs of heavier goods. Correspondingly, it is also easy to realize the connection process in which the transmission component 5 and the hook component 2 act on the goods respectively, which is conducive to improving efficiency.

[0140] In some embodiments, the transmission component 5 is located on the upper side of the mounting frame 1 in the vertical direction, and the fork component 230 further includes a second drive component 4. The second drive component 4 is drivingly connected to the hook component 2 or the first drive component 3, and the second drive component 4 is configured to drive the hook component 2 to move along the sixth direction so that the hook component 2 extends and retracts relative to the transmission surface of the transmission component 5. The transmission component 5 can be a roller, a belt or other structural form that can achieve transmission. Figure 8 and Fig. 9 In the embodiment, the transmission component 5 uses two conveyor belts arranged side by side, and the conveyor belts are driven by a driving motor 51. In addition to realizing the transmission function of the goods, the transmission component 5 located on the upper side of the mounting frame 1 is also used for supporting the goods, which includes the mobile supporting function formed by the transmission component 5 on the goods when the hook component 2 acts on the goods. The hook component 2 can be moved along the sixth direction by the second driving component 4 to extend and retract relative to the transmission surface of the transmission component 5. When the hook component 2 is extended relative to the transmission surface of the transmission component 5, the hook component 2 can hook or push the goods. When the hook component 2 is retracted relative to the transmission surface of the transmission component 5, the goods can run on the transmission surface without interfering with the hook component 2. In addition, the second driving component 4 can cooperate with the first driving component to make the hook component move under the transmission surface of the transmission component 5 to adjust the position when extended.

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

[0142] The mounting frame 1 can be fixedly connected to the bracket 6 (including the case where the two are made in one piece), so that the mounting frame 1 can move synchronously with the movement of the bracket 6. The mounting frame 1 can also be detachable relative to the bracket 6, so that the mounting frame 1 and the structure thereon can be removed from the bracket 6 together, thereby facilitating maintenance and replacement. The mounting frame 1 can also be movable relative to the bracket 6, so that when the bracket 6 moves, the mounting frame 1 can be moved to a position at a preset distance from the shelf to avoid interference between the fork component and the shelf when it moves. When it is necessary to store and retrieve goods, the mounting frame can be moved to a position adjacent to the shelf to reduce the docking gap and reduce the risk of goods getting stuck or falling during the storage and retrieval process.

[0143] In some embodiments, the third driving assembly 7 includes a second leadscrew penetrating the motor 71 .

[0144] The second lead screw passes through the motor 71 and comprises a motor housing fixedly connected to the bracket 6 and a lead screw passing through the motor housing, and both ends of the lead screw are connected to the mounting frame 1 .

[0145] When the second lead screw passes through the motor and rotates forward or reversely, the lead screw can move axially relative to the motor housing. The motor housing through which the second lead screw passes through the motor is fixedly connected to the cross plate of the bracket 6, and both ends of the lead screw are connected to the mounting frame 1, so that when the lead screw moves relative to the motor housing, the mounting frame 1 is driven to move horizontally on the bracket 6. The moving direction of the lead screw is parallel to the third direction.

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

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

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

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the utility model can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the utility model, which should be included in the scope of the technical solution for protection of the utility model.

Claims

1. A cargo storage and retrieval system, characterized in that: include: A shelf device, comprising at least two shelves for storing goods, the at least two shelves comprising a first shelf (110) and a second shelf (120) adjacent to each other, the first shelf (110) and the second shelf (120) being arranged at an interval to form an aisle (100) therebetween; At least two cargo storage and retrieval devices, including a first cargo storage and retrieval device (210) and a second cargo storage and retrieval device (220), the cargo storage and retrieval device including a fork component (230) disposed between the first shelf (110) and the second shelf (120), the fork component (230) including a storage and retrieval mechanism, the cargo storage and retrieval device being configured such that: the fork component (230) can move along a first direction to rise or fall in a vertical direction and along a second direction to move forward or backward in an extension direction of the lane (100), the storage and retrieval mechanism can move along a third direction to move closer to the first shelf (110) ) in a direction away from the second shelf (120) or in a direction away from the first shelf (110) towards the second shelf (120), and the storage and retrieval device can enable the storage and retrieval mechanism to take out goods from any of the first shelf (110) and the second shelf (120) on both sides of the lane (100) and to store the goods in any of the first shelf (110) and the second shelf (120) by moving its fork component (230) along the first direction, moving its fork component (230) along the second direction and / or moving its storage and retrieval mechanism along the third direction.

2. The cargo storage and retrieval system according to claim 1, characterized in that: It also has a staggered state, and the cargo storage and retrieval system is configured as follows: in the staggered state, the fork component of the first storage and retrieval device and the fork component of the second storage and retrieval device are respectively moved to positions staggered from each other in the vertical direction, and when the storage and retrieval mechanism of the first storage and retrieval device and the storage and retrieval mechanism of the second storage and retrieval device are respectively moved along the third direction to the staggered retracted position located on their respective storage and retrieval devices, the movement of the fork component of the first storage and retrieval device along the second direction is not interfered with by the second storage and retrieval device, and the movement of the fork component of the second storage and retrieval device along the second direction is not interfered with by the first storage and retrieval device.

3. The cargo storage and retrieval system according to claim 2, characterized in that: The cargo storage and retrieval device comprises two tracks, the two tracks comprising a first track (310) extending in a first direction and a second track (320) extending in a second direction, one of the first track (310) and the second track (320) being fixed relative to the shelf, the fork component (230) being arranged on a track of the first track (310) and the second track (320) being movable relative to the shelf, the cargo storage and retrieval device further comprises a first driving device (330) arranged between the first track (310) and the second track (320) and a second driving device (340) arranged between the fork component (230) and the track where the fork component (230) is located, the first driving device (330) being used to drive the first track (310) and the second track (320) being fixed relative to the shelf to move along the track fixed relative to the shelf, and the second driving device (340) being used to drive the fork component (230) to move along the track where the fork component (230) is located.

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

5. The cargo storage and retrieval system according to claim 4, characterized in that: The second track is fixedly connected to the shelf.

6. The cargo storage and retrieval system according to claim 3, characterized in that: The second rail (320) is a ceiling rail arranged above the shelf and fixed relative to the shelf.

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

8. The cargo storage and retrieval system according to claim 1, characterized in that: The fork component (230) comprises a mounting frame (1) and a first drive assembly (3); the storage and retrieval mechanism comprises a storage and retrieval assembly for storing and retrieval of goods, the storage and retrieval assembly being movably arranged on the mounting frame (1); the first drive assembly (3) being drivingly connected to the storage and retrieval assembly, the first drive assembly being configured to: drive the storage and retrieval assembly to move relative to the mounting frame so as to take out goods from any one of the first shelf (110) and the second shelf (120) on both sides of the lane (100) or to store the goods in any one of the first shelf (110) and the second shelf (120).

9. The cargo storage and retrieval system according to claim 8, characterized in that: The storage and retrieval assembly comprises a hook assembly (2), the hook assembly (2) being movably arranged on the mounting frame (1), the hook assembly (2) comprising a hook body (21); the first driving assembly (3) being drivingly connected to the hook assembly (2), the first driving assembly (3) being configured to: drive the hook assembly (2) to move along a fourth direction, so as to achieve a hooking and pulling action on the goods in the fourth direction through the hook body (21), or drive the hook assembly (2) to move along a fifth direction, so as to achieve a pushing action on the goods in the fifth direction through the hook body (21); wherein the storage and retrieval mechanism takes out goods from any one of the first shelf (110) and the second shelf (120) on both sides of the lane (100) and stores the goods in any one of the first shelf (110) and the second shelf (120) through the hooking and pulling action and the pushing action of the hook body (21) on the goods.

10. The cargo storage and retrieval system according to claim 9, characterized in that: The hook assembly (2) comprises a bracket (22) and at least one group of hook bodies connected to the bracket (22), and each group of hook bodies comprises a single hook body (21) or a plurality of hook bodies (21) located on the same side of the bracket (22).

11. The cargo storage and retrieval system according to claim 10, characterized in that: The at least one group of hooks comprises a first group of hooks and a second group of hooks, the first group of hooks being located along the fourth direction on a side of the bracket (22) away from the second group of hooks, and the second group of hooks being located along the fifth direction on a side of the bracket (22) away from the first group of hooks; Wherein, the fork component (230) is configured as follows: driving the hook assembly (2) to move along the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the first group of hook bodies, or driving the hook assembly (2) to move along the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the second group of hook bodies; and / or The hook assembly (2) is driven to move along the fifth direction so as to achieve a pushing effect on the goods in the fifth direction through the first group of hook bodies, or the hook assembly (2) is driven to move along the fifth direction so as to achieve a hooking and pulling effect on the goods in the fifth direction through the second group of hook bodies.

12. The cargo storage and retrieval system according to claim 10, characterized in that: The at least one set of hooks comprises a single set of hooks, and the fork component (230) is configured as follows: The hook assembly (2) is driven to move along the fourth direction so as to achieve a hooking and pulling effect on the goods in the fourth direction through the single set of hook bodies in the first rotational position, or the hook assembly (2) is driven to move along the fourth direction so as to achieve a pushing effect on the goods in the fourth direction through the single set of hook bodies in the second rotational position, wherein the single set of hook bodies is switched between the first rotational position and the second rotational position by rotating, and the single set of hook bodies in the first rotational position and the single set of hook bodies in the second rotational position are centrally symmetrical; and / or, The hook assembly (2) is driven to move along the fifth direction so as to achieve a pushing effect on the goods in the fifth direction through the single set of hooks in the third rotational position, or the hook assembly (2) is driven to move along the fifth direction so as to achieve a hooking and pulling effect on the goods in the fifth direction through the single set of hooks in the fourth rotational position, wherein the single set of hooks is switched between the third rotational position and the fourth rotational position by rotating, and the single set of hooks in the third rotational position and the single set of hooks in the fourth rotational position are centrally symmetrical.

13. The cargo storage and retrieval system according to claim 9, characterized in that: The first driving component (3) comprises: A hook seat (31) connected to the hook assembly (2); A first linear transmission mechanism (32); and The first power element (33) is connected to the hook seat (31) via the first linear transmission mechanism (32), and is configured to drive the hook seat (31) to move along the fourth direction or the fifth direction via the first linear transmission mechanism (32).

14. The cargo storage and retrieval system according to claim 13, characterized in that: The first linear transmission mechanism (32) comprises: A transmission wheel set (321), arranged on the mounting frame (1) and connected to the first power element (33); and The transmission belt (322) is wound around the transmission wheel set (321) and is fixedly connected to the hook seat (31).

15. The cargo storage and retrieval system according to claim 9, characterized in that: The access mechanism also includes: A second driving assembly (4) is drivingly connected to the hook assembly (2) or the first driving assembly (3), and is configured to drive the hook assembly (2) to move along a sixth direction; wherein the fourth direction is parallel to a horizontal plane, and the sixth direction is parallel to a vertical direction.

16. The cargo storage and retrieval system according to claim 9, characterized in that: The fork component (230) further includes: A transport component (5) is disposed on the mounting frame (1) and is configured to transport goods along the fourth direction or the fifth direction.

17. The cargo storage and retrieval system according to claim 9, characterized in that: The fork component (230) further includes: A bracket (6), the mounting frame (1) being arranged on the bracket (6); A third driving assembly (7) is arranged on the bracket (6) and is drivingly connected to the mounting frame (1), and is configured to drive the mounting frame (1) to move relative to the bracket (6) along the fourth direction.

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