Bearing device, transfer robot and warehousing system

Abstract

The embodiment of the utility model provides a bearing device, a carrying robot and a warehousing system, and relates to the technical field of intelligent warehousing. The bearing device comprises a bottom plate, two first bearing structures and two second bearing structures, wherein the two first bearing structures and the two second bearing structures are connected to the bottom plate. The two first bearing structures are oppositely arranged in a spaced mode in the first direction, each first bearing structure is provided with a plurality of first bearing faces used for bearing containers, the first bearing faces are sequentially arranged in the first direction, and the heights of the first bearing faces are sequentially reduced in the first step direction; and the two second bearing structures are oppositely arranged in the second direction, each second bearing structure is provided with a plurality of second bearing faces used for bearing containers, the second bearing faces are sequentially arranged in the second direction, and the heights of the second bearing faces are sequentially reduced in the second step direction. According to the carrying device, the number of the cargo boxes which can be carried by the carrying device is increased, so that the carrying robot provided with the carrying device can carry the cargo boxes of different specifications, and the application range of the carrying robot is widened.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of intelligent warehousing, and in particular, to a carrying device, a handling robot, and a warehousing system. Background Art

[0002] To improve the efficiency of logistics, intelligent warehousing systems have been widely used. In a warehousing system, handling robots for carrying containers and other items are usually equipped to replace manual handling, thereby improving the handling efficiency. In related technologies, a handling robot generally includes a body and a carrying device provided on the body. Among them, the carrying device is used to carry containers. However, in related technologies, the carrying device of the handling robot can only carry containers of a single specification, resulting in a small applicable range of the handling robot. Summary of the Utility Model

[0003] In view of this, embodiments of the present disclosure provide a carrying device, a handling robot, and a warehousing system to solve the technical problem that the carrying device in related technologies can only carry containers of a single specification, resulting in a small applicable range of the handling robot.

[0004] To achieve the above object, embodiments of the present disclosure provide the following technical solutions:

[0005] In a first aspect, embodiments of the present disclosure provide a carrying device, which includes a bottom plate, and two first carrying structures and two second carrying structures connected to the bottom plate. The two second carrying structures are located between the two first carrying structures in a first direction;

[0006] The two first carrying structures are spaced apart and oppositely arranged in the first direction. The first carrying structure is provided with a plurality of first carrying surfaces for carrying containers. The plurality of first carrying surfaces are arranged in sequence in the first direction, and the heights thereof decrease in sequence along a first stepped direction. The first stepped direction is the direction from the first carrying structure where the plurality of first carrying surfaces are located to the other first carrying structure;

[0007] The two second carrying structures are oppositely arranged in a second direction intersecting the first direction. The second carrying structure is provided with a plurality of second carrying surfaces for carrying containers. The plurality of second carrying surfaces are arranged in sequence in the second direction, and the heights thereof decrease in sequence along a second stepped direction. The second stepped direction is the direction from the second carrying structure where the plurality of second carrying surfaces are located to the other second carrying structure.

[0008] The loading device according to the embodiments of the present disclosure is provided with two first loading structures and two second loading structures. The two first loading structures can be spaced apart and oppositely arranged in a first direction. The first loading structure can be provided with a plurality of first loading surfaces, and the heights of the plurality of first loading surfaces can decrease successively along a first stepped direction. The two second loading structures can be located between the two first loading structures in the first direction and can be oppositely arranged in a second direction. The second loading structure can be provided with a plurality of second loading surfaces, the plurality of second loading surfaces can be arranged successively in the second direction, and the heights of the plurality of second loading surfaces can decrease successively along a second stepped direction. At least one first loading surface in one first loading structure can correspond to at least one first loading surface in the other first loading structure to form a first loading space. The plurality of first loading surfaces of the two first loading structures can form a plurality of first loading spaces. At least one second loading surface in one second loading structure can correspond to at least one second loading surface in the other second loading structure to form a second loading space, and the plurality of second loading surfaces in the two second loading structures can form a plurality of second loading spaces. The plurality of first loading spaces and the plurality of second loading spaces can be used to stably load cargo boxes of different specifications, increasing the number of cargo box specifications that the loading device can carry, so that the handling robot equipped with the loading device can handle cargo boxes of different specifications, improving the applicable range of the handling robot.

[0009] In some possible implementation manners, the first loading structure includes a first limiting surface corresponding to the first loading surface. The height of the first limiting surface is higher than the height of the corresponding first loading surface. In the first stepped direction, the first limiting surface is located behind the corresponding first loading surface, and the first limiting surface is used to limit the cargo box located on the corresponding first loading surface in the first direction.

[0010] In some possible implementation manners, the second loading structure includes a second limiting surface corresponding to the second loading surface. The height of the second limiting surface is higher than the height of the corresponding second loading surface. In the second stepped direction, the second limiting surface is located behind the corresponding second loading surface, and the second limiting surface is used to limit the cargo box located on the corresponding second loading surface in the second direction.

[0011] In some possible implementation manners, along the vertically upward direction, the serial numbers of the plurality of first loading surfaces are successively 1 to m, and the serial numbers of the plurality of second loading surfaces are successively 1 to n; the height of the first second loading surface is less than the height of the first first loading surface; the height of the i-th second loading surface is the same as the height of the (i - 1)-th first loading surface; where m and n are both natural numbers greater than or equal to 2; i is a natural number greater than or equal to 2 and less than or equal to n.

[0012] In some possible implementations, the first bearing structure is further provided with a third limiting surface, which is located at the end of the first bearing structure along the first step direction, and the third limiting surface is used to limit the cargo box located on the second bearing surface in the first direction.

[0013] In some possible implementations, the first bearing structure includes a plurality of first bearing plates arranged vertically, the bottom side of the first bearing plate is connected to the bottom plate, and the top side of the first bearing plate forms the first bearing surface.

[0014] In some possible implementations, one of the plurality of first bearing plates is a support plate, and the bottom side of the support plate is fixed to the bottom plate; the bottom sides of the remaining first bearing plates are provided with bending portions facing the support plate, and the bending portions are connected to the support plate.

[0015] In some possible implementations, the bottom side of the support plate is provided with a second connecting portion, and the second connecting portion is fixed to the bottom plate; the first bearing structure further includes at least one reinforcing plate, and the reinforcing plate connects the support plate, the second connecting portion and / or the bottom plate.

[0016] In some possible implementations, the side surface of the first bearing plate facing another first bearing structure is a first limiting surface or a third limiting surface.

[0017] In some possible implementations, the first bearing structure further includes a first anti-slip sleeve, and the first anti-slip sleeve is sleeved on the top side of the first bearing plate, and the top surface of the first anti-slip sleeve is the first bearing surface.

[0018] In some possible implementations, the side surface of the first anti-slip sleeve facing another first bearing structure is a first limiting surface or a third limiting surface.

[0019] In some possible implementations, the second bearing structure includes a second bearing plate arranged vertically. The second bearing plate is located between two first bearing structures in the first direction and is connected to the bottom plate. The top side of the second bearing plate is provided with at least one bearing recess, and the bearing recess is close to the center of the bottom plate; the bottom surface of the bearing recess and the top surface of the second bearing plate form at least part of the second bearing surface of the second bearing structure.

[0020] In some possible implementations, the inner side surface of the bearing recess is a second limiting surface.

[0021] In some possible implementations, the second bearing structure further includes a second anti-slip sleeve sleeved on the top surface of the second bearing plate, and the top surface of the second anti-slip sleeve is the second bearing surface.

[0022] In some possible implementations, there are multiple second bearing plates, and the multiple second bearing plates are all located between the two first bearing structures in the first direction and are spaced apart in the first direction.

[0023] In some possible implementations, the second bearing plates of the two second bearing structures are connected or spaced apart in the second direction.

[0024] In some possible implementations, the second bearing structure further includes a third bearing plate located on the side of the second bearing plate facing away from the center of the bottom plate and detachably connected to the bottom plate. The top side of the third bearing plate is higher than the top side of the second bearing plate, and the top side of the third bearing plate forms part of the second bearing surface of the second bearing structure.

[0025] In some possible implementations, the second bearing structure further includes a third anti-slip sleeve sleeved on the top side of the third bearing plate, and the top surface of the third anti-slip sleeve is the second bearing surface.

[0026] In some possible implementations, the side surface of the third bearing plate facing the second bearing plate is a second limiting surface.

[0027] In some possible implementations, the loading device further includes at least two first limiting members connected to the bottom plate, and the at least two first limiting members are relatively arranged on both sides of the two first bearing structures; a fourth limiting surface is provided on one side of each first limiting member facing the first bearing structure for limiting the cargo box on the highest first bearing surface among the multiple first bearing surfaces in the first direction.

[0028] In some possible implementations, the first limiting member is further provided with a first guiding surface, and the first guiding surface is provided on the side of the fourth limiting surface facing away from the bottom plate; the first guiding surface extends in a vertically upward direction and away from the fourth limiting surface.

[0029] In some possible implementations, the carrying device further includes at least two second limiting members connected to the bottom plate, and the at least two second limiting members are relatively arranged on both sides of the two second carrying structures; a fifth limiting surface is provided on one side of each second limiting member facing the second carrying structure, and is used to limit the cargo box located on the highest second carrying surface among the plurality of second carrying surfaces in the second direction.

[0030] In some possible implementations, the second limiting member is further provided with a second guiding surface, and the second guiding surface is provided on the side of the fifth limiting surface facing away from the bottom plate; the second guiding surface extends in a vertically upward direction and away from the fifth limiting surface.

[0031] In a second aspect, an embodiment of the present disclosure provides a handling robot, which includes a body and the carrying device as described in any one of the above, and the carrying device is installed on the body.

[0032] Since the handling robot according to the embodiment of the present disclosure includes the carrying device as described in any one of the above, this handling robot also has the advantages of the carrying device as described in any one of the above, and the embodiments of the present disclosure will not elaborate on this.

[0033] In some possible implementations, a lifting mechanism is provided on the top side of the body; the bottom plate includes a separately arranged first sub-bottom plate and a second sub-bottom plate, the first sub-bottom plate is connected to the lifting mechanism, and the second sub-bottom plate is connected to the top side of the body; both of the two first carrying structures are arranged on the first sub-bottom plate, a first part of the two second carrying structures is arranged on the first sub-bottom plate, and a second part of the two second carrying structures is arranged on the second sub-bottom plate.

[0034] In a third aspect, an embodiment of the present disclosure provides a warehousing system, which includes the handling robot as described in any one of the above.

[0035] Since the warehousing system according to the embodiment of the present disclosure includes the handling robot as described in any one of the above, this warehousing system also has the advantages of the handling robot as described in any one of the above, and the embodiments of the present disclosure will not elaborate on this. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1Schematic three-dimensional structure diagram of the handling robot provided by the embodiments of the present disclosure;

[0038] Figure 2 is Figure 1 Schematic three-dimensional structure diagram of the carrying device in

[0039] Figure 3 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the first specification;

[0040] Figure 4 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the second specification;

[0041] Figure 5 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the third specification;

[0042] Figure 6 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the fourth specification;

[0043] Figure 7 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the fifth specification;

[0044] Figure 8 is Figure 2 Schematic diagram when the carrying device in carries a cargo box of the sixth specification;

[0045] Figure 9 Schematic height diagram of the first bearing surface and the second bearing in the carrying device of the embodiments of the present disclosure;

[0046] Figure 10 Schematic three-dimensional structure diagram of the carrying device in some possible implementation manners of the present disclosure.

[0047] Reference numerals:

[0048] 001 - Body;

[0049] 010 - Roller;

[0050] 002 - Carrying device;

[0051] 100 - Bottom plate;

[0052] 110 - First sub-bottom plate; 120 - Second sub-bottom plate;

[0053] 200 - First bearing structure;

[0054] 210 - First bearing surface; 220 - First limiting surface;

[0055] 230 - Third limiting surface; 240 - First bearing plate;

[0056] 241 - Support plate; 242 - Bending part;

[0057] 243 - Second connecting part; 244 - First weight - reducing hole;

[0058] 250 - First reinforcing plate; 260 - First anti - slip sleeve;

[0059] 300 - Second bearing structure;

[0060] 310 - Second bearing surface; 320 - Second limiting surface;

[0061] 330 - Second bearing plate; 331 - Bearing recess;

[0062] 332 - Third connecting part; 333 - Second weight - reducing hole;

[0063] 340 - Third bearing plate; 341 - Fourth connecting part;

[0064] 342 - Third weight - reducing hole; 350 - Second anti - slip sleeve;

[0065] 360 - Third anti - slip sleeve;

[0066] 400 - First limiting part;

[0067] 410 - Fourth limiting surface; 420 - First guiding surface;

[0068] 430 - First limiting plate; 431 - Fifth connecting part;

[0069] 440 - First guiding plate; 450 - Second reinforcing plate;

[0070] 460 - Third reinforcing plate;

[0071] 500 - Second limiting part;

[0072] 510 - Fifth limiting surface; 520 - Second guiding surface. Detailed implementation mode

[0073] As described in the background art, there is a technical problem in the related art that the loading device of the handling robot can only load a single specification of the cargo box, resulting in a small application range of the handling robot. After research by the inventor, it is found that the reason is as follows: The loading device in the related art usually has a horizontal loading plate and baffles surrounding the loading plate on all sides. The baffles and the loading plate enclose a loading space for loading the cargo box. This loading space can only stably load a specific specification of the cargo box that matches its size. When other specifications of the cargo box, such as a cargo box larger than the specific specification, are placed on the loading device, it will experience large shaking and deflection, and there will be a large position deviation during the handling process of the handling robot, reducing the success rate of picking and placing the cargo box and resulting in a small application range of the handling robot.

[0074] In view of this, the embodiments of the present disclosure provide a loading device, a handling robot and a warehousing system. By providing two first loading structures and two second loading structures on the bottom plate. The two first loading structures are spaced and oppositely arranged in the first direction. The first loading structure is provided with a plurality of first loading surfaces, and the plurality of first loading surfaces are arranged in sequence in the first direction. The heights of the plurality of first loading surfaces decrease sequentially along the first stepped direction. The two second loading structures are located between the two first loading structures in the first direction and are oppositely arranged in the second direction perpendicular to the first direction. The second loading structure is provided with a plurality of second loading surfaces, and the plurality of second loading surfaces are arranged in sequence in the second direction. The heights of the plurality of second loading surfaces decrease sequentially along the second stepped direction. At least one first loading surface in one first loading structure can correspond to at least one first loading surface in another first loading structure to form a first loading space, and the plurality of first loading surfaces in the two first loading structures can form a plurality of first loading spaces. At least one second loading surface in one second loading structure can correspond to at least one second loading surface in another second loading structure to form a second loading space, and the plurality of second loading surfaces in the two second loading structures can form a plurality of second loading spaces. The plurality of first loading spaces and the plurality of second loading spaces can be used to stably load different specifications of the cargo box, increasing the number of specifications of the cargo box that the loading device can load, so that the handling robot equipped with this loading device can handle different specifications of the cargo box, improving the application range of the handling robot.

[0075] To make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0076] An embodiment of the present disclosure provides a warehousing system, which may include a handling robot. The handling robot can be used to handle containers and other items to replace manual handling, thereby improving the handling efficiency.

[0077] Referring to Figure 1 , the handling robot may include a body 001 and a carrying device 002, and the carrying device 002 may be installed on the body 001. The carrying device 002 can be used to carry containers. Exemplarily, the body 001 may have a moving function. For example Figure 1 as shown, rollers 010 may be provided at the bottom of the body 001. A driving mechanism (not shown in the drawings) may also be provided inside the body 001. The driving mechanism may be in transmission connection with the rollers 010 to drive the rollers 010 to roll on the ground, so that the body 001 can move, thereby driving the carrying device 002 and items such as containers to move, so as to realize the handling function of the handling robot.

[0078] Referring to Figure 2 , it is a schematic structural diagram of the carrying device 002 in some possible implementation manners of the embodiment of the present disclosure. As Figure 2 shown, the carrying device 002 may include a bottom plate 100, and two first carrying structures 200 and two second carrying structures 300 connected to the bottom plate 100.

[0079] Referring to Figure 1 and Figure 2 , for the handling robot of the embodiment of the present disclosure, a lifting mechanism may be provided on the top side of the body 001. The bottom plate 100 may include a first sub-bottom plate 110 and a second sub-bottom plate 120 that are separately arranged. The first sub-bottom plate 110 may be connected to the lifting mechanism, and the second sub-bottom plate 120 may be connected to the top side of the body 001. The two first carrying structures 200 may both be provided on the first sub-bottom plate 110. A first part of the two second carrying structures 300 may be provided on the first sub-bottom plate 110, and a second part of the two second carrying structures 300 may be provided on the second sub-bottom plate 120. When the lifting mechanism moves up and down, it can drive the first sub-bottom plate 110, the two first carrying structures 200 and the first part of the two second carrying structures 300 to move up and down, and the height of the second part of the two second carrying structures 300 may remain unchanged. Such a setting can facilitate the docking of the handling robot with other devices in the warehousing system and improve the convenience when transferring containers.

[0080] The two first bearing structures 200 can be spaced apart and oppositely arranged in the first direction. The first bearing structure 200 can be provided with a plurality of first bearing surfaces 210 for bearing the cargo box. The plurality of first bearing surfaces 210 can be arranged in sequence in the first direction, and the heights thereof decrease successively along the first stepped direction. The two second bearing structures 300 can be located between the two first bearing structures 200 in the first direction. The two second bearing structures 300 can be oppositely arranged in a second direction intersecting the first direction. The second bearing structure 300 can be provided with a plurality of second bearing surfaces 310 for bearing the cargo box. The plurality of second bearing surfaces 310 can be arranged in sequence in the second direction, and the heights thereof decrease successively along the second stepped direction.

[0081] It should be noted that the first direction can refer to the width direction of the loading device 002, such as Figure 2 the direction x shown in. The second direction can intersect the first direction and can refer to the length direction of the loading device 002, such as Figure 2 the direction y shown in. For the convenience of clearly describing the technical solutions of the embodiments of the present disclosure, the first direction will hereinafter be referred to as the first direction x, and the second direction will be referred to as the second direction y.

[0082] The first stepped direction can be the direction from the first bearing structure 200 where the plurality of first bearing surfaces 210 are located to the other first bearing structure 200. For example Figure 2 as shown, for the plurality of first bearing surfaces 210 on the left first bearing structure 200, the first stepped direction can be the direction from the left first bearing structure 200 to the right first bearing structure 200, and the first stepped direction can be the same as the first direction x. For the plurality of first bearing surfaces 210 on the right first bearing structure 200, the first stepped direction can be the direction from the right first bearing structure 200 to the left first bearing structure 200, and the first stepped direction can be opposite to the first direction x.

[0083] The second stepped direction can be the direction from the second bearing structure 300 where the plurality of second bearing surfaces 310 are located to the other second bearing structure 300. For example Figure 2 as shown, for the plurality of second bearing surfaces 310 on the left second bearing structure 300, the second stepped direction can be the direction from the left second bearing structure 300 to the right second bearing structure 300, and the second stepped direction can be the same as the second direction y. For the plurality of second bearing surfaces 310 on the right second bearing structure 300, the second stepped direction can be the direction from the right second bearing structure 300 to the left second bearing structure 300, and the second stepped direction can be opposite to the second direction y.

[0084] The carrying device 002 of the embodiments of the present disclosure is provided with two first carrying structures 200 and two second carrying structures 300. The two first carrying structures 200 can be arranged at intervals and oppositely in the first direction x. The first carrying structure 200 can be provided with a plurality of first carrying surfaces 210, and the heights of the plurality of first carrying surfaces 210 can decrease successively along the first stepped direction. The two second carrying structures 300 can be located between the two first carrying structures 200 in the first direction x and can be arranged oppositely in the second direction y. The second carrying structure 300 can be provided with a plurality of second carrying surfaces 310, the plurality of second carrying surfaces 310 can be arranged successively in the second direction y, and the heights of the plurality of second carrying surfaces 310 can decrease successively along the second stepped direction.

[0085] At least one first carrying surface 210 located in one first carrying structure 200 can correspond to at least one first carrying surface 210 in the other first carrying structure 200 to form a first carrying space. The plurality of first carrying surfaces 210 of the two first carrying structures 200 can form a plurality of first carrying spaces. At least one second carrying surface 310 located in one second carrying structure 300 can correspond to at least one second carrying surface 310 in the other second carrying structure 300 to form a second carrying space, and the plurality of second carrying surfaces 310 in the two second carrying structures 300 can form a plurality of second carrying spaces. The plurality of first carrying spaces and the plurality of second carrying spaces can be used to stably carry cargo boxes of different specifications, increasing the number of specifications of cargo boxes that the carrying device 002 can carry, so that a handling robot equipped with the carrying device 002 can handle cargo boxes of different specifications, improving the applicable range of the handling robot.

[0086] It should be noted that the plurality of first carrying surfaces 210 located in one first carrying structure 200 can correspond to the plurality of first carrying surfaces 210 in the other first carrying structure 200 to form a first carrying space. Or, the plurality of first carrying surfaces 210 located in one first carrying structure 200 can correspond to one first carrying surface 210 in the other first carrying structure 200 to form a first carrying space. Or, one first carrying surface 210 located in one first carrying structure 200 can correspond to the plurality of first carrying surfaces 210 in the other first carrying structure 200 to form a first carrying space. Or, one first carrying surface 210 located in one first carrying structure 200 can correspond to one first carrying surface 210 in the other first carrying structure 200 to form a first carrying space.

[0087] A plurality of second bearing surfaces 310 located in a second bearing structure 300 can correspond to a plurality of second bearing surfaces 310 in another second bearing structure 300 to form a second bearing space. Alternatively, a plurality of second bearing surfaces 310 located in a second bearing structure 300 can correspond to a second bearing surface 310 in another second bearing structure 300 to form a second bearing space. Or, a second bearing surface 310 located in a second bearing structure 300 can correspond to a plurality of second bearing surfaces 310 in another second bearing structure 300 to form a second bearing space. Or, a second bearing surface 310 located in a second bearing structure 300 can correspond to a second bearing surface 310 in another second bearing structure 300 to form a second bearing space.

[0088] When a first bearing surface 210 located in a first bearing structure 200 corresponds to a first bearing surface 210 located in another first bearing structure 200 to form a first bearing space, the heights of the two first bearing surfaces 210 forming the first bearing space can be the same or different.

[0089] When a second bearing surface 310 located in a second bearing structure 300 corresponds to a second bearing surface 310 located in another second bearing structure 300 to form a second bearing space, the heights of the two second bearing surfaces 310 forming the second bearing space can be the same or different.

[0090] The following takes a first bearing surface 210 located in a first bearing structure 200 corresponding to a first bearing surface 210 in another first bearing structure 200 to form a first bearing space, and the heights of the two first bearing surfaces 210 forming the first bearing space being the same; a second bearing surface 310 located in a second bearing structure 300 corresponding to a second bearing surface 310 in another second bearing structure 300 to form a second bearing space, and the heights of the two second bearing surfaces 310 forming the second bearing space being the same as an example to describe the technical solutions of the embodiments of the present disclosure in detail. For other technical solutions in which at least one first bearing surface 210 located in a first bearing structure 200 corresponds to at least one first bearing surface 210 in another first bearing structure 200 to form a first bearing space, and for technical solutions in which at least one second bearing surface 310 located in a second bearing structure 300 corresponds to at least one second bearing surface 310 in another second bearing structure 300, reference may be made to the following description, and the embodiments of the present disclosure will not elaborate thereon.

[0091] In the vertically upward direction, the serial numbers of multiple first bearing surfaces 210 can be 1 to m, where m can be a natural number greater than or equal to 2. For example, Figure 3 As shown, m can be 3. That is to say, in the first bearing structure 200, the number of first bearing surfaces 210 can be three. In the vertically upward direction z, the three first bearing surfaces 210 can be successively the 1st first bearing surface 210, the 2nd first bearing surface 210, and the 3rd first bearing surface 210. The 1st first bearing surface 210 of the left first bearing structure 200 and the 1st first bearing surface 210 of the right first bearing structure 200 can be at the same height, forming a first bearing space. This first bearing space can be used to stably carry the cargo box A with the first specification.

[0092] For example, Figure 4 As shown, the 2nd first bearing surface 210 of the left first bearing structure 200 and the 2nd first bearing surface 210 of the right first bearing structure 200 can be at the same height, forming another first bearing space. This first bearing space can be used to stably carry the cargo box B with the second specification. The first bearing space formed by the two 1st first bearing surfaces 210 and the first bearing space formed by the two 2nd first bearing surfaces 210 can be used to carry cargo boxes with different specifications, increasing the number of specifications of the cargo boxes that the bearing device 002 can carry. Thus, the handling robot equipped with this bearing device 002 can carry cargo boxes with different specifications, improving the applicable range of the handling robot.

[0093] For example, Figure 5 As shown, the 3rd first bearing surface 210 of the left first bearing structure 200 and the 3rd first bearing surface 210 of the right first bearing structure 200 can be at the same height, forming another first bearing space. This first bearing space can be used to stably carry the cargo box C with the third specification. The first bearing space formed by the two 1st first bearing surfaces 210, the first bearing space formed by the two 2nd first bearing surfaces 210, and the first bearing space formed by the two 3rd first bearing surfaces 210 can be used to carry cargo boxes with different specifications, increasing the number of specifications of the cargo boxes that the bearing device 002 can carry. Thus, the handling robot equipped with this bearing device 002 can carry cargo boxes with different specifications, improving the applicable range of the handling robot.

[0094] In the vertically upward direction, the serial numbers of multiple second bearing surfaces 310 can be 1 to n, where n can be a natural number greater than or equal to 2. For example, Figure 6As shown, n can be 3. That is to say, in the second load-bearing structure 300, the number of the second load-bearing surfaces 310 can be three. Along the vertically upward direction z, the three second load-bearing surfaces 310 can be the 1st second load-bearing surface 310, the 2nd second load-bearing surface 310, and the 3rd second load-bearing surface 310 in sequence. The 1st second load-bearing surface 310 of the left second load-bearing structure 300 and the 1st second load-bearing surface 310 of the right second load-bearing structure 300 can be at the same height, forming a second load-bearing space. This second load-bearing space can be used to stably carry the cargo box D with the fourth specification.

[0095] As Figure 7 shown, the 2nd second load-bearing surface 310 of the left second load-bearing structure 300 and the 2nd second load-bearing surface 310 of the right second load-bearing structure 300 can be at the same height, forming another second load-bearing space. This second load-bearing space can be used to stably carry the cargo box E with the fifth specification. The second load-bearing space formed by the two 1st second load-bearing surfaces 310 and the second load-bearing space formed by the two 2nd second load-bearing surfaces 310 can be used to carry cargo boxes with different specifications, increasing the number of specifications of the cargo boxes that the load-bearing device 002 can carry. Thus, the handling robot equipped with this load-bearing device 002 can carry cargo boxes with different specifications, improving the applicable range of the handling robot.

[0096] As Figure 8 shown, the 3rd second load-bearing surface 310 of the left second load-bearing structure 300 and the 3rd second load-bearing surface 310 of the right second load-bearing structure 300 can be at the same height, forming another second load-bearing space. This second load-bearing space can be used to stably carry the cargo box F with the sixth specification. The second load-bearing space formed by the two 1st second load-bearing surfaces 310, the second load-bearing space formed by the two 2nd second load-bearing surfaces 310, and the second load-bearing space formed by the two 3rd second load-bearing surfaces 310 can be used to carry cargo boxes with different specifications, increasing the number of specifications of the cargo boxes that the load-bearing device 002 can carry. Thus, the handling robot equipped with this load-bearing device 002 can carry cargo boxes with different specifications, improving the applicable range of the handling robot.

[0097] Refer to Figure 2, the first load-bearing structure 200 of the embodiments of the present disclosure may further include a first limiting surface 220 corresponding to the first load-bearing surface 210. The height of the first limiting surface 220 may be higher than the height of the corresponding first load-bearing surface 210. In the first stepped direction, the first limiting surface 220 may be located at the rear side of the corresponding first load-bearing surface 210. The first limiting surface 220 may be used to limit the cargo box located on the corresponding first load-bearing surface 210 in the first direction x. With such a setting, it is possible to prevent the cargo box from shaking and shifting in the first direction x as much as possible, which is beneficial to improving the position accuracy of the cargo box during handling and increasing the success rate of loading and unloading the cargo box.

[0098] It should be noted that in the first load-bearing structure 200, at least part of the first load-bearing surfaces 210 may have corresponding first limiting surfaces 220. Exemplarily, in the first load-bearing structure 200, all the first load-bearing surfaces 210 may have corresponding first limiting surfaces 220. Alternatively, in the first load-bearing structure 200, part of the first load-bearing surfaces 210 may have corresponding first limiting surfaces 220. For example Figure 2 As shown, taking the left first load-bearing structure 200 as an example, the first load-bearing surface 210 of the 1st and the first load-bearing surface 210 of the 2nd both have corresponding first limiting surfaces 220.

[0099] In the corresponding first load-bearing surface 210 and first limiting surface 220, the height of the first limiting surface 220 may be higher than the height of the first load-bearing surface 210. In the first stepped direction, the first limiting surface 220 may be located at the rear side of the first load-bearing surface 210. When the cargo box is placed on the first load-bearing surface 210, the first limiting surface 220 corresponding to the first load-bearing surface 210 may limit the cargo box in the first direction x to prevent the cargo box from shaking and shifting in the first direction x as much as possible.

[0100] As Figure 2 shown, the second load-bearing structure 300 of the embodiments of the present disclosure may include a second limiting surface 320 corresponding to the second load-bearing surface 310. The height of the second limiting surface 320 may be higher than the height of the corresponding second load-bearing surface 310. In the second stepped direction, the second limiting surface 320 may be located at the rear side of the corresponding second load-bearing surface 310. The second limiting surface 320 may be used to limit the cargo box located on the corresponding second load-bearing surface 310 in the second direction y. With such a setting, it is possible to prevent the cargo box from shaking and shifting in the second direction y as much as possible, which is beneficial to improving the position accuracy of the cargo box during handling and increasing the success rate of loading and unloading the cargo box.

[0101] It should be noted that, in the second bearing structure 300, at least part of the second bearing surfaces 310 may have second limiting surfaces 320 corresponding thereto. For example, in the second bearing structure 300, all the second bearing surfaces 310 may have second limiting surfaces 320 corresponding thereto. Alternatively, in the second bearing structure 300, part of the second bearing surfaces 310 may have second limiting surfaces 320 corresponding thereto. For example Figure 2 As shown, taking the second bearing structure 300 on the right side as an example, the first second bearing surface 310 and the second second bearing surface 310 both have corresponding second limiting surfaces 320 .

[0102] In the corresponding second bearing surface 310 and the second limiting surface 320, the height of the second limiting surface 320 may be higher than the height of the second bearing surface 310. In the second step direction, the second limiting surface 320 may be located at the rear side of the second bearing surface 310. When the cargo box is placed on the second bearing surface 310, the second limiting surface 320 corresponding to the second bearing surface 310 may limit the cargo box in the second direction y, so as to prevent the cargo box from shaking and deflecting in the second direction y as much as possible.

[0103] In some possible implementations of the disclosed embodiments, the heights of the multiple first bearing surfaces 210 in the first bearing structure 200 and the heights of the multiple second bearing surfaces 310 in the second bearing structure 300 may be different. With such an arrangement, the heights of the multiple first bearing spaces and the multiple second bearing spaces formed in the bearing device 002 may be different, so that the bearing device 002 can stably carry more cargo boxes of different specifications, which is conducive to increasing the number of specifications of cargo boxes that can be carried, so that the handling robot equipped with the bearing device 002 can carry more cargo boxes of different specifications, thereby improving the application range of the handling robot.

[0104] In some other possible implementation manners of the embodiments of the present disclosure, at least part of the first bearing surface 210 in the first bearing structure 200 may be correspondingly arranged with at least part of the second bearing surface 310 in the second bearing structure 300. The heights of at least part of the corresponding first bearing surface 210 and the second bearing surface 310 may be the same. By setting the heights of the corresponding first bearing surface 210 and the second bearing surface 310 to be the same, the height of the first bearing space formed by the first bearing surface 210 may be the same as the height of the second bearing space formed by the second bearing surface 310, so that at least part of the specifications of the cargo boxes can be placed on the first bearing surface 210 and the second bearing surface 310 with the same height at the same time, and thus can be borne by the first bearing surface 210 and the second bearing surface 310 at the same time. Furthermore, the contact area between the bearing device 002 and at least part of the specifications of the cargo boxes is increased, and the bearing stability of at least part of the specifications of the cargo boxes is improved. Moreover, the first limiting surface 220 corresponding to the first bearing surface 210 and the second limiting surface 320 corresponding to the second bearing surface 310 can limit the cargo box at the same time, improving the bearing stability of the cargo box.

[0105] Exemplarily, the height of the first second bearing surface 310 may be less than the height of the first first bearing surface 210. The height of the first bearing space formed by the first first bearing surface 210 is different from the height of the second bearing space formed by the first second bearing surface 310, and different specifications of the cargo boxes can be stably borne, which is beneficial to increasing the number of specifications of the cargo boxes, so that the handling robot equipped with the bearing device 002 can handle more different specifications of the cargo boxes, and the applicable range of the handling robot is improved.

[0106] The height of the i-th second bearing surface 310 may be the same as the height of the (i - 1)-th first bearing surface 210. Wherein, i may be a natural number greater than or equal to 2 and less than or equal to n. The height of the i-th second bearing surface 310 being the same as the height of the (i - 1)-th first bearing surface 210 can make the height of the first bearing space formed by the (i - 1)-th first bearing surface 210 the same as the height of the second bearing space formed by the i-th second bearing surface 310, so that part of the specifications of the cargo boxes can be placed on the first bearing surface 210 and the second bearing surface 310 with the same height at the same time, and thus can be borne by the first bearing surface 210 and the second bearing surface 310 at the same time. The contact area between the bearing device 002 and this part of the specifications of the cargo boxes is increased, and the bearing stability of this part of the specifications of the cargo boxes is improved.

[0107] Refer to Figure 9 , taking m as 3 and n as 3 as an example, i may be 1, 2 or 3. When i is 1, the height of the first second bearing surface 310 is H1, and the height of the first first bearing surface 210 is H2, and H1 is less than H2. And refer to Figure 6, the first second bearing surfaces 310 of the two second bearing structures 300 can form a second bearing space. A cargo box D with the fourth specification can be placed in the second bearing space to be stably borne by the second bearing space. At the same time, referring to Figure 3 , the first first bearing surfaces 210 of the two first bearing structures 200 can form a first bearing space. A cargo box A with the first specification can be placed in the first bearing space to be stably borne by the first bearing space. The heights of the above-mentioned first bearing space and second bearing space are different, and the cargo box D with the fourth specification and the cargo box A with the first specification can be stably borne respectively, which is beneficial to increasing the number of specifications of the cargo box, so that the handling robot equipped with the bearing device 002 can handle more cargo boxes with different specifications, improving the applicable range of the handling robot.

[0108] When i is 2, the height of the second second bearing surface 310 and the height of the first first bearing surface 210 are both H2, and they are the same. And referring to Figure 7 , the second second bearing surfaces 310 of the two second bearing structures 300 can form a second bearing space. The first first bearing surfaces 210 of the two first bearing structures 200 can form a first bearing space. A cargo box E with the fifth specification can be placed in the above-mentioned first bearing space and second bearing space at the same time to be borne by the above-mentioned first bearing space and second bearing space at the same time, thereby increasing the contact area between the bearing device 002 and the cargo box E with the fifth specification and improving the bearing stability of the cargo box E with the fifth specification. In addition, the first limiting surface 220 corresponding to the first first bearing surface 210 and the second limiting surface 320 corresponding to the second second bearing surface 310 can limit the cargo box E with the fifth specification at the same time, improving the bearing stability of the cargo box.

[0109] When i is 3, the height of the third second bearing surface 310 and the height of the second first bearing surface 210 are both H3, and they are the same. And referring to Figure 8 , the third second bearing surfaces 310 of the two second bearing structures 300 can form a second bearing space. The second first bearing surfaces 210 of the two first bearing structures 200 can form a first bearing space. A cargo box F with the sixth specification can be placed in the above-mentioned first bearing space and second bearing space at the same time to be borne by the above-mentioned first bearing space and second bearing space at the same time, thereby increasing the contact area between the bearing device 002 and the cargo box F with the sixth specification and improving the bearing stability of the cargo box F with the sixth specification. In addition, the first limiting surface 220 corresponding to the second first bearing surface 210 can limit the cargo box F with the sixth specification, improving the bearing stability of the cargo box.

[0110] It can be understood that m, n, and i can also be other values, which will not be elaborated in the embodiments of the present disclosure.

[0111] Referring to Figure 2 and Figure 6 The first load-bearing structure 200 may further be provided with a third limiting surface 230. The third limiting surface 230 may be located at the end of the first load-bearing structure 200 along the first step direction, and the third limiting surface 230 is used to limit the cargo box located on the first second load-bearing surface 310 in the first direction x. With such a setting, it is possible to prevent the cargo box placed on the first second load-bearing surface 310 from sliding and shifting in the first direction x as much as possible, which is beneficial to improving the position accuracy of the cargo box during handling and increasing the success rate of loading and unloading the cargo box.

[0112] The number of the first load-bearing structures 200 may be two, and the two first load-bearing structures 200 may be spaced apart and oppositely arranged in the first direction x.

[0113] In some possible implementation manners of the embodiments of the present disclosure, the first load-bearing structure 200 may be a first block structure. The first block structure may be connected to the bottom plate 100. A plurality of first load-bearing surfaces 210 may be provided on the side of the first block structure facing away from the bottom plate 100.

[0114] In some other possible implementation manners of the embodiments of the present disclosure, referring to Figure 2 the first load-bearing structure 200 may include a plurality of first load-bearing plates 240 arranged vertically. The bottom side of the first load-bearing plate 240 may be connected to the bottom plate 100, and the top side of the first load-bearing plate 240 may form the first load-bearing surface 210. For example, the top side of the first load-bearing plate 240 is the first load-bearing surface 210, and the top side of the first load-bearing plate 240 is used to carry the cargo box. Compared with the first block structure, the weight of the plurality of first load-bearing plates 240 is smaller, which is beneficial to reducing the weight of the loading device 002, thereby being beneficial to extending the battery life of the handling robot.

[0115] Exemplarily, the bottom sides of the plurality of first load-bearing plates 240 may be directly connected to the bottom plate 100. For example, each bottom side of the first load-bearing plate 240 may be provided with a first connecting portion, and the first connecting portion may be welded to the bottom plate 100, or the first connecting portion may be connected to the bottom plate 100 through fasteners such as bolts and rivets.

[0116] Exemplarily, among the plurality of first load-bearing plates 240, the bottom sides of some first load-bearing plates 240 may be directly connected to the bottom plate 100, and the bottom sides of the other part of the first load-bearing plates 240 may be indirectly connected to the bottom plate 100.

[0117] For example Figure 2As shown, one of the multiple first bearing plates 240 can be a support plate 241, and the bottom side of the support plate 241 can be fixed to the bottom plate 100. The bottom sides of the remaining first bearing plates 240 can be provided with bending portions 242 facing the support plate 241, and the bending portions 242 can be connected to the support plate 241. The bottom side of the support plate 241 can be directly connected to the bottom plate 100. The remaining first bearing plates 240 can be connected to the support plate 241 through the bending portions 242 at their bottoms, so as to be indirectly connected to the bottom plate 100. Compared with the situation where the multiple first bearing plates 240 are all directly connected to the bottom plate 100, the connection area between the multiple first bearing plates 240 and the bottom plate 100 can be reduced, so that more space can be reserved above the bottom plate 100 to accommodate the cargo box or other components, improving the space utilization rate above the bottom plate 100.

[0118] The remaining first bearing plates 240 can be welded to the support plate 241 or connected by fasteners such as bolts and rivets. Alternatively, the remaining first bearing plates 240 and the support plate 241 can also be an integral structure, so that the remaining first bearing plates 240 and the support plate 241 can be processed by integral forming methods such as casting and extrusion, reducing the processing difficulty and assembly difficulty of the first bearing structure 200, and improving the connection strength between the remaining first bearing plates 240 and the support plate 241.

[0119] As Figure 2 shown, the bottom side of the support plate 241 can be provided with a second connection portion 243, and the second connection portion 243 can be fixed to the bottom plate 100. Exemplarily, the second connection portion 243 can be a first plate-like structure, and the first plate-like structure can be parallel to the bottom plate 100. The first plate-like structure can be connected to the bottom plate 100 by fasteners such as bolts and rivets. There can be a large contact area between the first plate-like structure and the bottom plate 100, so as to improve the connection stability between the support plate 241 and the bottom plate 100.

[0120] The first bearing structure 200 can further include at least one first reinforcing plate 250. The first reinforcing plate 250 can be connected to the support plate 241, the second connection portion 243 and / or the bottom plate 100. The first reinforcing plate 250 can improve the connection strength between the support plate 241, the second connection portion 243 and / or the bottom plate 100, thereby improving the structural reliability of the bearing device 002.

[0121] In some possible implementation manners of the embodiments of the present disclosure, the first reinforcing plate 250 can also be connected to the bending portion 242 and the support plate 241. The first reinforcing plate 250 can improve the connection strength between the bending portion 242 and the support plate 241, as well as the structural strength of the bending portion 242, thereby improving the structural reliability of the bearing device 002.

[0122] The support plate 241 may also be provided with at least one first weight-reducing hole 244. By providing the first weight-reducing hole 244, the weight of the support plate 241 can be reduced, which is beneficial to reducing the weight of the carrying device 002, and thus beneficial to extending the battery life of the handling robot.

[0123] As Figure 2 shown, the side surface of the first carrier plate 240 facing another first carrier structure 200 may be the first limiting surface 220 or the third limiting surface 230. With such a setting, by providing the first carrier plate 240, the first carrying surface 210 and the first limiting surface 220 can be formed simultaneously, or the first carrying surface 210 and the third limiting surface 230 can be formed simultaneously, which simplifies the mechanical structure of the carrying device 002 and is beneficial to reducing the processing difficulty and assembly difficulty of the carrying device 002.

[0124] Two second carrier structures 300 may be provided between the two first carrier structures 200, and the two second carrier structures 300 may be arranged oppositely in the second direction y.

[0125] In some possible implementation manners of the embodiments of the present disclosure, the second carrier structure 300 may be a second block structure. The second block structure may be connected to the bottom plate 100. A plurality of second carrying surfaces 310 may be provided on the side of the second block structure facing away from the bottom plate 100.

[0126] In some possible implementation manners of the embodiments of the present disclosure, the second carrier structure 300 may include a second carrier plate 330 arranged vertically. The second carrier plate 330 may be located between the two first carrier structures 200 in the first direction x and is connected to the bottom plate 100. At least one carrying recess 331 may be provided on the top side of the second carrier plate 330, and the carrying recess 331 may be close to the center of the bottom plate 100. The bottom surface of the carrying recess 331 and the top surface of the second carrier plate 330 may form at least part of the second carrying surface 310 of the second carrier structure 300. For example, the bottom surface of the carrying recess 331 and the top surface of the second carrier plate 330 are at least part of the second carrying surface 310, and the cargo box may be carried on the bottom surface of the carrying recess 331 and the top surface of the second carrier plate 330. Compared with the second block structure, the weight of the second carrier plate 330 is smaller, which is beneficial to reducing the weight of the carrying device 002, and thus beneficial to extending the battery life of the handling robot.

[0127] The side surface inside the carrying recess 331 may be the second limiting surface 320. With such a setting, by providing the carrying recess 331, the second carrying surface 310 and the second limiting surface 320 can be formed simultaneously, which simplifies the mechanical structure of the carrying device 002 and is beneficial to reducing the processing difficulty and assembly difficulty of the carrying device 002.

[0128] On the bottom side of the second bearing plate 330, a third connecting portion 332 may be provided, and the third connecting portion 332 may be fixed to the bottom plate 100. Exemplarily, the third connecting portion 332 may be a second plate-like structure, and the second plate-like structure may be parallel to the bottom plate 100. The second plate-like structure may be connected to the bottom plate 100 by fasteners such as bolts and rivets. There may be a large contact area between the second plate-like structure and the bottom plate 100, so as to improve the connection stability between the second bearing plate 330 and the bottom plate 100.

[0129] The second bearing plate 330 may be provided with at least one second weight-reducing hole 333. By providing the second weight-reducing hole 333, the weight of the second bearing plate 330 can be reduced, which is beneficial to reducing the weight of the bearing device 002, and thus beneficial to extending the battery life of the handling robot.

[0130] The number of the second bearing plates 330 may be one. Alternatively, the number of the second bearing plates 330 may be multiple. The multiple second bearing plates 330 may all be located between the two first bearing structures 200 in the first direction x, and the multiple second bearing plates 330 may be arranged at intervals in the first direction x. With such an arrangement, the bearing area between the bearing device 002 and the cargo box can be increased, thereby improving the bearing stability of the cargo box.

[0131] In some possible implementation manners of the embodiments of the present disclosure, the second bearing plates 330 of the two second bearing structures 300 may be arranged at intervals in the second direction y.

[0132] In some other possible implementation manners of the embodiments of the present disclosure, the second bearing plates 330 of the two second bearing structures 300 may also be connected. Compared with being arranged at intervals in the second direction y, with such an arrangement, the structural strength of the two second bearing plates 330 can be improved. In addition, the second bearing plates 330 of the two second bearing structures 300 may be formed by the same plate-like structure, which simplifies the mechanical structure of the bearing device 002 and reduces the processing difficulty and assembly difficulty of the bearing device 002.

[0133] Reference Figure 2 , the second bearing structure 300 may further include a third bearing plate 340. The third bearing plate 340 may be located on the side of the second bearing plate 330 facing away from the center of the bottom plate 100 and is detachably connected to the bottom plate 100. The top side of the third bearing plate 340 may be higher than the top side of the second bearing plate 330, and the top side of the third bearing plate 340 may form a part of the second bearing surface 310 of the second bearing structure 300. For example, the top side of the third bearing plate 340 is the part of the second bearing surface 310. Since the third bearing plate 340 is detachably connected to the bottom plate 100, the number of the second bearing surfaces 310 in the second bearing structure 300 can be flexibly adjusted by providing or removing the third bearing plate 340, increasing the application range of the bearing device 002.

[0134] The side of the third bearing plate 340 facing the second bearing plate 330 may be the second limiting surface 320. By providing the third bearing plate 340, part of the second bearing surface 310 and the second limiting surface 320 can be formed simultaneously, simplifying the mechanical structure of the bearing device 002 and reducing the processing difficulty and assembly difficulty of the bearing device 002.

[0135] A fourth connecting portion 341 may be provided on the bottom side of the third bearing plate 340, and the fourth connecting portion 341 may be fixed to the bottom plate 100. Exemplarily, the fourth connecting portion 341 may be a third plate-like structure, and the third plate-like structure may be parallel to the bottom plate 100. The third plate-like structure may be connected to the bottom plate 100 by fasteners such as bolts and rivets. There may be a large contact area between the third plate-like structure and the bottom plate 100, thereby improving the connection stability between the third bearing plate 340 and the bottom plate 100.

[0136] The third bearing plate 340 may be provided with at least one third weight-reducing hole 342. By providing the third weight-reducing hole 342, the weight of the third bearing plate 340 can be reduced, which is beneficial to reducing the weight of the bearing device 002, and thus beneficial to extending the battery life of the handling robot.

[0137] Reference Figure 2 The bearing device 002 further includes at least two first limiting members 400 connected to the bottom plate 100, and the at least two first limiting members 400 may be relatively provided on both sides of the two first bearing structures 200. A fourth limiting surface 410 may be provided on one side of each first limiting member 400 facing the first bearing structure 200, for limiting the cargo box on the highest first bearing surface 210 among the plurality of first bearing surfaces 210 in the first direction x. With such a setting, it is possible to prevent the cargo box placed on the highest first bearing surface 210 from sliding and shifting in the first direction x as much as possible, which is beneficial to improving the position accuracy of the cargo box during handling and improving the picking and placing success rate of the cargo box.

[0138] The first limiting member 400 may further be provided with a first guiding surface 420, and the first guiding surface 420 may be provided on the side of the fourth limiting surface 410 facing away from the bottom plate 100. The first guiding surface 420 may extend in a direction vertically upward and away from the fourth limiting surface 410. The first guiding surface 420 may guide the cargo box so that the cargo box can be smoothly placed on the first bearing surface 210.

[0139] Exemplarily, the first limiting member 400 may include a first limiting plate 430 and a first guiding plate 440. The first limiting plate 430 may be perpendicular to the bottom plate 100 and parallel to the second direction y. The bottom side of the first limiting plate 430 is connected to the bottom plate 100. The side of the first limiting plate 430 facing the center of the bottom plate 100 is the fourth limiting surface 410. The first guiding plate 440 may be connected to the top side of the first limiting plate 430 and extend from the top side of the first limiting plate 430 in a direction away from the center of the bottom plate 100. The side of the first guiding plate 440 facing the center of the bottom plate 100 is the first guiding surface 420.

[0140] A fifth connecting portion 431 may be provided on the bottom side of the first limiting plate 430. Exemplarily, the fifth connecting portion 431 may be a fourth plate-like structure, and the fourth plate-like structure may be parallel to the bottom plate 100. The fourth plate-like structure may be connected to the bottom plate 100 through fasteners such as bolts and rivets. There may be a large contact area between the fourth plate-like structure and the bottom plate 100, so as to improve the connection stability between the first limiting plate 430 and the bottom plate 100.

[0141] The first limiting member 400 may further include a second reinforcing plate 450. The second reinforcing plate 450 may be located on the side of the first limiting plate 430 and the first guiding plate 440 facing away from the center of the bottom plate 100 and is connected to the first limiting plate 430 and the second guiding plate. The second reinforcing plate 450 can improve the connection strength between the first limiting plate 430 and the first guiding plate 440, thereby improving the structural strength of the first limiting member 400.

[0142] The first limiting member 400 may further include a third reinforcing plate 460. The third reinforcing plate 460 may be located on the side of the first limiting plate 430 facing the center of the bottom plate 100 and is connected to the first limiting plate 430 and the fifth connecting portion 431. The third reinforcing plate 460 can improve the connection strength between the first limiting plate 430 and the fifth connecting portion 431, thereby improving the structural strength of the first limiting member 400.

[0143] Reference Figure 2 and Figure 8 , the carrying device 002 may further include at least two second limiting members 500 connected to the bottom plate 100. The at least two second limiting members 500 may be relatively arranged on both sides of the two second carrying structures 300. A fifth limiting surface 510 may be provided on the side of each second limiting member 500 facing the second carrying structure 300, for limiting the cargo box on the highest second carrying surface 310 among the plurality of second carrying surfaces 310 in the second direction y. With such a setting, it is possible to prevent the cargo box placed on the highest second carrying surface 310 from sliding and shifting in the second direction y as much as possible, which is beneficial to improving the position accuracy of the cargo box during handling and improving the success rate of taking and placing the cargo box.

[0144] The second limiting member 500 may further be provided with a second guiding surface 520, and the second guiding surface 520 may be disposed on a side of the fifth limiting surface 510 facing away from the bottom plate 100. The second guiding surface 520 may extend in a vertically upward direction and away from the fifth limiting surface 510. The second guiding surface 520 may guide the cargo box so that the cargo box can be smoothly placed on the second bearing surface 310.

[0145] Exemplarily, the second limiting member 500 and the third bearing plate 340 may be an integral structure, so that the second limiting member 500 and the third bearing plate 340 can be processed by integral forming methods such as casting and extrusion, reducing the processing difficulty and assembly difficulty of the bearing device 002, and improving the connection strength between the second limiting member 500 and the third bearing plate 340.

[0146] Figure 10 The structural schematic diagram of the bearing device 002 provided in some possible implementation manners of the embodiments of the present disclosure. Refer to Figure 10 , the first bearing structure 200 may further include a first anti-slip sleeve 260, and the first anti-slip sleeve 260 may be sleeved on the top side of the first bearing plate 240. The top surface of the first anti-slip sleeve 260 is the first bearing surface 210. The top surface of the first anti-slip sleeve 260 may be used to bear the cargo box. By providing the first anti-slip sleeve 260, the friction between the cargo box and the first bearing surface 210 can be increased, so as to prevent the cargo box from sliding on the first bearing surface 210 as much as possible, improving the position accuracy of the cargo box, and thus improving the success rate of taking and placing the cargo box.

[0147] The side surface of the first anti-slip sleeve 260 facing another first bearing structure 200 may be the first limiting surface 220 or the third limiting surface 230. By providing the first anti-slip sleeve 260, the first bearing surface 210 and the first limiting surface 220 can be formed simultaneously, or the first bearing surface 210 and the third limiting surface 230 can be formed simultaneously, simplifying the mechanical structure of the bearing device 002 and being beneficial to reducing the processing difficulty and assembly difficulty of the bearing device 002.

[0148] Exemplarily, the material of the first anti-slip sleeve 260 may be rubber, silica gel, polyvinyl chloride (abbreviated as PVC), polyurethane (abbreviated as PU), etc. It can be understood that the first anti-slip sleeve 260 may also be a material with anti-slip performance, and the embodiments of the present disclosure will not elaborate on this.

[0149] As Figure 8As shown, the second bearing structure 300 may further include a second anti-slip sleeve 350. The second anti-slip sleeve 350 may be sleeved on the top surface of the second bearing plate 330, and the top surface of the second anti-slip sleeve 350 may be the second bearing surface 310. By providing the second anti-slip sleeve 350, the friction between the cargo box and the second bearing surface 310 can be increased, so as to prevent the cargo box from sliding on the second bearing surface 310 as much as possible, improve the position accuracy of the cargo box, and thus improve the success rate of picking up and placing the cargo box.

[0150] Exemplarily, the material of the second anti-slip sleeve 350 may be rubber, silica gel, polyvinyl chloride (abbreviated as PVC), polyurethane (abbreviated as PU), etc. It can be understood that the second anti-slip sleeve 350 may also be made of a material with anti-slip performance, and this will not be elaborated in the embodiments of the present disclosure.

[0151] As Figure 10 shown, the second bearing structure 300 may further include a third anti-slip sleeve 360. The third anti-slip sleeve 360 may be sleeved on the top side of the third bearing plate 340, and the top surface of the third anti-slip sleeve 360 is the second bearing surface 310. By providing the third anti-slip sleeve 360, the friction between the cargo box and the second bearing surface 310 can be increased, so as to prevent the cargo box from sliding on the second bearing surface 310 as much as possible, improve the position accuracy of the cargo box, and thus improve the success rate of picking up and placing the cargo box.

[0152] Exemplarily, the material of the third anti-slip sleeve 360 may be rubber, silica gel, polyvinyl chloride (abbreviated as PVC), polyurethane (abbreviated as PU), etc. It can be understood that the third anti-slip sleeve 360 may also be made of a material with anti-slip performance, and this will not be elaborated in the embodiments of the present disclosure.

[0153] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A carrying device, characterized in that, It includes a bottom plate (100), as well as two first bearing structures (200) and two second bearing structures (300) connected to the bottom plate (100). The two second bearing structures (300) are located between the two first bearing structures (200) in the first direction (x). The two first bearing structures (200) are spaced and oppositely arranged in the first direction (x). The first bearing structure (200) is provided with a plurality of first bearing surfaces (210) for bearing the cargo box. The plurality of first bearing surfaces (210) are arranged in sequence in the first direction and decrease in height along the first step direction. The first step direction is the direction from the first bearing structure (200) where the plurality of first bearing surfaces (210) are located to the other first bearing structure (200). The two second bearing structures (300) are oppositely arranged in the second direction (y) intersecting with the first direction (x). The second bearing structure (300) is provided with a plurality of second bearing surfaces (310) for bearing the cargo box. The plurality of second bearing surfaces (310) are arranged in sequence in the second direction and decrease in height along the second step direction. The second step direction is the direction from the second bearing structure (300) where the plurality of second bearing surfaces (310) are located to the other second bearing structure (300).

2. The carrying device according to claim 1, wherein The first bearing structure includes a first limiting surface (220) corresponding to the first bearing surface (210). The height of the first limiting surface (220) is higher than that of the corresponding first bearing surface (210). In the first step direction, the first limiting surface (220) is located at the rear side of the corresponding first bearing surface (210). The first limiting surface (220) is used to limit the cargo box located on the corresponding first bearing surface (210) in the first direction (x).

3. The carrying device according to claim 1, characterized in that, The second bearing structure includes a second limiting surface (320) corresponding to the second bearing surface (310). The height of the second limiting surface (320) is higher than that of the corresponding second bearing surface (310). In the second step direction, the second limiting surface (320) is located at the rear side of the corresponding second bearing surface (310). The second limiting surface (320) is used to limit the cargo box located on the corresponding second bearing surface (310) in the second direction (y).

4. The carrier device according to claim 1, wherein Along the vertically upward direction, the serial numbers of the plurality of first bearing surfaces (210) are 1 to m in sequence, and the serial numbers of the plurality of second bearing surfaces (310) are 1 to n in sequence; The height of the first second bearing surface (310) is less than the height of the first first bearing surface (210); The height of the i-th second bearing surface (310) is the same as the height of the (i - 1)-th first bearing surface (210); wherein, both m and n are natural numbers greater than or equal to 2; i is a natural number greater than or equal to 2 and less than or equal to n.

5. The carrying device according to claim 4, characterized in that, The first load-bearing structure (200) is further provided with a third limiting surface (230), which is located at the end of the first load-bearing structure (200) along the first step direction, and the third limiting surface (230) is used to limit the cargo box located on the first second load-bearing surface (310) in the first direction (x).

6. The carrying device according to any one of claims 1-5, characterized in that, The first load-bearing structure (200) includes a plurality of first load-bearing plates (240) arranged vertically. The bottom side of the first load-bearing plate (240) is connected to the bottom plate (100), and the top side of the first load-bearing plate (240) forms the first load-bearing surface (210).

7. The carrier device according to claim 6, characterized in that, One of the plurality of first load-bearing plates (240) is a support plate (241), and the bottom side of the support plate (241) is fixed to the bottom plate (100); the bottom sides of the remaining first load-bearing plates (240) are provided with bending portions (242) facing the support plate (241), and the bending portions (242) are connected to the support plate (241).

8. The carrier device according to claim 7, wherein The bottom side of the support plate (241) is provided with a second connecting portion (243), and the second connecting portion (243) is fixed to the bottom plate (100). The first load-bearing structure (200) further includes at least one reinforcing plate (250), and the reinforcing plate (250) connects the support plate (241), the second connecting portion (243) and / or the bottom plate (100).

9. The carrier device according to claim 6, wherein, The side surface of the first load-bearing plate (240) facing another first load-bearing structure (200) is the first limiting surface (220) or the third limiting surface (230).

10. The carrying device according to claim 6, characterized in that, The first load-bearing structure (200) further includes a first anti-slip sleeve (260), and the first anti-slip sleeve (260) is sleeved on the top side of the first load-bearing plate (240), and the top surface of the first anti-slip sleeve (260) is the first load-bearing surface (210).

11. The carrying device according to claim 10, characterized in that, The side surface of the first anti-slip sleeve (260) facing another first load-bearing structure (200) is the first limiting surface (220) or the third limiting surface (230).

12. The carrying device according to any one of claims 1-5, characterized in that, The second load-bearing structure (300) includes a second load-bearing plate (330) arranged vertically. The second load-bearing plate (330) is located between two first load-bearing structures (200) in the first direction and is connected to the bottom plate (100). At least one load-bearing recess (331) is provided on the top side of the second load-bearing plate (330), and the load-bearing recess (331) is close to the center of the bottom plate; The bottom surface of the load-bearing recess (331) and the top surface of the second load-bearing plate (330) form at least part of the second load-bearing surface (310) of the second load-bearing structure (300).

13. The carrying device according to claim 12, characterized in that, The inner side surface of the load-bearing recess (331) is the second limiting surface (320).

14. The carrying device according to claim 12, characterized in that, The second load-bearing structure (300) further includes a second anti-slip sleeve (350), and the second anti-slip sleeve (350) is sleeved on the top surface of the second load-bearing plate (330), and the top surface of the second anti-slip sleeve (350) is the second load-bearing surface (310).

15. The bearing device according to claim 12, characterized in that, There are multiple second bearing plates (330). The multiple second bearing plates (330) are all located between the two first bearing structures (200) in the first direction (x), and the multiple second bearing plates (330) are arranged at intervals in the first direction (x).

16. The carrier device according to claim 12, characterized in that, The second bearing plates (330) of the two second bearing structures (300) are connected or arranged at intervals in the second direction (y).

17. The carrying device according to claim 12, characterized in that, The second bearing structure (300) further includes a third bearing plate (340). The third bearing plate (340) is located on the side of the second bearing plate (330) facing away from the center of the bottom plate (100), and is detachably connected to the bottom plate (100). The top side of the third bearing plate (340) is higher than the top side of the second bearing plate (330), and the top side of the third bearing plate (340) forms part of the second bearing surface (310) of the second bearing structure (300).

18. The carrying device according to claim 17, wherein, The second bearing structure (300) further includes a third anti-slip sleeve (360). The third anti-slip sleeve (360) is sleeved on the top side of the third bearing plate (340), and the top surface of the third anti-slip sleeve (360) is the second bearing surface (310).

19. The bearing device according to claim 17, characterized in that, The side surface of the third bearing plate (340) facing the second bearing plate (330) is the second limiting surface (320).

20. The bearing device according to any one of claims 1-5, characterized in that, The bearing device further includes at least two first limiting members (400) connected to the bottom plate (100). The at least two first limiting members (400) are oppositely arranged on both sides of the two first bearing structures (200); On one side of each first limiting member (400) facing the first bearing structure (200), a fourth limiting surface (410) is provided for limiting the cargo box on the highest first bearing surface among the multiple first bearing surfaces (210) in the first direction (x).

21. The carrying device according to claim 20, characterized in that, The first limiting member (400) is further provided with a first guiding surface (420). The first guiding surface (420) is arranged on the side of the fourth limiting surface (410) facing away from the bottom plate (100); the first guiding surface (420) extends in the vertically upward direction and away from the fourth limiting surface (410).

22. The bearing device according to any one of claims 1-5, characterized in that, The bearing device further includes at least two second limiting members (500) connected to the bottom plate (100). The at least two second limiting members (500) are oppositely arranged on both sides of the two second bearing structures (300); On one side of each second limiting member (500) facing the second bearing structure (300), a fifth limiting surface (510) is provided for limiting the cargo box on the highest second bearing surface (310) among the multiple second bearing surfaces (310) in the second direction (y).

23. The carrying device according to claim 22, characterized in that, The second limiting member (500) is further provided with a second guiding surface (520), and the second guiding surface (520) is disposed on a side of the fifth limiting surface (510) facing away from the bottom plate (100); the second guiding surface (520) extends in a vertically upward direction and away from the fifth limiting surface (510).

24. A handling robot, characterized in that, Comprising a machine body and a carrying device according to any one of claims 1-23, the carrying device being mounted on the machine body.

25. The handling robot according to claim 24, wherein A lifting mechanism is provided on the top side of the machine body; The bottom plate (100) comprises a separately arranged first sub-bottom plate (110) and a second sub-bottom plate (120), the first sub-bottom plate (110) is connected to the lifting mechanism, and the second sub-bottom plate (120) is connected to the top side of the machine body; Both of the two first carrying structures (200) are arranged on the first sub-bottom plate (110), a first part of the two second carrying structures (300) is arranged on the first sub-bottom plate (110), and a second part of the two second carrying structures (300) is arranged on the second sub-bottom plate (120).

26. A storage system, characterized in that, Comprising a handling robot according to claim 24 or 25.

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