Goods storing and taking mechanism, goods storing and taking device and warehouse logistics system

Abstract

The utility model discloses a goods storing and taking mechanism, a goods storing and taking device and a warehouse logistics system, relates to the field of logistics, and aims to improve the modularization degree of the goods storing and taking mechanism. The goods storing and taking mechanism comprises a base, two or more installation assemblies, a goods moving mechanism and a lifting mechanism. The base is configured to provide support. Each mounting assembly comprises a vertical plate, a first driving assembly and a second driving assembly; the vertical plate is mounted on the base and is supported by the base; the first driving assembly is installed on one side of the vertical plate, and the second driving assembly is installed on the other side of the vertical plate. The first bearing face of the first driving assembly and the second bearing face of the second driving assembly are located at different heights and are parallel. The goods moving mechanism is installed on the second driving assembly so as to be driven by the second driving assembly to linearly move. And the goods moving mechanism is constructed to be liftable. The installation assembly is installed on the lifting mechanism, and the lifting mechanism is configured to achieve lifting movement of the installation assembly. According to the technical scheme, the integration degree is high.

Description

Technical Field

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

[0002] In automated warehouses, goods are retrieved and placed on shelves using a cargo access mechanism. To increase storage density and reduce aisle width, goods are packed tightly together on shelves, making it more difficult for the access mechanism to retrieve and place goods.

[0003] The inventors have discovered that there are at least the following problems in the related art: In the related art, in order to meet the above-mentioned needs of picking up and placing goods, the cargo storage and retrieval mechanism adopts a structure of hooks and conveyor belts. This type of cargo storage and retrieval mechanism has a complex structure, many components, and is difficult to control. Utility Model Content

[0004] The utility model provides a cargo storage and retrieval mechanism, a cargo storage and retrieval device, and a warehousing and logistics system, which are used to reduce the difficulty of manufacturing and installing the cargo storage and retrieval mechanism.

[0005] The present invention provides a cargo storage and retrieval mechanism, comprising:

[0006] a base configured to provide support;

[0007] Two or more mounting assemblies, each comprising a vertical plate, a first drive assembly, and a second drive assembly; the vertical plate is mounted on and supported by the base; the first drive assembly is mounted on one side of the vertical plate, and the second drive assembly is mounted on the other side of the vertical plate; a first bearing surface of the first drive assembly and a second bearing surface of the second drive assembly are located at different heights and are parallel;

[0008] a cargo moving mechanism, mounted on the second drive assembly, to move linearly under the drive of the second drive assembly; the cargo moving mechanism is configured to be liftable; and

[0009] a lifting mechanism, the mounting assembly being mounted on the lifting mechanism, the lifting mechanism being configured to achieve lifting and lowering movement of the mounting assembly;

[0010] The first drive assembly is configured to drive the movement of goods; the second drive mechanism is configured to drive the movement of the goods transfer mechanism to move the goods from the external storage position to the first drive assembly, or to push the goods on the first drive assembly into the external storage position.

[0011] In some embodiments, the first drive assembly includes:

[0012] A first motor is mounted on the vertical plate;

[0013] a first driving wheel, drivingly connected to the output shaft of the first motor; the first driving wheel is mounted on the vertical plate;

[0014] a first mounting base, fixedly connected to a housing of the first motor;

[0015] a first pulley rotatably mounted on one end of the vertical plate;

[0016] a second pulley rotatably mounted on the other end of the vertical plate;

[0017] a first tensioning wheel rotatably mounted on the first mounting base, wherein the mounting position of the first tensioning wheel on the first mounting base is adjustable; and

[0018] A first belt is engaged with the first driving wheel, and the first belt is wound around the first driving wheel, the first pulley, the second pulley and the first tensioning wheel.

[0019] In some embodiments, the first mounting base is provided with a first oblong hole; and the first driving assembly further comprises:

[0020] a first fixing member, fixedly mounted on the first mounting base;

[0021] at least one first connecting member, mounted on the first fixing member, wherein the first connecting member is rotatably mounted on the first fixing member;

[0022] a second mounting base mounted on the first connecting member; wherein the position of the second mounting base relative to the first fixing member is changed by the first connecting member; and

[0023] The second connecting member passes through the first oblong hole, and the second connecting member fixedly connects the first tensioning wheel and the second mounting base.

[0024] In some embodiments, there is a first gap between the first mounting base and the vertical plate, the first driving wheel and the first tensioning wheel are located in the first gap, and the first motor is located on a side of the first mounting base away from the vertical plate.

[0025] In some embodiments, the top surface of the first belt is the first bearing surface of the first drive assembly, and the first bearing surface is higher than the upper edge of the vertical plate.

[0026] In some embodiments, the second drive assembly includes:

[0027] a second motor mounted on the vertical plate;

[0028] a second driving wheel, drivingly connected to the output shaft of the second motor;

[0029] a third pulley rotatably mounted on one end of the vertical plate;

[0030] a fourth pulley rotatably mounted on the other end of the vertical plate;

[0031] a second tensioning wheel rotatably mounted on the vertical plate, wherein the mounting position of the second tensioning wheel on the vertical plate is adjustable; and

[0032] A second belt is engaged with the second driving pulley, and the second belt is wound around the outside of the second driving pulley, the third pulley, the fourth pulley and the second tensioning pulley.

[0033] In some embodiments, the vertical plate is provided with a second oblong hole; the second driving assembly further comprises:

[0034] A second fixing member is fixedly mounted on the vertical plate;

[0035] at least one third connecting member mounted on the second fixing member, wherein the third connecting member is rotatably mounted on the second fixing member;

[0036] a third mounting base mounted on the third connecting member; wherein the position of the third mounting base relative to the second fixing member is changed by the third connecting member; and

[0037] A fourth connecting member passes through the second oblong hole, and the fourth connecting member fixedly connects the second tensioning wheel, the vertical plate, and the third mounting base.

[0038] In some embodiments, the second driving pulley, the third pulley, the fourth pulley, the second tensioning pulley and the second belt are all located between the two vertical plates.

[0039] In some embodiments, each of the mounting components further comprises:

[0040] A first guide assembly is mounted on the vertical plate; the cargo moving mechanism is mounted on the first guide assembly; the first guide assembly is configured to guide the linear movement of the cargo moving mechanism relative to the vertical plate.

[0041] In some embodiments, the first guide assembly comprises:

[0042] The first guide rail is fixedly mounted on the vertical plate; the first guide rail is installed at a position lower than the first bearing surface of the first driving component and higher than the second bearing surface of the second driving component.

[0043] In some embodiments, the first guide assembly further comprises:

[0044] The connecting assembly includes a fixedly connected connecting block and an engaging block. The connecting block can be installed on the first guide rail for free linear movement. The engaging block engages with the second belt of the second driving assembly to move with the movement of the second belt. The cargo transfer mechanism can be detachably installed on the connecting block.

[0045] In some embodiments, the cargo moving mechanism is located between the two mounting assemblies, and the cargo moving mechanism includes:

[0046] a base plate assembly connected to the connection blocks of the two mounting assemblies;

[0047] a scissor mechanism, carried by and mounted on the base plate assembly; the scissor mechanism comprising a plurality of rotatably connected rods; the scissor mechanism comprising a retracted state and a raised state, wherein the scissor mechanism switches between the retracted state and the raised state by relative rotation of the plurality of rods;

[0048] a tray mounted on top of the scissor mechanism; and

[0049] The hooking assembly is fixedly mounted on the tray.

[0050] In some embodiments, when the scissors-type mechanism is in a retracted state, the third bearing surface of the pallet is lower than the first bearing surface of the first drive assembly; when the scissors-type mechanism is in a raised state, the third bearing surface of the pallet is flush with or higher than the first bearing surface.

[0051] In some embodiments, the cargo transfer mechanism further comprises:

[0052] A driving mechanism is installed on the base plate assembly; the scissor mechanism is drivingly connected to the driving mechanism, and the driving mechanism is configured to drive the scissor mechanism to switch between the retracted state and the raised state.

[0053] In some embodiments, the scissor mechanism includes two groups of link mechanisms, each group of the link mechanisms includes a first link and a second link, the first link and the second link are cross-arranged and rotatably connected; the base plate assembly includes:

[0054] a bottom plate, wherein the bottom of each of the first connecting rods of the link mechanism is rotatably connected to the bottom plate, and the rotatable connection positions of the two first connecting rods to the bottom plate are spaced apart;

[0055] a second guide assembly, to which the bottom of the second connecting rod is linearly movably mounted; the second guide assembly is configured to provide linear guidance for the bottom movement of the second connecting rod; and

[0056] The third guide assembly is fixedly mounted on the bottom of the tray; the top of the first connecting rod is linearly movably mounted on the third guide assembly; the third guide assembly is constructed to provide linear guidance for the top movement of the first connecting rod.

[0057] In some embodiments, the second guide assembly comprises:

[0058] Two second guide rails are arranged in parallel, and each second guide rail is fixedly mounted on the base plate; the second connecting rod of each connecting rod mechanism and the second guide rail are arranged in a one-to-one correspondence, and the bottom of each second connecting rod can be linearly slidably mounted on one of the second guide rails.

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

[0060] Two third guide rails are arranged in parallel, and each of the third guide rails is fixedly installed on the bottom of the tray; the first connecting rod of each connecting rod mechanism and the third guide rail are arranged in a one-to-one correspondence, and the bottom of each first connecting rod can be linearly slidably installed on one of the third guide rails.

[0061] In some embodiments, the cargo access mechanism further comprises:

[0062] A position detection mechanism is installed on the cargo moving mechanism; the position of the cargo moving mechanism is detected by the position detection mechanism.

[0063] In some embodiments, the base plate includes a detection hole, and the detection hole is located between the two link mechanisms; the position detection mechanism includes:

[0064] a zero point sensor, mounted on the bottom of the base plate and partially extending below the detection hole; and

[0065] a zero-point sensor, fixedly connected to the second connecting rod of the scissor-type mechanism;

[0066] In which, the zero-point sensing plate moves with the linear movement of the second connecting rod, and the length of the zero-point sensing plate is configured to meet the following conditions: when the cargo moving mechanism has just not extended out of the mounting assembly, the zero-point sensor detects one end of the zero-point sensing plate in the length direction; when the cargo moving mechanism extends out of the mounting assembly to the maximum extent, the zero-point sensor detects the other end of the zero-point sensing plate in the length direction.

[0067] In some embodiments, the number of the hooking components is four groups, and the four groups of the hooking components are distributed at the four corners of the tray; each group of the hooking components includes:

[0068] a hooking rod mounted on an edge of the tray and extending out of the tray; and

[0069] A cargo hook is installed on the edge of the hook connecting rod away from the pallet; the end of the cargo hook away from the hook connecting rod is bent to hook or push cargo.

[0070] In some embodiments, the lifting mechanism includes:

[0071] At least one first track, the mounting assembly is movably mounted on the first track.

[0072] An embodiment of the present invention further provides a cargo storage and retrieval device, comprising the cargo storage and retrieval mechanism provided by any technical solution of the present invention.

[0073] In some embodiments, the number of the first rails is at least two; the cargo storage and retrieval device further includes at least two second rails, which are spaced apart in at least one direction; the at least two first rails are movably arranged along the at least two second rails via a running mechanism.

[0074] The present invention also provides a storage and logistics system, including:

[0075] Shelves; and

[0076] The cargo storage and retrieval device provided by any technical solution of the present utility model is arranged on the shelf.

[0077] In some embodiments, the second track of the cargo access device is fixedly connected to the shelf.

[0078] The cargo storage and retrieval device provided by the above technical solution forms a modular structure with the first drive component and the second drive component, which are pre-installed to form a whole, and the first drive component and the second drive component are both installed on the vertical plate. The entire cargo storage and retrieval mechanism includes a small number of components and a high degree of integration, which is convenient for batch and modular production. In addition, when a component fails, only the module corresponding to the component can be replaced. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this 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 of the present invention. In the drawings:

[0080] Figure 1This is a schematic diagram of the three-dimensional structure of the scissor mechanism of the cargo storage and retrieval mechanism provided by an embodiment of the present utility model in a raised state and located at one end of the vertical plate.

[0081] Figure 2 This is a schematic diagram of the three-dimensional structure of the scissor mechanism of the cargo storage and retrieval mechanism provided in an embodiment of the present utility model in a raised state and located at the other end of the vertical plate.

[0082] Figure 3 A schematic diagram of the three-dimensional structure of the scissor mechanism of the cargo storage and retrieval mechanism provided in an embodiment of the present utility model is in a retracted state and located at one end of the vertical plate.

[0083] Figure 4 A schematic diagram of the three-dimensional structure of the scissor mechanism of the cargo storage and retrieval mechanism provided in an embodiment of the present invention is in a retracted state and located at the other end of the vertical plate.

[0084] Figure 5 A schematic diagram of the three-dimensional structure of the installation components of the cargo storage and retrieval mechanism is provided for an embodiment of the present utility model.

[0085] Figure 6 for Figure 5 A is a partial enlarged schematic diagram of .

[0086] Figure 7 A schematic diagram of the positioning relationship during installation of a cargo transfer mechanism of a cargo storage and retrieval mechanism is provided for an embodiment of the present utility model.

[0087] Figure 8 A three-dimensional schematic diagram of a cargo transfer mechanism of a cargo storage and retrieval mechanism in a raised state is provided for an embodiment of the present utility model.

[0088] Figure 9 Another three-dimensional schematic diagram of the cargo transfer mechanism of the cargo storage and retrieval mechanism in the embodiment of the present invention is provided.

[0089] Figure 10 A three-dimensional schematic diagram of a cargo transfer mechanism of a cargo storage and retrieval mechanism in a retracted state is provided for an embodiment of the present utility model.

[0090] Figure 11 Another three-dimensional schematic diagram of the cargo transfer mechanism of the cargo storage and retrieval mechanism in the retracted state is provided for an embodiment of the present utility model.

[0091] Figure 12 A schematic diagram of the main view of the installation position of the position detection mechanism of the cargo storage and retrieval mechanism is provided for an embodiment of the present utility model.

[0092] Figure 13 A side view schematic diagram of the installation position of a position detection mechanism of a cargo storage and retrieval mechanism is provided for an embodiment of the present utility model.

[0093] Figure 14The present invention provides a schematic diagram of the relative positions of the cargo moving mechanism and the position detection mechanism when the cargo moving mechanism of the cargo storage and retrieval mechanism has not yet extended out of the mounting assembly.

[0094] Figure 15 A schematic diagram of the relative positions of the cargo moving mechanism and the position detection mechanism when the cargo moving mechanism of the cargo storage and retrieval mechanism is extended to the maximum extent by the mounting assembly is provided for an embodiment of the present utility model.

[0095] Figure 16 A three-dimensional schematic diagram of the connection relationship between the mounting assembly and the first drive assembly of the cargo storage and retrieval mechanism is provided for an embodiment of the present utility model.

[0096] Figure 17 The present invention provides a three-dimensional schematic diagram of the connection relationship between the cargo moving mechanism and the second drive assembly of the cargo storage and retrieval mechanism.

[0097] Figure 18 A schematic front view of a first drive assembly of a cargo access mechanism is provided for an embodiment of the present invention.

[0098] Figure 19 A schematic front view of a second drive assembly of a cargo access mechanism is provided for an embodiment of the present invention.

[0099] Figure 20 A three-dimensional schematic diagram of a cargo storage and retrieval mechanism with a lifting mechanism is provided for an embodiment of the present utility model.

[0100] Figure 21 Another three-dimensional schematic diagram of a cargo storage and retrieval mechanism with a lifting mechanism is provided for an embodiment of the present utility model.

[0101] Figure 22 A three-dimensional schematic diagram of a cargo access mechanism installed on a shelf is provided for an embodiment of the present invention.

[0102] 1. Base; 2. Mounting components; 3. Cargo moving mechanism; 4. Position detection mechanism; 5. Lifting mechanism; 6. Shelves;

[0103] 21. Vertical plate; 22. First drive assembly; 23. Second drive assembly; 24. First guide assembly; 25. Weight reduction hole; 26. Mounting seat; 27. End plate; 28. First pin; 29. Connecting plate; 20. Mounting seat;

[0104] 211, through hole; 221, first motor; 222, first drive wheel; 223, first mounting base; 224, first pulley; 225, second pulley; 226, first tensioning pulley; 227, first belt; 228, first fixing member; 229, first connecting member; 2210, second mounting base; 2211, second connecting member;

[0105] 223a, first oblong hole; 21a, second oblong hole;

[0106] 231. Second motor; 232. Second drive wheel; 233. Second fixing member; 234. Third pulley; 235. Fourth pulley; 236. Second tensioning pulley; 237. Second belt; 238. Third connecting member; 239. Third mounting base; 230. Fourth connecting member;

[0107] 241. First guide rail; 242. Connecting assembly; 2421. Connecting block; 2422. Engaging block;

[0108] 31. Bottom plate assembly; 32. Scissor mechanism; 33. Pallet; 34. Connecting assembly; 35. Driving mechanism;

[0109] 311, bottom plate; 312, second guide assembly; 3111, detection hole; 3121, second guide rail;

[0110] 321, connecting rod mechanism; 3211, first connecting rod; 3212, second connecting rod;

[0111] 341. Hook connecting rod; 342. Cargo hook;

[0112] 41. Zero point sensor; 42. Zero point sensor;

[0113] 51. First track; 52. Second track; 53. Traveling mechanism. DETAILED DESCRIPTION

[0114] The following combination Figures 1 to 22 The technical solution provided by the present invention is described in more detail. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions and numerical values described in these embodiments should be interpreted as merely exemplary and not as limiting.

[0115] The terms "first," "second," and similar terms used in this disclosure do not denote any order, quantity, or importance, but are simply used to distinguish one part from another. Terms such as "include" or "comprise" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements.

[0116] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0117] All terms used in this disclosure, including technical or scientific terms, have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0118] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment are considered part of the specification.

[0119] The dimensions of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship. In the drawings, the same reference numerals are attached to common structural elements or structural elements of the same type, and their repeated descriptions are appropriately omitted.

[0120] Figure 1 This is a schematic diagram of the three-dimensional structure of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided by an embodiment of the present invention in a raised state and located at one end of the vertical plate 21. Figure 2 This is a schematic diagram of the three-dimensional structure of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided by an embodiment of the present utility model in a raised state and located at the other end of the vertical plate 21. Figure 3 This is a schematic diagram of the three-dimensional structure of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided by an embodiment of the present utility model in a retracted state and located at one end of the vertical plate 21. Figure 4 The present invention provides a three-dimensional structural diagram of a cargo access mechanism in which the scissor mechanism 32 is in a retracted state and located at the other end of the vertical plate 21 . Figure 5 A schematic diagram of the three-dimensional structure of the mounting assembly 2 of the cargo storage and retrieval mechanism is provided for an embodiment of the present utility model. Figure 6 for Figure 5 A is a partial enlarged schematic diagram of .

[0121] See also Figures 1 to 4, an embodiment of the utility model provides a cargo storage and retrieval mechanism for taking cargo out of a shelf 6 and placing cargo onto the shelf 6. The cargo storage and retrieval mechanism includes a base 1, a cargo moving mechanism 3, a lifting mechanism 5, and two or more mounting components 2. The mounting component 2 is movably mounted on the lifting mechanism 5. The base 1 is constructed to provide support. Each mounting component 2 includes a vertical plate 21, a first drive component 22, and a second drive component 23; the vertical plate 21 is mounted on and supported by the base 1; the first drive component 22 is mounted on one side of the vertical plate 21, and the second drive component 23 is mounted on the other side of the vertical plate 21; the first bearing surface of the first drive component 22 and the second bearing surface of the second drive component 23 are at different heights and are parallel. The cargo moving mechanism 3 is mounted on the second drive component 23 to move linearly under the drive of the second drive component 23; the cargo moving mechanism 3 is constructed to be liftable. The first drive assembly 22 is configured to drive the movement of the cargo, and the second drive assembly 23 is configured to drive the cargo transfer mechanism 3 to move the cargo from the external storage location to the first drive assembly 22, or to push the cargo on the first drive assembly 22 into the external storage location. Here, the external location refers to a location outside the cargo storage and retrieval mechanism.

[0122] The lifting mechanism 5 can be implemented in a variety of ways. In some embodiments, the lifting mechanism 5 includes at least one first rail 51, each of which is arranged in parallel. The mounting assembly 2 is movably mounted on the first rail 51. Specifically, each cargo storage and retrieval mechanism includes two mounting assemblies 2, all of which form a single unit, and each cargo storage and retrieval mechanism is coupled to one or two first rails 51. It should be noted that in some cases, each cargo storage and retrieval mechanism may also be coupled to three or even more first rails 51.

[0123] Specifically, the lifting mechanism 5 also includes an active drive mechanism, which includes a synchronous belt and synchronous pulleys. Synchronous pulleys are mounted at both ends of the first rail 51, and the synchronous belt is wound around the synchronous pulleys. The cargo storage and retrieval mechanism also includes a support frame 20, which is fixedly connected to the base 1 to form a bracket that facilitates the installation and support of the mounting assembly 2. The support frame 20 is fixedly connected to the synchronous belt, which drives the lifting and lowering of the cargo storage and retrieval mechanism.

[0124] An alternative approach is to install a belt along the extension of the first rail 51, with both ends of the belt fixed to the ends of the first rail 51. A climbing gear is installed on the support frame 20, and the inner side of the synchronous belt is shaped like a rack and can mesh with the climbing gear. The synchronous belt is tensioned and stably wound around the climbing gear. When the climbing gear rotates, it drives the entire cargo storage and retrieval mechanism to move up and down along the synchronous belt.

[0125] The lifting mechanism 5 can also use equipment such as wire ropes, cranes, and cranes to achieve the lifting of the installation component 2. Specifically, the lifting of the installation component 2 is achieved by retracting and extending the wire ropes.

[0126] There are two ways of moving goods: one is to move from the outside (such as the shelf 6) to the goods storage and retrieval mechanism, which is a picking operation. The second is to move from the goods storage and retrieval mechanism to the outside (such as the shelf 6), which is a stocking operation.

[0127] During the pickup operation, the cargo transfer mechanism 3, driven by the second drive assembly 23, moves to the end of the cargo storage and retrieval mechanism. The second drive assembly 23 pauses, waiting for the cargo transfer mechanism 3 to remove the cargo from the shelf 6. After the cargo is removed, the cargo is supported and moved by the first drive assembly 22. At the same time, the cargo is also hooked by the cargo transfer mechanism 3 to ensure the stability of the cargo movement. Driven by the second drive assembly 23, the cargo transfer mechanism 3 moves the cargo to the middle area of the cargo storage and retrieval mechanism. The cargo transfer mechanism 3 then descends to avoid the cargo's movement trajectory. The cargo continues to move to the set position of the cargo storage and retrieval mechanism under the drive of the first drive assembly 22. From then on, the pickup operation is completed.

[0128] When goods need to be stored from the goods storage and retrieval mechanism onto the shelf 6, the goods are first moved to the edge of the goods storage and retrieval mechanism by the first drive assembly 22. Then, the goods transfer mechanism 3 is moved to the set position by the second drive assembly 23 and then raised, pushing the goods away from the first drive assembly 22. The storage operation is now complete.

[0129] The base 1 can be implemented in a variety of ways, such as using a plate-like structure, a mounting frame formed by assembling multiple rods, or other implementation methods. In some embodiments of this invention, the base 1 includes two parallel and spaced profiles, the length direction of the two profiles is perpendicular to the length direction of the vertical plate 21, and the two profiles are dispersed and supported on the bottom of the two mounting components 2. Both mounting components 2 are detachably fixed to the profiles. The profiles are light in weight and have high support strength. In some embodiments, each vertical plate 21 is provided with a row of weight-reducing holes 25, see Figure 4 , to reduce the weight of the mounting assembly 2.

[0130] See also Figures 1 to 4 The mounting assembly 2 also includes a mounting base 26, which is generally L-shaped. One surface of the mounting base 26 is removably fixed to the vertical plate 21 via a pin or bolt, and the other surface of the mounting base 26 is removably fixed to the profile via a pin or bolt. Because there are two profiles, each vertical plate 21 of the mounting assembly 2 is independently mounted with two mounting bases 26, each mounting base 26 being fixedly connected to one of the profiles. Using these two profiles, the profiles of the two mounting assemblies 2 can be securely attached to the three-dimensional frame structure.

[0131] The mounting base 26 and the base 1 are both lightweight and compact, helping to reduce the weight of the cargo storage and retrieval mechanism. The cargo storage and retrieval mechanism is almost always in motion within the warehouse. A lightweight cargo storage and retrieval mechanism can improve its load-bearing capacity and reduce the energy required for its movement, thereby achieving energy conservation and emission reduction.

[0132] In some embodiments, taking the example of a cargo storage and retrieval mechanism comprising two mounting assemblies 2, the two mounting assemblies 2 are symmetrically arranged relative to the centerline of the cargo storage and retrieval mechanism's width (the width direction being perpendicular to the linear movement direction of the cargo transfer mechanism 3, described later, relative to the upright 21). The two mounting assemblies 2 have identical structures and jointly support the cargo transfer mechanism 3 and the cargo. The specific implementation of the mounting assembly 2 will be described in detail below, using one of the mounting assemblies 2 as an example.

[0133] Each mounting assembly 2 includes a vertical plate 21, a first drive assembly 22, and a second drive assembly 23. The vertical plate 21 is a flat plate. This shape of the vertical plate 21 is very light and greatly simplifies the overall structure of the cargo storage and retrieval mechanism, which helps to achieve lightweight cargo storage and retrieval mechanism.

[0134] In some embodiments, each mounting assembly 2 further includes two end plates 27, which together with the two vertical plates 21 form a rectangular frame. Each end plate 27 is fixedly connected to the two vertical plates 21, and can be fixed by bolt connection or welding. Figure 1 In some embodiments, the end plate 27 is provided with a first screw hole, and the vertical plate 21 is also provided with a corresponding second screw hole. Bolts are used to pass through the first screw hole of the end plate 27 and the second screw hole of the vertical plate 21 to fix the end plate 27 and the vertical plate 21 together.

[0135] As introduced above, the cargo storage and retrieval mechanism is used to realize the taking and putting of goods. In order to realize the taking and putting of goods, the cargo storage and retrieval mechanism needs to drive the movement of goods. The cargo storage and retrieval mechanism realizes the movement of goods through two actions: when taking out goods from the shelf 6, the cargo transfer mechanism 3 is first used to hook the goods from the shelf 6, and then the cargo transfer mechanism 3 moves the goods toward the middle position of the cargo storage and retrieval mechanism, and then the cargo transfer mechanism 3 descends, and the goods still fall on the first bearing surface of the first drive component 22, and then the first drive component 22 is used alone to move the goods to the set position of the cargo storage and retrieval mechanism. When pushing the goods from the cargo storage and retrieval mechanism to the shelf 6, the first drive component 22 is first used to move the goods to the edge of the cargo storage and retrieval mechanism, and then the cargo transfer mechanism 3 is raised and the cargo transfer mechanism 3 moves relative to the vertical plate 21 to push the goods onto the shelf 6. The entire process of cargo movement is carried by the first drive component 22. The cargo transfer mechanism 3 plays the role of hooking and pushing the goods.

[0136] In various embodiments herein, each mounting assembly 2 of the cargo storage and retrieval mechanism includes two drive assemblies: a first drive assembly 22 and a second drive assembly 23. The first drive assembly 22 independently moves cargo within the cargo storage and retrieval mechanism. The second drive assembly 23 drives the cargo transfer mechanism 3 in linear reciprocating motion relative to the vertical plate 21, enabling cargo to be retrieved from the shelf 6 and transported to the first drive assembly 22 (corresponding to a retrieval operation) or pushed from the first drive assembly 22 into a cargo box (corresponding to a storage operation).

[0137] The first bearing surface of the first drive assembly 22 is positioned relatively high, and the second bearing surface of the second drive assembly 23 is positioned relatively low. The second bearing surface of the second drive assembly 23 is used to support the cargo transfer mechanism 3 to drive the cargo transfer mechanism 3 to move. When the cargo transfer mechanism 3 is in the raised state, the bearing surface of the cargo transfer mechanism 3 is higher than the first bearing surface and higher than the second bearing surface. When the cargo transfer mechanism 3 is in the retracted state, the bearing surface of the cargo transfer mechanism 3 is lower than the first bearing surface, but still higher than the second bearing surface. This method allows the cargo to move normally in a straight line under the drive of the first drive assembly 22.

[0138] See also Figure 5 and Figure 18 In some embodiments, the first drive assembly 22 includes a first motor 221, a first drive pulley 222, a first mounting base 223, a first pulley 224, a second pulley 225, and a first belt 227. The first motor 221 is mounted on the vertical plate 21. The first drive pulley 222 is drivingly connected to the output shaft of the first motor 221. The first mounting base 223 is fixedly connected to the housing of the first motor 221. The first pulley 224 is rotatably mounted on one end of the vertical plate 21. The second pulley 225 is rotatably mounted on the other end of the vertical plate 21. The first tensioning pulley 226 is rotatably mounted on the first mounting base 223, and the mounting position of the first tensioning pulley 226 on the first mounting base 223 is adjustable. The top surface of the first belt 227 serves as the first bearing surface of the first drive assembly 22. The first belt 227 engages with the first drive pulley 222 and is wrapped around the first drive pulley 222, the first pulley 224, the second pulley 225, and the first tensioning pulley 226. The first driving assembly 22 uses a belt drive to achieve the movement of the goods.

[0139] like Figures 1 to 4 As shown, the first motor 221 is located outside the two mounting assemblies 2, and the cargo moving mechanism 3 is located between the two mounting assemblies 2. After the cargo moving mechanism 3 picks up the cargo, in order to place the cargo on the first supporting surface of the first drive assembly 22, the first supporting surface must be higher than the upper edge of the vertical plate 21. Otherwise, the upper edge of the vertical plate 21 blocks the first supporting surface of the first drive assembly 22 from contacting the cargo, preventing it from moving.

[0140] In each of the above embodiments, the first drive wheel 222, the first pulley 224, and the second pulley 225 are all rotatably mounted on the vertical plate 21, so that the distance between the first belt 227 wrapped thereon and the vertical plate 21 is very close, which can reduce the width of the cargo storage and retrieval mechanism and make the cargo storage and retrieval mechanism structure more compact.

[0141] There are many ways to install the first installation base 223 on the vertical plate 21, such as using multiple first pins ( Figure 5 ) 28 is disposed between the first mounting base 223 and the upright plate 21. Both the first mounting base 223 and the upright plate 21 are flat plates, with a first gap P defined between them. The first tensioning pulley 226 and the first driving pulley 222 can be mounted within the first gap P. This arrangement allows for a very compact arrangement of components, minimizing the width of the cargo storage and retrieval mechanism.

[0142] Continue to see Figure 5 The first motor 221 is located on a side of the first mounting base 223 away from the vertical plate 21. The first motor 221 is located outside the two mounting assemblies 2 and does not occupy the space between the two mounting assemblies 2, making the movement of the cargo moving mechanism 3 smoother and free from interference, and making the arrangement of the cargo moving mechanism 3 more flexible and simpler.

[0143] See also Figure 6 In some embodiments, the first mounting base 223 is provided with a first oblong hole 223a. The first drive assembly 22 further includes a first fixing member 228, at least one first connecting member 229, a second mounting base 2210, and a second connecting member 2211. The first fixing member 228 is fixedly mounted on the first mounting base 223 and can be welded or bolted. Each first connecting member 229 is mounted on the first fixing member 228, and the first connecting member 229 is rotatably mounted on the first fixing member 228 to change the position of the second mounting base 2210 relative to the first fixing member 228. The first connecting member 229 is, for example, a bolt. By rotating the first connecting member 229, the position of the second mounting base 2210 relative to the first fixing member 228 can be changed. The second mounting base 2210 is provided with a second connecting member 2211, which passes through the first oblong hole 223a. The second connecting member 2211 securely connects the first tensioning pulley 226 to both the first mounting base 223 and the second mounting base 2210. Since the second mounting base 2210 is mounted on the first connecting member 229, the position of the second mounting base 2210 relative to the first fixing member 228 changes accordingly, and the position of the first tensioning pulley 226 mounted on the second mounting base 2210 also changes accordingly, thereby adjusting the tension of the first belt 227.

[0144] The second mounting base 2210 moves linearly as the first connecting member 229 rotates. This linear movement direction corresponds to the linear movement direction of the cargo transfer mechanism 3 and is also the longitudinal direction of the vertical plate 21. As the second mounting base 2210 moves toward S1, the first tensioning pulley 226 tightens the first belt 227. As the second mounting base 2210 moves toward S2, the first tensioning pulley 226 loosens the first belt 227. Adjusting the position of the second mounting base 2210 adjusts the tension of the first belt 227.

[0145] See also Figure 18 The first tensioning pulley 226 is located between the first tensioning pulley 226 and the second pulley 225. The arrangement of the first driving pulley 222, the first pulley 224, the second pulley 225, and the first tensioning pulley 226 allows the first belt 227 to bend and wind. This bending and winding process allows the first belt 227 to be compactly distributed within a limited space, achieving the required transmission or driving force, shortening the length of the cargo storage and retrieval mechanism, and making the cargo storage and retrieval mechanism more reasonable and compact.

[0146] See also Figure 5 and Figure 19 In some embodiments, the second drive assembly 23 uses a belt mechanism to achieve linear motion of the cargo transfer mechanism 3. The second drive assembly 23 includes a second motor 231, a second drive pulley 232, a third pulley 234, a fourth pulley 235, a second tensioning pulley 236, and a second belt 237. The second motor 231 is mounted on the vertical plate 21. The second drive pulley 232 is drivingly connected to the output shaft of the second motor 231. The vertical plate 21 is fixedly connected to the housing of the second motor 231. The third pulley 234 is rotatably mounted on one end of the vertical plate 21. The fourth pulley 235 is rotatably mounted on the other end of the vertical plate 21. The second tensioning pulley 236 is rotatably mounted on the vertical plate 21, and its mounting position on the vertical plate 21 is adjustable. The second belt 237 engages with the second drive pulley 232 and is wrapped around the second drive pulley 232, the third pulley 234, the fourth pulley 235, and the second tensioning pulley 236.

[0147] The second bearing surface of the second belt 237 is lower than the upper edge of the vertical plate 21, while the first bearing surface of the first belt 227 is higher than the upper edge of the vertical plate 21. The second belt 237 is installed at the same location as the first belt 227. The first belt 227 is placed against the outer wall of the vertical plate 21, while the second belt 237 is placed against the inner wall of the vertical plate 21. The terms "inside" and "outside" here refer to the cargo storage and retrieval mechanism: the exterior of the cargo storage and retrieval mechanism is considered "outside," and the interior of the cargo storage and retrieval mechanism is considered "inside." "Closely attached" here does not mean there is no gap, but rather that they are as close as possible while meeting the component installation requirements. The first and second belts 227 and 237 are arranged in an up-and-down arrangement, which is more compact and space-saving, making the cargo storage and retrieval mechanism thinner and more durable. The second belt 237 is placed between the two mounting assemblies 2, i.e., on the inner side of the cargo storage and retrieval mechanism, allowing the cargo transfer mechanism 3 to move closer to the shelf 6, thereby reducing the distance between the cargo transfer mechanism 3 and the shelf 6 and facilitating the storage and retrieval of goods.

[0148] By using this arrangement to mount the first drive assembly 22 and the second drive assembly 23, the mounting assembly 2 is very compact, facilitating the modularization, integration, and lightweighting of the cargo storage and retrieval mechanism. If a component of the cargo storage and retrieval mechanism fails, the corresponding module can be replaced or repaired without affecting the structure of other components.

[0149] Continue to see Figure 5 Since the second motor 231 is located on the outside of the vertical plate 21 and the second belt 237 is located on the inside of the vertical plate 21, the vertical plate 21 is correspondingly provided with a through hole 211 so that the output shaft of the second motor 231 can extend into the inside of the vertical plate 21 to install the second driving wheel 232.

[0150] The installation method of the second tensioning wheel 236 is basically the same as the installation method of the first tensioning wheel 226. In some embodiments, the vertical plate 21 is provided with a second oblong hole 21a. The second drive assembly 23 also includes a second fixing member 233, at least one third connecting member 238, a third mounting base 239 and a fourth connecting member 230. The second fixing member 233 is fixedly mounted on the vertical plate 21. Each third connecting member 238 is mounted on the second fixing member 233, and the third connecting member 238 is rotatably mounted on the second fixing member 233 to change the position of the third mounting base 239 relative to the second fixing member 233. The third mounting base 239 is mounted on the third connecting member 238. The fourth connecting member 230 passes through the second oblong hole 21a, and the fourth connecting member 230 fixedly connects the second tensioning wheel 236 to the vertical plate 21 and the third mounting base 239.

[0151] In some embodiments, the second drive pulley 232, the third pulley 234, the fourth pulley 235, the second tensioning pulley 236, and the second belt 237 are all located between the two vertical plates 21. This approach can also make the arrangement of components more compact, making the installation assembly 2 highly modular and compact.

[0152] See also Figure 19 The second drive pulley 232 is located between the second tensioning pulley 236 and the third pulley 234. The arrangement of the second drive pulley 232, the third pulley 234, the fourth pulley 235, and the second tensioning pulley 236 allows the second belt 237 to bend and wind. This bending and winding allows the second belt 237 to be compactly arranged within a limited space and achieve the required transmission or driving force.

[0153] Continue to see Figure 5 In some embodiments, each mounting assembly 2 further includes a first guide assembly 24, which is mounted on the vertical plate 21. The cargo transfer mechanism 3 is mounted on the first guide assembly 24; the first guide assembly 24 is configured to guide the linear movement of the cargo transfer mechanism 3 relative to the vertical plate 21. The first guide assembly 24 can be implemented using a slide rail or other linear guide mechanism.

[0154] The first guide assembly 24 specifically includes a first guide rail 241. The first guide rail 241 is fixedly mounted to the vertical plate 21, and the two can be connected by bolts or welding. The first guide rail 241 is installed below the first bearing surface of the first drive assembly 22 and above the second bearing surface of the second drive assembly 23. The length of the first guide rail 241 is parallel to the linear reciprocating motion direction of the cargo transfer mechanism 3. With the help of the first guide rail 241, the movement direction of the cargo transfer mechanism 3 is more precise.

[0155] See also Figure 5 and Figure 17 , the first guide assembly 24 also includes a connecting assembly 242. The connecting assembly 242 includes a fixedly connected connecting block 2421 and an engaging block 2422. The connecting block 2421 can be freely installed on the first guide rail 241 in a straight line. The engaging block 2422 is engaged with the second belt 237 of the second drive assembly 23. The engaging block 2422 has teeth that engage with the second belt 237. The engaging block 2422 moves with the movement of the second belt 237; the cargo transfer mechanism 3 is detachably mounted on the connecting block 2421. The connecting block 2421 exerts a downward force on the engaging block 2422, so that the engaging block 2422 is stably and firmly engaged with the second belt 237. This method can more reliably realize the long-distance transportation of the cargo transfer mechanism 3 and can send the load platform a longer distance.

[0156] Figure 7The present invention provides a schematic diagram of the positioning relationship of the cargo moving mechanism 3 during installation of the cargo storage and retrieval mechanism. Figure 8 The present invention provides a three-dimensional schematic diagram of the cargo moving mechanism 3 of the cargo storage and retrieval mechanism in a raised state. Figure 9 Another three-dimensional schematic diagram of the cargo moving mechanism 3 of the cargo storage and retrieval mechanism in the raised state is provided for the embodiment of the present utility model. Figure 10 The present invention provides a three-dimensional schematic diagram of the cargo transfer mechanism 3 of the cargo storage and retrieval mechanism in a retracted state. Figure 11 This is another schematic diagram of the cargo transfer mechanism 3 of the cargo storage and retrieval mechanism of the present invention in its retracted state. Herein, the retracted state refers to the state in which the cargo transfer mechanism 3 has been retracted to its limit and cannot be retracted any further. The raised state refers to the state in which the cargo transfer mechanism 3 is extended, ready to pick up and push cargo. While the retracted state has only one position, the raised state may have multiple positions depending on the location of the cargo box.

[0157] See also Figure 7 In some embodiments, the cargo transfer mechanism 3 itself is constructed to be liftable. The cargo transfer mechanism 3 includes a base plate assembly 31, a scissors-fork mechanism 32, a pallet 33, and a hooking assembly 34. The base plate assembly 31 is connected to the connecting blocks 2421 of both mounting assemblies 2. The scissors-fork mechanism 32 is carried by the base plate assembly 31 and is mounted on the base plate assembly 31; the scissors-fork mechanism 32 includes a plurality of rotatably connected rods; the scissors-fork mechanism 32 includes a retracted state and a raised state, and the scissors-fork mechanism 32 is switched between the retracted state and the raised state by the relative rotation of the plurality of rods. The pallet 33 is mounted on the top of the scissors-fork mechanism 32. The hooking assembly 34 is fixedly mounted on the pallet 33.

[0158] The cargo transfer mechanism 3 raises and lowers the pallet 33 by deforming the scissor mechanism 32. In some embodiments, when the scissor mechanism 32 is retracted, the third bearing surface of the pallet 33 is lower than the first bearing surface of the first drive assembly 22. At this time, the cargo transfer mechanism 3 can avoid the movement of the cargo, so that the cargo moves only under the drive of the first drive assembly 22.

[0159] When the scissor mechanism 32 is in the raised position, the third supporting surface of the pallet 33 is flush with or higher than the first supporting surface. Preferably, the third supporting surface is higher than the first supporting surface. At this time, the cargo transfer mechanism 3 removes the cargo from the shelf 6 and transports it to the appropriate position of the cargo storage and retrieval mechanism. During this process, the bottom surface of the cargo is higher than the first supporting surface of the first drive assembly 22, so the two do not interfere with each other.

[0160] See also Figure 8 and Figure 9In some embodiments, the scissor mechanism 32 includes two sets of link mechanisms 321, which jointly support the bottom of the tray 33, making the movement of the tray 33 more stable. Each set of link mechanisms 321 includes a first link 3211 and a second link 3212, which are arranged crosswise and rotatably connected. The bottom plate assembly 31 includes a bottom plate 311, a second guide assembly 312, and a third guide assembly 313. The bottom of the first link 3211 of each link mechanism 321 is rotatably connected to the bottom plate 311, and the rotatable connection positions of the two first links 3211 and the bottom plate 311 are spaced apart. The bottom of the second link 3212 is linearly movably mounted on the second guide assembly 312; the second guide assembly 312 is constructed to play a linear guiding role for the movement of the bottom of the second link 3212. The third guide assembly 313 is fixedly mounted on the bottom of the tray (33). The top of the first connecting rod 3211 is linearly movably mounted on the third guide assembly 313. The third guide assembly 313 is configured to provide linear guidance for the top movement of the first connecting rod 3211. Both the second guide assembly 312 and the third guide assembly 313 can be guided by a linear guide mechanism, such as a slide rail mechanism.

[0161] The second guide assembly 312 includes two parallel second guide rails 3121. Each second guide rail 3121 is fixedly mounted to the base plate 311, specifically by bolting or welding. The bottom of the first link 3211 of each linkage 321 is rotatably connected to the base plate 311, and the rotatable connection positions of the two first links 3211 to the base plate 311 are spaced apart. The second link 3212 of each linkage 321 is arranged in a one-to-one correspondence with the second guide rail 3121, and the bottom of each second link 3212 is linearly slidably mounted on one of the second guide rails 3121.

[0162] Continue to see Figure 8 and Figure 9 The third guide assembly 313 includes two third guide rails 3131 arranged in parallel. Each third guide rail 3131 is fixedly mounted on the bottom of the tray 33, and can be bolted or welded. The first connecting rod 3211 and the third guide rail 3131 of each connecting rod mechanism 321 are arranged in a one-to-one correspondence, and the bottom of each first connecting rod 3211 can be linearly slidably mounted on one of the third guide rails 3131. A third guide rail 3131 is provided on the top of each second guide rail 3121. The second guide rails 3121 and the third guide rails 3131 work together to make the linear movement of the tray 33 more reliable, precise, and stable.

[0163] The above technical solution adopts a scissor mechanism 32 to realize the lifting and lowering of the pallet 33, and adopts the second guide assembly 312 and the third guide assembly 313 to realize the horizontal movement of the pallet 33. The lifting operation is more reliable, the delivery distance is longer and more stable, and the structure is simpler.

[0164] See also Figure 8 and Figure 9 To switch the state of the scissor mechanism 32, in some embodiments, the cargo transfer mechanism 3 further includes a drive mechanism 35, such as a linear motor. The drive mechanism 35 is mounted on the base plate assembly 31; the scissor mechanism 32 is drivingly connected to the drive mechanism 35. The drive mechanism 35 is configured to drive the scissor mechanism 32 between a retracted state and a raised state. The linear motion of the linear motor pushes the bottom of the scissor mechanism 32 to switch the state of the scissor mechanism 32.

[0165] A driving mechanism 35 can be used to simultaneously drive the bottoms of the two second connecting rods 3212. Specifically, a connecting plate (see Figure 8 )29 The bottoms of the two second connecting rods 3212 are fixedly connected, and the driving mechanism 35 directly drives the connecting plate to move linearly, so that the synchronous movement of the two second connecting rods 3212 can be achieved.

[0166] Figure 10 The present invention provides a three-dimensional schematic diagram of the cargo transfer mechanism 3 of the cargo storage and retrieval mechanism in a retracted state. Figure 11 Another three-dimensional schematic diagram of the cargo transfer mechanism 3 of the cargo storage and retrieval mechanism in the retracted state is provided for an embodiment of the present utility model.

[0167] See also Figure 10 and Figure 11 In some embodiments, there are four sets of hooking assemblies 34, distributed at the four corners of the pallet 33. Each set of hooking assemblies 34 includes a hooking rod 341 and a cargo hook 342. The hooking rod 341 is mounted on an edge of the pallet 33 and extends out of the pallet 33. The cargo hook 342 is mounted on the edge of the hooking rod 341 away from the pallet 33; the end of the cargo hook 342 away from the hooking rod 341 is bent to hook or push cargo.

[0168] Continue to see Figure 10 and Figure 11 The cargo transfer mechanism 3 has two states: a raised state and a retracted state. In order to detect whether the cargo transfer mechanism 3 is fully retracted when in the retracted state, in some embodiments, the cargo storage and retrieval mechanism further includes a position detection mechanism 4, which detects the position of the cargo transfer mechanism 3.

[0169] Figure 12 The present invention provides a schematic diagram of the installation position of the position detection mechanism 4 of the cargo storage and retrieval mechanism in accordance with an embodiment of the present invention. Figure 13 A side view schematic diagram of the installation position of the position detection mechanism 4 of the cargo storage and retrieval mechanism is provided for an embodiment of the present utility model. Figure 14 The present invention provides a schematic diagram of the relative positions of the cargo moving mechanism 3 and the position detection mechanism 4 when the cargo moving mechanism 3 of the cargo storage and retrieval mechanism is just opened and has not yet extended out of the mounting assembly 2. Figure 15 The present invention provides a schematic diagram of the relative positions of the cargo moving mechanism 3 and the position detection mechanism 4 when the cargo moving mechanism 3 of the cargo storage and retrieval mechanism is extended to the maximum extent by the mounting assembly 2.

[0170] See also Figures 12 to 15 , the cargo moving mechanism 3 can be moved to the extreme positions at both ends along the length direction of the cargo access mechanism (also the length direction of the vertical plate 21). For each end, the cargo moving mechanism 3 just does not extend out of the mounting assembly 2 ( Figure 14 ), the maximum extension of the cargo moving mechanism 3 to the mounting assembly 2 is the two extreme positions to be detected ( Figure 15 ).

[0171] Specifically, the position detection mechanism 4 includes a zero-point sensor 41 and a zero-point sensing piece 42. The zero-point sensor 41 is, for example, a photoelectric sensor. The bottom plate 311 of the cargo moving mechanism 3 is provided with a detection hole 3111, and the zero-point sensor 41 is installed at the bottom of the bottom plate 311, and partially extends below the detection hole 3111. The zero-point sensing piece 42 is fixedly connected to the scissor mechanism 32, specifically, it is fixedly connected to the connecting plate 29 connecting the two second connecting rods 3212 introduced above. The zero-point sensing piece 42 moves with the linear motion of the connecting plate 29. The length of the zero-point sensing piece 42 is configured to meet the following conditions: See Figure 14 When the cargo moving mechanism 3 has just not extended out of the mounting assembly 2, the zero point sensor 41 detects one end of the zero point sensing piece 42 in the length direction. Figure 15 When the cargo moving mechanism 3 extends out of the mounting assembly 2 to the maximum extent, the zero point sensor 41 detects the other end of the zero point sensing piece 42 in the length direction.

[0172] The position detection mechanism 4 can detect the position of the cargo moving mechanism 3, verify whether the cargo moving mechanism 3 is at the bottom of the contraction state, or find the initial position of the cargo moving mechanism 3 when the system loses the position data of the cargo moving mechanism 3.

[0173] The position of the cargo moving mechanism 3 when it is not extended out of the mounting assembly 2 can be used to determine the initial position of the cargo moving mechanism 3, that is, Figure 14 The position where the cargo moving mechanism 3 extends out of the mounting assembly 2 to the maximum extent is the limit position of the cargo moving mechanism 3 relative to the mounting assembly 2, i.e. Figure 15 The above technical solution can determine which end of the zero-point sensor 42 the zero-point sensor 41 is located at based on whether the zero-point sensor 41 has a detection signal. Figure 14 and Figure 15 Taking the left and right directions as an example, if the zero point sensor 41 has a signal, it means that the cargo moving mechanism 3 is at the extended limit position, that is, Figure 15 If the system loses the initial position of the goods moving mechanism 3, in the process of searching for the initial position, the goods moving mechanism 3 moves to the left until the position where the signal disappears is exactly the initial position of the goods moving mechanism 3.

[0174] If there is no signal from the zero point sensor 41 at the beginning, the goods moving mechanism 3 is explained to be on the left side of the zero point sensor 41. At this time, the goods moving mechanism 3 moves to the right until the position where the signal is just generated is exactly the initial position of the goods moving mechanism 3.

[0175] The above technical solution sets the above two detection positions to achieve the following functions: for the detection position at the left end, that is, the first extreme position, the corresponding cargo moving mechanism 3 just does not exceed the installation component 2, preventing the cargo moving mechanism 3 from extending outward and hitting the shelf 6, cargo box or other cargo loading mechanism when looking for the initial position.

[0176] When in the right extreme position, ie, the second extreme position, the maximum stroke of the cargo moving mechanism 3 is corresponding, so that the signals sensed when the load platform is in the right extreme position and the left extreme position are different.

[0177] The above technical solution can realize the detection of two positions by using one sensor plate. The detection is reliable and the number of components required is small, which is conducive to the lightweight and integrated cargo storage and retrieval mechanism.

[0178] An embodiment of the present invention further provides a cargo storage and retrieval device, comprising the cargo storage and retrieval mechanism provided by any technical solution of the present invention.

[0179] In some embodiments, there are at least two first rails. The cargo storage and retrieval device further includes at least two second rails. The at least two second rails are spaced apart in at least one direction. The at least two first rails are movably disposed along the at least two second rails via a running mechanism. The cargo storage and retrieval mechanism is movably disposed along the at least two first rails. The length direction of the first rails is, for example, a numerical direction, and the length direction of the second rails is, for example, a horizontal direction.

[0180] In some embodiments, the cargo storage and retrieval mechanism further includes a bracket, and the mounting assembly 2 is mounted on the bracket, and the entire cargo storage and retrieval mechanism is mounted on the first track through the bracket.

[0181] The first motor 221 and the second motor 231 are both located closer to the first track, rather than closer to the shelf 6. This allows the center of gravity of the entire cargo storage and retrieval mechanism to be closer to the second track and the first track, further reducing the power consumption of the lifting motors. The lifting motors are the motors that drive the entire cargo storage and retrieval mechanism along the first track.

[0182] Figure 20 A three-dimensional schematic diagram of a cargo storage and retrieval mechanism with a lifting mechanism is provided for an embodiment of the present utility model. Figure 21 Another three-dimensional schematic diagram of a cargo storage and retrieval mechanism with a lifting mechanism is provided for an embodiment of the present utility model. Figure 22 A three-dimensional schematic diagram of a cargo access mechanism installed on a shelf 6 is provided for an embodiment of the present invention.

[0183] See also Figures 20 to 22 An embodiment of the present invention further provides a warehousing and logistics system, comprising a shelf 6 and a cargo storage and retrieval device provided by any technical solution of the present invention, wherein the cargo storage and retrieval device is arranged on the shelf 6.

[0184] The surface of the shelf 6 is provided with a second track 52 extending along the surface of the shelf 6, and the mounting assembly 2 of the cargo storage and retrieval device is movably mounted on the first track 51. Through the first track 51 and the second track 52, the mounting assembly 2, the base 1, and the cargo transfer mechanism 3 can be moved to any position on the shelf 6 to meet the needs of storing and retrieving cargo.

[0185] In the description of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are used solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0186] In the description of the present invention, each technical feature can be combined with other technical features where feasible.

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A cargo storage and retrieval mechanism, characterized in that: include: A base (1) configured to provide support; Two or more mounting assemblies (2), each of the mounting assemblies (2) comprising a vertical plate (21), a first drive assembly (22), and a second drive assembly (23); the vertical plate (21) is mounted on the base (1) and supported by the base (1); the first drive assembly (22) is mounted on one side of the vertical plate (21), and the second drive assembly (23) is mounted on the other side of the vertical plate (21); a first bearing surface of the first drive assembly (22) and a second bearing surface of the second drive assembly (23) are located at different heights and are parallel; A cargo moving mechanism (3) is mounted on the second drive assembly (23) to move linearly under the drive of the second drive assembly (23); the cargo moving mechanism (3) is constructed to be liftable; as well as A lifting mechanism (5), the mounting assembly (2) being mounted on the lifting mechanism, the lifting mechanism (5) being configured to achieve lifting movement of the mounting assembly (2); The first drive assembly (22) is configured to drive the movement of goods; the second drive assembly (23) is configured to drive the goods transfer mechanism (3) to move, so as to move the goods from the external storage position to the first drive assembly (22), or to push the goods on the first drive assembly (22) into the external storage position.

2. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The first drive assembly (22) comprises: A first motor (221) is mounted on the vertical plate (21); A first driving wheel (222) is drivingly connected to the output shaft of the first motor (221); the first driving wheel (222) is mounted on the vertical plate (21); A first mounting base (223) fixedly connected to the housing of the first motor (221); A first pulley (224) is rotatably mounted on one end of the vertical plate (21); A second pulley (225) is rotatably mounted on the other end of the vertical plate (21); a first tensioning wheel (226) rotatably mounted on the first mounting base (223), wherein the mounting position of the first tensioning wheel (226) on the first mounting base (223) is adjustable; and A first belt (227) is engaged with the first driving wheel (222), and the first belt (227) is wound around the outside of the first driving wheel (222), the first pulley (224), the second pulley (225) and the first tensioning wheel (226).

3. The cargo storage and retrieval mechanism according to claim 2, characterized in that: The first mounting base (223) is provided with a first oblong hole (223a); the first driving assembly (22) further comprises: A first fixing member (228) fixedly mounted on the first mounting base (223); At least one first connecting member (229) is mounted on the first fixing member (228), and the first connecting member (229) is rotatably mounted on the first fixing member (228); a second mounting base (2210) mounted on the first connecting member (229); wherein the position of the second mounting base (2210) relative to the first fixing member (228) is changed by the first connecting member (229); and The second connecting member (2211) passes through the first oblong hole (223a), and the second connecting member (2211) fixedly connects the first tensioning wheel (226), the second mounting base (2210), and the first mounting base (223).

4. The cargo storage and retrieval mechanism according to claim 2, characterized in that: There is a first gap (P) between the first mounting base (223) and the vertical plate (21), the first driving wheel (222) and the first tensioning wheel (226) are located in the first gap (P), and the first motor (221) is located on a side of the first mounting base (223) away from the vertical plate (21).

5. The cargo storage and retrieval mechanism according to claim 2, characterized in that: The top surface of the first belt (227) is the first bearing surface of the first drive assembly (22), and the first bearing surface is higher than the upper edge of the vertical plate (21).

6. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The second drive assembly (23) comprises: A second motor (231) is mounted on the vertical plate (21); A second driving wheel (232) drivingly connected to the output shaft of the second motor (231); a third pulley (234) rotatably mounted on one end of the vertical plate (21); a fourth pulley (235) rotatably mounted on the other end of the vertical plate (21); a second tensioning wheel (236) rotatably mounted on the vertical plate (21), wherein the mounting position of the second tensioning wheel (236) on the vertical plate (21) is adjustable; and The second belt (237) is engaged with the second driving wheel (232), and the second belt (237) is wound around the outside of the second driving wheel (232), the third pulley (234), the fourth pulley (235) and the second tensioning wheel (236).

7. The cargo storage and retrieval mechanism according to claim 6, characterized in that: The vertical plate (21) is provided with a second oblong hole (21a); the second driving assembly (23) further comprises: A second fixing member (233) is fixedly mounted on the vertical plate (21); at least one third connecting member (238) mounted on the second fixing member (233), wherein the third connecting member (238) is rotatably mounted on the second fixing member (233); a third mounting base (239) mounted on the third connecting member (238); wherein the position of the third mounting base (239) relative to the second fixing member (233) is changed by the third connecting member (238); and A fourth connecting member (230) passes through the second oblong hole (21a), and the fourth connecting member (230) fixedly connects the second tensioning wheel (236), the vertical plate (21), and the third mounting base (239).

8. The cargo storage and retrieval mechanism according to claim 6, characterized in that: The second driving wheel (232), the third pulley (234), the fourth pulley (235), the second tensioning wheel (236) and the second belt (237) are all located between the two vertical plates (21).

9. The cargo storage and retrieval mechanism according to claim 1, characterized in that: Each of the mounting components (2) further comprises: A first guide assembly (24) is mounted on the vertical plate (21); the cargo transfer mechanism (3) is mounted on the first guide assembly (24); and the first guide assembly (24) is configured to guide the linear movement of the cargo transfer mechanism (3) relative to the vertical plate (21).

10. The cargo storage and retrieval mechanism according to claim 9, characterized in that: The first guide assembly (24) comprises: The first guide rail (241) is fixedly mounted on the vertical plate (21); the first guide rail (241) is installed at a position lower than the first bearing surface of the first drive assembly (22) and higher than the second bearing surface of the second drive assembly (23).

11. The cargo storage and retrieval mechanism according to claim 10, characterized in that: The first guide assembly (24) further includes: The connecting assembly (242) comprises a fixedly connected connecting block (2421) and an engaging block (2422); the connecting block (2421) is mounted on the first guide rail (241) so as to be freely movable linearly, and the engaging block (2422) is engaged with the second belt (237) of the second driving assembly (23) so as to move along with the movement of the second belt (237); the cargo transfer mechanism (3) is detachably mounted on the connecting block (2421).

12. The cargo storage and retrieval mechanism according to claim 11, characterized in that: The cargo moving mechanism (3) is located between the two mounting assemblies (2), and the cargo moving mechanism (3) comprises: A base plate assembly (31) connected to the connection blocks (2421) of the two mounting assemblies (2); A scissor mechanism (32) is carried by the base plate assembly (31) and mounted on the base plate assembly (31); the scissor mechanism (32) includes a plurality of rotatably connected rods; the scissor mechanism (32) includes a retracted state and a raised state, and the scissor mechanism (32) is switched between the retracted state and the raised state by relative rotation of the plurality of rods; a tray (33) mounted on top of the scissor mechanism (32); and The hooking assembly (34) is fixedly mounted on the tray (33).

13. The cargo storage and retrieval mechanism according to claim 12, characterized in that: When the scissor mechanism (32) is in a retracted state, the third bearing surface of the pallet (33) is lower than the first bearing surface of the first drive assembly (22); when the scissor mechanism (32) is in a raised state, the third bearing surface of the pallet (33) is flush with the first bearing surface or higher than the first bearing surface.

14. The cargo storage and retrieval mechanism according to claim 12, characterized in that: The cargo transfer mechanism (3) further comprises: A driving mechanism (35) is mounted on the base plate assembly (31); the scissor mechanism (32) is drivingly connected to the driving mechanism (35), and the driving mechanism (35) is configured to drive the scissor mechanism (32) to switch between the retracted state and the raised state.

15. The cargo storage and retrieval mechanism according to claim 12, characterized in that: The scissor mechanism (32) comprises two groups of link mechanisms (321), each group of the link mechanisms (321) comprises a first link (3211) and a second link (3212), the first link (3211) and the second link (3212) being arranged crosswise and rotatably connected; the base plate assembly (31) comprises: a bottom plate (311), wherein the bottom of the first connecting rod (3211) of each connecting rod mechanism (321) is rotatably connected to the bottom plate (311), and the rotatable connection positions of the two first connecting rods (3211) and the bottom plate (311) are spaced apart; a second guide assembly (312), the bottom of the second connecting rod (3212) being linearly movably mounted on the second guide assembly (312); the second guide assembly (312) being configured to provide linear guidance for the bottom movement of the second connecting rod (3212); and The third guide assembly (313) is fixedly mounted on the bottom of the tray (33); the top of the first connecting rod (3211) is linearly movably mounted on the third guide assembly (313); the third guide assembly (313) is configured to provide a linear guide for the top movement of the first connecting rod (3211).

16. The cargo storage and retrieval mechanism according to claim 15, characterized in that: The second guide assembly (312) includes: Two second guide rails (3121) are arranged in parallel, and each second guide rail (3121) is fixedly mounted on the base plate (311); the second connecting rod (3212) of each connecting rod mechanism (321) and the second guide rail (3121) are arranged in a one-to-one correspondence, and the bottom of each second connecting rod (3212) is linearly slidably mounted on one of the second guide rails (3121).

17. The cargo storage and retrieval mechanism according to claim 15, characterized in that: The third guide assembly (313) comprises: Two third guide rails (3131) are arranged in parallel, and each of the third guide rails (3131) is fixedly mounted on the bottom of the tray (33); the first connecting rod (3211) of each connecting rod mechanism (321) and the third guide rail (3131) are arranged in a one-to-one correspondence, and the bottom of each first connecting rod (3211) is linearly slidably mounted on one of the third guide rails (3131).

18. The cargo storage and retrieval mechanism according to claim 15, characterized in that: Also includes: A position detection mechanism (4) is installed on the cargo moving mechanism (3); the position of the cargo moving mechanism (3) is detected by the position detection mechanism (4).

19. The cargo storage and retrieval mechanism according to claim 18, characterized in that: The bottom plate (311) includes a detection hole (3111), and the detection hole (3111) is located between the two connecting rod mechanisms (321); the position detection mechanism (4) includes: A zero point sensor (41) is installed at the bottom of the base plate (311) and partially extends below the detection hole (3111); and A zero-point sensor (42) fixedly connected to the second connecting rod (3212) of the scissor mechanism (32); The zero-point sensing piece (42) moves along with the linear motion of the second connecting rod (3212), and the length of the zero-point sensing piece (42) is configured to satisfy the following conditions: when the cargo moving mechanism (3) has just not extended out of the mounting assembly (2), the zero-point sensor (41) detects one end of the zero-point sensing piece (42) in the length direction; when the cargo moving mechanism (3) extends out of the mounting assembly (2) to the maximum extent, the zero-point sensor (41) detects the other end of the zero-point sensing piece (42) in the length direction.

20. The cargo storage and retrieval mechanism according to claim 12, characterized in that: The number of the hooking components (34) is four groups, and the four groups of the hooking components (34) are dispersedly arranged at the four corners of the tray (33); each group of the hooking components (34) includes: A hooking rod (341) is mounted on the edge of the tray (33) and extends out of the tray (33); and A cargo hook (342) is installed on the edge of the hook connecting rod (341) away from the pallet (33); the end of the cargo hook (342) away from the hook connecting rod (341) is bent to hook or push cargo.

21. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The lifting mechanism (5) comprises: At least one first track (51), the mounting assembly (2) being movably mounted on the first track (51).

22. A cargo storage and retrieval device, characterized in that: include: The cargo storage and retrieval mechanism according to any one of claims 1 to 21.

23. The cargo storage and retrieval device according to claim 22, characterized in that: The number of the first rails (51) of the lifting mechanism (5) is at least two; the cargo storage and retrieval device further comprises: At least two second rails (52) are arranged at intervals in at least one direction; the at least two first rails (51) are movably arranged along the at least two second rails (52) via a walking mechanism (53).

24. A warehousing logistics system, characterized in that: include: Shelves (6); as well as The cargo storage and retrieval device according to claim 22 or 23, wherein the cargo storage and retrieval device is arranged on the shelf (6).

25. The warehousing logistics system according to claim 24, characterized in that: The second track (52) of the cargo storage and retrieval device is fixedly connected to the shelf (6).

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