Goods storing and taking device and warehouse logistics system

Abstract

A cargo storing and taking device and a warehouse logistics system, the cargo storing and taking device is used for storing and taking out cargos (GS), and the cargo storing and taking device comprises: a bracket (10) having a first bracket part (11) and a second bracket part (12) which are separated along a first direction (dr1); the lifting mechanism (T1) is in driving connection with the bracket (10) and is configured to realize ascending or descending of the bracket (10); the object moving mechanism (20) is at least partially positioned between the first bracket part (11) and the second bracket part (12) along the first direction (dr1); the driving mechanism (30) is connected with the bracket (10) and the object moving mechanism (20) and is configured to drive the object moving mechanism (20) to move relative to the bracket (10); wherein the driving mechanism (30) comprises a lead screw driving assembly (31), and the lead screw driving assembly (31) is located between at least one of the first bracket part (11) and the second bracket part (12) and the object moving mechanism (20) in the first direction (dr1).

Description

Technical Field

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

[0002] The wall-mounted shuttle system can efficiently perform cargo storage and retrieval operations in a high-bay warehouse, and realizes the storage and retrieval operations of goods relative to the shelves through a cargo storage and retrieval device that can move in the vertical plane.

[0003] In some related technologies, a distance-changing mechanism is provided in the cargo storage and retrieval device to adjust the distance between the cargo moving mechanism and the shelf. The distance-changing mechanism is driven by a screw motor or a synchronous belt / chain provided under the fork. Utility Model Content

[0004] Research has found that the elements providing driving force for the variable distance mechanism of the cargo storage and retrieval device in the related art overlap with the operating range of the object moving mechanism. In order to avoid motion interference between the two, a larger space is required when arranging them.

[0005] In view of this, the embodiments of the present disclosure provide a cargo storage and retrieval device and a warehousing and logistics system, which can improve space occupancy.

[0006] In one aspect of the present disclosure, there is provided a cargo storage and retrieval device for at least one of depositing and retrieving cargo, comprising:

[0007] a bracket having a first bracket portion and a second bracket portion spaced apart along a first direction;

[0008] a lifting mechanism, drivingly connected to the bracket and configured to achieve the lifting or lowering of the bracket;

[0009] an object moving mechanism, at least partially located between the first bracket portion and the second bracket portion along the first direction; and

[0010] a driving mechanism connected to the bracket and the object-moving mechanism, and configured to drive the object-moving mechanism to move relative to the bracket;

[0011] Wherein, the driving mechanism includes a screw driving assembly, and the screw driving assembly is located between at least one of the first bracket part and the second bracket part and the object moving mechanism along the first direction.

[0012] In some embodiments, the driving mechanism further comprises:

[0013] a fork support assembly, floatingly connected to at least one of the lead screw drive assembly and the object moving mechanism, and configured to support the object moving mechanism;

[0014] The screw drive assembly moves the fork support assembly to drive the object moving mechanism to move relative to the bracket along the second direction or the opposite direction of the second direction, and the second direction intersects with the first direction.

[0015] In some embodiments, the fork support assembly includes:

[0016] a support beam extending at least partially along the second direction; and

[0017] at least two connecting members, disposed on the support beam and arranged along the second direction;

[0018] Wherein, the screw drive assembly is installed on the side wall of at least one of the first bracket part and the second bracket part adjacent to the object moving mechanism, and is floatingly connected to the support beam, and the at least two connecting parts are detachably connected to the object moving mechanism.

[0019] In some embodiments, the fork support assembly further comprises:

[0020] The spherical bearing is connected between the support beam and each connecting member and is configured to achieve a floating connection between the support beam and each connecting member.

[0021] In some embodiments, the spherical bearing comprises a first connection portion and a second connection portion slidingly engaged with the first connection portion via a ball head, the first connection portion being threadedly connected to the support beam; at least one of the at least two connection members comprises:

[0022] a first connecting section, threadedly connected to the second connecting portion; and

[0023] The second connecting section is threadedly connected to the first connecting section and is connected to the bottom bracket of the object moving mechanism.

[0024] In some embodiments, the driving mechanism includes two fork support assemblies, which are respectively located on both sides of the object moving mechanism in the first direction. The two fork support assemblies include two pairs of connecting members, which are respectively connected to the four corners of the bottom bracket of the object moving mechanism.

[0025] In some embodiments, the driving mechanism further comprises:

[0026] A guide assembly is connected to the bracket and the support beam and is configured to guide linear movement of the support beam relative to the bracket.

[0027] In some embodiments, the guide assembly comprises:

[0028] a guide rail, disposed on a side of the support beam adjacent to the bracket, and extending in a direction parallel to the second direction; and

[0029] The slider is arranged on the bracket and is slidably matched with the guide rail.

[0030] In some embodiments, the screw drive assembly, the guide rail, and the at least two connectors are respectively connected to different sides of the support beam.

[0031] In some embodiments, the screw drive assembly includes:

[0032] A screw motor having a screw;

[0033] A nut, which is sleeved on the lead screw and matched with the lead screw thread;

[0034] a drive block fixedly connected to the fork support assembly; and

[0035] An elastic connection structure is provided between the drive block and the nut, and is used to achieve a floating connection between the fork support assembly and the lead screw drive assembly.

[0036] In some embodiments, the screw drive assembly also includes a first mounting bracket and a second mounting bracket arranged at intervals along the second direction, the first mounting bracket and the second mounting bracket are both fixedly connected to at least one of the first bracket portion and the second bracket portion, the screw motor is fixedly connected to the first mounting bracket and is located on the side of the first mounting bracket away from the second mounting bracket, and one end of the screw passing through the through hole of the first mounting bracket is supported on the second mounting bracket.

[0037] In some embodiments, the second mounting bracket is provided with a mounting groove, and the lead screw drive assembly further comprises a bushing embedded in the mounting groove, and the end area of one end of the lead screw passing through the through hole of the first mounting bracket is loosely fitted with the bushing.

[0038] In some embodiments, the lead screw drive assembly further comprises:

[0039] a first buffer member disposed on at least one of the driving block and the first mounting bracket and located between the driving block and the first mounting bracket; and

[0040] The second buffer is provided on at least one of the driving block and the second mounting frame, and is located between the driving block and the second mounting frame.

[0041] In some embodiments, the elastic connection structure includes an elastic connecting member, the driving block is provided with a first axial countersunk hole, the nut has a fixed portion and an extending portion connected to the fixed portion, the extending portion extends into the first axial countersunk hole and is gap-fitted with the first axial countersunk hole, and the elastic connecting member is fixedly connected to the fixed portion and the driving block respectively to realize an elastic connection between the nut and the driving block.

[0042] In some embodiments, the elastic connecting member includes a sheet body, a first group of connecting feet and a second group of connecting feet. The sheet body has a first through hole extending along the axial direction of the screw. The insertion portion extends into the first axial countersunk hole after passing through the first through hole. The first group of connecting feet and the second group of connecting feet are sheet metal parts integrally formed with the sheet body and are located on both sides of the sheet body along the axial direction of the screw. The first group of connecting feet and the second group of connecting feet are respectively fixedly connected to the fixing portion and the driving block.

[0043] In some embodiments, the connection position of the first set of connecting pins and the fixed portion relative to the axis of the screw is a first orientation, and the connection position of the driving block and the second set of connecting pins relative to the axis of the screw is a second orientation, and the first orientation and the second orientation are at different circumferential angles, respectively.

[0044] In some embodiments, the first orientation is perpendicular to the second orientation.

[0045] In some embodiments, the elastic connection structure further includes an elastic washer, which is disposed at the bottom of the first axial countersunk hole, and the axial length of the extending portion is greater than the depth of the first axial countersunk hole.

[0046] In some embodiments, the screw drive assembly includes two nuts axially located on both sides of the drive block, and the drive block has two first axial countersunk holes arranged in opposite directions along the axial direction, which respectively cooperate with the protruding parts of the two nuts, and the elastic connection structure includes two elastic connecting parts, one of the two elastic connecting parts connects one of the two nuts and the drive block, and the other of the two elastic connecting parts connects the other of the two nuts and the drive block.

[0047] In some embodiments, the elastic connection structure further includes two elastic washers respectively located at the bottoms of the two first axial countersunk holes.

[0048] In some embodiments, the elastic connection structure includes an adjustment screw and an elastic member, the drive block is provided with a first axial countersunk hole and a threaded hole, the nut has a fixed portion and an insertion portion connected to the fixed portion, the fixed portion has a second through hole, the insertion portion extends into the first axial countersunk hole and is loosely fitted with the first axial countersunk hole, the adjustment screw passes through the second through hole and is threadedly connected to the threaded hole, and the elastic member is respectively connected to the adjustment screw and the fixed portion to realize an elastic connection between the nut and the drive block.

[0049] In some embodiments, the elastic member includes a spring, the spring is sleeved on the adjusting screw, and two ends of the spring respectively press against the nail head of the adjusting screw and the fixing portion.

[0050] In some embodiments, the elastic connection structure includes two adjustment screws, the drive block is provided with a first axial countersunk hole and two threaded holes located on the upper and lower sides of the first axial countersunk hole, the fixing part has two second through holes, and the two adjustment screws pass through the two second through holes respectively and are threadedly connected to the two threaded holes respectively.

[0051] In some embodiments, the elastic connection structure further includes a top screw, which is disposed on the driving block and is configured to lock the position of the adjusting screw relative to the driving block.

[0052] In some embodiments, the protruding portion is provided with at least one first annular groove along the axial direction, and the elastic connection structure further includes at least one first elastic ring, which is embedded in the at least one first annular groove and protrudes from the at least one first annular groove so as to fit tightly with the first axial countersunk hole.

[0053] In some embodiments, a second annular groove surrounding the second through hole is provided on the surface of the fixing portion adjacent to the driving block, and the elastic connection structure also includes a second elastic ring, which is arranged in the second annular groove and protrudes from the second annular groove so as to fit tightly with the driving block.

[0054] In some embodiments, the elastic connection structure includes a nut fixing block and a ball plunger, the driving block is provided with a receiving groove, the nut fixing block is fixedly connected to the nut, and includes an embedded portion located in the receiving groove and gap-matched with the receiving groove, and the ball plunger is configured to elastically abut against the embedded portion.

[0055] In some embodiments, the nut fixing block also includes a mounting seat fixedly connected to the embedded portion, the mounting seat has a second axial countersunk hole, the nut has a fixing portion and an extending portion connected to the fixing portion, the extending portion extends into the second axial countersunk hole, and the mounting seat is fixedly connected to the fixing portion.

[0056] In some embodiments, the accommodating groove is through in the first direction, and the elastic connection structure also includes two side covers fixedly connected to the driving block, which are respectively located on both sides of the accommodating groove in the first direction, and the elastic connection structure includes two groups of ball head plungers, which are respectively installed on the two side covers and abut against the embedded part.

[0057] In some embodiments, the lifting mechanism includes: a track extending in a vertical direction.

[0058] In one aspect of the present disclosure, a warehousing logistics system is provided, comprising:

[0059] The aforementioned cargo storage and retrieval device.

[0060] According to the embodiment of the present disclosure, the object moving mechanism is driven to move relative to the bracket by connecting the driving mechanism with the bracket and the object moving mechanism to meet the demand of adjusting the position of the object moving mechanism based on the bracket, and the screw driving assembly of the driving mechanism is arranged between at least one of the first bracket part and the second bracket part and the object moving mechanism, so that the moving parts in the driving mechanism do not occupy the space for the movement and pick-and-place related operations of the object moving mechanism, thereby preventing the driving process of the driving mechanism from interfering with the activity of the object moving mechanism and saving space occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0062] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0063] Figure 1 is a schematic diagram of the application of some embodiments of the cargo storage and retrieval device according to the present disclosure;

[0064] Figure 2 yes Figure 1 a schematic diagram from a reverse viewing angle of a second direction;

[0065] Figure 3 Schematic diagram of the installation structure of the bracket and the drive mechanism in the embodiment of the cargo storage and retrieval device according to the present disclosure;

[0066] Figure 4is a schematic diagram of the installation structure of the drive mechanism in some embodiments of the cargo storage and retrieval device according to the present disclosure;

[0067] Figure 5 yes Figure 4 A schematic structural diagram of the embodiment shown in another perspective;

[0068] Figure 6 yes Figure 4 A schematic structural diagram of the embodiment shown in FIG. 1 from a top view;

[0069] Figure 7 yes Figure 6 AA cross-section diagram;

[0070] Figure 8 yes Figure 6 BB cross-section diagram;

[0071] Figure 9 and Figure 10 They are respectively a three-dimensional structure and a partially cutaway schematic diagram of a spherical bearing in an embodiment of a cargo storage and retrieval device according to the present disclosure;

[0072] Figure 11 yes Figure 4 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown;

[0073] Figure 12 yes Figure 4 A schematic diagram of the three-dimensional structure of the nut, the elastic connection structure and the drive block in the embodiment shown, and after they are installed;

[0074] Figure 13 is a schematic diagram of the installation structure of the driving mechanism in some other embodiments of the cargo storage and retrieval device according to the present disclosure;

[0075] Figure 14 yes Figure 13 A schematic structural diagram of the embodiment shown in another perspective;

[0076] Figure 15 yes Figure 13 A schematic structural diagram of the embodiment shown in FIG. 1 from a top view;

[0077] Figure 16 yes Figure 15 Schematic diagram of HH cross section;

[0078] Figure 17 yes Figure 16 An enlarged schematic diagram of the G region;

[0079] Figure 18 yes Figure 13 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown;

[0080] Figure 19 yes Figure 13 Schematic diagram of the three-dimensional structure of the nut, the elastic connection structure and the driving block in the embodiment shown;

[0081] Figure 20 is a schematic diagram of the installation structure of the driving mechanism in some other embodiments of the cargo storage and retrieval device according to the present disclosure;

[0082] Figure 21 yes Figure 20 A schematic diagram of a portion of the structure of the illustrated embodiment from another viewing angle;

[0083] Figure 22 yes Figure 20 A schematic structural diagram of the embodiment shown in FIG. 1 from a top view;

[0084] Figure 23 yes Figure 22 MM cross-sectional diagram;

[0085] Figure 24 yes Figure 23 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown;

[0086] Figure 25 yes Figure 23 A schematic diagram of the internal structure of the ball plunger in the embodiment shown;

[0087] Figure 26 yes Figure 23 A schematic diagram of the three-dimensional structure of the nut, the elastic connection structure and the drive block in the embodiment shown, and after they are installed;

[0088] Figure 27 It is a structural schematic diagram of some embodiments of the warehousing and logistics system according to the present disclosure.

[0089] It should be understood that the size of each part shown in the drawings is not drawn according to the actual proportional relationship.In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0090] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, 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 parts and steps, the composition of materials, numerical expressions, and numerical values set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0091] The terms "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0092] 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.

[0093] All terms (including technical or scientific terms) used in this disclosure 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 art, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0094] 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 should be considered part of the specification.

[0095] In some related technologies, a distance-changing mechanism is provided in the cargo storage and retrieval device to adjust the distance between the cargo moving mechanism and the shelf. The distance-changing mechanism is driven by a screw motor or a synchronous belt / chain provided under the fork.

[0096] Research has found that the elements providing driving force for the variable distance mechanism of the cargo storage and retrieval device in the related art overlap with the operating range of the object moving mechanism. In order to avoid motion interference between the two, a larger space is required when arranging them.

[0097] In view of this, the embodiments of the present disclosure provide a cargo storage and retrieval device and a warehousing and logistics system, which can improve space occupancy.

[0098] Figure 1 Schematic diagram of the application of some embodiments of the cargo storage and retrieval device according to the present disclosure. Figure 2 yes Figure 1 A schematic diagram from the opposite perspective of the second direction. Figure 3It is a schematic diagram of the installation structure of the bracket and the drive mechanism in the embodiment of the cargo storage and retrieval device according to the present disclosure.

[0099] refer to Figure 1-Figure 3 , an embodiment of the present disclosure provides a cargo storage and retrieval device for at least one of the storage and retrieval of cargo GS. The cargo storage and retrieval device includes: a bracket 10, a lifting mechanism T1, a moving mechanism 20 and a driving mechanism 30. The bracket 10 has a first bracket part 11 and a second bracket part 12 separated along a first direction dr1. The lifting mechanism T1 is drivingly connected to the bracket 10 and is configured to achieve the ascent or descent of the bracket 10. At least part of the moving mechanism 20 is located between the first bracket part 11 and the second bracket part 12 along the first direction dr1. The driving mechanism 30 is connected to the bracket 10 and the moving mechanism 20, and is configured to drive the moving mechanism 20 to move relative to the bracket 10.

[0100] The cargo storage and retrieval device can at least one of deposit and withdraw cargo GS from a storage location. The storage location here can be a cargo storage space or temporary storage space on a shelf, another cargo storage and retrieval device, or a transport vehicle operating in the field.

[0101] The driving mechanism 30 includes a screw driving assembly 31 , and the screw driving assembly 31 is located between at least one of the first bracket portion 11 and the second bracket portion 12 and the object moving mechanism 20 along the first direction dr1 .

[0102] The bracket 10 can be connected to a lifting mechanism T1 for driving the cargo storage and retrieval device to rise and fall on the side of the shelf, and can carry the object moving mechanism 20 and the drive mechanism 30. The first bracket portion 11 and the second bracket portion 12 of the bracket 10 are spaced apart along the first direction dr1, so that a space can be separated between the first bracket portion 11 and the second bracket portion 12 to accommodate the object moving mechanism 20 and the screw drive assembly 31 of the drive mechanism 30.

[0103] The lifting mechanism T1 may include a track extending vertically. This track may be a single track, or may include two or more tracks. In other embodiments, the lifting mechanism T1 may also include a track extending in a direction intersecting the vertical direction (e.g., at an acute or obtuse angle to the vertical direction). The bracket 10 may be provided with a drive member for movement on the track, or the drive member may be provided on the track to enable the bracket 10 to move relative to the track.

[0104] In addition to the track drive method, the lifting mechanism T1 can also adopt a mechanism based on other principles such as a suspension drive method, for example, by suspending the bracket 10 through a motor-driven rope to perform lifting movements.

[0105] The object moving mechanism 20 can carry goods GS and can also perform at least one of the following operations: depositing and removing goods GS from the shelf. For example, the object moving mechanism 20 can include a hook assembly for pushing or pulling the goods GS, a conveyor assembly for transporting the goods GS via a conveyor belt or rollers, or a suction cup assembly for sucking the goods to move them.

[0106] The driving mechanism 30 is capable of driving the object-moving mechanism 20 to move relative to the bracket 10. The movement here may include movement for adjusting the horizontal spacing of the object-moving mechanism 20 relative to the side surface of the shelf, and may also include movement in other directions, such as movement in the horizontal direction, vertical direction or oblique direction parallel to the side surface of the shelf, so as to achieve fine-tuning of the position of the object-moving mechanism 20 relative to the shelf.

[0107] The drive mechanism 30 includes a screw drive assembly 31. The screw drive assembly 31 transmits power to the nut via a rotating screw, converting rotational motion into linear motion, thereby moving the object moving mechanism 20. Screw drive can achieve high precision and transmission efficiency. The screw drive assembly 31 can utilize a trapezoidal screw, a ball screw, or a planetary roller screw.

[0108] The screw drive assembly 31 is located between at least one of the first bracket portion 11 and the second bracket portion 12 and the object moving mechanism 20 along the first direction dr1.

[0109] refer to Figure 1 and Figure 2 Considering the supporting effect of the moving mechanism on the goods, the first direction dr1 can be set to be parallel to the side surface of the shelf and parallel to the horizontal plane. In other embodiments, the first direction dr1 can also be set to be inclined relative to the side surface of the shelf or the horizontal plane.

[0110] The second direction dr2 may intersect the first direction dr1 . In some embodiments, the second direction dr2 may be perpendicular to the first direction dr1 . The second direction dr2 may be parallel to the moving direction of the object moving mechanism 20 relative to the bracket 10 .

[0111] The third direction dr3 intersects both the second direction dr2 and the first direction dr1. In some embodiments, the third direction dr3 is perpendicular to both the second direction dr2 and the first direction dr1. When both the first direction dr1 and the second direction dr2 are parallel to the horizontal plane, the third direction dr3 can be set to be parallel to the vertical direction.

[0112] exist Figure 2In the figure, the driving mechanism 30 includes two screw drive assemblies 31, which are arranged on the inner side of the first bracket part 11 and the second bracket part 12, and the object moving mechanism 20 is located between the two screw drive assemblies 31 along the first direction dr1, and a gap can be set between the object moving mechanism 20 and the screw drive assembly 31 to minimize the possibility of motion interference between the two.

[0113] In this embodiment, the moving mechanism is driven to move relative to the bracket by connecting the driving mechanism with the bracket and the moving mechanism to meet the requirement of adjusting the position of the moving mechanism based on the bracket, and the screw drive assembly of the driving mechanism is arranged between at least one of the first bracket part and the second bracket part and the moving mechanism, so that the moving parts in the driving mechanism do not occupy the space for the movement and pick-up related operations of the moving mechanism, thereby preventing the driving process of the driving mechanism from interfering with the activity of the moving mechanism and saving space occupancy.

[0114] Compared with the structure in the related art in which the driving mechanism is arranged on the lower side of the object moving mechanism, this embodiment can not only reduce the risk of interference between the driving process of the driving mechanism and the activity of the object moving mechanism, but also effectively reduce the space occupied by the cargo storage and retrieval device in the height direction, which is beneficial to lowering the center of gravity of the cargo storage and retrieval device carrying the cargo, and improving the stability of the cargo storage and retrieval device when transferring and storing goods.

[0115] refer to Figure 2 In some embodiments, the drive mechanism 30 further includes a fork support assembly 32. The fork support assembly 32 is floatingly connected to at least one of the screw drive assembly 31 and the object-moving mechanism 20, and is configured to support the object-moving mechanism 20; wherein the screw drive assembly 31 moves the fork support assembly 32 to drive the object-moving mechanism 20 to move relative to the bracket 10 in a second direction dr2 or a direction opposite to the second direction dr2, and the second direction dr2 intersects with the first direction dr1.

[0116] A floating connection allows for a certain amount of relative movement between connected components, such as relative displacement and / or relative rotation. The screw drive assembly 31 can move the fork support assembly 32, for example, by using a linearly moving nut to drive the fork support assembly 32 in linear motion. The movement direction of the fork support assembly 32 and the second direction dr2 can be parallel or intersecting.

[0117] In this embodiment, the fork support assembly 32 connects the drive assembly 31 and the object-moving mechanism 20, thereby converting the rotational motion output by the lead screw drive assembly 31 into movement of the object-moving mechanism 20 relative to the carriage 10 in the second direction dr2 or a direction opposite to the second direction dr2. Furthermore, the fork support assembly 32 is connected to at least one of the lead screw drive assembly 31 and the object-moving mechanism 20 in a floating manner. This floating connection reduces the risk of motion jamming due to manufacturing or assembly errors, bending or deformation of the lead screw or fork support assembly, and other factors, thereby improving operational reliability and smoothness.

[0118] Figure 4 Schematic diagram of the installation structure of the driving mechanism in some embodiments of the cargo storage and retrieval device according to the present disclosure. Figure 5 yes Figure 4 A schematic structural diagram of the embodiment shown in another perspective. Figure 6 yes Figure 4 The schematic diagram of the structure of the embodiment shown is a top view. Figure 4 The area enclosed by the two circles in Figure 5 The areas enclosed by the two circles in the figure are indicated by arrows and displayed in an enlarged manner.

[0119] refer to Figure 4 In some embodiments, the fork support assembly 32 includes: a support beam 321 and at least two connecting members 322. The support beam 321 extends at least partially along the second direction dr2. At least two connecting members 322 are provided on the support beam 321 and arranged along the second direction dr2; wherein, the screw drive assembly 31 is mounted on a side wall of at least one of the first bracket portion 11 and the second bracket portion 12 adjacent to the object moving mechanism 20, and is floatingly connected to the support beam 321, and the at least two connecting members 322 are detachably connected to the object moving mechanism 20.

[0120] The support beam 321 can realize the assembly of at least two connecting members 322 and improve the support strength as a whole. Figure 4 In the embodiment of the present invention, the support beam 321 can be configured as a straight beam extending along the second direction dr2. At least two connecting members 322 can be respectively connected to different parts of the object moving mechanism 20 to achieve multi-point support for the object moving mechanism 20 and improve support stability. The installation position of the at least two connecting members 322 on the object moving mechanism 20 can be adjusted according to the connection position of the object moving mechanism 20.

[0121] The screw drive assembly 31 can be installed on a side wall of at least one of the first bracket part 11 and the second bracket part 12 adjacent to the object moving mechanism 20, so as to make the installation structure more compact and reduce the space occupied in the first direction dr1.

[0122] The connecting piece 322 can be detachably connected to the object moving mechanism 20 , for example, by means of a snap connection, a threaded connection, etc., so as to facilitate the disassembly, installation, replacement and maintenance of the object moving mechanism 20 .

[0123] refer to Figure 4 The fork support assembly 32 further includes a joint bearing 323. The joint bearing 323 is connected between the support beam 321 and each connecting member 322, and is configured to achieve a floating connection between the support beam 321 and each connecting member 322.

[0124] The joint bearing 323 has a sliding contact surface that can slide relative to each other, so that different parts of the joint bearing 323 can rotate to different relative angles. This allows a certain degree of deflection to occur between the support beam 321 and the object-moving mechanism 20, thereby allowing the driving mechanism to still realize the driving effect of the object-moving mechanism 20 when there is a certain height difference between the bracket parts on both sides, thereby reducing the damage to the object-moving mechanism caused by the inconsistent heights of the bracket parts on both sides.

[0125] refer to Figure 2-Figure 4 In some embodiments, the driving mechanism 30 includes two fork support assemblies 32, which are respectively located on both sides of the object moving mechanism 20 in the first direction dr1. The two fork support assemblies 32 include two pairs of connecting members 322, which are respectively connected to the four corners of the bottom bracket 21 of the object moving mechanism 20.

[0126] In this embodiment, the object moving mechanism 20 is supported by two fork support assemblies 32 located on both sides of the object moving mechanism 20 in the first direction dr1, and the four corners of the bottom bracket 21 of the object moving mechanism 20 are respectively connected by two pairs of connecting members 322, so that the object moving mechanism 20 can be supported more stably and the space occupied by the cargo storage and retrieval device in the height direction can be reduced.

[0127] refer to Figure 2 、 Figure 3 and Figure 6 In some embodiments, the driving mechanism 30 further includes a guide assembly 33 . The guide assembly 33 is connected to the bracket 10 and the support beam 321 , and is configured to guide the linear movement of the support beam 321 relative to the bracket 10 .

[0128] In this embodiment, by adding a guide assembly 33 to the driving mechanism 30, a guiding effect is achieved for the linear movement of the support beam 321 relative to the bracket 10, which can make the linear movement of the support beam 321 more stable, thereby improving the stability of the object moving mechanism when transporting goods or adjusting the position.

[0129] refer to Figure 6In some embodiments, the guide assembly 33 includes a guide rail 331 and a slider 332. The guide rail 331 is disposed on a side of the support beam 321 adjacent to the bracket 10 and extends parallel to the second direction dr2. The slider 332 is disposed on the bracket 10 and slidably engages with the guide rail 331.

[0130] In this embodiment, the guide rail 331 is disposed on the support beam 321 and extends in the second direction dr2, similar to the support beam 321. This allows the guide rail 331 and the support beam 321 to reinforce each other, reducing the risk of significant deformation. The slider 332 is disposed on the bracket 10, facilitating adjustment requirements over a wider range along the second direction dr2. This utilizes the lead screw drive assembly 31 as a driver and the linear guide rail as a guide to achieve the variable distance function of the object moving mechanism, thereby occupying a smaller space, facilitating weight reduction, and not occupying the operating space of the object moving mechanism.

[0131] In other embodiments, the guide assembly 33 may also adopt other guide structures such as a guide post and a sleeve sliding fit guide structure. For a guide structure in which a guide rail and a slider cooperate, in other embodiments, the slider may be disposed on a support beam and the guide rail may be disposed on a bracket.

[0132] refer to Figure 3-Figure 6 In some embodiments, the lead screw drive assembly 31 , the guide rail 331 and the at least two connecting members 322 are respectively connected to different sides of the support beam 321 .

[0133] exist Figure 3-Figure 6 As can be seen in the figure, for a support beam 321 with a rectangular cross-section, the screw drive assembly 31 can be installed on the upper surface of the support beam 321, the connector 322 can be installed on the lower surface of the support beam 321, and the guide rail 331 can be installed on the surface adjacent to the bracket. This allows multiple components to be assembled with the support beam 321 in a relatively ample installation space, reducing the possibility of motion interference between components and reducing the space occupied by multiple components.

[0134] Figure 7 yes Figure 6 AA cross-section diagram. Figure 8 yes Figure 6 BB cross-section diagram. Figure 9 and Figure 10 They are respectively a three-dimensional structure and a partially cutaway schematic diagram of a joint bearing in an embodiment of the cargo storage and retrieval device according to the present disclosure. Figure 7 The areas enclosed by the two circles in the figure are drawn with arrows and displayed in an enlarged manner.

[0135] refer to Figures 8-10In some embodiments, the joint bearing 323 has a first connecting portion 323a and a second connecting portion 323b that is slidably engaged with the first connecting portion 323a via a ball head, and the first connecting portion 323a is threadedly connected to the support beam 321. At least one of the at least two connecting members 322 includes: a first connecting segment 322a and a second connecting segment 322b. The first connecting segment 322a is threadedly connected to the second connecting portion 323b. The second connecting segment 322b is threadedly connected to the first connecting segment 322a and is connected to the bottom bracket 21 of the object moving mechanism 20.

[0136] The first connecting portion 323a and the second connecting portion 323b of the spherical bearing 323 are slidably engaged with each other via a ball joint, enabling adjustment of multiple relative rotation angles between the first connecting portion 323a and the second connecting portion 323b. The support beam 321 may be provided with multiple threaded holes for threaded engagement with the threaded section of the first connecting portion 323a. The second connecting section 332b may be provided with multiple stepped holes, one of which is designed to receive a screw, allowing the screw to pass through the stepped hole and thread into the first connecting section 322a. The remaining stepped holes can be used to connect to the bottom bracket 21 for threaded engagement.

[0137] refer to Figure 4 、 Figure 5 and Figure 7 In some embodiments, the screw drive assembly 31 includes: a screw motor 316, a nut 312, a drive block 313, and an elastic connection structure 50. The screw motor 316 has a screw 311. The nut 312 is sleeved on the screw 311 and threadedly engaged with the screw 311. The drive block 313 is fixedly connected to the fork support assembly 32. The elastic connection structure 50 is disposed between the drive block 313 and the nut 312 to achieve a floating connection between the fork support assembly 32 and the screw drive assembly 31.

[0138] The screw motor 316 can drive the screw 311 to rotate, so that the nut on the screw 311 moves along the extension direction of the screw 311. The driving block 313 is fixedly connected to the fork support assembly 32 through a connector or other means (such as welding, bonding or integral molding, etc.). Figure 7 In the embodiment, the driving block 313 can be fixedly connected to the support beam 321 by a plurality of screws. Figure 5 The bottom of the driving block 313 may be configured as a groove to cooperate with the support beam 321 so that the driving block 313 is not easily misaligned relative to the support beam 321 in the first direction dr1.

[0139] During the transmission of the linear movement of the nut 312 to the fork support assembly 32, the direction of movement of the nut 312 at one or more locations may deviate from the direction of the support beam due to factors such as bending or deformation of the lead screw or support beam, or assembly errors. In this case, the three support points (the end where the lead screw motor 316 resides, the middle point where the nut 312 acts on the drive block 313, and the support point at the end of the lead screw 311) may become misaligned, causing motion to become stuck. This can increase motor resistance and even cause the motor to become stuck and unable to change pitch.

[0140] By providing an elastic connection structure 50 between the drive block 313 and the nut 312, a floating connection can be achieved between the fork support assembly 32 and the screw drive assembly 31, thereby reducing the possibility of movement jamming, thereby reducing the risk of increased motor resistance and the object moving mechanism getting stuck and unable to change distance.

[0141] The elastic connection structure 50 can allow a certain displacement or deflection between the driving block 313 and the nut 312 based on the elastic force, and can achieve reset under the action of the elastic force.

[0142] refer to Figure 4 、 Figure 5 and Figure 7 In some embodiments, the screw drive assembly 31 further includes a first mounting bracket 314 and a second mounting bracket 315 arranged at intervals along the second direction dr2, and the first mounting bracket 314 and the second mounting bracket 315 are both fixedly connected to at least one of the first bracket portion 11 and the second bracket portion 12, the screw motor 316 is fixedly connected to the first mounting bracket 314, and is located on the side of the first mounting bracket 314 away from the second mounting bracket 315, and one end of the screw 311 passing through the through hole of the first mounting bracket 314 is supported on the second mounting bracket 315.

[0143] The first mounting bracket 314 and the second mounting bracket 315 are used to install and support the motor housing and the screw end of the screw motor 316 respectively. The screw motor 316 can be fixedly connected to the side of the first mounting bracket 314 away from the second mounting bracket 315, so as to reduce the size requirements of the bracket in the second direction while meeting the movement stroke of the nut.

[0144] refer to Figure 4 and Figure 7 In some embodiments, the second mounting frame 315 is provided with a mounting groove, and the screw drive assembly 31 further includes a bushing 317 embedded in the mounting groove, and the end area of one end of the screw 311 passing through the through hole of the first mounting frame 314 is clearance-fitted with the bushing 317.

[0145] The mounting groove 315 can be configured as a stepped hole, with a bushing 317 embedded in the stepped hole. A blocking screw 319 is provided on the surface of the second mounting bracket 315 on the side away from the first mounting bracket 314 to block the bushing 317 and prevent it from falling out of the mounting groove 315. The end region of the lead screw 311 enters the mounting groove 315 and is inserted into the bushing 317. This end region and the bushing 317 have a clearance fit. This prevents the relatively slender lead screw from bending and sagging downward under its own weight. It also prevents the end of the lead screw from swinging significantly during rotation, which could affect the movement of the nut or cause significant vibration. In addition, the clearance fit between the bushing 317 and the end region of the lead screw 311 reduces the risk of the end becoming stuck.

[0146] Considering that the nut 312 and the driving block 313 may collide with the second mounting bracket 315 or the first mounting bracket 314 at both ends of the motion stroke due to exceeding the limit position, in order to reduce the adverse effects of the collision, reference is made to FIG. Figure 4 and Figure 5 In some embodiments, the lead screw drive assembly 31 further includes a first buffer 318a and a second buffer 318b. The first buffer 318a is disposed on at least one of the drive block 313 and the first mounting bracket 314, and is located between the drive block 313 and the first mounting bracket 314. The second buffer 318b is disposed on at least one of the drive block 313 and the second mounting bracket 315, and is located between the drive block 313 and the second mounting bracket 315.

[0147] The first and second buffer members 318a, 318b can be made of energy-absorbing materials, such as rubber, nylon, or silicone, to absorb the energy generated during impact. Depending on the structure of the drive block, the buffer members can be installed on the drive block, on the mounting bracket, or on both.

[0148] In various embodiments of the cargo storage and retrieval device disclosed herein, the elastic connection structure may be implemented in various forms.

[0149] Figure 11 yes Figure 4 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown. Figure 12 yes Figure 4 Schematic diagram of the three-dimensional structure of the nut, elastic connection structure and driving block in the embodiment shown and after their installation.

[0150] Figure 11 (a) and (b) are schematic diagrams of the installation structure of the nut, elastic connection structure and drive block in the forward perspective and the top perspective respectively. Figure 11 (c) is Figure 11(b) Schematic diagram of EE cross section. Figure 11 (d) is Figure 11 An enlarged schematic diagram of the area corresponding to circle C in (c). Figure 11 (e) is Figure 11 Schematic diagram of (b) from the left perspective. Figure 11 (f) is Figure 11 (b) Schematic diagram of a vertical cross section. Figure 11 (g) is Figure 11 An enlarged schematic diagram of the area corresponding to circle D in (f). Figure 11 (h) is Figure 11 (a) Schematic diagram of FF cross section.

[0151] Figure 12 (a) is a three-dimensional schematic diagram of the installation structure of the nut, the elastic connection structure and the drive block. Figure 12 (b) shows the installation structure of the nut and the elastic connecting structure. Figure 12 (c) is a schematic diagram of the installation structure of the nut and the elastic connection structure from another perspective. Figure 12 (d) shows the structure of the filament. Figure 12 (e) shows the structure of the elastic connecting member. Figure 12 (f) is a schematic diagram of the installation structure of the nut and the elastic connection structure from another perspective. Figure 12 (g) is a structural diagram of the driver block.

[0152] refer to Figure 4 、 Figure 5 、 Figure 7 、 Figure 11 and Figure 12 In some embodiments, the elastic connection structure 50 includes an elastic connection member 51, the driving block 313 is provided with a first axial countersunk hole 313a, the nut 312 has a fixed portion 3121 and an extending portion 3122 connected to the fixed portion 3121, the extending portion 3122 extends into the first axial countersunk hole 313a, and is clearance-fitted with the first axial countersunk hole 313a, the elastic connection member 51 is fixedly connected to the fixed portion 3121 and the driving block 313 respectively, so as to realize an elastic connection between the nut 312 and the driving block 313.

[0153] The protruding portion 3122 of the nut 312 has a clearance fit with the first axial counterbore 313a, and its position relative to the first axial counterbore 313a is finely adjustable at least in the radial direction. An elastic connector 41 is connected to the fixing portion 3121 of the nut 312 and the drive block 313, respectively, to achieve an elastic connection between the nut 312 and the drive block 313. This allows the elastic deformation of the elastic connector 41 to ensure stable operation of the nut 312 and the drive block 313 when the movement direction of the nut 312 deviates from the movement direction of the drive block 313, thereby reducing the risk of the nut 312 and the drive block 313 becoming stuck.

[0154] refer to Figure 11 and Figure 12 In some embodiments, the elastic connecting member 51 includes a sheet body 511, a first group of connecting legs 512 and a second group of connecting legs 513. The sheet body 511 has a first through hole extending along the axial direction of the lead screw 311. The insertion portion 3122 extends into the first axial countersunk hole 313a after passing through the first through hole. The first group of connecting legs 512 and the second group of connecting legs 513 are sheet metal parts integrally formed with the sheet body 511 and are located on both sides of the sheet body 511 along the axial direction of the lead screw 311. The first group of connecting legs 512 and the second group of connecting legs 513 are respectively fixedly connected to the fixing portion 3121 and the driving block 313.

[0155] The sheet 511, the first set of connecting legs 512, and the second set of connecting legs 513 of the elastic connector 51 are integrally formed sheet metal parts, which can be realized by bending and drilling thin metal plates, and are relatively easy to process. The first through hole of the sheet 511 cooperates with the insertion portion 3122 to keep the elastic connector 51 stable with the first through hole as the center, reducing the risk of local deformation of the elastic connector 51 due to excessive force. The elastic connector 51 is connected to the fixing portion 3121 and the driving block 313 respectively through the two sets of connecting legs, so that, for example, Figure 12 The structure (e) has a certain width in the axial and radial directions of the nut, which can be elastically deformed when subjected to axial, radial or torsional forces, and can be reset when there is no force or the force is small.

[0156] refer to Figure 11 and Figure 12 In some embodiments, the connection position of the first set of connecting pins 512 and the fixing portion 3121 relative to the axis of the lead screw 311 is a first orientation, and the connection position of the driving block 313 and the second set of connecting pins 513 relative to the axis of the lead screw 311 is a second orientation, and the first orientation and the second orientation are at different circumferential angles, respectively.

[0157] exist Figure 11In (c), the driving block 313 and the second set of connecting legs 513 are connected by screws 515, and the connection position relative to the axis of the screw 311 is parallel to the vertical direction and vertically upward. Figure 11 In (h), the first set of connecting legs 512 and the fixing portion 3121 are connected by screws 514, and the connection position relative to the axis of the screw 311 is horizontally to the left and horizontally to the right parallel to the horizontal direction.

[0158] By making the first orientation and the second orientation be at different circumferential angles, respectively, the elastic connection between the driving block 313 and the nut 312 implemented by the elastic connector 51 can be made more balanced, thereby reducing the degree of imbalance in the force.

[0159] Preferably, the first orientation and the second orientation can be made perpendicular to each other, so that connections with equal angular intervals can be achieved in the circumferential direction, thereby making the elastic connection more balanced in the circumferential direction.

[0160] refer to Figure 11 and Figure 12 In some embodiments, the elastic connection structure 50 further includes an elastic washer 52, which is disposed at the bottom of the first axial countersunk hole 313a, and the axial length of the extending portion 3122 is greater than the depth of the first axial countersunk hole 313a.

[0161] The elastic washer 52 is pressed against the bottom of the first axial counterbore 313a by the extension portion 3122. When receiving axial thrust, it can absorb the impact and allow the drive block 313 and the nut 312 to have a certain amount of axial adjustment, reducing the risk of jamming. The elastic washer 52 can be made of rubber or other elastic and flexible materials.

[0162] When the nut 312 and the drive block 313 are not aligned, the nut 312 will shift in position. This can be adjusted by slightly deforming the elastic connector 51 and the elastic washer 52. In this case, the elastic connector 51 and the elastic washer 52 act as a coupling, effectively overcoming the problem of jamming caused by the misalignment.

[0163] from Figure 11 As can be seen in (c), the axial length of the extending portion 3122 is greater than the depth of the first axial countersunk hole 313a, which ensures that the extending portion 3122 can abut against the elastic washer 52 after extending into the first axial countersunk hole 313a.

[0164] refer to Figure 11 and Figure 12In some embodiments, the screw drive assembly 31 includes two screw nuts 312 axially located on either side of the drive block 313. The drive block 313 has two first axial counterbores 313a arranged in opposite directions along the axial direction, respectively mating with the protruding portions 3122 of the two screw nuts 312. The elastic connection structure 50 includes two elastic connectors 51, one of the two elastic connectors 51 connecting one of the two screw nuts 312 and the drive block 313, and the other of the two elastic connectors 51 connecting the other of the two screw nuts 312 and the drive block 313. In this way, the two elastic connectors 51 can provide floating effects on both sides of the drive block 313, allowing the drive block to float in opposite directions, reducing the risk of sticking.

[0165] Furthermore, the elastic connection structure 50 may also include two elastic washers 52 located at the bottom of the two first axial countersunk holes 313a, respectively. When a relatively thin elastic connector 51 is used, the elastic connector 51 can mainly provide elastic deformation due to torsional forces without having to bear large axial pressure and tension. Bidirectional drive can be achieved by transmitting the squeezing effect of the nut 312 on the elastic washers 52 to the drive block 313 to achieve elastic axial drive. Accordingly, when the nut moves unidirectionally, only the elastic washer 52 on one side is subjected to the squeezing force of the nut.

[0166] Figure 13 Schematic diagram of the installation structure of the driving mechanism in other embodiments of the cargo storage and retrieval device according to the present disclosure. Figure 14 yes Figure 13 A schematic structural diagram of the embodiment shown in another perspective. Figure 15 yes Figure 13 The schematic diagram of the structure of the embodiment shown is a top view. Figure 16 yes Figure 15 Schematic diagram of the HH cross section. Figure 17 yes Figure 16 Schematic diagram of the enlarged G region. Figure 18 yes Figure 13 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown. Figure 19 yes Figure 13 Schematic diagram of the three-dimensional structures of the nut, elastic connection structure and driving block in the embodiment shown.

[0167] Figure 13 The areas enclosed by the two circles in the figure are drawn with arrows and displayed in an enlarged manner. Figure 14 The area enclosed by a circle in the figure is drawn with an arrow and displayed in an enlarged manner. Figure 16 The areas enclosed by the two circles in the figure are drawn with arrows and displayed in an enlarged manner.

[0168] Figure 18(a) and (d) are schematic diagrams of the installation structure of the nut, elastic connection structure and drive block in a top view and a front view, respectively. Figure 18 (b) is Figure 18 (a) Schematic diagram of section II. Figure 18 (c) is Figure 18 (a) Schematic diagram of the JJ cross section. Figure 18 (e) is Figure 18 An enlarged schematic diagram of the area corresponding to circle L in (d). Figure 18 (f) is Figure 18 (d) Schematic diagram of the KK cross section.

[0169] Figure 19 (a) is a three-dimensional schematic diagram of the installation structure of the nut and the elastic connection structure. Figure 19 (b) and (c) are schematic diagrams of the structure of the nut at different viewing angles. Figure 19 (d) is a schematic diagram of the structure of the driver block.

[0170] and Figure 4 Compared with the embodiment shown, Figure 13 The elastic connection structure 50 of the embodiment shown adopts a different structural form. For other parts, please refer to Figure 13-16 And the previous Figure 4 The description of the illustrated embodiment will not be repeated here.

[0171] refer to Figures 15-19 In some embodiments, the elastic connection structure 50 includes an adjustment screw 53 and an elastic member 54, the driving block 313 is provided with a first axial countersunk hole 313a and a threaded hole 313b, the nut 312 has a fixing portion 3121 and an insertion portion 3122 connected to the fixing portion 3121, the fixing portion 3121 has a second through hole 3121a, the insertion portion 3122 extends into the first axial countersunk hole 313a, and is clearance-matched with the first axial countersunk hole 313a, the adjustment screw 53 passes through the second through hole 3121a and is threadedly connected to the threaded hole 313b, and the elastic member 54 is respectively connected to the adjustment screw 53 and the fixing portion 3121 to realize an elastic connection between the nut 312 and the driving block 313.

[0172] The insertion portion 3122 of the nut 312 is clearance-fitted with the first axial countersunk hole 313a, and an elastic connection between the nut 312 and the driving block 313 is realized through the elastic member 54 and the adjustment screw 53, so that the position of the insertion portion 3122 relative to the first axial countersunk hole 313a is adjustable in the axial direction and can be fine-tuned in the radial direction.

[0173] The threaded connection position between the threaded section of the adjustment screw 53 and the threaded hole 313b of the driver block 313 is also adjustable, thereby adjusting the elastic force of the elastic member 54. Thus, when the movement direction of the nut 312 deviates from the movement direction of the driver block 313, the elastic deformation of the elastic member 54 ensures stable operation of the nut 312 and the driver block 313, reducing the risk of the nut 312 and the driver block 313 becoming stuck.

[0174] refer to Figure 16 、 Figure 17 and Figure 18 (b) and (e), in some embodiments, the elastic member 54 includes a spring, which is sleeved on the adjusting screw 53, and the two ends of the spring respectively press against the nail head of the adjusting screw 53 and the fixing portion 3121.

[0175] In this embodiment, the spring is sleeved on the adjustment screw 53, and the adjustment screw 53 is used to stabilize the installation of the spring, and the spring is conducive to applying an elastic force along the extension direction of the adjustment screw 53 to the adjustment screw 53 and the fixing portion 3121. In other embodiments, the elastic member 54 can also be in other forms, such as a spring.

[0176] refer to Figure 11 (b) and Figure 12 (a)-(d), in some embodiments, the elastic connection structure 50 includes two adjustment screws 53, the driving block 313 is provided with a first axial countersunk hole 313a and two threaded holes 313b located on the upper and lower sides of the first axial countersunk hole 313a, the fixing portion 3121 has two second through holes 3121a, and the two adjustment screws 53 respectively pass through the two second through holes 3121a and are respectively threadedly connected to the two threaded holes 313b.

[0177] The cooperation between the two sets of threaded holes 313b and the adjustment screw 53 can make the elastic force on the nut 312 and the drive block 313 in the vertical direction more balanced. Furthermore, the center line of the first axial countersunk hole 313a can be set to the midpoint of the line passing through the centers of the two threaded holes 313b, thereby achieving more balanced force.

[0178] The position of the adjusting screw 53 relative to the driving block 313 can also be locked by means of a top screw 56. Figure 18 (f) and Figure 19 (a), in some embodiments, the elastic connection structure 50 further includes a top screw 56, which is disposed on the driving block 313 and is configured to lock the position of the adjustment screw 53 relative to the driving block 313.

[0179] The top screw 56 can be set in the through hole 313d opened on the driving block 313, with one end against the adjustment screw 53 and the other end having an operable screwing portion, such as a hexagonal concave structure. The through hole 313d can pass through the side wall of the driving block 313 to the threaded hole 313b.

[0180] refer to Figure 17 and Figure 19 In some embodiments, the protruding portion 3122 is provided with at least one first annular groove 3122a along the axial direction, and the elastic connection structure 50 further includes at least one first elastic ring 551, which is embedded in the at least one first annular groove 3122a and protrudes from the at least one first annular groove 3122a so as to fit tightly with the first axial countersunk hole 313a.

[0181] exist Figure 19 In (a)-(c), the insertion portion 3122 is provided with two first annular grooves 3122a, one of which may be arranged adjacent to the fixing portion 3121, and the other adjacent to the end of the insertion portion 3122, and the axial length of the insertion portion 3122 may be shorter than the axial length of the first axial counterbore 313a, so that more length of the insertion portion 3122 can enter the first axial counterbore 313a, thereby increasing the fitting range of the insertion portion 3122 and the first axial counterbore 313a under the elastic support of the first elastic ring 551.

[0182] refer to Figure 17 、 Figure 18 (c) and Figure 19 (a) and (c), in some embodiments, the surface of the fixing portion 3121 adjacent to the driving block 313 is provided with a second annular groove 3122b surrounding the second through hole 3121a, and the elastic connection structure 50 also includes a second elastic ring 552, which is arranged in the second annular groove 3122b and protrudes from the second annular groove 3122b so as to fit tightly with the driving block 313.

[0183] The second annular groove 3122b and the second elastic ring 552 surrounding the second through hole 3121a can achieve elastic support in the circumferential direction of the second through hole 3121a, thereby utilizing the elasticity of the second elastic ring 552 to fine-tune the position angle of the nut 312 and reduce the possibility of jamming.

[0184] After the spring is inserted into the adjusting screw 53, the nut 312 and the drive block 313 are relatively locked. The adjusting screw 53 compresses the spring, and the spring force presses the nut 312 against the drive block 313. When the lead screw 311 is rotated, the nut 312 does not rotate accordingly. At this point, the friction force generated by the rotation of the lead screw 311 on the nut 312 is insufficient to cause the nut 312 to rotate. In other words, the friction force of the lead screw 311 on the nut 312 is less than the friction force of the first elastic ring 551 and the second elastic ring 552 between the nut 312 and the drive block 313.

[0185] After adjustment, the adjusting screw 53 is locked by the top screw 56. At this time, the elasticity of the first elastic ring 551 and the second elastic ring 552 between the nut 312 and the driving block 313 can achieve fine adjustment of the position angle of the nut, reducing the risk of jamming.

[0186] Figure 20 Schematic diagram of the installation structure of the driving mechanism in some other embodiments of the cargo storage and retrieval device according to the present disclosure. Figure 21 yes Figure 20 A schematic diagram of a portion of the structure of the embodiment shown in another perspective. Figure 22 yes Figure 20 The schematic diagram of the structure of the embodiment shown is a top view. Figure 23 yes Figure 22 Schematic diagram of the MM cross section. Figure 24 yes Figure 23 Schematic diagram of the installation structure of the nut, elastic connection structure and drive block in the embodiment shown. Figure 25 yes Figure 23 Schematic diagram of the internal structure of the ball plunger in the embodiment shown. Figure 26 yes Figure 23 Schematic diagram of the three-dimensional structure of the nut, elastic connection structure and driving block in the embodiment shown and after their installation.

[0187] Figure 20 The areas enclosed by the two circles in the figure are drawn with arrows and displayed in an enlarged manner. Figure 21 The area enclosed by a circle in the figure is drawn with an arrow and displayed in an enlarged manner. Figure 22 The area enclosed by a circle in the figure is drawn with an arrow and displayed in an enlarged manner. Figure 23 The areas enclosed by the two circles in the figure are drawn with arrows and displayed in an enlarged manner.

[0188] Figure 24 (a) and (d) are schematic diagrams of the installation structure of the nut, elastic connection structure and drive block in a top view and a front view, respectively. Figure 24 (b) is Figure 24 (a) Schematic diagram of the NN cross section. Figure 24 (c) is Figure 24(a) Schematic diagram of the OO cross section. Figure 24 (e) is Figure 24 (d) Schematic diagram of the PP cross section. Figure 24 (f) is Figure 24 An enlarged schematic diagram of the area corresponding to circle Q in (e).

[0189] Figure 26 (a) and (c) are three-dimensional schematic diagrams showing and hiding the ball head plunger in the installation structure of the nut, nut fixing block and drive block respectively. Figure 26 (b) is a schematic diagram of the positions of the nut, nut fixing block and ball plunger. Figure 26 (d)-(f) are schematic diagrams of the structure of the nut fixing block at different viewing angles and cross sections. Figure 26 (g) and (h) are schematic diagrams of the installation structure of the nut fixing block and the driving block at different viewing angles, respectively. Figure 26 (i) is a structural diagram of the driver block.

[0190] and Figure 4 Compared with the embodiment shown, Figure 20 The elastic connection structure 50 of the embodiment shown adopts a different structural form. For other parts, please refer to Figures 20-26 And the previous Figure 4 The description of the illustrated embodiment will not be repeated here.

[0191] refer to Figures 20-26 In some embodiments, the elastic connection structure 50 includes a nut fixing block 57 and a ball plunger 58, the driving block 313 is provided with a receiving groove 313c, the nut fixing block 57 is fixedly connected to the nut 312, and includes an embedded portion 571 located in the receiving groove 313c and gap-fitted with the receiving groove 313c, and the ball plunger 58 is configured to elastically abut against the embedded portion 571.

[0192] The embedded portion 571 of the nut fixing block 57 is located within the receiving groove 313c of the driver block 313 and has a clearance fit therewith. This allows the nut fixing block 57 and the nut 312 fixedly connected to the nut fixing block 57 to have a certain amount of floating adjustment relative to the driver block 313. The nut fixing block 57 can be designed to facilitate matching with the driver block 313, thereby reducing the requirements for the external structure of the nut 312.

[0193] The receiving groove 313c can be designed as a C-shaped groove, that is, the bottom of the receiving groove 313c is narrower than the opening of the receiving groove. In this way, the embedded portion 571 not only forms a clearance fit with the receiving groove 313c, but also can achieve an axial driving effect on the driving block 313 through interaction with the receiving groove 313c.

[0194] refer to Figure 23 、 Figure 24 and Figure 26 In some embodiments, the nut fixing block 57 also includes a mounting seat 572 fixedly connected to the embedded portion 571, the mounting seat 572 has a second axial countersunk hole 572a, the nut 312 has a fixing portion 3121 and an extending portion 3122 connected to the fixing portion 3121, the extending portion 3122 extends into the second axial countersunk hole 572a, and the mounting seat 572 is fixedly connected to the fixing portion 3121.

[0195] The mounting seat 572 can be fixedly connected to the embedded portion 571 or made as one piece, and an axially connected through hole is provided, which can be a stepped hole, wherein the second axial countersunk hole 572a is the larger diameter part of the stepped hole, and the smaller diameter part of the stepped hole passes through the embedded portion 571 and is connected to the hole in the accommodating groove 313c of the drive block 313 for passing the screw.

[0196] The insertion portion 3122 of the nut 312 is inserted into the second axial countersunk hole 572a and is screwed through the hole on the fixing portion 3121 to be threadedly connected to the threaded hole on the nut fixing block 57. In this way, the nut 312 and the mounting seat 572 can be reliably fixed.

[0197] refer to Figure 24 (e)-(f) and Figure 26 (a)-(b), in some embodiments, the accommodating groove 313c passes through in the first direction dr1, and the elastic connection structure 50 also includes two side covers 59 fixedly connected to the driving block 313, which are respectively located on both sides of the accommodating groove 313c in the first direction dr1, and the elastic connection structure 50 includes two groups of ball head plungers 58, which are respectively installed on the two side covers 59 and abut against the embedded portion 571.

[0198] The structure of the ball plunger 58 can be referred to Figure 25 , which may include a housing 581, a ball head 582, and a spring 583. The housing 581 has an inner cavity capable of accommodating the spring 583 and the ball head 582, with the spring located between the bottom of the inner cavity and the ball head 582. When the ball head 582 is subjected to a certain external extrusion force, the spring 583 may be compressed and retracted into the inner cavity of the housing 581. When the ball head 582 is not subjected to external extrusion force or the external extrusion force is relatively small, the spring 583 returns to a state where it protrudes from the inner cavity of the housing 581. The outer surface of the housing 581 may be provided with external threads for threaded connection with the threaded hole of the side cover 59, and a locking coating may be provided on the external threads to prevent the ball plunger 58 from loosening.

[0199] By providing side covers 59 on both sides of the driving block 313, and providing two sets of ball plungers 58 that are threadedly connected to the threaded holes on the side covers 59 and abut against the embedded portion 571, when the embedded portion 571 is subjected to a lateral force, the lateral position relative to the driving block 313 can be finely adjusted by squeezing the ball plungers 58 on one side.

[0200] Each set of ball plungers 58 may include at least one ball plunger 58. Figure 24 In (c), each group of ball plungers 58 includes two ball plungers 58. The two ball plungers 58 located on the upper side of the two groups of ball plungers 58 can be located at the same height, and the two ball plungers 58 located on the lower side can be located at the same height, so that the elastic connection structure is more balanced in force.

[0201] The ball of the ball plunger 58 presses against the side surface of the embedded portion 571 of the nut fixing block 57. By adjusting the screwing depth of the ball plunger 58, the elastic force is sufficient to restrain the embedded portion 571, thereby preventing the nut 312 and the nut fixing block 57 from rotating when the screw 311 rotates. In this case, if the nut and the screw motor are not aligned, the clearance between the embedded portion 571 and the receiving groove 313c cooperates with the ball plunger 58 to achieve floating adjustment, reducing the risk of sticking.

[0202] The various embodiments of the cargo storage and retrieval device described above are applicable to various scenarios where cargo needs to be stored and retrieved. In one aspect of the present disclosure, a warehousing and logistics system is provided, comprising the cargo storage and retrieval device of any of the aforementioned embodiments.

[0203] Figure 27 It is a structural schematic diagram of some embodiments of the warehousing and logistics system according to the present disclosure.

[0204] refer to Figure 27 In addition to the cargo storage and retrieval device FM, the warehouse logistics system may also include racks SR and transfer vehicles TV. The racks SR can be arranged in a single or multi-layer structure, with each layer of the racks SR containing one or more cargo spaces (i.e., cargo storage spaces) for storing goods GS. The multiple cargo spaces can be separated or interconnected. The multiple cargo spaces on each layer can be arranged along at least one direction, such as a direction parallel to the horizontal plane or two orthogonal directions.

[0205] The cargo storage and retrieval device FM is installed on the rack SR and can be used to remove goods GS from a designated storage location on the rack SR, or to deliver goods GS to a designated storage location on the rack SR. The cargo storage and retrieval device FM can move relative to the rack SR, for example, to a location on the rack SR adjacent to the site, in order to pick up goods GS from a temporary storage location on the rack SR (e.g., a lower storage location on the rack SR) or from a transfer vehicle TV operating on the site, or to deliver goods GS removed from the rack SR to a temporary storage location on the rack SR (e.g., a lower storage location on the rack SR) or to a transfer vehicle TV operating on the site. The transfer vehicle TV can deliver the goods GS it transports to a temporary storage location on the rack SR, or remove the goods GS from the temporary storage location on the rack SR and transport them away.

[0206] A warehouse logistics system may include a single rack SR or multiple racks SR. Multiple racks SR may be arranged in intervals, with space for a cargo storage and retrieval device FM to operate between adjacent racks SR. One or more cargo storage and retrieval devices FM may be installed between adjacent racks SR. Multiple cargo storage and retrieval devices FM may be installed on one side of adjacent racks SR or on all adjacent racks SR.

[0207] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0208] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A cargo storage and retrieval device, used for at least one of depositing and retrieving cargo (GS), characterized in that: include: A bracket (10) having a first bracket portion (11) and a second bracket portion (12) spaced apart along a first direction (dr1); A lifting mechanism (T1) is drivingly connected to the bracket (10) and is configured to enable the bracket (10) to rise or fall; an object moving mechanism (20) located at least partially along the first direction (dr1) between the first bracket portion (11) and the second bracket portion (12); and a driving mechanism (30), connected to the bracket (10) and the object-moving mechanism (20), and configured to drive the object-moving mechanism (20) to move relative to the bracket (10); The drive mechanism (30) comprises a screw drive assembly (31), and the screw drive assembly (31) is located between at least one of the first bracket part (11) and the second bracket part (12) and the object moving mechanism (20) along the first direction (dr1).

2. The cargo storage and retrieval device according to claim 1, characterized in that: The driving mechanism (30) further includes: a fork support assembly (32) floatingly connected to at least one of the lead screw drive assembly (31) and the object moving mechanism (20), and configured to support the object moving mechanism (20); The screw drive assembly (31) moves the fork support assembly (32) to drive the object moving mechanism (20) to move relative to the bracket (10) along a second direction (dr2) or a direction opposite to the second direction (dr2), and the second direction (dr2) intersects with the first direction (dr1).

3. The cargo storage and retrieval device according to claim 2, characterized in that: The fork support assembly (32) includes: a support beam (321) extending at least partially along the second direction (dr2); and At least two connecting members (322) are arranged on the support beam (321) and arranged along the second direction (dr2); The screw drive assembly (31) is mounted on a side wall of at least one of the first bracket portion (11) and the second bracket portion (12) adjacent to the object moving mechanism (20), and is floatingly connected to the support beam (321), and the at least two connecting members (322) are detachably connected to the object moving mechanism (20).

4. The cargo storage and retrieval device according to claim 3, characterized in that: The fork support assembly (32) further includes: The joint bearing (323) is connected between the support beam (321) and each connecting member (322), and is configured to achieve a floating connection between the support beam (321) and each connecting member (322).

5. The cargo storage and retrieval device according to claim 4, characterized in that: The joint bearing (323) comprises a first connecting portion (323a) and a second connecting portion (323b) slidingly engaged with the first connecting portion (323a) via a ball head, the first connecting portion (323a) being threadedly connected to the support beam (321); at least one of the at least two connecting members (322) comprises: A first connecting section (322a) is threadedly connected to the second connecting portion (323b); and The second connecting section (322b) is threadedly connected to the first connecting section (322a) and is connected to the bottom bracket (21) of the object moving mechanism (20).

6. The cargo storage and retrieval device according to claim 3, characterized in that: The driving mechanism (30) comprises two fork support assemblies (32), the two fork support assemblies (32) being respectively located on both sides of the object moving mechanism (20) in the first direction (dr1), and the two fork support assemblies (32) comprising two pairs of connecting members (322) respectively connected to the four corners of the bottom bracket (21) of the object moving mechanism (20).

7. The cargo storage and retrieval device according to claim 3, characterized in that: The driving mechanism (30) further includes: A guide assembly (33) is connected to the bracket (10) and the support beam (321) and is configured to guide the linear movement of the support beam (321) relative to the bracket (10).

8. The cargo storage and retrieval device according to claim 7, characterized in that: The guide assembly (33) comprises: a guide rail (331) disposed on a side of the support beam (321) adjacent to the bracket (10), and extending in a direction parallel to the second direction (dr2); and The slider (332) is arranged on the bracket (10) and is slidably engaged with the guide rail (331).

9. The cargo storage and retrieval device according to claim 8, characterized in that: The screw drive assembly (31), the guide rail (331), and the at least two connecting members (322) are respectively connected to different side surfaces of the support beam (321).

10. The cargo storage and retrieval device according to claim 2, characterized in that: The screw drive assembly (31) comprises: A lead screw motor (316) having a lead screw (311); A nut (312) is sleeved on the lead screw (311) and is threadably engaged with the lead screw (311); A driving block (313) fixedly connected to the fork support assembly (32); and An elastic connection structure (50) is provided between the drive block (313) and the screw nut (312) and is used to achieve a floating connection between the fork support assembly (32) and the screw drive assembly (31).

11. The cargo storage and retrieval device according to claim 10, characterized in that: The screw drive assembly (31) further comprises a first mounting frame (314) and a second mounting frame (315) arranged at intervals along the second direction (dr2), the first mounting frame (314) and the second mounting frame (315) both being fixedly connected to at least one of the first bracket portion (11) and the second bracket portion (12), the screw motor (316) being fixedly connected to the first mounting frame (314) and being located on a side of the first mounting frame (314) away from the second mounting frame (315), and one end of the screw (311) passing through a through hole of the first mounting frame (314) being supported on the second mounting frame (315).

12. The cargo storage and retrieval device according to claim 11, characterized in that: The second mounting frame (315) is provided with a mounting groove, and the screw drive assembly (31) further includes a bushing (317) embedded in the mounting groove, and the end area of one end of the screw (311) passing through the through hole of the first mounting frame (314) is clearance-fitted with the bushing (317).

13. The cargo storage and retrieval device according to claim 11, characterized in that: The screw drive assembly (31) further comprises: a first buffer member (318a) disposed on at least one of the driving block (313) and the first mounting frame (314), and located between the driving block (313) and the first mounting frame (314); and The second buffer member (318b) is provided on at least one of the driving block (313) and the second mounting frame (315), and is located between the driving block (313) and the second mounting frame (315).

14. The cargo storage and retrieval device according to claim 10, characterized in that: The elastic connection structure (50) comprises an elastic connection member (51), the driving block (313) is provided with a first axial countersunk hole (313a), the nut (312) has a fixed portion (3121) and an extending portion (3122) connected to the fixed portion (3121), the extending portion (3122) extends into the first axial countersunk hole (313a) and is clearance-matched with the first axial countersunk hole (313a), and the elastic connection member (51) is fixedly connected to the fixed portion (3121) and the driving block (313) respectively, so as to realize an elastic connection between the nut (312) and the driving block (313).

15. The cargo storage and retrieval device according to claim 14, characterized in that: The elastic connection structure (50) further comprises an elastic washer (52), the elastic washer (52) being arranged at the bottom of the first axial countersunk hole (313a), and the axial length of the extending portion (3122) being greater than the depth of the first axial countersunk hole (313a).

16. The cargo storage and retrieval device according to any one of claims 14-15, characterized in that: The screw drive assembly (31) includes two screw nuts (312) located on both sides of the drive block (313) along the axial direction, and the drive block (313) has two first axial countersunk holes (313a) arranged in opposite directions along the axial direction, respectively cooperating with the protruding parts (3122) of the two screw nuts (312), and the elastic connection structure (50) includes two elastic connecting members (51), one of the two elastic connecting members (51) connects one of the two screw nuts (312) and the drive block (313), and the other of the two elastic connecting members (51) connects the other of the two screw nuts (312) and the drive block (313).

17. The cargo storage and retrieval device according to claim 10, characterized in that: The elastic connection structure (50) comprises an adjustment screw (53) and an elastic member (54); the driving block (313) is provided with a first axial countersunk hole (313a) and a threaded hole (313b); the nut (312) has a fixing portion (3121) and an insertion portion (3122) connected to the fixing portion (3121); the fixing portion (3121) has a second through hole (3121a); the insertion portion (3122) extends into the first axial countersunk hole (313a) and is clearance-matched with the first axial countersunk hole (313a); the adjustment screw (53) passes through the second through hole (3121a) and is threadedly connected to the threaded hole (313b); the elastic member (54) is respectively connected to the adjustment screw (53) and the fixing portion (3121) to achieve an elastic connection between the nut (312) and the driving block (313).

18. The cargo storage and retrieval device according to claim 17, characterized in that: The protruding portion (3122) is provided with at least one first annular groove (3122a) along the axial direction, and the elastic connection structure (50) further comprises at least one first elastic ring (551), wherein the at least one first elastic ring (551) is embedded in the at least one first annular groove (3122a) and protrudes from the at least one first annular groove (3122a) so as to be tightly fitted with the first axial countersunk hole (313a).

19. The cargo storage and retrieval device according to claim 18, characterized in that: A second annular groove (3122b) surrounding the second through hole (3121a) is provided on a surface of the fixing portion (3121) adjacent to the driving block (313). The elastic connection structure (50) further includes a second elastic ring (552) disposed in the second annular groove (3122b) and protruding from the second annular groove (3122b) so as to fit tightly with the driving block (313).

20. The cargo storage and retrieval device according to claim 10, characterized in that: The elastic connection structure (50) comprises a nut fixing block (57) and a ball plunger (58); the driving block (313) is provided with a receiving groove (313c); the nut fixing block (57) is fixedly connected to the nut (312) and comprises an embedded portion (571) located in the receiving groove (313c) and gap-fitted with the receiving groove (313c); the ball plunger (58) is configured to elastically abut against the embedded portion (571).

21. The cargo storage and retrieval device according to claim 1, characterized in that: The lifting mechanism (T1) comprises a track extending in a vertical direction.

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

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