Supporting device, goods taking and placing equipment and warehousing system

Abstract

The utility model provides a supporting device, goods taking and placing equipment and a warehousing system. The supporting device is used for the goods taking and placing equipment, and the goods taking and placing equipment is used for taking and placing material boxes on goods shelves; the supporting device is configured to be supported between the two goods shelves when the material boxes are taken and placed. The supporting device comprises a base body, a supporting assembly, a driving assembly and a self-locking assembly, and the supporting assembly is arranged on the base body; the driving assembly is arranged on the base body, and the driving assembly is configured to drive at least part of the structure of the supporting assembly to extend out relative to the base body so that the supporting assembly can abut against the goods shelf; the self-locking assembly is arranged on the base body; when the supporting assembly extends to the preset position relative to the base body, the driving assembly drives the self-locking assembly to move relative to the supporting assembly and to be in butt joint with the supporting assembly so that the supporting assembly and the base body can be locked, the supporting stability and reliability of the supporting assembly can be improved, shaking generated in the goods taking and placing process can be avoided, and the goods taking and placing precision can be improved; and the success rate of goods taking and placing is ensured.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a support device, picking and placing equipment, and warehousing system. Background Technology

[0002] With the development of artificial intelligence and automation technologies, robots are widely used in warehousing and logistics for picking, placing, transporting, and sorting goods. In logistics systems, goods are typically stored on shelves, and corresponding picking and placing robots interact with shelves or conveyor lines to retrieve or place goods or complete goods transportation tasks.

[0003] In related technologies, to make full use of vertical space, shelves are typically quite tall and have tiered storage areas for goods. Robots are usually equipped with picking and placing devices to retrieve goods from or place them into the shelves.

[0004] However, when picking up or placing goods on higher shelves, the picking and placing equipment is prone to shaking, resulting in poor stability and low accuracy, and the picking and placing operation is prone to failure. Utility Model Content

[0005] This application provides a support device, a picking and placing equipment, and a warehousing system to solve the technical problem that the picking and placing equipment is prone to shaking when picking and placing goods on high shelves, resulting in poor stability, low accuracy, and easy failure of picking and placing operations.

[0006] In a first aspect, this application provides a support device for a picking and placing device for picking and placing material boxes on a shelf; the support device is configured to support between two shelves when picking and placing material boxes; the support device includes:

[0007] Matrix;

[0008] Support components are disposed on the base.

[0009] A drive assembly disposed on a base, the drive assembly being configured to drive at least a portion of the structure of a support assembly to extend relative to the base so that the support assembly abuts against the shelf;

[0010] The self-locking component is disposed on the base; the self-locking component is located beside the drive component and docks with the drive component; when the support component extends to a preset position relative to the base, the drive component drives at least a portion of the structure of the self-locking component to move relative to the support component and dock with the support component, so as to lock the support component with the base.

[0011] The support device provided in this application can be supported on the shelf by the support components when the picking and placing equipment is performing picking and placing operations. The relative position of the support components is locked by the self-locking components, which improves the support stability and reliability of the support components, avoids shaking during the picking and placing process, improves the accuracy of picking and placing, and ensures the success rate of picking and placing.

[0012] As an alternative implementation, the support assembly includes a slide rail mechanism and a rack, the rack being connected to the slide rail mechanism, the slide rail mechanism being configured to move the rack relative to the base; the drive assembly includes a drive unit and a gear, the gear meshing with the rack, the drive unit being configured to drive the gear to rotate so that the rack extends relative to the base.

[0013] As an optional implementation, the drive assembly also includes a gear shaft and a one-way clutch, with the gear and gear shaft coaxially connected; the one-way clutch has an inner ring and an outer ring that can be coupled or separated, the gear shaft is coaxially arranged with the outer ring of the one-way clutch and rotates synchronously, and the inner ring of the one-way clutch is coaxially arranged with the output end of the drive unit and rotates synchronously.

[0014] When the rack extends relative to the base, the inner and outer rings are coupled; when the rack retracts relative to the base, the inner and outer rings separate.

[0015] As an alternative implementation, the drive assembly also includes an elastic drive member, a first end of which is connected to the base and a second end of which is connected to the rack. The elastic drive member is configured to apply a force that causes the rack to retract relative to the base.

[0016] As an alternative implementation, when the rack retracts relative to the base, the rotational speed of the outer ring of the one-way clutch is less than or equal to the rotational speed of the inner ring of the one-way clutch.

[0017] As an optional implementation, the drive assembly also includes a camshaft, which is coaxially connected to the output end of the drive unit; the self-locking assembly includes a follower, which is connected to the camshaft; when the drive unit drives the camshaft to rotate, the camshaft can drive the follower to move, so that the self-locking assembly locks or unlocks the rack.

[0018] As an optional implementation, the outer surface of the camshaft is provided with a first groove, a second groove and a cam groove; the first groove and the second groove are spaced apart along the axial direction of the camshaft and are both annular around the circumference of the camshaft; the cam groove is located between the first groove and the second groove; the two ends of the cam groove are respectively connected to the first groove and the second groove, and the cam groove extends spirally on the surface of the camshaft.

[0019] The follower is configured to move between a first slide and a second slide via a cam slide; when the follower engages with one of the first slide and the second slide, the self-locking assembly locks with the rack; when the follower engages with the other of the first slide and the second slide, the self-locking assembly unlocks with the rack.

[0020] As an optional implementation, when the follower engages with the cam groove, as the camshaft rotates, the groove wall of the cam groove pushes the follower to move axially along the camshaft.

[0021] As an optional implementation, a first guide slope is provided on one side edge of the position where the first slide groove communicates with the cam slide groove; when the follower slides along the first slide groove, the self-locking component and the rack are in an unlocked state; the first guide slope is configured to guide the follower past the position where the first slide groove communicates with the cam slide groove, so that the follower is held in the first slide groove; and / or,

[0022] A second guide slope is provided on one side edge of the position where the second slide groove connects with the cam slide groove; when the follower is located in the second slide groove, the self-locking component and the rack are in a locked state; the second guide slope is configured to guide the follower to slide from the second slide groove into the cam slide groove so that the self-locking component and the rack are unlocked.

[0023] As an optional implementation, the drive assembly also includes a housing, in which a camshaft is disposed, and the side wall of the housing has a movable opening that extends axially along the camshaft, through which a follower passes and engages with the camshaft.

[0024] As an alternative implementation, the gear is disposed within the housing, and the housing has a gear opening on the side facing the rack, through which at least a portion of the gear structure passes and meshes with the rack.

[0025] As an optional implementation, the drive assembly further includes a first support base and a second support base; both the first support base and the second support base are connected to the base and are located on both sides of the rack respectively, and the housing is connected between the first support base and the second support base; the drive unit is connected to one of the first support base and the second support base.

[0026] As an optional implementation, the self-locking assembly includes a self-locking member movably disposed on the base; the self-locking member is fixed relative to the follower; when the camshaft drives the follower to move, the self-locking member moves relative to the base so that the self-locking member engages or disengages with the rack.

[0027] As an optional implementation, the self-locking assembly may further include a mounting base, a first slide rail, a first slider, and a follower bracket. The mounting base is connected to the first slider, the first slide rail is connected to the base, and the first slider is slidably connected to the first slide rail. The follower bracket is connected to the mounting base, and the follower is connected to the follower bracket.

[0028] As an optional implementation, the self-locking assembly also includes a fixed base, a guide rod, and a compression spring; the fixed base is connected to the base, the guide rod is connected to the fixed base, and the guide rod is arranged parallel to the moving direction of the self-locking component; two compression springs are sleeved on the guide rod;

[0029] The mounting base has a connecting part with a guide hole for the guide rod to pass through. The connecting part is located between two compression springs. One of the two compression springs is configured to apply a force to the mounting base, causing the follower to move towards the first slide groove. The other of the two compression springs is configured to apply a force to the mounting base, causing the follower to move towards the second slide groove.

[0030] As an optional implementation, there are two guide rods, which are distributed in parallel on both sides of the mounting base, and two compression springs are sleeved on each guide rod; both sides of the mounting base are provided with connecting parts, which are respectively sleeved and cooperate with the two guide rods.

[0031] As an alternative implementation, the slide rail mechanism includes an inner rail and an outer rail that are slidably disposed relative to each other, one of the inner rail and the outer rail being connected to a base, and the other of the inner rail and the outer rail being connected to a rack.

[0032] As an optional implementation, the support device may further include a first sensor and a second sensor, both of which are connected to the base and distributed at different positions in the extension and retraction direction of the rack; the rack is connected to the first sensing element and the second sensing element.

[0033] When the rack extends to a preset position relative to the base, the first sensing element is opposite to the first sensor; when the rack retracts to the initial position relative to the base, the second sensing element is opposite to the second sensor.

[0034] As an alternative implementation, the support assembly also includes a cushioning mechanism connected to the end of the rack that extends relative to the base; when the rack extends relative to the base, the cushioning mechanism is configured to abut against the shelf.

[0035] As an optional implementation, the cushioning mechanism includes a cushioning seat and a cushioning pad. The cushioning seat is connected to a rack, and the cushioning pad is movably disposed on the cushioning seat for abutting against the shelf.

[0036] As an optional implementation, the buffer mechanism further includes a slide rail seat, a second slide rail, and a second slider. The second slider is connected to the buffer seat, the second slide rail is slidably connected to the second slider, the second slide rail is connected to the slide rail seat, and the buffer pad is connected to the side of the slide rail seat opposite to the second slide rail.

[0037] The direction in which the second slide rail slides relative to the second slider is parallel to the contact surface between the buffer pad and the shelf.

[0038] As an optional implementation, the buffer mechanism also includes a tension spring, a slide rail end cap, and a fixing member. The slide rail end cap is connected to the slide rail seat, the fixing member is connected to the buffer seat, and the two ends of the tension spring are connected to the slide rail end cap and the fixing member, respectively.

[0039] As an optional implementation, there are two support components, two drive components, and two self-locking components, which are arranged in two corresponding groups; the two support components are configured to extend from both ends of the base to abut against the shelves corresponding to both ends of the support device.

[0040] As an optional implementation, the extension and retraction direction of the support component is the length direction of the base, and the two support components are arranged at intervals in the width direction of the base; the end of one of the two support components extends a predetermined distance towards the other along the width direction of the base, so that the ends of the two support components that abut against the shelf are opposite each other in the length direction of the base.

[0041] Secondly, this application provides a picking and placing device, which includes a main body, a picking and placing device and a supporting device as described above. The picking and placing device is disposed on the main body and can move up and down along the height direction of the main body; the supporting device is disposed on the picking and placing device.

[0042] Thirdly, this application provides a warehousing system, which includes shelves and the picking and placing equipment described in the above technical solution. There is an aisle between adjacent shelves for the picking and placing equipment to move. When the picking and placing equipment picks and places material boxes from the shelves in the aisle, the support device of the picking and placing equipment abuts against the shelves on both sides of the aisle.

[0043] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the support device, picking and placing equipment, and warehousing system provided by this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific embodiments. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A schematic diagram illustrating the docking of the picking and placing equipment with the shelf provided in an embodiment of this application;

[0046] Figure 2This is a schematic diagram of the structure of the support device provided in the embodiments of this application;

[0047] Figure 3 Top view of the support device provided in the embodiments of this application;

[0048] Figure 4 An internal structural view of the support device provided in an embodiment of this application;

[0049] Figure 5 A top view of the internal structure of the support device provided in the embodiments of this application;

[0050] Figure 6 for Figure 5 A cross-sectional view along the AA direction;

[0051] Figure 7 This is a schematic diagram of the structure of the drive component in the support device provided in the embodiments of this application;

[0052] Figure 8 A cross-sectional view of the drive component in the support device provided in the embodiments of this application;

[0053] Figure 9 An internal view of the drive component in the support device provided in the embodiments of this application;

[0054] Figure 10 A schematic diagram of the camshaft structure in the support device provided in the embodiments of this application. Figure 1 ;

[0055] Figure 11 A schematic diagram of the camshaft structure in the support device provided in the embodiments of this application. Figure 2 ;

[0056] Figure 12 A top view of the camshaft in the support device provided in the embodiments of this application;

[0057] Figure 13 Schematic diagram of the structure of the self-locking component in the support device provided in the embodiments of this application Figure 1 ;

[0058] Figure 14 Schematic diagram of the structure of the self-locking component in the support device provided in the embodiments of this application Figure 2 ;

[0059] Figure 15 A front view of the self-locking component in the support device provided in the embodiments of this application;

[0060] Figure 16 A schematic diagram of the buffer mechanism in the support device provided in the embodiments of this application. Figure 1 ;

[0061] Figure 17 A schematic diagram of the buffer mechanism in the support device provided in the embodiments of this application. Figure 2 ;

[0062] Figure 18 A side view of the buffer mechanism in the support device provided in the embodiment of this application.

[0063] Explanation of reference numerals in the attached figures:

[0064] 1- Picking and placing equipment;

[0065] 10-Support device;

[0066] 100-matrix;

[0067] 200-Support assembly; 210-Slide rail mechanism; 211-Outer rail; 212-Inner rail; 220-Rack; 230-First sensor; 231-First sensing element; 240-Second sensor; 241-Second sensing element; 250-Buffer mechanism; 251-Buffer seat; 252-Buffer pad; 253-Slide rail seat; 254-Second slide rail; 255-Second slider; 256-Tension spring; 257-Slide rail end cap; 258-Fixing component;

[0068] 300-Drive assembly; 301-First bearing; 302-Second bearing; 310-Drive unit; 320-Gear; 330-Gear shaft; 340-One-way clutch; 341-Inner ring; 342-Outer ring; 350-Elastic drive element; 360-Camshaft; 361-First slide groove; 3611-First guide ramp; 362-Second slide groove; 3621-Second guide ramp; 363-Cam slide groove; 370-Housing housing; 371-Moving port; 372-Opening; 380-First support seat; 390-Second support seat;

[0069] 400-Self-locking assembly; 410-Follower component; 420-Self-locking component; 430-Mounting base; 431-Connecting part; 440-First slide rail; 450-First slider; 460-Follower bracket; 470-Fixed base; 480-Guide rod; 490-Compression spring;

[0070] 20 - Main body of the equipment;

[0071] 30 - Picking and placing device;

[0072] 2-Shelf. Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0074] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0075] Secondly, it should be noted that in the description of this application, the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0077] In this application, the terms "installation" and "connection" are used interchangeably. A "connection" can be a direct connection or an indirect connection via intermediate components; it can be an active connection or a fixed connection. The term "and / or" includes any combination of the listed items, for example, "A and / or B" includes three cases: "A and B", "A only", or "B only".

[0078] Robots of various types are widely used in various fields such as industry and daily life. They play a crucial role in industries like transportation and logistics. In warehousing and logistics systems, goods are typically stored on shelves. Robots interact with these shelves or conveyor lines to retrieve and place goods, and can also transport them. To fully utilize vertical space, shelves are usually quite tall and have tiered storage areas. Robots are typically equipped with picking and placing devices to remove goods from or place them into the shelves.

[0079] Therefore, in related technologies, when picking up or placing goods on higher shelves, the picking and placing equipment is positioned high, and the robot's overall center of gravity is high, making it prone to shaking during the picking and placing process. This results in poor stability and low accuracy, making the picking and placing operation prone to failure.

[0080] To address the aforementioned issues, this application provides a support device, a picking and placing device, and a warehousing system. By installing a support device on the picking and placing device, when the picking and placing device is picking or placing goods at a high position on the shelf, the support device can abut against the shelf and lock itself, thereby stabilizing the position of the picking and placing device and preventing it from shaking significantly during the picking and placing process, thus improving the accuracy and success rate of the picking and placing process.

[0081] To facilitate understanding, the application scenarios of the support device, picking and placing equipment, and warehousing system provided in the embodiments of this application will be described first.

[0082] The support device provided in this application is applied to a picking and placing equipment, which can be a robot used for picking, placing, and transporting goods. The picking and placing equipment can be applied to warehousing or logistics systems. Specifically, this picking and placing equipment can be applied to logistics distribution in industrial production lines, inbound and outbound of manufactured goods inventory, inbound and outbound of retail products, and inbound and outbound of e-commerce logistics express delivery, etc. The products or goods involved in transportation can be industrial parts, electronic components or products, pharmaceuticals, clothing and accessories, food, books, etc. The robot can directly transfer goods or transfer material boxes containing goods; this application does not specifically limit this, and below, "material box" will be used to refer to the object being handled by the handling robot, without further specific examples.

[0083] Figure 1 A schematic diagram illustrating the docking of the picking and placing equipment with the shelf provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the support device provided in the embodiments of this application; Figure 3 Top view of the support device provided in the embodiments of this application; Figure 4 An internal structural view of the support device provided in an embodiment of this application; Figure 5 A top view of the internal structure of the support device provided in the embodiments of this application; Figure 6 for Figure 5 A cross-sectional view along the AA direction; Figure 7 This is a schematic diagram of the structure of the drive component in the support device provided in the embodiments of this application; Figure 8 A cross-sectional view of the drive component in the support device provided in the embodiments of this application; Figure 9 An internal view of the drive component in the support device provided in an embodiment of this application.

[0084] like Figures 1 to 8 As shown, this embodiment provides a support device 10 for use on a picking and placing device 1, which is used to pick and place material boxes on a shelf 2. During the process of picking and placing material boxes, the support device 10 can be supported on at least one of the two shelves 2 to reduce shaking of the picking and placing device 1 and improve stability.

[0085] The support device 10 includes a base 100, a support component 200, a drive component 300, and a self-locking component 400. The support component 200 is disposed on the base 100. The drive component 300 is disposed on the base 100. The base 100 provides a foundation for the installation of the support component 200 and the drive component 300. At least a portion of the structure of the support component 200 is movably disposed relative to the base 100, and the drive component 300 can drive at least a portion of the structure of the support component 200 to extend relative to the base 100.

[0086] It is understood that when at least a portion of the structure of the support component 200 extends relative to the base 100, the support component 200 can abut against the shelf 2, thereby providing support during the picking and placing of material boxes by the picking and placing equipment 1.

[0087] In some embodiments, the self-locking component 400 is disposed on the base 100, located beside and docking with the drive component 300. When the support component 200 extends to a preset position relative to the base 100, the drive component 300 drives at least a portion of the structure of the self-locking component 400 to move relative to the support component 200 and dock with the support component 200, thereby locking the support component 200 to the base 100. The preset position refers to the position where the support component 200 abuts against the shelf 2.

[0088] Since the position of the support component 200 is locked by the self-locking component 400 docking with the support component 200, the self-locking component 400 can ensure that the support component 200 maintains contact with the shelf 2. During the process of picking up and placing material boxes by the picking and placing equipment 1, when there is a tendency for it to shake, the locking component can lock the position of the support component 200 to prevent the support component 200 from being unable to resist the shaking and retracting.

[0089] It should be noted that in the support device 10 provided in this application embodiment, the support component 200 is supported on the shelf 2, and the self-locking component 400 is used to lock the relative position of the support component 200. The locking component relies on its docking and cooperation with the support component 200, rather than relying on the self-locking of the drive component 300 itself. In this way, the support stability and reliability of the support component 200 are improved, shaking is avoided during the picking and placing of goods, the accuracy of picking and placing goods is improved, and the success rate of picking and placing goods is guaranteed.

[0090] In this embodiment, a portion of the structure on the support component 200 can extend and move relative to the base 100. This extended portion can abut against the shelf 2. The extension and movement of the structure on the support component 200 can be achieved using a gear and rack mechanism, a lead screw and lead screw nut mechanism, or a flexible transmission component such as a timing belt or chain in conjunction with a moving guide rail. This embodiment does not specifically limit the method used. The following detailed explanation uses a gear and rack mechanism as an example.

[0091] Please continue to refer to Figures 1 to 8 In one possible implementation, the support component 200 includes a slide rail mechanism 210 and a rack 220. The rack 220 is connected to the slide rail mechanism 210, which forms a moving track within the base 100, allowing the rack 220 to move relative to the base 100, and thus enabling the rack 220 to extend and retract relative to the base 100. The movement of the rack 220 relative to the base 100 can be powered by the drive component 300 to ensure smooth extension of the rack 220 relative to the base 100.

[0092] The drive assembly 300 may include a drive unit 310 and a gear 320. The gear 320 meshes with the rack 220. The drive unit 310 is configured to drive the gear 320 to rotate. When the gear 320 rotates, the gear 320 can drive the rack 220 to move in a preset direction, thereby causing the rack 220 to extend relative to the base 100.

[0093] It is understandable that the direction of movement of the rack 220 can be consistent with the length direction of the rack 220. The meshing teeth of the rack 220 are arranged with one side facing upwards, the drive assembly 300 can be arranged on the side of the rack 220, and the gear 320 is located above the rack 220 and meshes with the rack 220.

[0094] For example, the drive unit 310 is a motor, and the output shaft of the motor is coaxially arranged with the gear 320. The rotation axis of the gear 320 is perpendicular to the movement direction of the rack 220.

[0095] In some embodiments, the drive assembly 300 further includes a gear shaft 330 and a one-way clutch 340, with the gear 320 coaxially connected to the gear shaft 330. The one-way clutch 340 has an inner ring 341 and an outer ring 342 that can be coupled or separated. The gear shaft 330 is coaxially arranged with the outer ring 342 of the one-way clutch 340 and rotates synchronously. The inner ring 341 of the one-way clutch 340 is coaxially arranged with the output end of the drive unit 310 and rotates synchronously.

[0096] Understandably, when the inner ring 341 and outer ring 342 of the one-way clutch 340 are coupled, they rotate synchronously. When the inner ring 341 and outer ring 342 are disengaged, their rotations are relatively independent. The coupling and disengagement states of the one-way clutch 340 are determined by the relative rotation directions of its inner ring 341 and outer ring 342. They can rotate in opposite directions relative to each other. For example, when the inner ring 341 rotates in the forward direction relative to the outer ring 342, the inner ring 341 and outer ring 342 are coupled, and when the inner ring 341 rotates in the reverse direction relative to the outer ring 342, the inner ring 341 and outer ring 342 are disengaged.

[0097] In this embodiment, a one-way clutch 340 is used to distinguish between the extension and retraction processes of the rack 220 relative to the base 100. When the rack 220 needs to extend relative to the base 100, the inner ring 341 and outer ring 342 of the one-way clutch 340 are coupled, and the power output from the output end of the drive unit 310 can be transmitted to the gear 320 through the one-way clutch 340. That is, the drive unit 310 drives the gear 320 to rotate, so that the rack 220 moves relative to the base 100. When the rack 220 needs to retract relative to the base 100, the inner ring 341 and outer ring 342 of the one-way clutch 340 are disengaged. At this time, the driving force of the drive unit 310 is not transmitted to the gear 320, and the driving force required for the rack 220 to retract relative to the base 100 is provided by other power sources.

[0098] It should be noted that when the rack 220, in conjunction with the slide rail mechanism 210, extends relative to the base 100 and abuts against the shelf 2, the shelf 2 generates a reaction force against the support component 200. At this time, the self-locking component 400 can be used to fix the state of the support component 200. Due to the presence of the one-way clutch 340, the reaction force is not transmitted to the drive unit 310 through the rack 220 and gear 320. Therefore, the drive unit 310 does not need to provide locking force, thus avoiding damage to the drive unit 310.

[0099] The driving source for the rack 220 retracting relative to the base 100 will be described below. The drive assembly 300 may also include an elastic drive member 350, the first end of which is connected to the base 100 and the second end of which is connected to the rack 220. The elastic drive member 350 is configured to apply a force that causes the rack 220 to retract relative to the base 100, so that the rack 220 can retract smoothly relative to the base 100 when the locking mechanism is unlocked.

[0100] For example, the elastic element can be a spring. One end of the spring can be fixed relative to the base 100 via a hook, while another hook can be provided on the rack 220 or the slide rail mechanism 210, and the other end of the spring can be hung and fixed on the rack 220 or the slide rail mechanism 210. As the rack 220 extends relative to the base 100, the spring is stretched, thereby generating an elastic force. The drive unit 310 can overcome the elastic force of the spring, and when the support assembly 200 needs to retract relative to the base 100, the rack 220 can retract into the base 100 under the action of the spring's elastic force.

[0101] It should be noted that the one-way clutch 340 can be a one-way overrunning clutch, meaning that when the inner ring 341 and outer ring 342 of the one-way clutch 340 are disengaged, the rotational speed of the outer ring 342 is limited by the rotational speed of the inner ring 341. When the rack 220 retracts relative to the base 100, the drive unit 310 drives the inner ring 341 of the one-way clutch 340 to reverse, disengaging the inner ring 341 from the outer ring 342. The retraction force of the rack 220 is provided by the elastic element, but the rotational speed of the outer ring 342 of the one-way clutch 340 is less than or equal to the rotational speed of the inner ring 341. The drive unit 310 can control the speed at which the elastic element pulls back the rack 220. In this way, it is possible to avoid the rack 220 retracting too quickly relative to the base 100, which would cause the loading and unloading device 1 to shake, allowing the rack 220 to retract at a uniform and stable speed.

[0102] In this embodiment of the application, the locking and unlocking actions of the self-locking component 400 can be implemented by the driving component 300, which will be described in detail below.

[0103] Figure 10 A schematic diagram of the camshaft structure in the support device provided in the embodiments of this application. Figure 1 ; Figure 11 A schematic diagram of the camshaft structure in the support device provided in the embodiments of this application. Figure 2 ; Figure 12 A top view of the camshaft in the support device provided in the embodiments of this application; Figure 13 Schematic diagram of the structure of the self-locking component in the support device provided in the embodiments of this application Figure 1 ; Figure 14 Schematic diagram of the structure of the self-locking component in the support device provided in the embodiments of this application Figure 2 ; Figure 15 A front view of the self-locking component in the support device provided in the embodiments of this application.

[0104] Please refer to Figures 1 to 15In one possible implementation, the drive assembly 300 may further include a camshaft 360, which is coaxially connected to the output end of the drive unit 310. The self-locking assembly 400 includes a follower 410, which is mated with the camshaft 360. When the camshaft 360 rotates, it can drive the follower 410 to move, thereby causing the self-locking assembly 400 to perform locking or unlocking actions.

[0105] It is understood that the drive unit 310 can drive the camshaft 360 to rotate forward or backward. The locking and unlocking of the self-locking component 400 can be achieved by the forward and reverse rotation of the camshaft 360. That is, when the camshaft 360 rotates forward or backward in a specific state, it can drive the follower 410 to move, thereby enabling the self-locking component 400 to lock or unlock the rack 220.

[0106] For example, the locking state of the self-locking component 400 is triggered when the rack 220 extends to or near the preset position relative to the base 100, while the self-locking component 400 is in the unlocked state during the retraction of the rack 220 relative to the base 100 and the extension and retraction of the rack 220.

[0107] In some embodiments, the outer surface of the camshaft 360 is provided with a first groove 361, a second groove 362, and a cam groove 363. The first groove 361 and the second groove 362 are spaced apart along the axial direction of the camshaft 360 and are both annular around the circumference of the camshaft 360. The cam groove 363 is located between the first groove 361 and the second groove 362, and its two ends are respectively connected to the first groove 361 and the second groove 362. The cam groove 363 extends helically on the surface of the camshaft 360. It is understood that the helically extending shape of the cam groove 363 on the surface of the camshaft 360 does not mean that the cam groove 363 must include a complete helix; it can be a part of a helix or a combination of multiple helices. It simply indicates that the cam groove 363 has a helical shape.

[0108] Understandably, the end of the follower 410 can be disposed on the surface of the camshaft 360 and located within one of the first slide groove 361, the second slide groove 362, and the cam slide groove 363. When the locking mechanism needs to switch between locked and unlocked states, the follower 410 can move between the first slide groove 361 and the second slide groove 362 via the cam slide groove 363.

[0109] When the follower 410 engages with one of the first slide groove 361 and the second slide groove 362, the self-locking component 400 locks with the rack 220; when the follower 410 engages with the other of the first slide groove 361 and the second slide groove 362, the self-locking component 400 unlocks with the rack 220.

[0110] For example, the first groove 361 can be located at the end of the camshaft 360 away from the rack 220. When the follower 410 is located in the first groove 361, the self-locking assembly 400 and the rack 220 are in an unlocked state. As the rack 220 moves telescopically, the drive unit 310 drives the camshaft 360 to rotate. Since the first groove 361 is annular, the follower 410 slides relative to the first groove 361 at this time, while the position of the follower 410 is relatively stationary relative to the base 100.

[0111] For example, the second slide groove 362 can be located at one end of the camshaft 360 near the rack 220. When the follower 410 is in the second slide groove 362, the self-locking assembly 400 and the rack 220 are in a locked state. During the short period of time when the rack 220 extends to or retracts from the preset position at the start of operation, the follower 410 will enter the second slide groove 362 to complete the self-locking.

[0112] In some embodiments, when the follower 410 engages with the cam groove 363, as the cam shaft 360 rotates, the groove wall of the cam groove 363 pushes the follower 410 to move axially along the cam shaft 360, so that when the self-locking assembly 400 switches between locked and unlocked states, the cam shaft 360 can push the follower 410 to move axially along the cam shaft 360.

[0113] It should be noted that the locking process of the self-locking component 400 is the process by which the follower 410 moves from the first slide groove 361 through the cam slide groove 363 into the second slide groove 362; the unlocking process of the self-locking component 400 is the process by which the follower 410 moves from the second slide groove 362 through the cam slide groove 363 into the first slide groove 361.

[0114] In some embodiments, a first guide slope 3611 is provided on one side edge of the position where the first slide groove 361 communicates with the cam slide groove 363. When the follower 410 slides in the first slide groove 361 relative to the cam shaft 360, the follower 410 needs to pass through the end of the cam slide groove 363 once for every one revolution of the cam shaft 360. When the cam shaft 360 has a certain rotational speed, the follower 410 can use inertia in conjunction with the guidance of the first guide slope 3611 to pass over the end of the cam slide groove 363, thereby avoiding sliding into the cam slide groove 363 and causing the self-locking component 400 to be accidentally locked.

[0115] Understandably, when the self-locking component 400 and the rack 220 are unlocked, the follower 410 slides along the first slide groove 361. After passing the position where the first slide groove 361 connects with the cam slide groove 363, the first guide slope 3611 can guide the follower 410 across the cam slide groove 363 so that the follower 410 is kept in the first slide groove 361, ensuring the smoothness of the rack 220's telescopic movement.

[0116] In some embodiments, a second guide slope 3621 is provided on one side edge of the position where the second slide groove 362 communicates with the cam slide groove 363. The second guide slope 3621 can guide the follower 410 from the second slide groove 362 into the cam slide groove 363.

[0117] Understandably, when the self-locking assembly 400 and rack 220 are locked, the follower 410 is located in the second slide groove 362. When the self-locking assembly 400 and rack 220 need to be unlocked, as the camshaft 360 rotates, the follower 410 can contact the second guide inclined surface 3621 and slide from the second slide groove 362 into the cam slide groove 363 under its guidance, and enter the first slide groove 361 to complete the unlocking.

[0118] It should be noted that in this embodiment, the gear 320, gear shaft 330, one-way clutch 340, camshaft 360, and drive unit 310 can all be coaxially arranged. Specifically, the gear 320 and gear shaft 330 can be fixedly connected by a first flat key; the gear shaft 330 and the outer ring 342 of the one-way clutch 340 can be connected by screws; the inner ring 341 of the one-way clutch 340 can be fixedly connected to the camshaft 360 by a second flat key; and the camshaft 360 can be fixedly connected to the output shaft of the drive unit 310 by a pin hole.

[0119] In some embodiments, the drive assembly 300 further includes a housing 370, a camshaft 360 disposed within the housing 370, and a sidewall of the housing 370 having a movable opening 371 extending axially along the camshaft 360, through which a follower 410 passes and engages with the camshaft 360.

[0120] Understandably, the movable port 371 can provide a limiting function for the follower 410, ensuring that the follower 410 remains stationary or moves along the axial direction of the camshaft 360 during rotation. One end of the movable port 371 is opposite to the first slide groove 361, and the other end is opposite to the second slide groove 362. When the self-locking assembly 400 is in the locked and unlocked states, the follower 410 remains stationary; when the self-locking assembly 400 switches between the locked and unlocked states, the follower 410 moves along the movable port 371.

[0121] For example, the movable port 371 can be positioned upwards, and the follower 410 can be located above the housing 370 and inserted from top to bottom through the movable port 371 to dock with the camshaft 360.

[0122] In some embodiments, the gear 320 is disposed within the housing 370, and the housing 370 has a gear opening 372 on the side facing the rack 220, and at least a portion of the structure of the gear 320 passes through the gear opening 372 and meshes with the rack 220.

[0123] Understandably, the housing 370 serves to protect components such as the gear 320, one-way clutch 340, and camshaft 360.

[0124] In some embodiments, the drive assembly 300 further includes a first support 380 and a second support 390. Both the first support 380 and the second support 390 are connected to the base 100 and are located on opposite sides of the rack 220, respectively. The housing 370 is connected between the first support 380 and the second support 390. The drive unit 310 is connected to one of the first support 380 and the second support 390.

[0125] For example, one end of the housing 370 is connected to the first support 380 by screws, and the other end of the housing 370 is connected to the second support 390 by screws. The gear 320 is located near the first support 380. A first bearing 301 is provided inside the housing 370. The inner ring of the first bearing 301 is fixedly connected to the gear shaft 330, while the outer ring of the first bearing 301 is fixed to the inner wall of the housing 370. The drive unit 310 is connected to the second support 390. A second bearing 302 is provided inside the housing 370. The inner ring of the second bearing 302 is fixedly connected to the camshaft 360, while the outer ring of the second bearing 302 is fixed to the inner wall of the housing 370. This provides good axial support for the gear 320, the one-way clutch 340, and the camshaft 360, ensuring reliability and stability during rotation.

[0126] For example, a retaining ring may be provided at the end of the gear 320 facing the first bearing 301, thereby providing axial limiting for the gear 320.

[0127] The specific structure of the self-locking component 400 will be described in detail below.

[0128] As an optional implementation, the self-locking assembly 400 includes a self-locking member 420, which is movably disposed on the base 100. The self-locking member 420 is fixed relative to the follower member 410. When the camshaft 360 drives the follower member 410 to move, the self-locking member 420 moves relative to the base 100 to engage or disengage with the rack 220.

[0129] For example, the self-locking member 420 may have meshing teeth. When the self-locking member 420 is engaged with the rack 220, the self-locking member 420 engages with the rack 220 through the meshing teeth, thereby locking the relative position of the rack 220 and improving the overall locking strength and reliability of the support assembly 200.

[0130] In some embodiments, the self-locking assembly 400 may further include a mounting base 430, a first slide rail 440, a first slider 450, and a follower bracket 460. The mounting base 430 is connected to the first slider 450, the first slide rail 440 is connected to the base 100, and the first slider 450 is slidably connected to the first slide rail 440. The follower bracket 460 is connected to the mounting base 430, and the follower 410 is connected to the follower bracket 460.

[0131] Understandably, the follower 410 can be fixed to the mounting base 430 by the follower bracket 460, which can extend above the housing 370 of the drive assembly 300, thereby facilitating the installation of the follower 410 and allowing the follower 410 to enter and exit the housing 370 to cooperate with the camshaft 360.

[0132] The self-locking assembly 400 can be integrally disposed on the side of the drive unit 310. The mounting base 430 can provide a base for assembling the self-locking component 420. For example, the mounting base 430 and the self-locking component 420 can be fixedly connected by fasteners such as screws and nuts.

[0133] In some embodiments, the self-locking assembly 400 further includes a fixed base 470, a guide rod 480, and a compression spring 490. The fixed base 470 is connected to the base 100, the guide rod 480 is connected to the fixed base 470, and the guide rod 480 is arranged parallel to the moving direction of the self-locking member 420.

[0134] Two compression springs 490 are fitted onto the guide rod 480. The mounting base 430 has a connecting part 431 with a guide hole for the guide rod 480 to pass through, and the connecting part 431 is located between the two compression springs 490. The fixing base 470 can fix the guide rod 480, improve the strength and stability of the guide rod 480 structure, and the guide rod 480 provides guidance for the movement of the mounting base 430.

[0135] Understandably, one of the two compression springs 490 can apply a force to the mounting base 430, causing the follower 410 to move toward the first slide groove 361; the other of the two compression springs 490 is configured to apply a force to the mounting base 430, causing the follower 410 to move toward the second slide groove 362.

[0136] When the follower 410 moves axially along the camshaft 360, the mounting base 430 moves synchronously. For example, the follower 410 is located in the first groove 361, and the connecting portion 431 compresses one of the compression springs 490 on the guide rod 480, generating a preload. When the follower 410 needs to slide from the first groove 361 into the cam groove 363, i.e., when the self-locking assembly 400 needs to begin locking with the rack 220, the camshaft 360 rotates at a reduced speed. Driven by the spring force of the compression spring 490, the follower 410 slides into the cam groove 363, and then, as the camshaft 360 rotates, enters the second groove 362. Correspondingly, the self-locking member 420 moves above the rack 220 to engage, completing the locking.

[0137] For example, the follower 410 is located in the second slide groove 362. The connecting part 431 compresses another compression spring 490 on the guide rod 480 to generate a preload. When the camshaft 360 rotates in the reverse direction and the self-locking assembly 400 begins to unlock, the follower 410 needs to slide from the second slide groove 362 into the cam slide groove 363. At this time, the elastic force of the compression spring 490 can drive the follower 410 into the cam slide groove 363, and then into the first slide groove 361 as the camshaft 360 reverses. Correspondingly, the self-locking member 420 exits and separates from the rack 220, completing the unlocking.

[0138] In some embodiments, there may be two guide rods 480, which are distributed in parallel on both sides of the mounting base 430, and two compression springs 490 are sleeved on each of the two guide rods 480. Connecting portions 431 are provided on both sides of the mounting base 430, and are respectively sleeved and engaged with the two guide rods 480.

[0139] Understandably, the two parallel guide rods 480 provide guidance, which can improve the smoothness of the movement of the mounting base 430 and the self-locking component 420 and prevent jamming.

[0140] In some embodiments, the slide rail mechanism 210 includes an inner rail 212 and an outer rail 211 that are slidably disposed relative to each other, one of the inner rail 212 and the outer rail 211 being connected to the base 100, and the other of the inner rail 212 and the outer rail 211 being connected to the rack 220.

[0141] For example, the outer rail 211 can be fixed to the base 100 by fasteners such as bolts, the inner rail 212 is slidably disposed in the outer rail 211, and the rack 220 can match the length of the inner rail 212 and be fixedly connected to the inner rail 212 by bolts.

[0142] It should be noted that the rack 220 of the support component 200 has an initial position when retracted relative to the base 100, and a preset position when extended relative to the base 100 to abut against the shelf 2. When the rack 220 moves between the initial position and the preset position, its current position can be determined by a sensor, thereby controlling the rotation direction and speed of the drive unit 310, and thus controlling the locking and unlocking of the self-locking component 400. This will be explained in detail below.

[0143] In one possible implementation, the support device 10 may further include a first sensor 230 and a second sensor 240, both of which are connected to the base 100 and are distributed at different positions in the extension and retraction direction of the rack 220. The rack 220 is connected to the first sensing element 231 and the second sensing element 241.

[0144] When the rack 220 extends to a preset position relative to the base 100, the first sensor 231 and the first sensor 230 are aligned, thereby detecting that the support assembly 200 has abutted against the shelf 2, and the locking assembly can be controlled to lock the rack 220. When the rack 220 retracts to its initial position relative to the base 100, the second sensor 241 and the second sensor 240 are aligned, at which point it is determined that the support assembly 200 has completed retraction, and the picking and placing device 1 can be controlled to perform moving delivery or other picking tasks.

[0145] For example, the first sensor 230 and the second sensor 240 can both be contact sensors such as contact switches, or non-contact sensors such as photoelectric sensors. The first sensing element 231 and the second sensing element 241 can be respectively set as elastic contact sheets or sensing sheets. This application embodiment does not specifically limit this.

[0146] Figure 16 A schematic diagram of the buffer mechanism in the support device provided in the embodiments of this application. Figure 1 ; Figure 17 A schematic diagram of the buffer mechanism in the support device provided in the embodiments of this application. Figure 2 ; Figure 18 A side view of the buffer mechanism in the support device provided in the embodiment of this application.

[0147] Please refer to Figures 1 to 18 In this embodiment of the application, when the support component 200 extends and abuts against the shelf 2, in order to avoid rigid contact with the shelf 2, a buffer mechanism 250 can be provided at the extended end of the support component 200. The buffer mechanism 250 abuts against the shelf 2 to reduce the impact force when the support component 200 abuts against the shelf 2. The specific structure of the buffer mechanism 250 will be described in detail below.

[0148] In one possible implementation, the support assembly 200 further includes a cushioning mechanism 250 connected to the end of the rack 220 that extends relative to the base 100. When the rack 220 extends relative to the base 100, the cushioning mechanism 250 is configured to abut against the shelf 2.

[0149] The buffer mechanism 250 includes a buffer seat 251 and a buffer pad 252. The buffer seat 251 is connected to the rack 220. The buffer pad 252 is movably disposed on the buffer seat 251 and is used to abut against the shelf 2, thereby absorbing the impact force and preventing large-scale shaking when the support component 200 is connected to the shelf 2.

[0150] For example, the buffer pad 252 can be a rubber pad, silicone pad, cotton pad, soft rubber or other elastic material pad or gasket, and this application embodiment does not specifically limit it.

[0151] In some embodiments, the buffer mechanism 250 further includes a slide rail seat 253, a second slide rail 254, and a second slider 255. The second slider 255 is connected to the buffer seat 251, the second slide rail 254 is slidably connected to the second slider 255, and the second slide rail 254 is connected to the slide rail seat 253. A buffer pad 252 is connected to the side of the slide rail seat 253 opposite to the second slide rail 254. This allows the buffer pad 252 to slide relative to the buffer seat 251, absorbing impact force more efficiently and providing better shock absorption.

[0152] The second slide rail 254 and the second slider 255 slide relative to each other in a direction parallel to the contact surface between the cushioning pad 252 and the shelf 2. When subjected to external impact, the second slide rail 254 can drive the cushioning pad 252 to move up and down vertically to improve the stability of the picking and placing process.

[0153] In addition, since the cushioning pad 252 can be moved up and down to absorb shock, the friction between the cushioning pad 252 and the shelf 2 is reduced, thereby reducing the wear of the cushioning pad 252 and extending its service life.

[0154] For example, the buffer mechanism 250 may further include a tension spring 256, a slide rail end cap 257, and a fixing member 258. The slide rail end cap 257 is connected to the slide rail seat 253, the fixing member 258 is connected to the buffer seat 251, and the two ends of the tension spring 256 are respectively connected to the slide rail end cap 257 and the fixing member 258. Without external force, the tension of the tension spring 256 can control the position of the buffer pad 252 to the lowest point. When subjected to external force, the tension spring 256 can be stretched, and the buffer pad 252 floats up and down to provide shock absorption.

[0155] For example, the fastener 258 can be a screw or a protruding structure integrally formed with the buffer seat 251; this embodiment does not specifically limit the type of fastener. The slide rail cover can be fixed to the top of the slide rail by screws.

[0156] It should be noted that, in this embodiment of the application, since the picking and placing equipment 1 performs picking and placing operations in the aisle between the shelves 2, the support device 10 can simultaneously support the shelves 2 on both sides of the aisle. Therefore, two sets of extendable support components 200 can be set to abut and cooperate with the shelves 2 on both sides of the aisle respectively.

[0157] In one possible implementation, there are two support components 200, two drive components 300, and two self-locking components 400, arranged in two corresponding groups. The two support components 200 are configured to extend from both ends of the base 100 to abut against the shelves 2 corresponding to both ends of the support device 10.

[0158] Understandably, during the picking and placing of goods, the two support components 200 can extend synchronously in opposite directions toward the shelves 2 on both sides of the aisle under the action of the two drive components 300, and abut against the shelves 2. When they reach the preset position, the two self-locking components 400 lock the positions of the two support components 200 respectively, so as to improve the reliability and stability of the support.

[0159] In some embodiments, the extension direction of the support component 200 is the length direction of the base 100, and the two support components 200 are spaced apart in the width direction of the base 100. The end of one of the two support components 200 extends a predetermined distance toward the other along the width direction of the base 100, so that the ends of the two support components 200 that abut against the shelf 2 are opposite each other in the length direction of the base 100.

[0160] Since the two support components 200 will be subjected to opposite reaction forces when they abut against the two shelves 2 respectively, the buffer mechanisms 250 at the ends of the two support components 200 are arranged opposite each other, so that the forces are on a straight line or approximately on a straight line, avoiding the torque generated by the forces on the two support components 200, thus improving the stability of the picking and placing process.

[0161] It should be noted that the base 100 may include a base box and a dust cover. The dust cover covers the base box and forms a receiving cavity. The drive assembly 300 and the self-locking assembly 400 can both be housed in the receiving cavity, and the support assembly 200 can extend from or retract into the receiving cavity. The dust cover can prevent external dust particles from entering the receiving cavity, thereby preventing the drive assembly 300 and the self-locking assembly 400 from coming into contact with dust and ensuring a clean working environment.

[0162] This application provides a picking and placing device 1, which includes a main body 20, a picking and placing device 30, and a support device 10 as described above. The picking and placing device 30 is disposed on the main body 20 and can move up and down along the height of the main body 20. The support device 10 is disposed on the picking and placing device 30. When the picking and placing device 30 moves to the corresponding storage position in the vertical direction, the support device 10 can extend its support component 200 to connect with the shelf 2, thereby improving the stability of picking and placing goods.

[0163] Among them, the picking and placing equipment 1 is applied in the warehousing system. The picking and placing equipment 1 can be a mobile robot based on AGV, RGV, etc. It can move between the shelves 2 in the warehousing system and pick up material boxes from the shelves 2 or place material boxes on the shelves 2.

[0164] It should be noted that the picking and placing equipment 1 provided in this application embodiment may include all the technical solutions and technical effects of the above-mentioned support device 10, which will not be repeated here.

[0165] This application provides a warehousing system, which includes shelves 2 and picking and placing equipment 1 as described above. There is an aisle between adjacent shelves 2 for the picking and placing equipment 1 to move. When the picking and placing equipment 1 picks and places material boxes from the shelves 2 in the aisle, the support device 10 of the picking and placing equipment 1 abuts against the shelves 2 on both sides of the aisle.

[0166] This application provides a warehousing system, including a shelf 2 and a picking and placing device 1. The picking and placing device 1 can pick up and place material boxes on the shelf 2. The shelf 2 is provided with a docking surface that docks with the support component 200 of the support device 10.

[0167] It should be noted that the warehousing system provided in this application embodiment may include all the technical solutions and technical effects of the above-mentioned support device 10 and picking and placing equipment 1, which will not be repeated here.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A support device, characterized by A picking and placing equipment (1) for picking and placing material boxes on shelves (2); The support device (10) is configured to be supported between two shelves (2) when picking and placing material boxes; The support device (10) comprises: a base body (100); a support assembly (200) arranged on the base body (100); a driving assembly (300) arranged on the base body (100), configured to drive at least part of the structure of the support assembly (200) to extend relative to the base body (100), so that the support assembly (200) abuts against the shelf (2); a self-locking assembly (400) arranged on the base body (100); the self-locking assembly (400) is located beside the driving assembly (300) and interfaces with the driving assembly (300); when the support assembly (200) extends to a preset position relative to the base body (100), the driving assembly (300) drives at least part of the structure of the self-locking assembly (400) to move relative to the support assembly (200) and interface with the support assembly (200), so that the support assembly (200) is locked with the base body (100).

2. The support device of claim 1, wherein The support assembly (200) comprises a sliding rail mechanism (210) and a rack (220), the rack (220) is connected with the sliding rail mechanism (210), the sliding rail mechanism (210) is configured to move the rack (220) relative to the base body (100); the driving assembly (300) comprises a driving unit (310) and a gear (320), the gear (320) is engaged with the rack (220), the driving unit (310) is configured to drive the gear (320) to rotate, so that the rack (220) extends relative to the base body (100).

3. The support device of claim 2, wherein, The driving assembly (300) further comprises a gear shaft (330) and a one-way clutch (340), the gear (320) is coaxially connected with the gear shaft (330); the one-way clutch (340) has a coupling or separating inner ring (341) and an outer ring (342), the gear shaft (330) is coaxially arranged with the outer ring (342) of the one-way clutch (340) and rotates synchronously, the inner ring (341) of the one-way clutch (340) is coaxially arranged with the output end of the driving unit (310) and rotates synchronously; Wherein, when the rack (220) extends relative to the base body (100), the inner ring (341) is coupled with the outer ring (342); when the rack (220) retracts relative to the base body (100), the inner ring (341) is separated from the outer ring (342).

4. The support device of claim 3, wherein, The driving assembly (300) further comprises an elastic driving member (350), a first end of the elastic driving member (350) is connected with the base body (100), and a second end of the elastic driving member (350) is connected with the rack (220), and the elastic driving member (350) is configured to exert an acting force to retract the rack (220) relative to the base body (100).

5. The support apparatus of claim 4, wherein When the rack (220) is retracted relative to the base body (100), the rotational speed of the outer ring (342) of the one-way clutch (340) is less than or equal to the rotational speed of the inner ring (341) of the one-way clutch (340).

6. The support apparatus of claim 2, wherein The driving assembly (300) further comprises a camshaft (360), the camshaft (360) is coaxially connected with the output end of the driving unit (310); the self-locking assembly (400) comprises a follower (410), the follower (410) is in butt joint with the camshaft (360); when the driving unit (310) drives the camshaft (360) to rotate, the camshaft (360) can drive the follower (410) to move, so that the self-locking assembly (400) locks or unlocks the rack (220).

7. The support apparatus of claim 6, wherein The outer surface of the camshaft (360) is provided with a first sliding groove (361), a second sliding groove (362) and a cam sliding groove (363); the first sliding groove (361) and the second sliding groove (362) are arranged in the axial direction of the camshaft (360) and are annular around the circumference of the camshaft (360); the cam sliding groove (363) is located between the first sliding groove (361) and the second sliding groove (362); the two ends of the cam sliding groove (363) are in communication with the first sliding groove (361) and the second sliding groove (362) respectively, and the cam sliding groove (363) extends spirally on the surface of the camshaft (360); The follower (410) is configured to move between the first sliding groove (361) and the second sliding groove (362) through the cam sliding groove (363); when the follower (410) cooperates with one of the first sliding groove (361) and the second sliding groove (362), the self-locking assembly (400) is locked with the rack (220); when the follower (410) cooperates with the other one of the first sliding groove (361) and the second sliding groove (362), the self-locking assembly (400) is unlocked with the rack (220).

8. The support apparatus of claim 7, wherein When the follower (410) cooperates with the cam sliding groove (363), with the rotation of the camshaft (360), the groove wall of the cam sliding groove (363) pushes the follower (410) to move in the axial direction of the camshaft (360).

9. The support apparatus of claim 7, wherein, A first guide slope (3611) is arranged on one side edge of the first sliding groove (361) at a position where the first sliding groove (361) communicates with the cam sliding groove (363); when the follower (410) slides along the first sliding groove (361), the self-locking assembly (400) is in an unlocked state with the rack (220); the first guide slope (3611) is configured to guide the follower (410) to pass the position where the first sliding groove (361) communicates with the cam sliding groove (363), so that the follower (410) is kept in the first sliding groove (361); and / or, A second guide slope (3621) is arranged on one side edge of the second sliding groove (362) at a position where the second sliding groove (362) communicates with the cam sliding groove (363); when the follower (410) is located in the second sliding groove (362), the self-locking assembly (400) is in a locked state with the rack (220); the second guide slope (3621) is configured to guide the follower (410) to slide from the second sliding groove (362) into the cam sliding groove (363), so that the self-locking assembly (400) is unlocked with the rack (220).

10. The support apparatus of claim 7, wherein, The driving assembly (300) further comprises a housing (370), and the cam shaft (360) is arranged in the housing (370); a moving opening (371) is arranged on a side wall of the housing (370) and extends along an axial direction of the cam shaft (360); and the follower (410) is connected to the cam shaft (360) through the moving opening (371).

11. The support apparatus of claim 10, wherein, The gear (320) is arranged in the housing (370), and a gear opening (372) is arranged on a side of the housing (370) facing the rack (220); and at least part of the structure of the gear (320) is arranged to mesh with the rack (220) through the opening (372).

12. The support apparatus of claim 10, wherein, The driving assembly (300) further comprises a first support seat (380) and a second support seat (390); the first support seat (380) and the second support seat (390) are connected to the base body (100) and are arranged on two sides of the rack (220) respectively; the housing (370) is connected between the first support seat (380) and the second support seat (390); and the driving unit (310) is connected to one of the first support seat (380) and the second support seat (390).

13. The support apparatus of claim 7, wherein, The self-locking assembly (400) comprises a self-locking member (420) which is movably arranged on the base body (100); the self-locking member (420) is fixed relative to the follower (410); when the cam shaft (360) drives the follower (410) to move, the self-locking member (420) moves relative to the base body (100) so as to mesh with or separate from the rack (220).

14. The support apparatus of claim 13, wherein, The self-locking assembly (400) further comprises a mounting seat (430), a first sliding rail (440), a first sliding block (450) and a follower support (460), the mounting seat (430) is connected with the first sliding block (450), the first sliding rail (440) is connected with the base body (100), and the first sliding block (450) is in sliding connection with the first sliding rail (440); the follower support (460) is connected with the mounting seat (430), and the follower (410) is connected with the follower support (460).

15. The support apparatus of claim 14, wherein, The self-locking assembly (400) further comprises a fixing seat (470), a guide rod (480) and a compression spring (490); the fixing seat (470) is connected with the base body (100), the guide rod (480) is connected with the fixing seat (470), and the guide rod (480) is arranged in parallel to the moving direction of the self-locking piece (420); two compression springs (490) are sleeved on the guide rod (480). The mounting seat (430) has a connecting portion (431) provided with a guide hole for the guide rod (480) to pass through, and the connecting portion (431) is located between the two compression springs (490); one of the two compression springs (490) is configured to apply a force to the mounting seat (430) to move the follower (410) to the first sliding groove (361); the other of the two compression springs (490) is configured to apply a force to the mounting seat (430) to move the follower (410) to the second sliding groove (362).

16. The support apparatus of claim 15, wherein, The guide rod (480) is two, and the two guide rods (480) are distributed in parallel on both sides of the mounting seat (430), and two compression springs (490) are sleeved on each of the two guide rods (480); the connecting portion (431) is arranged on both sides of the mounting seat (430) and is sleeved with the two guide rods (480) respectively.

17. The support device of any one of claims 2-16, wherein, The sliding rail mechanism (210) comprises an inner rail (212) and an outer rail (211) arranged in relative sliding, one of the inner rail (212) and the outer rail (211) is connected with the base body (100), and the other of the inner rail (212) and the outer rail (211) is connected with the rack (220).

18. The support device of any one of claims 2-16, wherein, Further comprising a first sensor (230) and a second sensor (240), the first sensor (230) and the second sensor (240) are connected with the base body (100) and are distributed at different positions in the extension direction of the rack (220); the rack (220) is connected with a first sensing piece (231) and a second sensing piece (241); When the rack (220) extends to a preset position relative to the base body (100), the first sensing piece (231) is opposite to the first sensor (230); when the rack (220) retracts to an initial position relative to the base body (100), the second sensing piece (241) is opposite to the second sensor (240).

19. The support device of any one of claims 2-16, wherein, The support assembly (200) further comprises a buffer mechanism (250) connected to one end of the rack (220) extending relative to the base body (100); when the rack (220) extends relative to the base body (100), the buffer mechanism (250) is configured to abut against the shelf (2).

20. The support apparatus of claim 19, wherein, The buffer mechanism (250) comprises a buffer seat (251) connected with the rack (220) and a buffer pad (252) movably arranged in the buffer seat (251), and the buffer pad (252) is used to abut against the shelf (2).

21. The support apparatus of claim 20, wherein, The buffer mechanism (250) further comprises a slide rail seat (253), a second slide rail (254) and a second slide block (255), the second slide block (255) is connected with the buffer seat (251), the second slide rail (254) is slidably connected with the second slide block (255), the second slide rail (254) is connected with the slide rail seat (253), and the buffer pad (252) is connected to one side of the slide rail seat (253) away from the second slide rail (254). The direction in which the second slide rail (254) and the second slide block (255) slide relative to each other is parallel to the abutting surface of the buffer pad (252) and the shelf (2).

22. The support apparatus of claim 21, wherein, The buffer mechanism (250) further comprises a tension spring (256), a slide rail end cover (257) and a fixing member (258), the slide rail end cover (257) is connected with the slide rail seat (253), the fixing member (258) is connected with the buffer seat (251), and the two ends of the tension spring (256) are respectively connected with the slide rail end cover (257) and the fixing member (258).

23. The support apparatus of claim 19, wherein, The support assembly (200), the driving assembly (300) and the self-locking assembly (400) are both two and are correspondingly arranged in two groups; the two support assemblies (200) are configured to extend from both ends of the base body (100) to abut against the shelves (2) corresponding to both ends of the support device (10).

24. The support apparatus of claim 19, wherein, The extension direction of the support assembly (200) is the length direction of the base body (100), and the two support assemblies (200) are arranged in the width direction of the base body (100); the end of one of the two support assemblies (200) extends towards the other by a preset distance along the width direction of the base body (100), so that the ends of the two support assemblies (200) abutting against the shelf (2) are opposite in the length direction of the base body (100).

25. A goods-to-person system comprising: The support device (10) is arranged on the goods taking and placing device (30).

26. A warehousing system characterized by The storage and retrieval device (1) as claimed in claim 25, wherein the support device (10) of the storage and retrieval device (1) abuts against the shelves (2) on both sides of the aisle when the storage and retrieval device (1) takes or puts the material box from or on the shelves (2) in the aisle.

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