Goods taking and placing device, goods carrying equipment and carrying robot

Abstract

The utility model provides a goods taking and placing device, goods carrying equipment and a carrying robot. The goods taking and placing device comprises a straight moving assembly and a taking and placing assembly arranged on the straight moving assembly. The straight moving assembly is driven by the straight moving driving assembly to move front and back and drives the taking and placing assembly to be close to or away from the goods allocation. The taking and placing assembly is rotationally connected with the straight moving assembly, the taking and placing assembly can rotate around the straight moving assembly, and the extending directions of the taking and placing assembly are opposite. The proportion of the moving tracks of the carrying trolley to the set number of goods allocations can be reduced, and the utilization rate of storage space is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of storage equipment, in particular to a taking and placing device, a cargo carrying device and a carrying robot. BACKGROUND

[0002] In the warehouse logistics industry, a carrying trolley is usually needed to carry goods on the warehouse shelves. Common carrying trolleys include carrying trolleys that travel along the tracks on the shelves or AGVs that travel freely on the ground. The carrying trolley is provided with a fork, and a prong for hooking goods is arranged on the fork. The fork can be extended in one direction relative to the carrying trolley body to hook the goods.

[0003] The existing carrying trolley can grab goods through a prong that can be extended to both sides. However, the position of the prong is fixed, and the extension length is fixed, so that the position of the goods that can be grabbed by the carrying trolley is also fixed. The carrying trolley cannot grab goods in multiple deep positions, and in order to ensure that the prong can smoothly take the goods, a certain gap needs to be left between the containers, which reduces the storage density and the grabbing efficiency. CONTENT OF THE UTILITY MODEL

[0004] The technical solution adopted by the present application to solve the above technical problems is:

[0005] The present application provides a taking and placing device in the first aspect, which comprises a straight running assembly and a taking and placing assembly arranged on the straight running assembly. The straight running assembly moves forward and backward under the drive of a straight running drive assembly, and drives the taking and placing assembly to approach or move away from a goods location. The taking and placing assembly is rotationally connected with the straight running assembly, and can rotate around the straight running assembly, and is configured to make the extension directions of the taking and placing assemblies opposite.

[0006] Preferably, a rotating assembly is arranged between the straight running assembly and the taking and placing assembly. The rotating assembly comprises a rotating table, the taking and placing assembly is fixedly connected with the rotating table through a rotating table mounting plate, and the rotating table is connected with a rotating drive assembly. The rotating drive assembly drives the taking and placing assembly to rotate.

[0007] Preferably, the taking and placing assembly can be telescopic along the taking and placing direction. In the extended state, the taking and placing assembly is close to the goods location, and in the retracted state, the taking and placing assembly is away from the goods location.

[0008] Preferably, the taking and placing assembly comprises a taking and placing drive mechanism, a telescopic mechanism and a taking and placing mechanism arranged in sequence. The taking and placing drive mechanism controls the telescopic mechanism to telescope along the taking and placing direction. When the telescopic mechanism is extended, the taking and placing mechanism is close to the goods location, and when the telescopic mechanism is retracted, the taking and placing mechanism is away from the goods location.

[0009] Preferably, the taking and placing driving mechanism comprises a driving mounting plate and a telescopic driving motor arranged on the driving mounting plate, an output end of the telescopic driving motor is in transmission connection with a telescopic transmission mechanism, and the telescopic transmission mechanism is connected with the telescopic mechanism to control the telescopic mechanism to telescopically move along the taking and placing direction.

[0010] Preferably, the telescopic transmission mechanism comprises a transmission screw rod and a nut, the transmission screw rod is in transmission connection with the output end of the telescopic driving motor, the transmission screw rod is matched with the nut, the nut is fixedly connected with the telescopic mechanism, and the transmission screw rod drives the telescopic mechanism to telescopically move along the taking and placing direction under the driving of the driving motor.

[0011] Preferably, the taking and placing mechanism comprises a grabbing piece and a grabbing driving piece for driving the grabbing piece to act, an output end of the grabbing driving piece is in transmission connection with the grabbing piece, and the grabbing piece is controlled to grab or release the goods.

[0012] Preferably, one end of the telescopic mechanism close to the goods position is provided with a taking and placing mounting frame, and the grabbing piece and the grabbing driving piece are arranged on the taking and placing mounting frame.

[0013] Preferably, the taking and placing mounting frame comprises a first mounting frame and a second mounting frame arranged vertically, the taking and placing mechanism is arranged on the first mounting frame, a guide sliding block is fixedly arranged on one end of the telescopic mechanism close to the goods position, and the guide sliding block slides on the first mounting frame along with the telescopic mechanism.

[0014] One end of the second mounting frame is fixedly connected with the midpoint of the first mounting frame, and the other end is hingedly connected with the telescopic mechanism.

[0015] Preferably, the straight moving assembly comprises a sliding wheel, walking limiting grooves are arranged on both sides of the sliding wheel, and the sliding wheel walks in the walking limiting grooves; the straight moving driving assembly is connected with the sliding wheel to drive the sliding wheel to walk.

[0016] Preferably, the straight moving assembly comprises a straight moving sliding block and straight moving guide rails arranged on both sides of the straight moving sliding block, and the straight moving sliding block slides along the straight moving guide rails.

[0017] Preferably, a straight moving mounting seat is arranged between the straight moving sliding block and the straight moving guide rails, the straight moving sliding block is arranged on the straight moving mounting seat, and both ends of the straight moving mounting seat are respectively in sliding connection with the straight moving guide rails.

[0018] Preferably, the straight moving driving assembly comprises a straight moving driving motor and a straight moving transmission group, an output end of the straight moving driving motor is in transmission connection with the straight moving transmission group, the straight moving assembly is fixedly connected with the straight moving transmission group, and the straight moving assembly is driven to move by the straight moving transmission group.

[0019] Preferably, the straight-line transmission assembly comprises a transmission pulley assembly, the transmission pulley assembly comprises transmission pulleys arranged at two ends, and a synchronous belt arranged around the transmission pulleys, the straight-line drive motor is in transmission connection with at least one of the transmission pulleys, and the straight-line assembly is fixedly connected with the synchronous belt to drive the straight-line assembly to move through the synchronous belt.

[0020] The second aspect of the present application provides a cargo carrying device, characterized in that the device comprises a cargo taking and placing device and a carrying part, the carrying part is used for carrying cargo, and the cargo slides along the carrying part under the traction of the cargo taking and placing device.

[0021] The third aspect of the present application provides a carrying robot, characterized in that the robot comprises a chassis, a vehicle body frame and a cargo carrying device, the chassis and the vehicle body frame form a placement slot penetrating from front to back, and the cargo carrying device is arranged in the placement slot.

[0022] Preferably, a guide strip is arranged between the vehicle body frame and the cargo carrying device, the guide strip is used for limiting the cargo when the cargo slides along the carrying part; a traveling wheel is arranged between the chassis and the vehicle body frame, and the traveling direction of the carrying robot is perpendicular to the extension direction of the cargo taking and placing device along the placement slot.

[0023] Preferably, the traveling wheel comprises a track traveling wheel, the track traveling wheel is in contact with a track; or the traveling wheel comprises a ground traveling wheel, the ground traveling wheel is in contact with the ground.

[0024] Beneficial effects: the present application is arranged in the form of rotation connection between the taking and placing assembly and the straight-line assembly, the taking and placing assembly can rotate around the straight-line assembly, the taking and placing assembly can be rotated without changing the pose, the taking and placing assembly is used for grabbing the cargo on both sides, and the carrying efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic view of a cargo taking and placing device provided by the present application;

[0026] Figure 2 is a structural schematic view of a taking and placing assembly provided by the present application;

[0027] Figure 3 is Figure 2 is a local enlarged view of part A in FIG. 8;

[0028] Figure 4 is a structural schematic view of another cargo taking and placing device provided by the present application;

[0029] Figure 5 is a structural schematic view of a cargo carrying device provided by the present application;

[0030] Figure 6is a structural schematic diagram of a carrying robot provided by the present application;

[0031] Figure 7 is a schematic diagram of a use state of a multi-depth goods shelf provided by the present application. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0033] Referring to the present application Figures 1-4 A goods taking and placing device includes a straight moving assembly 200 and a taking and placing assembly 100 arranged on the straight moving assembly 200. The straight moving assembly 200 moves forward and backward under the driving of a straight moving driving assembly 300, and drives the taking and placing assembly 100 to approach or move away from a goods location. The taking and placing assembly 100 is rotationally connected with the straight moving assembly 200, and can rotate around the straight moving assembly 200, and is configured to make the extension directions of the taking and placing assemblies 100 opposite.

[0034] In a warehouse system, the goods taking and placing device is arranged on a running track, and goods locations for placing goods are arranged on both sides of the running track. The disclosed goods taking and placing device can be used for goods locations arranged with multiple depths, such as Figure 7 As shown in the figure, two rows of closely placed containers are goods locations arranged with double depths. Similarly, the present application can be used in the case of arranging goods locations with multiple depths according to specific application scenarios.

[0035] In use, the straight moving assembly 200 drives the taking and placing assembly 100 to approach the goods location, and the taking and placing assembly 100 grabs the goods. Since the goods locations are arranged on both sides of the running track, the direction of taking and placing goods this time may not be consistent with the direction of taking and placing goods next time. In order to improve the efficiency of taking and placing goods, the taking and placing assembly 100 and the straight moving assembly 200 are arranged in rotational connection. The goods taking and placing device does not need to be specially adjusted in the running direction, and only needs to rotate the taking and placing assembly 100 according to the direction of taking goods, so that the direction of taking and placing goods after rotation is changed to the opposite direction. Moreover, the angle rotation of the taking and placing assembly 100 and the running of the goods taking and placing device can be synchronized.

[0036] In order to realize the rotation connection between the taking and placing assembly 100 and the straight moving assembly 200, in possible embodiments, a rotating assembly 400 is arranged between the straight moving assembly 200 and the taking and placing assembly 100, the rotating assembly 400 comprises a rotating table 410, the taking and placing assembly 100 is fixedly connected with the rotating table 410 through a rotating table mounting plate 420, and the rotating table 410 is connected with a rotating driving assembly 430, which drives the taking and placing assembly 100 to rotate.

[0037] Specifically, an output shaft is arranged at the center of the rotating table 410, the output shaft is fixedly connected with the rotating table mounting plate 420, and when the output shaft rotates, the rotating table mounting plate 420 is driven to rotate, so as to realize the rotation of the taking and placing assembly 100.

[0038] In other possible embodiments, the rotating assembly 400 can also be a transmission bearing structure, the bearing is composed of an inner bearing sleeve and an outer bearing sleeve sleeved together, the inner bearing sleeve and the outer bearing sleeve are fixed on the taking and placing assembly 100 and the straight moving assembly 200 respectively, and a transmission belt is arranged on the outer bearing sleeve, the outer bearing sleeve is driven to rotate through the transmission belt, so as to realize the rotation of the taking and placing device.

[0039] In the application, the straight moving assembly 200 drives the taking and placing assembly 100 to approach or move away from the goods location for taking and placing goods, when the application scene is a multi-depth goods location, the taking and placing assembly 100 is difficult to grasp the goods in the deep goods location, therefore, in other embodiments, the taking and placing assembly 100 can be telescopic along the taking and placing direction, the taking and placing assembly 100 approaches the goods location in the extended state, and moves away from the goods location in the retracted state.

[0040] In use, the straight moving assembly 200 drives the taking and placing assembly 100 to approach the goods location, when the taking and placing assembly 100 carries the goods in the outermost goods location, the taking and placing assembly 100 can not be extended outward, or the extended part is used for grasping the goods, when the goods in the deeper goods location need to be grasped, the taking and placing assembly 100 is extended outward until contacting the goods, and then the taking and placing assembly 100 is retracted, so that the goods are placed on the carrying trolley.

[0041] In the present application, the telescopic mechanism 220 of the straight running assembly 200 and the pick-and-place assembly 100 for realizing the telescopic function are two different structures, but the specific implementation manners can be the same or different. For example, the straight running assembly 200 can be a slide rail and slide block structure, a hydraulic structure, a scissor fork or a lead screw and nut 242 structure, etc. Similarly, the telescopic mechanism 220 of the pick-and-place assembly 100 can also adopt a slide rail and slide block structure, a hydraulic structure, a scissor fork or a lead screw and nut 242 structure. In implementation, the straight running assembly 200 and the telescopic mechanism 220 can both adopt a slide rail and slide block structure, or the straight running assembly 200 adopts a slide rail and slide block structure while the telescopic mechanism 220 adopts a scissor fork structure. Here, they are not listed one by one.

[0042] In the embodiments disclosed in the present application, the straight running assembly 200 is provided to compensate for the telescopic distance of the pick-and-place assembly 100, and the straight running assembly 200 can drive the pick-and-place assembly 100 to move forward and backward. In possible embodiments, the straight running assembly 200 comprises a sliding wheel, walking limiting grooves are arranged on both sides of the sliding wheel, and the sliding wheel walks in the walking limiting grooves. The straight running driving assembly 300 is connected with the sliding wheel to drive the sliding wheel to walk.

[0043] In other possible embodiments, the straight running assembly 200 comprises a straight running slide block 110 and straight running guide rails 120 arranged on both sides of the straight running slide block 110, and the straight running slide block 110 slides along the straight running guide rails 120.

[0044] A straight running mounting seat 111 is arranged between the straight running slide block 110 and the straight running guide rails 120, the straight running slide block 110 is arranged on the straight running mounting seat 111, and the two ends of the straight running mounting seat 111 are respectively connected with the straight running guide rails 120 in a sliding mode.

[0045] The straight running driving assembly 300 is further included in the embodiments of the present application, which is used to drive the straight running assembly 200 to run, and comprises a straight running driving motor 310 and a straight running transmission group 320. The output end of the straight running driving motor 310 is in transmission connection with the straight running transmission group 320, the straight running assembly 200 is fixedly connected with the straight running transmission group 320, and the straight running assembly 200 is driven to move by the straight running transmission group 320.

[0046] The straight running transmission group 320 comprises a transmission belt wheel group, the transmission belt wheel group comprises transmission wheels 321 arranged at both ends, and a synchronous belt 322 wound around the transmission wheels 321. The straight running driving motor 310 is in transmission connection with at least one of the transmission wheels 321, and the straight running assembly 200 is fixedly connected with the synchronous belt 322, so that the straight running assembly 200 is driven to move by the synchronous belt 322.

[0047] When the straight driving motor 310 rotates, its output shaft drives one of the transmission wheels 321 to rotate. Since the synchronous belt 322 is in tension on the two transmission wheels 321, the transmission belt slides accordingly with the rotation of the transmission wheel 321. The straight assembly 200 is fixedly connected with the synchronous belt 322, thereby driving the straight assembly 200 to move forward.

[0048] In other possible embodiments, the straight transmission assembly 320 can also be a gear and chain combination. The gear is fixedly arranged on the straight assembly 200 and connected with the output shaft of the straight driving assembly 300. When the straight driving assembly 300 rotates, the gear walks along the chain, and the chain can simultaneously position the walking direction of the straight assembly 200.

[0049] In other possible embodiments, all the driving assemblies in the present application can share one motor.

[0050] In the taking and placing device disclosed in the present application, the taking and placing assembly 100 comprises a taking and placing driving mechanism 210, a telescopic mechanism 220 and a taking and placing mechanism 230 arranged in sequence. The taking and placing driving mechanism 210 controls the telescopic mechanism 220 to extend and retract along the taking and placing direction. When the telescopic mechanism 220 extends, the taking and placing mechanism 230 approaches the storage location, and when the telescopic mechanism 220 retracts, the taking and placing mechanism 230 moves away from the storage location.

[0051] The taking and placing driving mechanism 210 comprises a driving mounting plate 211 and a telescopic driving motor 212 arranged on the driving mounting plate 211. The output end of the telescopic driving motor 212 is drivingly connected to a telescopic transmission mechanism 240. The telescopic transmission mechanism 240 is connected with the telescopic mechanism 220 to control the telescopic mechanism 220 to extend and retract along the taking and placing direction. In other possible embodiments, the taking and placing driving mechanism can only comprise the telescopic driving motor 212. The output shaft of the telescopic driving motor 212 is directly drivingly connected with the telescopic transmission mechanism 240, and the telescopic mechanism 220 is driven to move only by the telescopic driving motor 212.

[0052] The telescopic transmission mechanism 240 comprises a transmission screw 241 and a nut 242. The transmission screw 241 is drivingly connected with the output end of the telescopic driving motor 212. The nut 242 is arranged on the transmission screw 241 in a matching manner. The nut 242 is fixedly connected with the telescopic mechanism 220. The transmission screw 241 drives the telescopic mechanism 220 to extend and retract along the taking and placing direction under the driving of the driving motor.

[0053] When the telescopic driving motor 212 rotates, the transmission screw rod 241 is driven to rotate, and the nuts 242 sleeved on the transmission screw rod 241 move away from or close to each other along the transmission screw rod 241, the nuts 242 are fixedly connected with the telescopic mechanism 220, and the position of the nuts 242 changes, so that the form of the telescopic mechanism 220 changes, thereby realizing the telescopic function of the telescopic mechanism 220.

[0054] The taking and placing mechanism 230 comprises a grabbing piece 232 and a grabbing driving piece 231 for driving the grabbing piece 232 to act, and the output end of the grabbing driving piece 231 is in transmission connection with the grabbing piece 232, so as to control the grabbing piece 232 to grab or release goods.

[0055] In possible embodiments, the grabbing piece 232 can be a hook, a lever, a suction cup or other structures that can be in structure with goods, and the specific structure adopted can be adjusted according to the shape of the goods actually carried, for example, when the goods are material boxes, the hooking can be realized by the form of the hook due to the existence of the bent part at the edge of the material box, and for the goods in the form of a smooth surface container, such as a carton, the grabbing piece 232 can adopt the form of a lever or a suction cup because there is no position for hooking. And for different grabbing pieces 232, the grabbing driving piece 231 also changes accordingly, for example, when the grabbing piece 232 is a hook or a lever, the grabbing driving piece 231 can be a motor, and when the grabbing piece 232 is a suction cup, the grabbing driving piece 231 can be a negative pressure generator.

[0056] The telescopic mechanism 220 is provided with a taking and placing mounting frame 221 at one end close to the goods, and the grabbing piece 232 and the grabbing driving piece 231 are arranged on the taking and placing mounting frame 221.

[0057] The taking and placing mounting frame 221 comprises a first mounting frame 2211 and a second mounting frame 2212 arranged vertically, the taking and placing mechanism 230 is arranged on the first mounting frame 2211, and a guide sliding block 222 is fixedly arranged on one end of the telescopic mechanism 220 close to the goods, and the guide sliding block 222 slides on the first mounting frame 2211 along with the telescopic mechanism 220.

[0058] The taking and placing mechanism 230 is arranged at one end of the telescopic mechanism 220 close to the goods, but because the telescopic mechanism 220 frequently switches between the two states of extension and retraction, if the taking and placing mechanism 230 is directly arranged on the telescopic mechanism 220, the mounting part will be firm, therefore, the taking and placing mounting frame 221 is arranged on the telescopic mechanism 220, and the taking and placing mechanism 230 is arranged on the taking and placing mounting frame 221, so that the influence of the state switching of the telescopic mechanism 220 on the firmness of the taking and placing mechanism 230 can be avoided.

[0059] Further, in order to fix the taking and placing mounting frame 221, the taking and placing mounting frame 221 comprises a vertical first mounting frame 2211 and a second mounting frame 2212, one end of the second mounting frame 2212 is fixedly connected with the midpoint of the first mounting frame 2211, the other end is hingedly connected with the telescopic mechanism 220, and the two ends of the first mounting frame 2211 are respectively hingedly connected with the telescopic mechanism 220, so that displacement of the taking and placing mounting frame 221 relative to the telescopic mechanism 220 can be avoided, and the fixing firmness of the taking and placing mechanism 230 is improved.

[0060] Referring to Figure 5 The second aspect of the present application provides a cargo carrying device, which comprises a taking and placing device and a carrying part 600, the carrying part 600 is used for carrying goods, and the goods slide along the carrying part 600 under the traction of the taking and placing device.

[0061] Since the goods to be carried generally have a large weight, in order to avoid the taking and placing device always bearing the weight of the goods, the present application further provides a cargo carrying device, a carrying part 600 is arranged on the cargo carrying device, and the goods to be grabbed are carried on the carrying part 600, so that long-distance carrying is facilitated.

[0062] Referring to Figure 6 The third aspect of the present application provides a carrying robot, which comprises a chassis 500, a vehicle body frame 510 and a cargo carrying device, the chassis 500 and the vehicle body frame 510 form a front-to-back through placement slot, and the cargo carrying device is arranged in the placement slot.

[0063] A guide strip 520 is arranged between the vehicle body frame 510 and the cargo carrying device, the guide strip 520 is used for limiting when the goods slide along the carrying part 600, a traveling wheel 530 is arranged between the chassis 500 and the vehicle body frame 510, and the traveling direction of the carrying robot is perpendicular to the extension direction of the taking and placing device along the placement slot.

[0064] The traveling wheel 530 comprises a track traveling wheel 530 which is in contact with a track, or the traveling wheel 530 comprises a ground traveling wheel 530 which is in contact with the ground.

[0065] The carrying robot provided by the present application can realize bidirectional rotary grabbing, and the installation mode of the two wheel groups of the track traveling wheel 530 and the ground traveling wheel 530 can realize track and ground traveling, and it is conceivable that the track traveling wheel 530 and the ground traveling wheel 530 can also be simultaneously installed on the carrying robot.

[0066] The application can realize the taking and placing of goods of multiple depths of goods locations by setting the straight running assembly 200 and the taking and placing assembly 100 which can be telescopic along the taking and placing direction. The straight running assembly 200 drives the taking and placing assembly 100 to approach the goods, and the taking and placing assembly 100 is telescopic according to the depth of the goods location, thereby improving the arrangement number of the goods locations, reducing the ratio of the running track of the carrying trolley and the setting number of the goods locations, and improving the utilization rate of the storage space.

[0067] Of course, the application can have other various embodiments. Those skilled in the art can make various corresponding changes and modifications according to the application without departing from the spirit and essence of the application. However, these corresponding changes and modifications shall belong to the protection scope of the claims attached to the application.

Claims

1. A goods taking and placing device, characterized in that, The application relates to a vertical and horizontal moving type automatic warehouse taking and placing device.

2. The goods-to-person device of claim 1, wherein, The vertical and horizontal moving type automatic warehouse taking and placing device comprises a straight moving assembly (200) and a taking and placing assembly (100) arranged on the straight moving assembly (200); the straight moving assembly (200) moves forward and backward under the driving of a straight moving driving assembly (300) and drives the taking and placing assembly (100) to approach or move away from a goods location; the taking and placing assembly (100) is rotationally connected with the straight moving assembly (200), the taking and placing assembly (100) can rotate around the straight moving assembly (200), and the taking and placing assembly (100) is configured to make the extension directions of the taking and placing assembly (100) opposite.

3. The goods-to-person device of claim 1, wherein, A rotating assembly (400) is arranged between the straight moving assembly (200) and the taking and placing assembly (100), the rotating assembly (400) comprises a rotating table (410), the taking and placing assembly (100) is fixedly connected with the rotating table (410) through a rotating table mounting plate (420), the rotating table (410) is connected with a rotating driving assembly (430), and the rotating driving assembly (430) drives the taking and placing assembly (100) to rotate.

4. The goods handling apparatus of claim 3, wherein The taking and placing assembly (100) can be telescopic along a taking and placing direction, the taking and placing assembly (100) approaches the goods location in an extension state and moves away from the goods location in a retraction state.

5. The goods handling apparatus of claim 4, wherein, The taking and placing assembly (100) comprises a taking and placing driving mechanism (210), a telescopic mechanism (220) and a taking and placing mechanism (230) which are sequentially connected and arranged, the taking and placing driving mechanism (210) controls the telescopic mechanism (220) to be telescopic along the taking and placing direction, the taking and placing mechanism (230) approaches the goods location when the telescopic mechanism (220) is extended, and the taking and placing mechanism (230) moves away from the goods location when the telescopic mechanism (220) is retracted.

6. The goods-to-person device of claim 5, wherein, The taking and placing driving mechanism (210) comprises a driving mounting plate (211) and a telescopic driving motor (212) arranged on the driving mounting plate (211), an output end of the telescopic driving motor (212) is in transmission connection with a telescopic transmission mechanism (240), the telescopic transmission mechanism (240) is connected with the telescopic mechanism (220) so as to control the telescopic mechanism to be telescopic along the taking and placing direction.

7. The goods-to-person device of claim 4, wherein, The telescopic transmission mechanism (240) comprises a transmission screw rod (241) and a nut (242), the transmission screw rod (241) is in transmission connection with the output end of the telescopic driving motor (212), the nut (242) is matched arranged on the transmission screw rod (241), the nut (242) is fixedly connected with the telescopic mechanism (220), and the transmission screw rod (241) drives the telescopic mechanism (220) to be telescopic along the taking and placing direction under the driving of the driving motor.

8. The goods-to-person device of claim 7, wherein, The taking and placing mechanism (230) comprises a grabbing piece (232) and a grabbing driving piece (231) for driving the grabbing piece (232) to act, an output end of the grabbing driving piece (231) is in transmission connection with the grabbing piece (232) so as to control the grabbing piece (232) to grab or release goods. One end of the telescopic mechanism (220) close to the goods location is provided with a taking and placing mounting frame (221), and the grabbing piece (232) and the grabbing driving piece (231) are arranged on the taking and placing mounting frame (221).

9. The goods-to-person device of claim 8, wherein, The taking and placing rack (221) comprises a vertically arranged first mounting rack (2211) and a second mounting rack (2212), the taking and placing mechanism (230) is arranged on the first mounting rack (2211), and the guide sliding block (222) is fixedly arranged on one end of the telescopic mechanism (220) close to the goods location, and the guide sliding block (222) slides on the first mounting rack (2211) along with the telescopic mechanism (220). One end of the second mounting rack (2212) is fixedly connected with the midpoint of the first mounting rack (2211), and the other end is hingedly connected with the telescopic mechanism (220).

10. The goods-to-person device of claim 1, wherein, The straight moving assembly (200) comprises a sliding wheel, walking limiting grooves are arranged on both sides of the sliding wheel, and the sliding wheel walks in the walking limiting grooves; and the straight moving driving assembly is connected with the sliding wheel to drive the sliding wheel to walk.

11. The goods-to-person device of claim 1, wherein, The straight moving assembly (200) comprises a straight moving sliding block (110) and straight moving guide rails (120) arranged on both sides of the straight moving sliding block (110), and the straight moving sliding block (110) slides along the straight moving guide rails (120).

12. The goods-to-person device of claim 11, wherein, The straight moving sliding block (110) and the straight moving guide rails (120) are provided with a straight moving mounting seat (111) therebetween, the straight moving sliding block (110) is arranged on the straight moving mounting seat (111), and the two ends of the straight moving mounting seat (111) are respectively connected with the straight moving guide rails (120) in a sliding mode.

13. The goods-to-person device of claim 1, wherein, The straight moving driving assembly (300) comprises a straight moving driving motor (310) and a straight moving transmission group (320), the output end of the straight moving driving motor (310) is in transmission connection with the straight moving transmission group (320), the straight moving assembly (200) is fixedly connected with the straight moving transmission group (320), and the straight moving assembly (200) is driven to move by the straight moving transmission group (320).

14. The goods-to-person device of claim 13, wherein, The straight moving transmission group (320) comprises a transmission belt wheel group, the transmission belt wheel group comprises transmission wheels (321) arranged at two ends and a synchronous belt (322) wound around the transmission wheels (321), the straight moving driving motor (310) is in transmission connection with at least one of the transmission wheels (321), the straight moving assembly (200) is fixedly connected with the synchronous belt (322), and the straight moving assembly (200) is driven to move by the synchronous belt (322).

15. A load carrying apparatus characterised by The taking and placing device comprises a taking and placing device as claimed in any one of claims 1-14 and a bearing part (600) for bearing goods, and the goods slide along the bearing part (600) under the traction of the taking and placing device.

16. A transport robot characterized by The taking and placing device comprises a chassis (500), a vehicle body frame (510) and a taking and placing device as claimed in claim 15, the chassis (500) and the vehicle body frame (510) form a placement slot penetrating front to back, and the taking and placing device is arranged in the placement slot.

17. The transport robot of claim 16, wherein, The vehicle body frame (510) is provided with a guide strip (520) between the vehicle body frame (510) and the loading device, the guide strip (520) is used for limiting when the goods slide along the bearing part (600); the chassis (500) is provided with a walking wheel (530) between the chassis (500) and the vehicle body frame (510), and the walking direction of the carrying robot is perpendicular to the extension direction of the placing groove along the goods taking and placing device.

18. The transport robot of claim 17, wherein, The walking wheel (530) comprises a track walking wheel in contact with a walking track, or the walking wheel comprises a ground walking wheel in contact with the ground.

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