Goods taking and placing device

Abstract

The utility model provides a goods taking and placing device which is characterized by comprising a straight moving assembly and a taking and placing assembly which is arranged on the straight moving assembly and stretches out and draws back in the goods taking and placing direction. 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 close to the goods allocation in the stretching-out state and away from the goods allocation in the retracting state. 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 application relates to the technical field of storage equipment, in particular to a taking and placing device. BACKGROUND

[0002] In the warehouse logistics industry, a carrying trolley is usually required to carry goods on a warehouse shelf. Common carrying trolleys include a carrying trolley that runs along a track on the shelf or an AGV that freely runs 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] Since the prong on the fork needs to hook the goods from the side of the box and pull them back to the carrying trolley, sufficient space needs to be left between adjacent goods on the shelf so that the fork can enter the gap between the goods to take and place the goods.

[0004] This results in only one storage position being arranged on each side of the carrying trolley track, and the carrying trolley can only carry a box with a depth of one storage position, resulting in a ratio of 1:2 between the trolley track and the storage position in the same area, and low utilization of the storage space. CONTENT OF THE UTILITY MODEL

[0005] The application adopts the technical scheme to solve the above technical problems:

[0006] A taking and placing device, comprising a straight running assembly and a taking and placing assembly arranged on the straight running assembly and extending and retracting in a taking and placing direction; 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 storage position; the taking and placing assembly approaches the storage position in an extended state and moves away from the storage position in a retracted state.

[0007] Preferably, the taking and placing assembly is rotationally connected to the straight running assembly, and the taking and placing assembly can rotate around the straight running assembly, and is configured so that the extension directions of the taking and placing assemblies are opposite.

[0008] 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 to the rotating table through a rotating table mounting plate, and the rotating table is connected to a rotating drive assembly and drives the taking and placing assembly to rotate under the drive of the rotating drive assembly.

[0009] Preferably, the taking and placing assembly comprises a taking and placing drive mechanism, an extension and retraction mechanism and a taking and placing mechanism arranged in sequence, the taking and placing drive mechanism controls the extension and retraction mechanism to extend and retract in the taking and placing direction, the taking and placing mechanism approaches the storage position when the extension and retraction mechanism extends, and the taking and placing mechanism moves away from the storage position when the extension and retraction mechanism retracts.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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 movement of the telescopic mechanism.

[0015] 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.

[0016] Preferably, the straight moving assembly comprises a walking wheel, walking limiting grooves are arranged on both sides of the walking wheel, and the walking wheel walks in the walking limiting grooves; and the straight moving driving assembly is connected with the walking wheel to drive the walking wheel to walk.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] Preferably, the straight movement transmission set comprises a transmission pulley set, the transmission pulley set comprises transmission pulleys arranged at two ends, and a synchronous belt is arranged around the transmission pulleys, the straight movement driving motor is in driving connection with at least one of the transmission pulleys, and the straight movement assembly is fixedly connected with the synchronous belt and is driven to move by the synchronous belt.

[0021] Beneficial effects: the application can realize the taking and placing of goods in multiple depths of goods shelves by arranging the straight movement assembly and the taking and placing assembly which can be telescoped along the direction of taking and placing goods, the straight movement assembly drives the taking and placing assembly to approach the goods, and the taking and placing assembly is telescoped according to the depth of the goods shelf, thereby improving the arrangement number of the goods shelves, reducing the ratio of the running track of the carrying trolley and the arrangement number of the goods shelves, and improving the utilization rate of the storage space. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of a taking and placing device provided by the application;

[0023] Figure 2 is a structural schematic view of a taking and placing assembly provided by the application;

[0024] Figure 3 is Figure 2 is a local enlarged view of part A in FIG. 5;

[0025] Figure 4 is a structural schematic view of another taking and placing device provided by the application;

[0026] Figure 5 is a schematic view of the use state of a multi-depth goods shelf provided by the application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the technical scheme of the embodiments of the application will be described clearly and completely in the following with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. The components of the embodiments of the application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the application.

[0028] Referring to the drawings of the application Figures 1-5The application discloses a kind of taking and placing device, including straight row component 100 and setting in the straight row component 100 along the taking and placing direction telescopic taking and placing component 200;The straight row component 100 is driven under straight row drive component 300 and moves back and forth, and drives the taking and placing component 200 close or far from the goods location;The taking and placing component 200 is close to the goods location in the state of extension, and far from the goods location in the state of retraction.

[0029] In warehouse system, handling trolley runs on running track, the taking and placing device disclosed in the application is arranged on the handling trolley, and goods location is arranged on both sides of the running track, the taking and placing device disclosed in the application can be used for goods location with multiple deep positions, two rows of closely placed containers and goods location with double deep positions, similarly, the application can be used for goods location with multiple deep positions according to specific application scenarios.

[0030] When the taking and placing device disclosed in the application is used, the straight row component drives the taking and placing component 200 to approach the goods location, when the taking and placing component 200 carries the goods of the outermost goods location, the taking and placing component 200 can not extend outward, or the extended part is used to grasp the goods, when the goods of deeper goods location needs to be grasped, the taking and placing component 200 extends outward until contacting the goods, and then the taking and placing component 200 is retracted to place the goods on the handling trolley.

[0031] In the application, the telescopic mechanisms 220 of the straight row component 100 and the taking and placing component 200 for realizing telescopic function are two different structures, but the specific implementation modes can be the same or different, for example, the straight row component 100 can be a slide rail and slide block structure, a hydraulic structure, a scissor fork or a lead screw and nut 242 structure, similarly, the telescopic mechanism 220 of the taking and placing component 200 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 row component 100 and the telescopic mechanism 220 can both adopt a slide rail and slide block structure, or the straight row component 100 adopts a slide rail and slide block structure and the telescopic mechanism 220 adopts a scissor fork structure, which will not be listed one by one here.

[0032] Further, in warehouse system, in order to set as many storage locations as possible, it is necessary to set as few running tracks as possible, therefore, generally, goods location is arranged on both sides of the running track, therefore, in order to ensure that the taking and placing device can take the goods on both sides in the same position, in the embodiment of the application, the taking and placing component 200 is rotationally connected with the straight row component 100, the taking and placing component 200 can rotate around the straight row component 100, and is configured to make the extension directions of the taking and placing component 200 opposite.

[0033] The disclosed picking and placing device uses the straight running group to drive the picking and placing assembly 200 to approach the goods location, and the picking and placing assembly 200 picks up the goods. Since the two sides of the running track are provided with goods locations, and the direction of picking and placing goods last time is not necessarily consistent with the direction of picking and placing goods next time, in order to improve the efficiency of picking and placing goods, the picking and placing assembly 200 and the straight running assembly 100 are arranged in a rotating connection, the picking and placing device does not need to adjust the running direction, only needs to rotate the picking and placing assembly 200 according to the direction of picking goods, so that the direction of picking and placing goods after rotation is changed to the opposite direction, and the angle rotation of the picking and placing assembly 200 and the running of the picking and placing device can be synchronized.

[0034] The straight running assembly 100 and the picking and placing assembly 200 are provided with a rotating assembly 400, the rotating assembly 400 includes a rotating table 410, the picking and placing assembly 200 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 drive assembly 430 and drives the picking and placing assembly 200 to rotate under the driving of the rotating drive assembly 430.

[0035] Specifically, the rotating table 410 is provided with an output shaft at the center, 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 rotates, so as to realize the rotation of the picking and placing assembly 200.

[0036] In other possible embodiments, the rotating device 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 respectively fixed on the picking and placing assembly 200 and the straight running assembly 100, 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 picking and placing device.

[0037] In the disclosed embodiments, in order to compensate the extension distance of the picking and placing assembly 200, the straight running assembly 100 is also provided, which can drive the picking and placing assembly 200 to move forward and backward. In possible embodiments, the straight running assembly 100 includes a walking wheel, walking limit grooves are arranged on the two sides of the walking wheel, and the walking wheel walks in the walking limit grooves; the straight running drive assembly 300 is connected with the walking wheel to drive the walking wheel to walk.

[0038] In other possible embodiments, the straight running assembly 100 includes a straight running sliding block 110 and straight running guide rails 120 arranged on the two sides of the straight running sliding block 110, and the straight running sliding block 110 slides along the straight running guide rails 120.

[0039] The straight sliding block 110 is provided with a straight mounting seat 111 between the straight sliding block 110 and the straight guide rail 120, and the straight sliding block 110 is arranged on the straight mounting seat 111, and the two ends of the straight mounting seat 111 are respectively connected with the straight guide rail 120 in sliding mode.

[0040] The straight driving assembly 300 is further included in the embodiment of the application, which is used for driving the straight assembly 100 to move, and includes a straight driving motor 310 and a straight transmission group 320, the output end of the straight driving motor 310 is in transmission connection with the straight transmission group 320, the straight assembly 100 is fixedly connected with the straight transmission group 320, and the straight assembly 100 is driven to move by the straight transmission group 320.

[0041] The straight transmission group 320 includes a transmission belt wheel group, the transmission belt wheel group includes transmission wheels 321 arranged at two ends, and a synchronous belt 322 arranged around the transmission wheels 321, the straight driving motor 310 is in transmission connection with at least one of the transmission wheels 321, and the straight assembly 100 is fixedly connected with the synchronous belt 322, and the straight assembly 100 is driven to move by the synchronous belt 322.

[0042] When the straight driving motor 310 rotates, the output shaft drives one of the transmission wheels 321 to rotate, because the synchronous belt 322 is in tension on the transmission wheels 321 at two ends, therefore, the transmission belt also slides correspondingly with the rotation of the transmission wheel 321, and the straight assembly 100 is fixedly connected with the synchronous belt 322, thereby driving the straight assembly 100 to move forward.

[0043] In other possible embodiments, the straight transmission group 320 can also be a gear and chain combination, the gear is fixedly arranged on the straight assembly 100 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 also position the moving direction of the straight assembly 100.

[0044] In other possible embodiments, all the driving assemblies in the application can share one motor.

[0045] In the taking and placing device disclosed in the application, the taking and placing assembly 200 includes a taking and placing driving mechanism 210, a telescopic mechanism 220 and a taking and placing mechanism 230 which are sequentially connected, 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.

[0046] 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 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 telescopically move along the taking and placing direction. In other possible embodiments, the taking and placing driving mechanism can also be provided with only the telescopic driving motor 212, an 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.

[0047] The telescopic transmission mechanism 240 comprises a transmission screw rod 241 and a nut 242, the transmission screw rod 241 is drivingly connected with the output end of the telescopic driving motor 212, the nut 242 is arranged on the transmission screw rod 241 in a matched mode, the nut 242 is fixedly connected with the telescopic mechanism 220, and the transmission screw rod 241 drives the telescopic mechanism 220 to telescopically move along the taking and placing direction under the driving of the driving motor.

[0048] When the telescopic driving motor 212 rotates, the transmission screw rod 241 is driven to rotate, the nut 242 arranged on the transmission screw rod 241 moves away from or approaches each other along the transmission screw rod 241, the nut 242 is fixedly connected with the telescopic mechanism 220, the form of the telescopic mechanism 220 changes along with the change of the position of the nut 242, so that the telescopic function of the telescopic mechanism 220 is realized.

[0049] 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 drivingly connected with the grabbing piece 232 to control the grabbing piece 232 to grab or release the goods.

[0050] In possible embodiments, the grabbing piece 232 can be a hook, a lever, a suction cup or other structure capable of being in structure with the goods, and the specific structure adopted can be adjusted according to the shape of the goods to be 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 the container with smooth surface, such as the carton, the lever or the suction cup can be adopted for the grabbing piece 232 due to the absence of the 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 the hook or the lever, the grabbing driving piece 231 can be the motor, and when the grabbing piece 232 is the suction cup, the grabbing driving piece 231 can be the negative pressure generator.

[0051] The telescopic mechanism 220 is provided with a taking and placing mounting frame 2210 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 2210.

[0052] The taking and placing rack 2210 comprises a first mounting rack 2211 and a second mounting rack 2212 arranged vertically, 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.

[0053] The taking and placing mechanism 230 is arranged on one end of the telescopic mechanism 220 close to the goods location, but since 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 rack 2210 is arranged on the telescopic mechanism 220, and the taking and placing mechanism 230 is arranged on the taking and placing rack 2210, 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.

[0054] Further, in order to fix the taking and placing rack 2210, the taking and placing rack 2210 comprises a first mounting rack 2211 and a second mounting rack 2212 arranged vertically, one end of the second mounting rack 2212 is fixedly connected with the midpoint of the first mounting rack 2211, the other end is hingedly connected with the telescopic mechanism 220, and the two ends of the first mounting rack 2211 are respectively hingedly connected with the telescopic mechanism 220, so that displacement of the taking and placing rack 2210 relative to the telescopic mechanism 220 can be avoided, and the firmness of the taking and placing mechanism 230 can be improved.

[0055] The application can realize taking and placing goods of multiple goods location depths by arranging the straight moving assembly 100 and the taking and placing assembly 200 which can be telescoped along the taking and placing direction, the straight moving assembly 100 drives the taking and placing assembly 200 to approach the goods, and the taking and placing assembly 200 is telescoped according to the goods location depth, so that the arrangement number of the goods location is improved, the ratio of the running track of the carrying trolley and the arrangement number of the goods location is reduced, and the utilization rate of the storage space is improved.

[0056] Of course, the application can have other various embodiments, and 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, but these corresponding changes and modifications should all 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 storage and taking device, which comprises a straight moving assembly (100) and a taking and placing assembly (200) arranged on the straight moving assembly (100) and capable of stretching and retracting along a taking and placing direction.

2. The goods-to-person device of claim 1, wherein, The taking and placing assembly (200) is rotationally connected with the straight moving assembly (100), and the taking and placing assembly (200) can rotate around the straight moving assembly (100) and is configured to make the stretching directions of the taking and placing assembly (200) opposite.

3. The goods-to-person device of claim 2, wherein, A rotating assembly (400) is arranged between the straight moving assembly (100) and the taking and placing assembly (200), the rotating assembly (400) comprises a rotating table (410), the taking and placing assembly (200) 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 (200) to rotate.

4. The goods-to-person device of claim 1, wherein, The taking and placing assembly (200) comprises a taking and placing driving mechanism (210), a stretching and retracting mechanism (220) and a taking and placing mechanism (230) which are sequentially connected and arranged, the taking and placing driving mechanism (210) controls the stretching and retracting mechanism (220) to stretch and retract along the taking and placing direction, the taking and placing mechanism (230) approaches a storage location when the stretching and retracting mechanism (220) stretches out, and the taking and placing mechanism (230) moves away from the storage location when the stretching and retracting mechanism (220) retracts.

5. The goods handling apparatus of claim 4, wherein, The taking and placing driving mechanism (210) comprises a driving mounting plate (211) and a stretching and retracting driving motor (212) arranged on the driving mounting plate (211), an output end of the stretching and retracting driving motor (212) is in transmission connection with a stretching and retracting transmission mechanism (240), and the stretching and retracting transmission mechanism (240) is connected with the stretching and retracting mechanism (220) so as to control the stretching and retracting mechanism (220) to stretch and retract along the taking and placing direction.

6. The goods-to-person device of claim 5, wherein, The stretching and retracting transmission mechanism (240) comprises a transmission lead screw (241) and a nut (242), the transmission lead screw (241) is in transmission connection with the output end of the stretching and retracting driving motor (212), the nut (242) is matched and arranged on the transmission lead screw (241), the nut (242) is fixedly connected with the stretching and retracting mechanism (220), and the transmission lead screw (241) drives the stretching and retracting mechanism (220) to stretch and retract along the taking and placing direction under the driving of the driving motor.

7. The goods-to-person device of claim 4, 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), and the grabbing piece (232) is controlled to grab or release goods.

8. The goods-to-person device of claim 7, wherein, One end of the stretching and retracting mechanism (220) close to the storage 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 first rack (2211) and a second rack (2212) arranged vertically, the taking and placing mechanism (230) is arranged on the first 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 rack (2211) along with the telescopic mechanism (220). One end of the second rack (2212) is fixedly connected with the midpoint of the first 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 (100) comprises a walking wheel, walking limiting grooves are arranged on both sides of the walking wheel, and the walking wheel walks in the walking limiting grooves; the straight moving driving assembly (300) is connected with the walking wheel to drive the walking wheel to walk.

11. The goods-to-person device of claim 1, wherein, The straight moving assembly (100) 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, A straight moving mounting seat (111) is arranged between the straight moving sliding block (110) and the straight moving guide rails (120), the straight moving sliding block (110) is arranged on the straight moving mounting seat (111), and both ends of the straight moving mounting seat (111) are slidingly connected with the straight moving guide rails (120).

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 (100) is fixedly connected with the straight moving transmission group (320), and the straight moving assembly (100) 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 set, the transmission belt wheel set comprises transmission wheels (321) arranged at both 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 transmission wheel (321), the straight moving assembly (100) is fixedly connected with the synchronous belt (322), and the straight moving assembly (100) is driven to move by the synchronous belt (322).

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