Storing and taking device and automatic warehousing system

Abstract

The utility model relates to a storing and taking device and an automatic warehousing system. The access device comprises a mounting base; the push-out mechanism is arranged on the mounting base and can move relative to the mounting base in the first direction; the holding and clamping mechanism comprises a holding and clamping driving part, a holding and clamping transmission assembly, a first clamping assembly and a second clamping assembly, the first clamping assembly and the second clamping assembly extend in the first direction, the holding and clamping driving part is arranged on the pushing-out mechanism and moves along with the pushing-out mechanism, and the holding and clamping transmission assembly is arranged at the output end of the holding and clamping driving part and is in transmission connection with the first clamping assembly and the second clamping assembly; the first clamping assembly and the second clamping assembly are driven to get close to each other or get away from each other in the second direction perpendicular to the first direction, so that the first clamping assembly and the second clamping assembly are in a tight holding state or an opening state. The storing and taking device clamps the storage carriers on the two sides, occupied height space is reduced, the space utilization rate is increased, it is guaranteed that storing and taking actions are stable, the running speed is increased, and then the storing and taking efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the warehouse technology field, in particular to a storage and retrieval device and an automatic warehouse system. BACKGROUND

[0002] At present, in a place where a large number of goods are stored, an automatic storage center with a large storage space is usually considered to be used to realize the free transfer of the storage carriers of the samples stored on the shelves in the automatic storage center for warehousing and delivery.

[0003] In an automatic warehouse system, such as an automatic blood storage center, the transfer of the storage carriers of the samples includes translation, rotation, lifting and other ways to realize the taking, sending or transferring of the storage carriers of the samples.

[0004] At present, the automatic warehouse system generally uses a telescopic arm to lift the storage carrier from the bottom, or uses a telescopic arm to hook out or push in the storage carrier from the two sides by a hook, to realize the storage and retrieval automation of the storage carrier. However, for the telescopic arm lifting the storage carrier from the bottom, the telescopic arm at the bottom occupies a large height space, reduces the utilization rate of the storage space, and the lifting process of the telescopic arm is only limited at the bottom, the stability of the transfer process of the storage carrier is poor, which leads to that the running speed of the telescopic arm cannot be too fast, and affects the storage and retrieval efficiency. Utility model content

[0005] Therefore, it is necessary to provide a storage and retrieval device and an automatic warehouse system to solve the problems of the telescopic arm occupying a large space and poor storage and retrieval stability in the prior art.

[0006] A storage and retrieval device, comprising:

[0007] a mounting base;

[0008] a pushing-out mechanism arranged on the mounting base and movable relative to the mounting base along a first direction; and

[0009] a clamping mechanism comprising a clamping driving member, a clamping transmission assembly, and a first clamping assembly and a second clamping assembly extending along the first direction, the clamping driving member being arranged on the pushing-out mechanism and moving with the pushing-out mechanism, the clamping transmission assembly being arranged on an output end of the clamping driving member and being transmissionally connected with the first clamping assembly and the second clamping assembly to drive the first clamping assembly and the second clamping assembly to move towards or away from each other along a second direction perpendicular to the first direction, so that the first clamping assembly and the second clamping assembly are in a clamping state or an open state.

[0010] In an embodiment of the present application, the clamping transmission assembly comprises a transmission component, a first connecting rod and a second connecting rod, the transmission component is rotatably arranged on the output end of the clamping driving member, the first connecting rod is in transmission connection with the first clamping assembly and the transmission component, and the second connecting rod is in transmission connection with the second clamping assembly and the transmission component.

[0011] The clamping driving member drives the first connecting rod and the second connecting rod to move towards opposite directions through the transmission component, so as to make the first clamping assembly and the second clamping assembly move towards or away from each other along the second direction.

[0012] In an embodiment of the present application, the clamping mechanism further comprises a first support seat, the clamping driving member and the transmission component are arranged on the first support seat.

[0013] The transmission component comprises a first driving gear, a driving cam and a connecting rod, the first driving gear is arranged on the output end of the clamping driving member, the driving cam is rotatably arranged on the first support seat and is in meshing connection with the first driving gear, and the driving cam is eccentric and rotatably connected with one end of the connecting rod.

[0014] The other end of the connecting rod is rotatably connected with one end of the first connecting rod and one end of the second connecting rod, the other end of the first connecting rod is rotatably connected with the first clamping assembly, and the other end of the second connecting rod is rotatably connected with the second clamping assembly.

[0015] In an embodiment of the present application, the driving cam comprises a transmission gear, a first rotating part and a second rotating part, the transmission gear is rotatably arranged on the clamping driving member through the first rotating part and is in meshing connection with the first driving gear, and the second rotating part is offset from the first rotating part along the radial direction of the transmission gear and is rotatably connected with the connecting rod.

[0016] In an embodiment of the present application, the first clamping assembly comprises a first clamping arm, and the second clamping assembly comprises a second clamping arm, the first clamping arm and the second clamping arm are both extended along the first direction and oppositely arranged along the second direction.

[0017] The first clamping arm is in transmission connection with the first connecting rod, and the second clamping arm is in transmission connection with the second connecting rod.

[0018] In an embodiment of the present application, the clamping mechanism further comprises a first support seat, the first clamping assembly further comprises a first guide part, the first support seat has a second guide part corresponding to the first guide part, the first guide part is arranged on the first clamping arm along the second direction and is slidably connected with the second guide part.

[0019] And / or, the holding mechanism further comprises a first support base, the second clamping assembly further comprises a third guide part, the first support base has a fourth guide part corresponding to the third guide part, the third guide part is arranged on the second clamping arm along the second direction and is slidably connected to the fourth guide part;

[0020] And / or, the maximum operating stroke of the first clamping arm from the open state to the holding state is less than or equal to 20mm, and the maximum operating stroke of the second clamping arm from the open state to the holding state is less than or equal to 20mm;

[0021] And / or, the first clamping arm and the second clamping arm are made of carbon fiber material;

[0022] And / or, the storage carrier has a relatively convex first flange edge and a second flange edge along the second direction, a surface of the first clamping arm away from the mounting base is a first support surface for abutting the first flange edge, and a surface of the second clamping arm away from the mounting base is a second support surface for abutting the second flange edge.

[0023] In an embodiment of the present application, the pushing mechanism comprises a second support base, a pushing driving part and a pushing transmission assembly, the second support base is arranged on the mounting base;

[0024] The pushing transmission assembly extends along the first direction, the pushing driving part is in transmission connection with the pushing transmission assembly, and one of them is arranged on the second support base, and the other is connected to the holding driving part to drive the holding driving part to move along the first direction.

[0025] In an embodiment of the present application, the pushing driving part is arranged on the holding driving part, the pushing transmission assembly comprises a second driving gear and a driving rack, the driving rack is arranged on the second support base along the first direction, the second driving gear is arranged on the output end of the pushing driving part and is in meshing with the driving rack, so that the second driving gear drives the pushing driving part and the holding mechanism to move along the first direction;

[0026] And / or, the pushing mechanism further comprises a guide assembly, the guide assembly comprises a first guide part and a second guide part, the first guide part is arranged on the second support base along the first direction, and the second guide part is arranged on the holding driving part and is slidably arranged on the first guide part.

[0027] In an embodiment of the present application, the access device further comprises a rotating mechanism, which is arranged on the mounting base, and an output end of the rotating mechanism is connected to the pushing mechanism to drive the pushing mechanism to drive the clamping mechanism to rotate between preset angles.

[0028] The rotating mechanism comprises a rotating driving member and a right-angle speed reducer, the rotating driving member is arranged on the mounting base, and an output end of the right-angle speed reducer is connected to the pushing mechanism, the rotating driving member is in transmission connection with the right-angle speed reducer, so that the right-angle speed reducer drives the pushing mechanism to drive the clamping mechanism to rotate.

[0029] An automated warehousing system comprises a vertical transportation device, a storage rack, and an access device according to any one of the above embodiments.

[0030] The storage rack has a plurality of storage spaces in the second direction and the third direction, and the storage spaces are used for storing the storage carriers; the vertical transportation device is arranged on the side surface of the storage rack in the third direction and is movable relative to the storage rack in the second direction, and the access device is arranged on the vertical transportation device, and the vertical transportation device can drive the access device to move in the third direction.

[0031] In an embodiment of the present application, the automated warehousing system comprises at least two storage racks, which are arranged at intervals in the first direction, and the vertical transportation device and the access device are located between the at least two storage racks, so that the access device can store or take out the storage carriers from the storage racks on both sides;

[0032] And / or, the automated warehousing system further comprises a horizontal transportation device, which extends in the first direction and is arranged on the end surface of the storage rack, and the horizontal transportation device is used for conveying the storage carriers in the first direction to convey or take the storage carriers to the access device, the horizontal transportation device comprises a conveying mechanism and a positioning mechanism, the conveying mechanism is arranged on the end surface of the storage rack in the first direction, and the positioning mechanism is arranged at a preset position of the conveying mechanism to stop the storage carriers at the preset position, and the positioning mechanism is a positioning sensor or a stopping component;

[0033] And / or, the vertical transportation device comprises a lifting frame, a lifting driving member, and a lifting transmission mechanism, the lifting frame is arranged on the side surface of the storage rack in the third direction, the lifting driving member is arranged on the access device, and the lifting transmission mechanism is arranged on the lifting frame in the third direction and is in transmission connection with the lifting driving member;

[0034] And / or, the automated warehousing system further includes a sliding rail and a sliding drive device, the sliding rail being disposed on the storage rack along a second direction, the vertical transport device being slidably disposed on the sliding rail, and the sliding drive device driving the vertical transport device to move along the sliding rail.

[0035] By adopting the above technical solution, this application has at least the following technical effects:

[0036] The storage and retrieval device and automated storage system of this application include a clamping transmission assembly disposed at the output end of the clamping drive component and drivingly connected to the first clamping component and the second clamping component. This drives the first clamping component and the second clamping component to move closer to each other or further away from each other along a second direction, so that the first clamping component and the second clamping component are in a clamped state or an open state, thereby clamping or releasing the storage carrier. At the same time, the ejection mechanism drives the clamping mechanism to move along the first direction, thereby realizing the storage, retrieval and transfer of the storage carrier.

[0037] Thus, when the clamping drive unit drives the first and second clamping components to approach each other via the clamping transmission assembly, the first and second clamping components are in a clamping state, gripping the sidewalls of the storage carrier. This allows the storage device to clamp the storage carrier from both sides, eliminating the need to drag the storage carrier from its bottom, reducing the height space occupied by the storage device, and improving the space utilization of the automated warehousing system. Simultaneously, when the storage device accesses the storage carrier, the first and second clamping components limit the storage carrier from both sides, preventing lateral displacement and ensuring stable access, thus increasing the operating speed of the storage device and ultimately improving access efficiency. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of an access device holding a storage medium according to an embodiment of this application.

[0039] Figure 2 for Figure 1 The diagram shown is an exploded view of the access device holding the storage medium.

[0040] Figure 3 for Figure 1 The diagram shown illustrates the application of a storage device that holds a storage medium in an automated warehousing system.

[0041] Figure 4 for Figure 3 The diagram shows an embodiment of the storage and retrieval device for accessing storage media in an automated warehousing system.

[0042] Figure 5 for Figure 3Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards one side.

[0043] Figure 6 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 2 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards one side.

[0044] Figure 7 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 6 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0045] Figure 8 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 7 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0046] Figure 9 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 8 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0047] Figure 10 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 6 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0048] Figure 11 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 10 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0049] Figure 12 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 11 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0050] Figure 13 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 7 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0051] Figure 14 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 1 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0052] Figure 15 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 1 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0053] Figure 16 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 15 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0054] Figure 17 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 15 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0055] Figure 18 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side. Figure 1 Schematic view of an access device according to a further embodiment of the application in a state in which the push-out mechanism is moved towards the other side.

[0056] Figure 19 Fig. 1 shows a schematic view of a vertical transportation device installed with an access device in an automated storage system. Figure 4

[0057] 1, the automated storage system; 10, the access device; 100, the installation base; 200, the pushing-out mechanism; 210, the pushing-out driving member; 220, the pushing-out transmission assembly; 221, the second driving gear; 222, the driving rack; 230, the second support base; 240, the guide assembly; 241, the first guide member; 242, the second guide member; 300, the clamping mechanism; 310, the clamping driving member; 320, the clamping transmission assembly; 321, the transmission component; 3211, the first driving gear; 3212, the driving cam; 32121, the transmission gear; 32122, the first rotating part; 32123, the second rotating part; 3213, the adapter link; 322, the first link; 323, the second link; 330, the first clamping assembly; 331, the first clamping arm; 3311, the first support surface; 332, the first guide part; 333, the second guide part; 340, the second clamping assembly; 341, the second clamping arm; 3411, the second support surface; 342, the third guide part; 343, the fourth guide part; 350, the first support base; 351, the support base; 352, the support cover plate; 400, the rotating mechanism; 410, the rotating driving member; 420, the right-angle reducer; 50, the storage carrier; 501, the first side surface; 502, the second side surface; 503, the first flange edge; 504, the second flange edge; 60, the horizontal transportation device; 70, the vertical transportation device; 701, the lifting frame; 702, the lifting driving member; 703, the lifting transmission mechanism; 80, the storage rack; 801, the storage space; 802, the first rack; 803, the second rack; 804, the sliding track; 90, the sliding driving device. DETAILED DESCRIPTION

[0058] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without using some or all of these specific details. In other instances, well-known process steps have not been described in detail in order to avoid obscuring the present application.

[0059] ​In the description of the application, it should be understood that, if there are these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0060] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mounting", "connecting", "connecting", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0062] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on or under second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0063] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions, if used, are used for explanation only and are not intended to be limiting.

[0064] It can be understood that in the automated storage system, the storage carriers are generally used to store goods, and generally, the telescopic arms are used to lift the storage carriers from the bottom or the telescopic arms are used to hook out or push in the storage carriers from both sides by hooks, to realize the storage and taking automation of the storage carriers.

[0065] However, for the mode of lifting the storage carriers from the bottom by the telescopic arms, the telescopic arms at the bottom occupy more height space, reducing the utilization rate of the storage space, the lifting process of the telescopic arms is only limited at the bottom, and the transfer process of the storage carriers is poor in stability, which leads to that the running speed of the telescopic arms cannot be too fast, affecting the storage and taking efficiency.

[0066] Therefore, referring to Figures 1 to 3 The application provides a novel storage and taking device 10, and the automated storage system 1 comprises the storage and taking device 10 of the application, and the storage and taking device 10 of the application is used to realize the storage and taking of the storage carriers 50 in the automated storage system 1. Figure 1 The storage and taking device 10 of an embodiment of the application is used to clamp the storage carriers 50, Figure 2 The storage and taking device 10 of an embodiment of the application is used to clamp the storage carriers 50, Figure 1 The storage and taking device 10 of an embodiment of the application is used to clamp the storage carriers 50, Figure 3 The storage and taking device 10 of an embodiment of the application is used to clamp the storage carriers 50, Figure 1 The storage and taking device 10 of an embodiment of the application is used to clamp the storage carriers 50,

[0067] Exemplarily, the storage carriers 50 are blood baskets, and a plurality of storage containers for storing blood samples, such as sample tubes and the like, are stored in the blood baskets. The storage carriers 50 are in the automated storage system 1, and the automated storage system 1 provides a low-temperature storage environment for the blood samples in the storage carriers 50, realizes the low-temperature storage of the blood samples, and avoids the invalidation of the blood samples. Of course, in other embodiments of the application, the storage carriers 50 can also be used to store other articles in the storage field. In the following description of the specific structure of the storage and taking device 10, only the storage and taking of the storage carriers 50 by the storage and taking device 10 is taken as an example, and the samples stored in the storage carriers 50 will not be limited.

[0068] When storage medium 50 needs to be stored, the access device 10 can clamp the storage medium 50, transfer the storage medium 50 into the automated storage system 1, and release the storage medium 50, thus completing the storage of the storage medium 50. When storage medium 50 needs to be retrieved, the access device 10 clamps the storage medium 50 in the automated storage system 1 and transfers the storage medium 50 away from the automated storage system 1 to place the storage medium 50 in the required position, thus completing the retrieval of the storage medium 50.

[0069] The storage and retrieval device 10 of this application can clamp the storage carrier 50 on both sides, eliminating the need to drag the storage carrier 50 from its bottom, thus reducing the height space occupied by the storage and retrieval device 10 and improving the space utilization rate of the automated warehousing system 1. Simultaneously, the storage and retrieval device 10 can also limit the storage carrier 50 on both sides, preventing lateral displacement of the storage carrier 50, ensuring stable storage and retrieval operations, increasing the operating speed of the storage and retrieval device 10, and thereby improving storage and retrieval efficiency.

[0070] To better illustrate the structure of the storage and retrieval device 10, the structure of the automated warehousing system 1 will be briefly described first. See [link to documentation]. Figures 1 to 5 The automated warehousing system 1 includes a vertical transport device 70, a storage rack 80, and the storage and retrieval device 10 of this application. Figure 4 for Figure 3 The diagram shown illustrates an embodiment of the access device 10 accessing the storage medium 50 in the automated warehousing system 1. Figure 5 for Figure 3 The diagram shown illustrates another embodiment of the access device 10 accessing the storage medium 50 in the automated warehousing system 1.

[0071] The storage rack 80 has multiple storage spaces 801 along a second direction and a third direction, and the storage spaces 801 are used to store storage carriers 50. A vertical transport device 70 is disposed on the side of the storage rack 80 along a third direction and is movable relative to the storage rack 80 along the second direction. A storage and retrieval device 10 is disposed on the vertical transport device 70 and the vertical transport device 70 is capable of driving the storage and retrieval device 10 to move along the third direction. The storage rack 80 is located in the storage warehouse (not shown) of the automated warehousing system 1. The storage rack 80 has storage spaces 801 arranged along the second direction and a third direction, and each storage space 801 stores one storage carrier 50. In this way, the storage rack 80 can store storage carriers 50 in rows and columns, increasing the storage capacity of the storage carriers 50.

[0072] exist Figure 3In the present application, the first direction is the thickness direction, the left-right direction of the storage shelf 80, the second direction is the width direction, the front-rear direction of the storage shelf 80, and the third direction is the height direction, the up-down direction, the top-bottom direction, and the vertical direction of the storage shelf 80. The storage shelf 80 has a certain thickness dimension along the first direction, a certain width dimension along the second direction, and a certain height dimension along the third direction. In addition, the first direction, the second direction, and the third direction are also applicable to the horizontal transport device 60 (mentioned below) and the vertical transport device 70.

[0073] It should be noted that the storage shelf 80 at least includes a first shelf 802 on the left side and a second shelf 803 on the right side. When the access device 10 accesses the storage carriers 50 on the second shelf 803, the access device 10 has the same first direction, second direction, and third direction as the system shown in Figure 1 ) When the access device 10 accesses the storage carriers 50 on the first shelf 802 and takes and places the storage carriers on the horizontal transport device 60, the access device 10 has different first direction, second direction, and third direction from the system shown in Figure 1 ) In the following description of the structure of the access device 10, the directions shown in Figure 1 ) are taken as the reference, and the direction of the access device 10 in use will not be limited.

[0074] The vertical transport device 70 is arranged on the side surface of the storage shelf 80 along the third direction, i.e., the vertical transport device 70 is located on the surface of the storage shelf 80 facing the first direction, and can move relative to the storage shelf 80 along the second direction, so that the vertical transport device 70 moves to each position of the storage shelf 80 along the second direction. The vertical transport device 70 can output lifting movement along the third direction, and the access device 10 is arranged on the output end of the vertical transport device 70 and lifts relative to the storage shelf 80 along the third direction.

[0075] In the present application, the vertical transport device 70 can move relative to the storage shelf 80 along the second direction and drive the access device 10 to lift relative to the storage shelf 80 along the third direction, so that the access device 10 can move to any storage space 801 of the storage shelf 80 to access the storage carrier 50 in the storage space 801. The access device 10 is a device for carrying the storage carrier 50, which can receive the storage carrier 50 delivered from the outside and store the storage carrier 50 in the corresponding storage space 801 of the storage shelf 80, and the access device 10 can also take out the storage carrier 50 and send it out of the storage.

[0076] Referring to Figures 1 to 5In an embodiment, the automated storage and retrieval system 1 can further comprise a horizontal transport device 60. The horizontal transport device 60 extends along the first direction and is arranged at an end face of the storage racks 80. The horizontal transport device 60 is configured to transport the storage carriers 50 along the first direction to deliver or retrieve the storage carriers 50 to the access device 10. The horizontal transport device 60 is arranged at an end face of the storage racks 80 along the first direction, i.e. the horizontal transport device 60 is located at the surface of the storage racks 80 along the second direction and is configured to transport the storage carriers 50 along the first direction. The horizontal transport device 60 is configured to transport the storage carriers 50 along the first direction to deliver the storage carriers 50 to the access device 10. The access device 10 is configured to grip the storage carriers 50 on the horizontal transport device 60 and to store the storage carriers 50 in the corresponding storage spaces 801 to complete the storage operation of the storage carriers 50.

[0077] Of course, in other embodiments of the present application, the vertical transport device 70 comprises an extension track. A window corresponding to the extension track is arranged at the storage library. The access device 10 is configured to move along the extension track. In this way, the access device is configured to retrieve the storage carriers 50 delivered by the window along the extension track, to transport the storage carriers 50 to the storage racks 80 by the vertical transport device 70, and to take out the storage carriers from the storage racks 80 by the vertical transport device 70 and directly deliver the storage carriers 50 out of the window along the extension track.

[0078] It is worth mentioning that the principle of the extension track is substantially the same as that of the horizontal transport device 60 described above. Both of them belong to the structure of the storage racks 80 interfacing with the outside. In the following, the horizontal transport device 60 will be taken as an example for description. The specific structure of the horizontal transport device 60 and the vertical transport device 70 will be described in the following. Exemplarily, the vertical transport device 70 is configured to move along the second direction to the position of the corresponding column of the storage spaces 801. Then, the vertical transport device 70 drives the access device 10 to ascend or descend along the third direction to make the access device 10 face the storage spaces 801. The access device 10 is configured to access the storage carriers 50 to the storage spaces 801.

[0079] When it is required to store the storage carrier 50 in a certain storage space 801 of the storage shelf 80 (i.e. to put the storage carrier 50 into storage), an external device such as a mechanical arm or a conveyor belt structure transfers the storage carrier 50 to the horizontal transportation device 60, the horizontal transportation device 60 transports the storage carrier 50 to the corresponding position of the access device 10 along the first direction, and the horizontal transportation device 60 stops transporting. At this time, the access device 10 can clamp the storage carrier 50, and then the vertical transportation device 70 moves relative to the storage shelf 80 along the second direction to the position of the corresponding column of the storage space 801, the vertical transportation device 70 drives the access device 10 to move along the third direction to move the access device 10 to the storage space 801, and releases the storage carrier 50 to store the storage carrier 50 in the storage space 801, thereby achieving the storage of the storage carrier 50.

[0080] When it is required to store the storage carrier 50 in a certain storage space 801 of the storage shelf 80 (i.e. to put the storage carrier 50 into storage), an external device such as a mechanical arm or a conveyor belt structure transfers the storage carrier 50 to the horizontal transportation device 60, the horizontal transportation device 60 transports the storage carrier 50 to the corresponding position of the access device 10 along the first direction, and the horizontal transportation device 60 stops transporting. At this time, the access device 10 can clamp the storage carrier 50, and then the vertical transportation device 70 moves relative to the storage shelf 80 along the second direction to the position of the corresponding column of the storage space 801, the vertical transportation device 70 drives the access device 10 to move along the third direction to move the access device 10 to the storage space 801, and releases the storage carrier 50 to store the storage carrier 50 in the storage space 801, thereby achieving the storage of the storage carrier 50.

[0081] The specific structure of the access device 10 of an embodiment is described below.

[0082] Referring to Figures 1 to 3 、 Figure 6 In an embodiment, the access device 10 includes a mounting base 100, a pushing mechanism 200, and a clamping mechanism 300. The pushing mechanism 200 is arranged on the mounting base 100 and can move relative to the mounting base 100 along the first direction. The clamping mechanism 300 includes a clamping driving member 310, a clamping transmission assembly 320, and a first clamping assembly 330 and a second clamping assembly 340 extending along the first direction. The clamping driving member 310 is arranged on the pushing mechanism 200 and moves with the pushing mechanism 200. The clamping transmission assembly 320 is arranged on the output end of the clamping driving member 310 and is transmissionally connected with the first clamping assembly 330 and the second clamping assembly 340 to drive the first clamping assembly 330 and the second clamping assembly 340 to move relative to each other along the second direction perpendicular to the first direction, so that the first clamping assembly 330 and the second clamping assembly 340 are in a clamped state or an open state. Figure 6For Figure 2 An exploded view of the push-out mechanism 200 and the clamping mechanism 300 in the access device 10 shown in FIG. 1.

[0083] The mounting base 100 is a mounting component of the access device 10, and each component of the access device 10 is integrally arranged on the mounting base 100 to form an integrated whole. The mounting base 100 is connected to the output end of the vertical transportation device 70, so that the access device 10 is mounted on the vertical transportation device 70. The vertical transportation device 70 can drive the mounting base 100 to move along the third direction, and thus drive the entire access device 10 to move along the third direction through the mounting base 100.

[0084] The push-out mechanism 200 is arranged on the mounting base 100 and can output movement along the first direction. The clamping mechanism 300 is arranged on the output end of the push-out mechanism 200, and the push-out mechanism 200 can drive the clamping mechanism 300 to move synchronously along the first direction. The clamping mechanism 300 has a clamping state and an open state. When the clamping mechanism 300 is in the clamping state, the clamping mechanism 300 can clamp the storage carrier 50. When the clamping mechanism 300 is in the open state, the clamping mechanism 300 can release the storage carrier 50, or can be ready to clamp the storage carrier 50.

[0085] When the push-out mechanism 200 moves along the first direction, the push-out mechanism 200 can extend into or move out of the storage shelf 80. When the push-out mechanism 200 moves along the first direction towards the storage shelf 80, the push-out mechanism 200 can drive the clamping mechanism 300 to extend into the corresponding storage space 801, and at this time, the clamping mechanism 300 can clamp or release the storage carrier 50 in the storage space 801. Then, the push-out mechanism 200 can move along the first direction away from the storage shelf 80, so that the push-out mechanism 200 moves out of the storage shelf 80.

[0086] In the clamping mechanism 300, the clamping drive 310 is the power source of the clamping mechanism 300. In this embodiment, the clamping drive 310 is a rotary motor with a speed reducer. Of course, in other embodiments of the present application, the clamping drive 310 can also be a rotary cylinder or other structure capable of outputting rotary motion. The clamping transmission assembly 320 is arranged on the output end of the clamping drive 310 and connects the first clamping assembly 330 and the second clamping assembly 340, so that the clamping drive 310 drives the first clamping assembly 330 and the second clamping assembly 340 through the clamping transmission assembly 320.

[0087] The clamping transmission assembly 320 transmits the movement of the clamping drive member 310, transferring the power of the clamping drive member 310 to the first clamping assembly 330 and the second clamping assembly 340, causing the first clamping assembly 330 and the second clamping assembly 340 to move closer to or further away from each other along the second direction. The clamping drive member 310 is mounted on the ejection mechanism 200. When the ejection mechanism 200 moves along the first direction, the ejection mechanism 200 can drive the clamping transmission assembly 320, the first clamping assembly 330, and the second clamping assembly 340 to move along the first direction via the clamping drive member 310.

[0088] See Figure 1 , Figures 6 to 12 , Figure 7 for Figure 6 The diagram shows the clamping mechanism 300 in the open state of the storage and retrieval device 10. Figure 8 for Figure 7 The top view of the clamping mechanism 300 shown. Figure 9 for Figure 8 The diagram shown illustrates the release of the storage carrier 50 by the clamping mechanism 300. Figure 10 for Figure 6 The diagram shows the clamping mechanism 300 in the clamping state of the storage and retrieval device 10. Figure 11 for Figure 10 The top view of the clamping mechanism 300 shown. Figure 12 for Figure 11 The diagram shows the clamping mechanism 300 holding the storage carrier 50.

[0089] The first clamping component 330 and the second clamping component 340 are the main components for clamping the storage carrier 50. Both the first clamping component 330 and the second clamping component 340 extend along a first direction and are arranged opposite each other along a second direction, with a certain distance between them along the second direction. The first clamping component 330 and the second clamping component 340 are arranged on both sides of the storage carrier 50 along the second direction, such as... Figure 1 , Figure 9 and Figures 10 to 12 .

[0090] For ease of description, the storage carrier 50 is described as having a first side 501 and a second side 502 facing each other along the second direction. When the clamping mechanism 300 clamps the storage carrier 50, the clamping drive member 310 drives the clamping transmission assembly 320 to move the first clamping assembly 330 and the second clamping assembly 340 closer to each other along the first direction. The first clamping assembly 330 gradually approaches and abuts against the first side 501, and the second clamping assembly 340 gradually approaches and abuts against the second side 502. At this time, the clamping mechanism 300 can stably clamp the storage carrier 50 from both sides, and the first clamping assembly 330 and the second clamping assembly 340 are in a clamped state, such as...Figures 7 to 9 as shown.

[0091] When the clamping mechanism 300 releases the storage carrier 50, the clamping drive 310 drives the clamping transmission assembly 320 to drive the first clamping assembly 330 and the second clamping assembly 340 to move away from each other in the first direction, the first clamping assembly 330 moves away from the first side surface 501, and the second clamping assembly 340 moves away from the second side surface 502. At this time, the first clamping assembly 330 and the second clamping assembly 340 are not in contact with the storage carrier 50, and the first clamping assembly 330 and the second clamping assembly 340 are in an open state, as shown. Figures 6 to 12

[0092] In this way, the clamping mechanism 300 clamps the two sides of the storage carrier 50 in the second direction through the first clamping assembly 330 and the second clamping assembly 340, thereby achieving the clamping of the storage carrier 50. In this way, the telescopic arm or the like structure does not need to be arranged at the bottom of the storage carrier 50, thereby avoiding the storage and retrieval device 10 occupying space in the third direction (height direction) and the second direction (lateral direction) of the storage carrier 50, and improving the space utilization rate of the storage shelf 80.

[0093] Meanwhile, after the clamping mechanism 300 clamps the storage carrier 50 through the first clamping assembly 330 and the second clamping assembly 340, the first clamping assembly 330 and the second clamping assembly 340 can limit the displacement of the storage carrier 50 in the second direction, so that the storage carrier 50 cannot move in the second direction towards the direction of the first clamping assembly 330 or the direction of the second clamping assembly 340, thereby improving the stability of the clamping mechanism 300 clamping the storage carrier 50. In this way, when the pushing-out mechanism 200 drives the clamping mechanism 300 to move in the first direction, the clamping mechanism 300 can stably clamp the storage carrier 50, so that the speed of the pushing-out mechanism 200 can be appropriately increased, thereby improving the storage and retrieval efficiency of the storage and retrieval device 10.

[0094] The storage and retrieval device 10 of the above embodiment clamps the storage carrier 50 on both sides of the storage carrier 50 through the first clamping assembly 330 and the second clamping assembly 340, without dragging the storage carrier 50 at the bottom of the storage carrier 50, thereby reducing the height space occupied by the storage and retrieval device 10 and improving the space utilization rate of the automated warehouse system 1. Meanwhile, when the storage and retrieval device 10 stores and retrieves the storage carrier 50, the first clamping assembly 330 and the second clamping assembly 340 limit the storage carrier 50 on both sides, so that the storage carrier 50 cannot displace in the left-right direction, thereby ensuring the stability of the storage and retrieval operation, improving the running speed of the storage and retrieval device 10, and further improving the storage and retrieval efficiency.

[0095] Referring to Figure 2 ​In an embodiment, the clamping transmission assembly 320 comprises a transmission component 321, a first connecting rod 322 and a second connecting rod 323. The transmission component 321 is rotatably arranged at the output end of the clamping drive 310. The first connecting rod 322 is in transmission connection with the first clamping assembly 330 and the transmission component 321. The second connecting rod 323 is in transmission connection with the second clamping assembly 340 and the transmission component 321. The clamping drive 310 drives the first connecting rod 322 and the second connecting rod 323 to move in opposite directions through the transmission component 321, so as to make the first clamping assembly 330 and the second clamping assembly 340 move towards or away from each other in the second direction.

[0096] The transmission component 321 is arranged at the output end of the clamping drive 310. The first connecting rod 322 and the second connecting rod 323 extend in the second direction and are connected with the transmission component 321 in opposite layouts. One end of the first connecting rod 322 is in transmission connection with the transmission component 321. The other end of the first connecting rod 322 is in transmission connection with the first clamping assembly 330. One end of the second connecting rod 323 is in transmission connection with the transmission component 321. The other end of the second connecting rod 323 is in transmission connection with the second clamping assembly 340.

[0097] When the clamping drive 310 drives the transmission component 321 to rotate, the transmission component 321 can simultaneously drive the first connecting rod 322 and the second connecting rod 323 to move. The first connecting rod 322 and the second connecting rod 323 move in opposite directions. Thus, the first connecting rod 322 drives the first clamping assembly 330 to move in the second direction. The second connecting rod 323 drives the second clamping assembly 340 to move in the second direction. The first clamping assembly 330 and the second clamping assembly 340 move towards or away from each other. The first clamping assembly 330 and the second clamping assembly 340 are in a clamping state or an open state, so as to clamp or release the storage carrier 50.

[0098] Referring to Figure 6 , Figure 7 and Figure 2 In an embodiment, the clamping mechanism 300 comprises a first support seat 350. The first support seat 350 is arranged at the output end of the pushing mechanism 200. The clamping drive 310 is arranged at the first support seat 350. The first clamping assembly 330 and the second clamping assembly 340 are movably arranged at the first support seat 350. The first support seat 350 supports the components of the clamping mechanism 300. The first support seat 350 is arranged at the output end of the pushing mechanism 200. The clamping drive 310 is arranged at the first support seat 350. The clamping transmission assembly 320 is movably arranged at the first support seat 350.

[0099] When the push-out mechanism 200 drives the first support base 350 to move in the first direction, the first support base 350 can drive the clamping drive member 310, the first clamping assembly 330 and the second clamping assembly 340 to move in the first direction synchronously. Meanwhile, one end of the first clamping assembly 330 and the second clamping assembly 340 is movably arranged on the first support base 350, and the other end extends in the first direction away from the first support base 350. The first support base 350 can provide support for the first clamping assembly 330 and the second clamping assembly 340, thereby improving the stability of the clamping of the first clamping assembly 330 and the second clamping assembly 340.

[0100] It is worth noting that the structure of the first support base 350 is not limited in principle, as long as it can support the clamping drive member 310, the transmission member 321, the first clamping assembly 330 and the second clamping assembly 340. See Figure 6 、 Figure 7 and Figure 2 In an embodiment, the first support base 350 includes a support base 351 and a support cover plate 352. The support base 351 is arranged on the output end of the push-out mechanism 200, and the support cover plate 352 is arranged on the support base 351. The first clamping assembly 330 and the second clamping assembly 340 are movably arranged on the support base 351, and the clamping drive member 310 and the transmission member 321 are movably arranged on the support cover plate 352.

[0101] Of course, in other embodiments of the present application, the first support base 350 can also be a whole frame structure or other splicing structure that can support the clamping drive member 310, the transmission member 321, the first clamping assembly 330 and the second clamping assembly 340. See Figure 6 、 Figure 7 and Figure 1 In an embodiment, a plurality of support plates (not shown) are arranged in the first support base 350, and the first clamping assembly 330 and the second clamping assembly 340 are supported by the plurality of support plates respectively.

[0102] See Figure 2 、 Figures 6 to 12 、 Figures 6 to 12 In an embodiment, the first clamping assembly 330 includes a first clamping arm 331, and the second clamping assembly 340 includes a second clamping arm 341. The first clamping arm 331 and the second clamping arm 341 extend in the first direction and are oppositely arranged in the second direction. The first clamping arm 331 is transmissionally connected to the first connecting rod 322, and the second clamping arm 341 is transmissionally connected to the second connecting rod 323.

[0103] The first clamping arm 331 is a main structure of the first clamping assembly 330, and the second clamping arm 341 is a main structure of the second clamping assembly 340. The first clamping arm 331 is in transmission connection with the first connecting rod 322, and the second clamping arm 341 is in transmission connection with the second connecting rod 323. When the clamping driving member 310 drives the transmission component 321 to rotate, the transmission component 321 drives the first connecting rod 322 and the second connecting rod 323 to move synchronously, and then the first connecting rod 322 drives the first clamping arm 331 to move, and the second connecting rod 323 drives the second clamping arm 341 to move, so that the first clamping arm 331 and the second clamping arm 341 move close to or away from each other, and then the first clamping arm 331 clamps or releases the storage carrier 50.

[0104] It is worth noting that the structural form of the first clamping arm 331 and the second clamping arm 341 is not limited in principle, as long as the first clamping arm 331 and the second clamping arm 341 can reliably clamp the storage carrier 50. In the embodiment, the first clamping arm 331 and the second clamping arm 341 are clamping plates to increase the contact area with the storage carrier 50 and achieve reliable clamping of the storage carrier 50. Of course, in other embodiments of the application, the first clamping arm 331 and the second clamping arm 341 can also be rods or other structural forms that can achieve reliable clamping.

[0105] Referring to Figures 7 to 9 In an embodiment of the application, the transmission component 321 includes a first driving gear 3211, a driving cam 3212, and an adapter connecting rod 3213. The first driving gear 3211 is arranged at the output end of the clamping driving member 310. The driving cam 3212 is rotatably arranged at the first support seat 350 and is in meshing connection with the first driving gear 3211. The driving cam 3212 is eccentric and rotatably connected to one end of the adapter connecting rod 3213. The other end of the adapter connecting rod 3213 is rotatably connected to one end of the first connecting rod 322 and one end of the second connecting rod 323. The other end of the first connecting rod 322 is rotatably connected to the first clamping assembly 330, and the other end of the second connecting rod 323 is rotatably connected to the second clamping assembly 340.

[0106] The first driving gear 3211 is arranged at the output end of the clamping driving member 310. The center of the driving cam 3212 is rotatably arranged at the support cover plate 352 of the first support seat 350. The driving cam 3212 is in meshing connection with the first driving gear 3211. The driving cam 3212 is also eccentric and rotatably connected to one end of the adapter connecting rod 3213. The other end of the adapter connecting rod 3213 is rotatably connected to one end of the first connecting rod 322 and one end of the second connecting rod 323. The other end of the first connecting rod 322 is also rotatably connected to the first clamping arm 331, which can be rotatably connected through a hinged seat or the like. The other end of the second connecting rod 323 is also rotatably connected to the second clamping arm 341, which can be rotatably connected through a hinged seat or the like.

[0107] When the clamping drive component 310 drives the first drive gear 3211 to rotate, the first drive gear 3211 drives the drive cam 3212 to rotate through a meshing relationship. Since the drive cam 3212 is eccentrically connected to the adapter link 3213, and thus connects the first link 322 and the second link 323, when the drive cam 3212 rotates, it can drive the first link 322 and the second link 323 to retract towards the center or move away from the center through the adapter link 3213. Consequently, the first link 322 and the second link 323 drive the first clamping arm 331 and the second clamping arm 341 to move closer to or further away from each other. Here, the center refers to the symmetrical central axis of the first link 322 and the second link 323, which is the central axis of the clamping mechanism 300.

[0108] Understandably, when the clamping mechanism 300 clamps the storage carrier 50, there will inevitably be a deviation between the storage carrier 50 and the preset clamping position. The preset clamping position refers to the space enclosed by the first clamping arm 331 and the second clamping arm 341 (i.e., the position of the clamping mechanism 300). When the push-out mechanism 200 drives the clamping mechanism 300 to position the first clamping arm 331 and the second clamping arm 341 on both sides of the storage carrier 50, there will inevitably be a deviation between the central axis of the storage carrier 50 and the central axis of the clamping mechanism 300.

[0109] To achieve accurate clamping of the storage carrier 50, the clamping mechanism 300 of this application has the feature of adaptive clamping. Through the cooperation of the clamping transmission assembly 320 with the first link 322 and the second link 323, the clamping mechanism 300 adaptively clamps the storage carrier 50 without considering the error between the storage carrier 50 and the preset clamping position. The clamping drive component 310, through the cooperation of the first drive gear 3211, the drive cam 3212, the adapter link 3213 with the first link 322 and the second link 323, enables the first clamping arm 331 and the second clamping arm 341 to accurately and stably clamp the storage carrier 50.

[0110] like Figures 10 to 12 As shown, the first clamping arm 331 and the second clamping arm 341 are in the open state, and the first connecting rod 322 and the second connecting rod 323 are moving away from each other towards the center, that is, the first connecting rod 322 and the second connecting rod 323 are collinear and extend along the second direction. The protrusion of the drive cam 3212 is away from the first connecting rod 322 and the second connecting rod 323 via the transition connecting rod 3213. At this time, the first clamping arm 331 and the second clamping arm 341 are moving away from each other. Figures 7 to 12As shown, the first clamping arm 331 and the second clamping arm 341 are in a clamping state, the first connecting rod 322 and the second connecting rod 323 move towards the middle, that is, the connection between the first connecting rod 322 and the second connecting rod 323 and the driving cam 3212 arches towards the middle, and the protruding part of the driving cam 3212 moves towards the first connecting rod 322 and the second connecting rod 323 through the adapter connecting rod 3213. At this time, the first clamping arm 331 and the second clamping arm 341 are close to each other.

[0111] As shown in FIG. 1, the storage carrier 50 is placed on the storage carrier placing platform 100, and the storage carrier 50 is placed on the storage carrier placing platform 100. Figure 13 When the clamping mechanism 300 starts to clamp the storage carrier 50, the first clamping arm 331 and the second clamping arm 341 are in an open state, the push-out mechanism 200 drives the clamping mechanism 300 to move in the first direction, so that the first clamping arm 331 and the second clamping arm 341 are on both sides of the storage carrier 50. At this time, there is a first distance between the first clamping arm 331 and the first side surface 501, and a second distance between the second clamping arm 341 and the second side surface 502, and the first distance is smaller than the second distance. The clamping driving part 310 drives the first connecting rod 322 and the second connecting rod 323 to move towards the middle through the first driving gear 3211 and the driving cam 3212. At this time, the driving cam 3212 drives the adapter connecting rod 3213 to drive the first connecting rod 322 and the second connecting rod 323 to move in a direction away from the clamping driving part 310, and then the first clamping arm 331 and the second clamping arm 341 are close to each other.

[0112] When the first clamping arm 331 abuts against the first side surface 501, there is still a certain distance between the second clamping arm 341 and the second side surface 502. At this time, the resistance received by the first clamping arm 331 is greater than the resistance received by the second clamping arm 341, the movement of the first clamping arm 331 towards the second clamping arm 341 is blocked or slow, and the second clamping arm 341 continues to move towards the first clamping arm 331 until the second clamping arm 341 abuts against the second side surface 502. At this time, the first clamping arm 331 and the second clamping arm 341 are in a clamping state, so as to reliably clamp the storage carrier 50, without considering the position deviation of the storage carrier 50 and the clamping mechanism 300, and achieving accurate clamping of the storage carrier 50.

[0113] As shown in FIG. 1, the storage carrier 50 is placed on the storage carrier placing platform 100, and the storage carrier 50 is placed on the storage carrier placing platform 100. Figure 13 As shown in FIG. 1, the storage carrier 50 is placed on the storage carrier placing platform 100, and the storage carrier 50 is placed on the storage carrier placing platform 100. Figure 7 As shown in FIG. 1, the storage carrier 50 is placed on the storage carrier placing platform 100, and the storage carrier 50 is placed on the storage carrier placing platform 100. Figure 13 As shown in FIG. 1, the storage carrier 50 is placed on the storage carrier placing platform 100, and the storage carrier 50 is placed on the storage carrier placing platform 100. Figure 13The middle B point position is fixed. The driving cam 3212 can also rotate to the D1 point position at the D point position, and at the same time, the second clamping arm 341 is driven to move from the C point position to the C1 point position, so that the second clamping arm 341 can abut against the second side surface 502, and the first clamping arm 331 and the second clamping arm 341 can clamp the storage carrier 50. Figures 6 to 12 In the middle, the O point position is the center of the driving cam 3212.

[0114] It is worth noting that if the distance between the second clamping arm 341 and the second side surface 502 is greater than the distance between the first clamping arm 331 and the first side surface 501, the self-adaptive clamping principle is substantially the same as described above, and will not be described again. Moreover, the process of releasing the storage carrier 50 by the first clamping arm 331 and the second clamping arm 341 is the reverse process of clamping the storage carrier 50 by the first clamping arm 331 and the second clamping arm 341, and will not be described again.

[0115] Referring to Figure 6 In an embodiment, the driving cam 3212 includes a transmission gear 32121, a first rotating part 32122, and a second rotating part 32123. The transmission gear 32121 is rotatably arranged on the clamping driving member 310 through the first rotating part 32122 and is engaged with the first driving gear 3211. The second rotating part 32123 is offset from the first rotating part 32122 along the radial direction of the transmission gear 32121 and is rotatably connected to the adapter connecting rod 3213.

[0116] The first rotating part 32122 is rotatably arranged at the rotation center of the transmission gear 32121 along the third direction, and the first rotating part 32122 is fixed to the first support seat 350. The transmission gear 32121 is engaged with the first driving gear 3211, and the transmission gear 32121 can rotate around the first rotating part 32122. The second rotating part 32123 is arranged on the transmission gear 32121 and is spaced apart from the first rotating part 32122 along the radial direction, i.e., the second rotating part 32123 is eccentrically arranged relative to the first rotating part 32122.

[0117] At the same time, the second rotating part 32123 is rotatably connected to one end of the adapter connecting rod 3213, and the other end of the adapter connecting rod 3213 is rotatably and coaxially connected to one end of the first connecting rod 322 and the second connecting rod 323. In this way, when the clamping driving member 310 drives the first driving gear 3211 to rotate, the first driving gear 3211 drives the transmission gear 32121 to rotate around the first rotating part 32122 through the engagement relationship, and then the transmission gear 32121 drives the adapter connecting rod 3213 to move through the second rotating part 32123, so that the adapter connecting rod 3213 drives the first connecting rod 322 and the second connecting rod 323 to move towards the direction of approaching or moving away from the clamping driving member 310, so that the first clamping arm 331 and the second clamping arm 341 approach or move away from each other.

[0118] In this embodiment, the first rotating part 32122 and the second rotating part 32123 are rotating shafts. Of course, in other embodiments of the present application, the first rotating part 32122 and the second rotating part 32123 can also be bearings or other components capable of realizing rotating connection.

[0119] Of course, in other embodiments of the present application, the transmission component 321 is a driving gear, the first connecting rod 322 and the second connecting rod 323 are both racks, the first connecting rod 322 and the second connecting rod 323 are arranged on the two sides of the driving gear along a third direction perpendicular to the first direction and the second direction, and are in meshing connection with the driving gear, the first connecting rod 322 extends along the second direction and is fixedly connected with the first clamping assembly 330, and the second connecting rod 323 extends along the second direction and is fixedly connected with the second clamping assembly 340.

[0120] That is, the first clamping arm 331 and the second clamping arm 341 can also be driven to move closer to or farther away from each other through the cooperation of the gear and the rack. The first connecting rod 322 and the second connecting rod 323 are arranged on the upper and lower sides of the driving gear along the third direction, and are in meshing connection with the driving gear at the same time. When the driving gear rotates, the driving gear can simultaneously drive the first connecting rod 322 and the second connecting rod 323 to move in opposite directions along the second direction, so that the first clamping arm 331 and the second clamping arm 341 move closer to or farther away from each other, thereby realizing accurate clamping of the storage carrier 50.

[0121] It is worth noting that whether the transmission structure is a cam or a rack, the structure of the access device 10 is substantially the same except for the transmission structure. Only the fixed connection or rotatable connection of the first connecting rod 322 and the first clamping arm 331 will be described below with the transmission structure being a cam.

[0122] Referring to Figure 7 and Figure 6 In an embodiment, the first clamping assembly 330 further comprises a first guide part 332, the first support seat 350 has a second guide part 333 corresponding to the first guide part 332, the first guide part 332 is arranged on the first clamping arm 331 along the second direction and is slidably connected with the second guide part 333. Figure 6 The cooperation of the first guide part 332 and the second guide part 333 is partially enlarged in the figure. The cooperation of the first guide part 332 and the second guide part 333 can guide the movement of the first clamping arm 331.

[0123] When the first clamping arm 331 moves along the second direction, the first clamping arm 331 can drive the first guide part 332 to move along the second guide part 333. The second guide part 333 guides the first guide part 332, and in turn guides the movement of the first clamping arm 331 along the second direction, so as to ensure the movement trajectory of the first clamping arm 331 along the second direction is accurate, and to ensure that the first clamping arm 331 and the second clamping arm 341 reliably clamp the storage carrier 50.

[0124] In an embodiment, the first guide part 332 is a guide rod, and the second guide part 333 is a guide hole or a linear bearing provided on the first support seat 350, and the like. Of course, in other embodiments of the present application, the first guide part 332 can also be a guide sliding rail, and the second guide part 333 can be a guide sliding block.

[0125] Referring to Figure 7 and Figure 6 In an embodiment, the second clamping assembly 340 further comprises a third guide part 342, and the first support seat 350 has a fourth guide part 343 corresponding to the third guide part 342. The third guide part 342 is arranged along the second direction on the second clamping arm 341 and is slidably connected to the fourth guide part 343. Figure 1 The third guide part 342 and the fourth guide part 343 are partially enlarged in the figure, and the cooperation between the third guide part 342 and the fourth guide part 343 can guide the movement of the second clamping arm 341.

[0126] When the second clamping arm 341 moves along the second direction, the second clamping arm 341 can drive the third guide part 342 to move along the fourth guide part 343. The fourth guide part 343 guides the third guide part 342, and in turn guides the movement of the second clamping arm 341 along the second direction, so as to ensure the movement trajectory of the second clamping arm 341 along the second direction is accurate, and to ensure that the first clamping arm 331 and the second clamping arm 341 reliably clamp the storage carrier 50.

[0127] In an embodiment, the third guide part 342 is a guide rod, and the fourth guide part 343 is a guide hole or a linear bearing provided on the first support seat 350, and the like. Of course, in other embodiments of the present application, the third guide part 342 can also be a guide sliding rail, and the fourth guide part 343 can be a guide sliding block.

[0128] In an embodiment, the maximum operating stroke of the first clamping arm 331 from the open state to the clamped state is less than or equal to 20mm, and the maximum operating stroke of the second clamping arm 341 from the open state to the clamped state is less than or equal to 20mm. That is, the maximum operating stroke of the first clamping arm 331 and the second clamping arm 341 is less than or equal to 20mm, and the maximum clamping stroke of the first clamping arm 331 and the second clamping arm 341 can reach 40mm.

[0129] In this way, the storage carrier 50 does not need to be limited in the second direction, and after the push-out mechanism 200 drives the first clamping arm 331 and the second clamping arm 341 to move to both sides of the storage carrier 50, the first clamping arm 331 and the second clamping arm 341 can move within the above-mentioned stroke range to adaptively correct the movement process of the first clamping arm 331 and the second clamping arm 341, so that the first clamping arm 331 and the second clamping arm 341 are in a better clamped state. In this way, within the 20mm range of the relative deviation of the storage carrier 50 and the first clamping arm 331 and the second clamping arm 341, the first clamping arm 331 and the second clamping arm 341 can accurately clamp the storage carrier 50.

[0130] In an embodiment, the first clamping arm 331 and the second clamping arm 341 are made of high-strength and low-density materials. In this way, the structural strength of the first clamping arm 331 and the second clamping arm 341 can be improved, and the thickness of the first clamping arm 331 and the second clamping arm 341 can be reduced. Under the condition of ensuring the carrying capacity of the first clamping arm 331 and the second clamping arm 341, the weight of the first clamping arm 331 and the second clamping arm 341 is reduced. In the present embodiment, the first clamping arm 331 and the second clamping arm 341 are made of carbon fiber material. Of course, in other embodiments of the present application, the first clamping arm 331 and the second clamping arm 341 can also be made of other high-strength and low-density materials.

[0131] Referring to Figure 2 , Figure 6 , Figure 7 and Figure 1 , in an embodiment, the storage carrier 50 has a relatively protruding first flange edge 503 and a second flange edge 504 in the second direction, the surface of the first clamping arm 331 away from the mounting base 100 is a first supporting surface 3311, and the first supporting surface 3311 is used to fit the first flange edge 503. The surface of the second clamping arm 341 away from the mounting base 100 is a second supporting surface 3411, and the second supporting surface 3411 is used to fit the second flange edge 504.

[0132] The storage carrier 50 has a first flange edge 503 and a second flange edge 504 arranged opposite along the second direction, the first flange edge 503 is arranged protruding from the first side surface 501, and the second flange edge 504 is arranged protruding from the second side surface 502, the upper surface of the first clamping arm 331 has a first supporting surface 3311, and the lower surface of the second clamping arm 341 has a second supporting surface 3411.

[0133] When the clamping driving member 310 drives the first clamping arm 331 and the second clamping arm 341 to clamp the storage carrier 50, the first clamping arm 331 can abut against the first side surface 501, and the first supporting surface 3311 on the first clamping arm 331 can also abut against the first flange edge 503, so that the first clamping arm 331 supports the first flange edge 503; the second clamping arm 341 can abut against the second side surface 502, and the second supporting surface 3411 on the second clamping arm 341 can also abut against the second flange edge 504, so that the second clamping arm 341 supports the second flange edge 504.

[0134] In this way, when the clamping mechanism 300 accesses the storage carrier 50, the first clamping arm 331 and the second clamping arm 341 on both sides clamp the storage carrier 50, and at the same time, the first clamping arm 331 and the second clamping arm 341 support the first flange edge 503 and the second flange edge 504 of the storage carrier 50, so that the storage carrier 50 is fixed on three sides in the vertical direction and the gravity direction, the clamping mechanism 300 can stably access the storage carrier 50, and the storage carrier 50 can be transferred conveniently, and the space occupied by the access device 10 in the vertical direction and the horizontal direction is reduced.

[0135] Referring to Figure 2 , Figure 6 , Figures 14 to 17 , Figure 14 In an embodiment, the pushing-out mechanism 200 includes a second supporting seat 230, a pushing-out driving member 210, and a pushing-out transmission assembly 220, and the second supporting seat 230 is arranged on the mounting base 100. The pushing-out transmission assembly 220 extends along the first direction, the pushing-out driving member 210 is in transmission connection with the pushing-out transmission assembly 220, and one of them is arranged on the second supporting seat 230, and the other is connected with the clamping driving member 310 to drive the clamping driving member 310 to move along the first direction. Figure 1 For Figure 15 the schematic view of the pushing-out mechanism 200 moving along the first direction towards one side in the access device 10, Figure 1 for Figure 16 the schematic view of the pushing-out mechanism 200 moving along the first direction towards the other side in the access device 10, Figure 15 for Figure 17 the schematic view of the pushing-out mechanism 200 moving along the arrow direction, Figure 15 for Figure 1A schematic view of the eject mechanism 200 pushing back in the direction of the arrow.

[0136] The second support base 230 is a component for mounting the eject mechanism 200, each component of the eject mechanism 200 is arranged on the second support base 230, and the second support base 230 is arranged on the mounting base 100, so as to mount the eject mechanism 200 to the mounting base 100. The eject drive 210 is a power source of the eject mechanism 200, and the eject transmission assembly 220 is connected to the output end of the eject drive 210. Optionally, the eject drive 210 is a rotary motor with a speed reducer. Of course, in other embodiments of the present application, the eject drive 210 can also be a rotary cylinder or a linear motor, etc. When the eject drive 210 is a linear motor, the eject transmission assembly 220 can be a linear rod, which is connected to the first support base 350 through the linear rod.

[0137] In the present embodiment, the eject transmission assembly 220 is arranged on the second support base 230 in the second direction, and the eject drive 210 is arranged on the first support base 350 and is in transmission connection with the eject transmission assembly 220. When the eject drive 210 moves, the eject drive 210 can drive the eject transmission assembly 220 to move. Since the eject transmission assembly 220 is arranged on the second support base 230, the reaction force of the eject transmission assembly 220 on the eject drive 210 can push the eject drive 210 to drive the first support base 350 to move in the first direction, so as to drive the clamp mechanism 300 to move in the first direction.

[0138] In Figure 14 , the eject transmission assembly 220 is in the initial position, and the clamp mechanism 300 is not extended. In Figure 14 , the eject drive 210 cooperates with the eject transmission assembly 220 to move in the first direction and towards Figure 15 the right side of the clamp mechanism 300 shown in the figure, so as to store or take out the storage carrier 50. In Figure 15 , the eject drive 210 cooperates with the eject transmission assembly 220 to move in the first direction and towards Figure 15 the left side of the clamp mechanism 300 shown in the figure, so as to store or take out the storage carrier 50. In Figure 14 , the eject mechanism 200 is rotated 180° relative to Figure 16 by the rotating mechanism 400 (mentioned later). In Figure 17 , the eject drive 210 cooperates with the eject transmission assembly 220 to push the clamp mechanism 300 in the direction of the arrow, and in Figure 2 , the eject drive 210 cooperates with the eject transmission assembly 220 to push back the clamp mechanism 300 in the direction of the arrow, so as to return the clamp mechanism 300 to the initial position.

[0139] Referring to Figure 6 , Figure 14, Figure 15 and Figure 2 In one embodiment, the ejection drive member 210 is disposed on the clamping drive member 310, and the ejection transmission assembly 220 includes a second drive gear 221 and a drive rack 222. The drive rack 222 is disposed on the second support base 230 along the first direction, and the second drive gear 221 is disposed at the output end of the ejection drive member 210 and meshes with the drive rack 222, so that the second drive gear 221 drives the ejection drive member 210 and the clamping mechanism 300 to move along the first direction.

[0140] An ejector drive 210 is disposed on the first support 350 of the clamping mechanism 300, and a second drive gear 221 is disposed on the output end of the ejector drive 210, enabling the ejector drive 210 to drive the second drive gear 221 to rotate. A drive rack 222 is fixedly disposed on the second support 230 along a first direction, and the drive rack 222 is meshed with the second drive gear 221. When the ejector drive 210 drives the second drive gear 221 to rotate, the second drive gear 221 can drive the drive rack 222 to move through the meshing relationship. Since the drive rack 222 is fixed on the second support 230, the drive rack 222 can provide a reaction force for the meshing of the second drive rack 222, causing the second drive gear 221 to move along the drive rack 222. Consequently, the second drive gear 221 drives the first support 350 to move along the first direction through the ejector drive 210.

[0141] Of course, in other embodiments of this application, the push-out drive 210 may be disposed on the second support 230, and the push-out transmission assembly 220 may be movably disposed on the second support 230 along the second direction. The input end of the push-out transmission assembly 220 is connected to the push-out drive 210, and the output end of the push-out transmission assembly 220 is connected to the first support 350. In this way, when the push-out drive 210 drives the push-out transmission assembly 220 to move, the push-out transmission assembly 220 can drive the first support 350 to move along the first direction. Optionally, the push-out transmission assembly 220 may be a ball screw structure, etc., which outputs linear motion through the cooperation of the screw shaft and the screw nut. Its specific structure and principle will not be described here.

[0142] See Figure 6 , Figure 14 , Figure 15 and Figure 2In an embodiment, the ejecting mechanism 200 further comprises a guide assembly 240. The guide assembly 240 is arranged on the first support base 350 and the second support base 230 respectively, and can guide the movement of the first support base 350 along the first direction driven by the ejecting drive 210, so as to ensure that the first support base 350 is accurately moved along the first direction by the ejecting transmission assembly 220, and thus the first clamping arm 331 and the second clamping arm 341 can accurately extend to the two sides of the storage carrier 50.

[0143] Referring to Figure 6 , Figure 14 , Figure 15 and Figures 1 to 5 In an embodiment, the guide assembly 240 comprises a first guide 241 and a second guide 242. The first guide 241 is arranged on the second support base 230 along the first direction, and the second guide 242 is arranged on the clamping drive 310 and is slidably arranged on the first guide 241. The second guide 242 is arranged on the first support base 350 of the clamping mechanism 300. The cooperation of the first guide 241 and the second guide 242 can guide the movement of the first support base 350 along the first direction driven by the ejecting transmission assembly 220.

[0144] When the ejecting drive 210 moves the first support base 350 along the first direction through the ejecting transmission assembly 220, the first support base 350 can drive the clamping drive 310, the first clamping arm 331 and the second clamping arm 341 to move along the first direction synchronously. At the same time, the first support base 350 can drive the second guide 242 to move along the first guide 241. The first guide 241 guides the second guide 242, and thus guides the movement of the first support base 350 along the first direction, so as to ensure that the movement trajectory of the clamping mechanism 300 along the first direction is accurate, and the first clamping arm 331 and the second clamping arm 341 accurately extend to the two sides of the storage carrier 50.

[0145] In an embodiment, the first guide 241 is a guide rail, and the second guide 242 is a guide block. The guide rail is slidably arranged on the guide rail. Of course, the first guide 241 can be a guide groove, and the second guide 242 can be a guide block slidably arranged in the guide groove. Alternatively, the first guide 241 and the second guide 242 can be other structures capable of achieving guide cooperation, such as a guide rod and a guide hole.

[0146] Referring to Figure 14 , Figure 15 , Figure 18 and Figure 18In an embodiment, the access device 10 further comprises a rotating mechanism 400, which is arranged on the mounting base 100, and an output end of the rotating mechanism 400 is connected to the push-out mechanism 200 to drive the push-out mechanism 200 to rotate the pre-set angle with the clamping mechanism 300. Figure 1 For Figures 3 to 5 FIG. 4 shows a schematic view of the rotating mechanism 400 driving the push-out mechanism 200 to rotate in the access device 10.

[0147] The rotating mechanism 400 is arranged on the mounting base 100, and an output end of the rotating mechanism 400 is connected to the second support seat 230 of the push-out mechanism 200. That is, the rotating mechanism 400 is arranged between the push-out mechanism 200 and the mounting base 100. The rotating mechanism 400 can output a rotating motion in the horizontal plane, and the rotating mechanism 400 can drive the push-out mechanism 200 and the clamping mechanism 300 thereon to rotate synchronously to meet the access requirements of the storage carriers 50.

[0148] In this application, the pre-set angle is ±90° and 180°. That is, the rotating mechanism 400 can drive the push-out mechanism 200 and the clamping mechanism 300 to rotate clockwise or counterclockwise by 90°, and the rotating mechanism 400 can also drive the push-out mechanism 200 and the clamping mechanism 300 to rotate clockwise by 180°.

[0149] It can be understood that the clamping mechanism 300 clamps the storage carrier 50, and after the push-out mechanism 200 drives the clamping mechanism 300 to return to the initial position, the rotating mechanism 400 can drive the push-out mechanism 200, the clamping mechanism 300 and the storage carrier 50 to rotate by the pre-set angle, so as to facilitate the clamping mechanism 300 to transfer the storage carrier 50 from the horizontal transportation device 60 to the storage shelf 80 or from the storage shelf 80 to the horizontal transportation device 60.

[0150] In addition, the automated warehouse system 1 comprises at least two storage shelves 80, and the at least two storage shelves 80 are arranged at intervals along the first direction. Every two storage shelves 80 form a group, and correspond to one access device 10, one vertical transportation device 70 and one horizontal transportation device 60. In this application, only two storage shelves 80 shown in FIG. 1 are used to illustrate the access device 10 accessing the storage carriers 50 in the two storage shelves 80. Figure 3

[0151] ​Along the first direction, the storage shelf 80 on the left is designated as the first shelf 802, and the storage shelf 80 on the right is designated as the second shelf 803. The first shelf 802 and the second shelf 803 are spaced apart along the first direction. A horizontal transport device 60 is disposed along the first direction on the rear end face of the first shelf 802 and the second shelf 803. A vertical transport device 70 is located between the first shelf 802 and the second shelf 803 and is slidably disposed on the second shelf 803. A storage and retrieval device 10 is disposed on the vertical transport device 70. The vertical transport device 70 can drive the storage and retrieval device 10 to move up and down along a third direction. The vertical transport device 70 can move relative to the second shelf 803 along a second direction.

[0152] When the storage device 10 transfers the storage carrier 50 from the horizontal transport device 60 to the second shelf 803, the clamping mechanism 300 clamps the storage carrier 50 on the horizontal transport device 60, and the storage device 10 is in a position... Figure 3 The orientation is shown. Then, the ejection mechanism 200 drives the clamping mechanism 300 and the storage carrier 50 back to their initial positions. After the storage carrier 50 is clamped by the horizontal transport device 60, the storage and retrieval device 10 returns to the initial position of the vertical transport device 70, completing the process of retrieving goods from the horizontal transport device 60. Subsequently, the vertical transport device 70 slides relative to the second shelf 803 along the second direction, and the vertical transport device 70 drives the storage and retrieval device 10 to move along the third direction, so that the storage carrier 50 held by the storage and retrieval device 10 is aligned with the required storage space 801. During this process, the rotation mechanism 400 drives the ejection mechanism 200 to rotate the clamping mechanism 300 and the storage carrier 50 counterclockwise by 90°.

[0153] Then, the ejection mechanism 200 pushes the clamping mechanism 300 and the storage carrier 50 into the storage space 801 in the direction of the second shelf 803. The clamping mechanism 300 drives the first clamping arm 331 and the second clamping arm 341 to release the storage carrier 50 and disengage from the first flange edge 503 and the second flange edge 504, completing the storage of the storage carrier 50. Figure 5 and Figure 4 As shown. The ejection mechanism 200 drives the clamping mechanism 300 to reset along the first direction. The rotation mechanism 400 drives the ejection mechanism 200 and the clamping mechanism 300 to rotate 90° counterclockwise, so that the storage device 10 can transfer the storage carrier 50 on the horizontal transport device 60 next time. The storage device 10 returns to the initial position of the vertical transport device 70. It is worth noting that the principle of the storage device 10 transferring the storage carrier 50 from the horizontal transport device 60 to the first shelf 802 and the second shelf 803 is the same, only the direction of rotation of the rotation mechanism 400 is different, which will not be described further here.

[0154] When the access device 10 transfers the storage carrier 50 of the second shelf 803 to the horizontal transportation device 60, the vertical transportation device 70 moves to the position where the storage carrier 50 is located on the second shelf 803, then the push-out mechanism 200 drives the clamping mechanism 300 to extend into the storage space 801, the first clamping arm 331 and the second clamping arm 341 adaptively clamp the storage carrier 50, so as to realize stable clamping of the storage carrier 50, the push-out mechanism drives the clamping mechanism 300 and the storage carrier 50 to return to the initial position, so as to realize taking out of the storage carrier 50. The vertical transportation device 70 moves along the second direction towards the horizontal transportation device 60, in the process, the rotating mechanism 400 drives the clamping mechanism 300 and the storage carrier 50 to rotate clockwise by 90°. After reaching the position, the access device 10 pushes out the storage carrier 50, the first clamping arm 331 and the second clamping arm 341 release the storage carrier 50, and are separated from the first flange edge 503 and the second flange edge 504, so as to complete the transfer of the storage carrier 50 from the second shelf 803 to the horizontal transportation device 60, and then the horizontal transportation device 60 transports away the storage carrier 50. The principle of taking out the storage carrier 50 from the first shelf 802 by the access device 10 is the same as that of taking out the storage carrier 50 from the second shelf 803, which will not be described here.

[0155] After the rotating mechanism 400 is added in the access device 10, the storage carrier 50 can also be transferred between the first shelf 802 and the second shelf 803. After the access device 10 takes out the storage carrier 50 from the second shelf 803, the vertical transportation device 70 drives the access device 10 and the storage carrier 50 to move to the specified position of the first shelf 802, in the process, the rotating mechanism 400 drives the push-out mechanism 200 to drive the clamping mechanism 300 and the storage carrier 50 to rotate by 180°, so that the storage carrier 50 faces the storage space 801, then the access device 10 stores the storage carrier 50 into the corresponding storage space 801 of the first shelf 802, as shown in Figure 5 、 Figure 14 、 Figure 15 and Figures 1 to 5 , the access device 10 returns to the vertical transportation device 70 empty, and the transfer of the storage carrier 50 from the second shelf 803 to the first shelf 802 is completed.

[0156] Referring to Figure 18 、 Figures 1 to 5 , in an embodiment, the rotating mechanism 400 comprises a rotating driving member 410 and a right-angle speed reducer 420, the rotating driving member 410 is arranged on the mounting base 100, the right-angle speed reducer 420 is arranged on the mounting base 100, and the output end of the right-angle speed reducer 420 is connected with the push-out mechanism 200, the rotating driving member 410 is in transmission connection with the right-angle speed reducer 420, so that the right-angle speed reducer 420 drives the push-out mechanism 200 to drive the clamping mechanism 300 to rotate.

[0157] The rotating driving member 410 is a power source of the rotating mechanism 400, and is arranged on the mounting base 100. The bottom of the right-angle speed reducer 420 is fixed to the mounting base 100, and the output end at the top of the right-angle speed reducer 420 is in transmission connection with the second support base 230. The rotating driving member 410 is in transmission connection with the right-angle speed reducer 420, and can drive the components in the right-angle speed reducer 420 to rotate, and then the right-angle speed reducer 420 outputs the rotating movement in the horizontal direction to drive the second support base 230 to rotate with the pushing-out mechanism 200 and the clamping mechanism 300. Optionally, the rotating driving member 410 is a rotating motor.

[0158] When the storage carrier 50 is taken out, the vertical transportation device 70 drives the access device 10 to move to the position corresponding to the storage carrier 50, and the rotating mechanism 400 rotates synchronously to align the clamping mechanism 300 with the storage carrier 50. At this time, the position of the access device 10 is 15 mm (or other size) lower than the layer plate of the storage shelf 80. After being positioned, the pushing-out mechanism 200 drives the clamping mechanism 300 to extend into the two sides of the storage carrier 50 and be located on the two sides of the first flange edge 503 and the second flange edge 504. Then, the clamping mechanism 300 drives the first clamping arm 331 and the second clamping arm 341 to approach each other. In this process, the first clamping arm 331 and the second clamping arm 341 adaptively fit the two sides of the storage carrier 50 until being tightly attached. Then, the vertical transportation device 70 lifts the access device 10, the pushing-out mechanism 200 drives the clamping mechanism 300 to drive the storage carrier 50 to reset, and the taking out of the storage carrier 50 is completed.

[0159] When the storage carrier 50 is accessed, the vertical transportation device 70 drives the access device 10 to move to the corresponding storage space 801, and the rotating mechanism 400 rotates synchronously to align the clamping mechanism 300 with the storage space 801. At this time, the position of the access device 10 is 15 mm (or other size) higher than the layer plate of the storage shelf 80. After being positioned, the pushing-out mechanism 200 drives the clamping mechanism 300 to drive the storage carrier 50 to extend into the shelf. At this time, the bottom of the storage carrier 50 is 15 mm higher than the layer plate of the storage shelf 80. The vertical transportation device 70 drives the access device 10 to descend, so that the ground of the storage carrier 50 contacts the layer plate. Then, the clamping mechanism 300 drives the first clamping arm 331 and the second clamping arm 341 to move away from each other, the pushing-out mechanism 200 drives the clamping mechanism 300 to reset, and the storage of the storage carrier 50 is completed.

[0160] The access device 10 of the present application holds the storage carrier 50 on both sides through the clamping mechanism 300, and holds the storage carrier 50 through the first flange edge 503 and the second flange edge 504, reduces the space occupation of the clamping mechanism 300 at the bottom of the storage carrier 50, and further does not need to set the space for adapting the flexible arm at the bottom in the storage shelf 80, improves the utilization rate of the storage shelf 80, and increases the storage capacity of the storage shelf 80. At the same time, the clamping mechanism 300 can adaptively hold the storage carrier 50 through the cooperation of the driving cam 3212, the adapter connecting rod 3213, the first connecting rod 322 and the second connecting rod 323, that is, even if there is a certain deviation between the storage carrier 50 and the clamping mechanism 300, the clamping mechanism 300 can accurately hold the storage carrier 50, and the fault tolerance of the access action is improved.

[0161] At the same time, the clamping mechanism 300 holds the storage carrier 50 on both sides through the first clamping arm 331 and the second clamping arm 341, so as to limit the storage carrier 50 on both sides, and the first clamping arm 331 can hold the first flange edge 503, and the second clamping arm 341 holds the second flange edge 504. In this way, the first clamping arm 331, the second clamping arm 341 and the gravity of the storage carrier 50 can realize three-direction limiting, ensure that the access action is stable and reliable, improve the running speed of the pushing-out mechanism 200, and further improve the access efficiency.

[0162] After the access device 10 cooperates with the vertical transportation device 70, the vertical transportation device 70 can drive the access device 10 to ascend and descend along the third direction, and when the pushing-out mechanism 200 drives the clamping mechanism 300 to move, the storage carrier 50 can be separated from the bottom of the storage space 801, and the bottom of the storage carrier 50 can be frictionlessly transferred. Moreover, the vertical transportation device 70 can move along the second direction and drive the access device 10 to move along the third direction, so that the storage carrier 50 can be quickly transferred between the storage shelves 80 and between the storage shelves 80 and the horizontal transportation device 60 without additional movement mechanism, and the seamless transfer of the storage carrier 50 is realized.

[0163] Referring to Figures 3 to 5 The present application also provides an automatic storage system 1, which comprises a vertical transportation device 70, a storage shelf 80 and an access device 10 as in any of the above embodiments. The storage shelf 80 has a plurality of storage spaces 801 along the second direction and the third direction, and the storage spaces 801 are used for storing the storage carriers 50. The vertical transportation device 70 is arranged on the side of the storage shelf 80 along the third direction, and can move relative to the storage shelf 80 along the second direction. The access device 10 is arranged on the vertical transportation device 70, and the vertical transportation device 70 can drive the access device 10 to move along the third direction.

[0164] The automated storage system 1 of the present application adopts the access device 10 of the above-mentioned embodiment, can clamp and hold the storage carriers 50 on both sides, reduce the space occupation of the clamping mechanism 300 at the bottom of the storage carrier 50, and then does not need to set a space for adapting the bottom telescopic arm in the storage shelf 80, improves the utilization rate of the storage shelf 80, and increases the storage capacity of the storage shelf 80. The vertical transportation device 70 can ascend along the third direction when the access device 10 takes out the storage carrier 50, realizes the frictionless transfer of the bottom of the storage carrier 50. Through the movement of the vertical transportation device 70 along the second direction and the driving of the access device 10 to move along the third direction, the rapid transfer of the storage carrier 50 between the storage shelves 80 and between the storage shelves 80 and the horizontal transportation device 60 can be realized without additional movement mechanism, and the seamless transfer of the storage carrier 50 is realized.

[0165] Referring to Figures 3 to 5 In an embodiment, the horizontal transportation device 60 comprises a conveying mechanism (not shown) arranged at the end face of the storage shelf 80 along the first direction, and a stopping mechanism (not shown) arranged at a predetermined position of the conveying mechanism, used for stopping the storage carrier 50 at the predetermined position. The stopping mechanism is a stopping sensor or a stopping part.

[0166] In the present application, the conveying mechanism is a belt conveyor, which is arranged along the first direction and can transport the storage carrier 50 along the first direction. It is worth noting that the belt conveyor is a structure that already exists and will not be described here. Of course, in other embodiments of the present application, the conveying mechanism can also be a roller mechanism arranged side by side along the first direction or other structures that can realize the transportation of the storage carrier 50 along the first direction.

[0167] When the horizontal transportation device 60 transfers the storage carrier 50 to the storage shelf 80, the stopping mechanism needs to be arranged at the position of the conveying mechanism corresponding to the access device 10, that is, the stopping mechanism is arranged at the designated position of the conveying mechanism, and the storage carrier 50 conveyed by the conveying mechanism is stopped by the stopping mechanism, which facilitates the clamping of the storage carrier 50 by the access device 10.

[0168] In the present embodiment, the stopping mechanism is a stopping sensor, which is arranged at the designated position of the conveying mechanism. When the conveying mechanism transports the storage carrier 50 to the designated position, the stopping sensor detects the storage carrier 50 and controls the conveying mechanism to stop moving. Of course, in other embodiments of the present application, the stopping mechanism can also be a stopping part, such as a baffle and the like. The stopping part is arranged at the designated position of the conveying mechanism. When the conveying mechanism transports the storage carrier 50 to the designated position, the storage carrier 50 contacts the stopping part, and then the conveying mechanism stops moving.

[0169] Referring to Figure 19 , Figure 19In an embodiment, the vertical transportation device 70 comprises a lifting frame 701, a lifting drive 702 and a lifting transmission mechanism 703. The lifting frame 701 is arranged along the third direction at the side of the storage rack 80. The lifting drive 702 is arranged at the access device 10. The lifting transmission mechanism 703 is arranged along the third direction at the lifting frame 701 and is drivingly connected with the lifting drive 702. Figure 4 For ​ FIG. 6 shows a schematic view of the installation of the vertical transportation device 70 at the access device 10 in the automated storage and retrieval system 1.

[0170] The lifting frame 701 is movably arranged along the second direction at the side of the storage rack 80. The lifting drive 702 is arranged at the mounting base 100 of the access device 10. The lifting transmission mechanism 703 is fixedly arranged along the third direction at the lifting frame 701. The lifting transmission mechanism 703 is drivingly connected with the output end of the lifting drive 702. Since the lifting transmission mechanism 703 is fixedly arranged at the lifting frame 701, the reaction force of the lifting transmission mechanism 703 on the lifting drive 702 can drive the lifting drive 702 to move the access device 10 along the third direction along the lifting transmission mechanism 703.

[0171] The lifting transmission mechanism 703 can adopt the structure of the second drive gear 221 and the drive rack 222 as described above, which will not be described in detail herein. Of course, in other embodiments of the present application, the lifting transmission mechanism 703 can also adopt a ball screw structure, a linear motor or other structures capable of outputting linear motion.

[0172] In an embodiment, the automated storage and retrieval system 1 further comprises a sliding rail 804 and a sliding drive device 90. The sliding rail 804 is arranged along the second direction at the storage rack 80. The vertical transportation device 70 is slidably arranged at the sliding rail 804. The sliding drive device 90 drives the vertical transportation device 70 to move along the sliding rail 804.

[0173] The sliding rail 804 is arranged along the second direction at the top and the bottom of the storage rack 80. The top and the bottom of the lifting frame 701 are slidably arranged at the sliding rail 804. The output end of the sliding drive device 90 is connected with the lifting frame 701 to drive the lifting frame 701 to move along the second direction relative to the storage rack 80. It is worth mentioning that the sliding drive device 90 can adopt the same transmission structure as the vertical transportation device 70, which will not be described herein.

[0174] The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as the combinations of the technical features do not contradict each other, they should be considered as within the scope of the present disclosure.

[0175] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a more specific and detailed manner, but should not be construed as limiting the scope of the patent application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An access device, characterized in that The application relates to a push-out mechanism and a clamping mechanism. The push-out mechanism is arranged on the mounting base and can move relative to the mounting base along a first direction. The clamping mechanism comprises a clamping drive, a clamping transmission assembly and first and second clamping assemblies extending along the first direction. The clamping transmission assembly comprises a transmission part, a first connecting rod and a second connecting rod. The transmission part is rotatably arranged on the output end of the clamping drive.

2. The access device of claim 1, wherein, The first connecting rod is transmissionally connected with the first clamping assembly and the transmission part. The second connecting rod is transmissionally connected with the second clamping assembly and the transmission part.

3. The access device of claim 2, wherein, The clamping drive drives the first and second connecting rods to move towards opposite directions through the transmission part, so that the first and second clamping assemblies move towards or away from each other along the second direction. The clamping mechanism further comprises a first support base. The clamping drive and the transmission part are arranged on the first support base.

4. The access device of claim 3, wherein, The transmission part comprises a first drive gear, a drive cam and a connecting rod.

5. The access device of claim 2, wherein, The first drive gear is arranged on the output end of the clamping drive. The drive cam is rotatably arranged on the first support base and is in mesh with the first drive gear.

6. The access device of claim 5, wherein, The drive cam is eccentric and rotatably connected with one end of the connecting rod. The other end of the connecting rod is rotatably connected with one end of the first connecting rod and one end of the second connecting rod. The other end of the first connecting rod is rotatably connected with the first clamping assembly. The other end of the second connecting rod is rotatably connected with the second clamping assembly. The first clamping assembly comprises a first clamping arm. The second clamping assembly comprises a second clamping arm. The first clamping arm and the second clamping arm extend along the first direction and are oppositely arranged along the second direction. The first clamping arm is transmissionally connected with the first connecting rod. The second clamping arm is transmissionally connected with the second connecting rod. The clamping mechanism further comprises a first support base. The first clamping assembly further comprises a first guide part. The first support base has a second guide part corresponding to the first guide part. The first guide part is arranged on the first clamping arm along the second direction and is slidably connected with the second guide part. And / or, the embracing and clamping mechanism further comprises a first support base, the second clamping component further comprises a third guide part, the first support base has a fourth guide part corresponding to the third guide part, the third guide part is arranged on the second clamping arm along the second direction and is slidably connected to the fourth guide part; And / or, the maximum operating stroke of the first clamping arm from the open state to the embracing state is less than or equal to 20mm, and the maximum operating stroke of the second clamping arm from the open state to the embracing state is less than or equal to 20mm; And / or, the first clamping arm and the second clamping arm are made of carbon fiber material; And / or, the storage carrier has a relatively convex first flange edge and a second flange edge along the second direction, a surface of the first clamping arm away from the mounting base is a first support surface for abutting the first flange edge, and a surface of the second clamping arm away from the mounting base is a second support surface for abutting the second flange edge.

7. The access arrangement of any one of claims 1 to 6, wherein, The pushing-out mechanism comprises a second support base, a pushing-out driving member and a pushing-out transmission assembly, and the second support base is arranged on the mounting base; The pushing-out transmission assembly extends along the first direction, the pushing-out driving member is in transmission connection with the pushing-out transmission assembly, and one of them is arranged on the second support base, and the other is connected to the embracing and clamping driving member to drive the embracing and clamping driving member to move along the first direction.

8. The access device of claim 7, wherein, The pushing-out driving member is arranged on the embracing and clamping driving member, the pushing-out transmission assembly comprises a second driving gear and a driving rack, the driving rack is arranged on the second support base along the first direction, and the second driving gear is arranged on the output end of the pushing-out driving member and is in meshing connection with the driving rack, so that the second driving gear drives the pushing-out driving member and the embracing and clamping mechanism to move along the first direction; And / or, the pushing-out mechanism further comprises a guide assembly, and the guide assembly comprises a first guide part and a second guide part, the first guide part is arranged on the second support base along the first direction, and the second guide part is arranged on the embracing and clamping driving member and is slidably arranged on the first guide part.

9. The access arrangement of any one of claims 1 to 6, wherein, The access device further comprises a rotating mechanism arranged on the mounting base, and an output end of the rotating mechanism is connected to the pushing-out mechanism to drive the pushing-out mechanism to drive the embracing and clamping mechanism to rotate between a preset angle; The rotating mechanism comprises a rotating driving member and a right-angle reducer, the rotating driving member is arranged on the mounting base, the right-angle reducer is arranged on the mounting base, an output end of the right-angle reducer is connected to the pushing-out mechanism, and the rotating driving member is in transmission connection with the right-angle reducer, so that the right-angle reducer drives the pushing-out mechanism to drive the embracing and clamping mechanism to rotate.

10. An automated warehousing system characterized by, The vertical transportation device, the storage rack and the access device as claimed in any one of claims 1 to 9 are comprised. The storage shelf has a plurality of storage spaces in the second direction and the third direction, and the storage spaces are used for storing the storage carriers; the vertical transportation device is arranged on the side surface of the storage shelf in the third direction and is movable relative to the storage shelf in the second direction, and the access device is arranged on the vertical transportation device, and the vertical transportation device is capable of driving the access device to move in the third direction.

11. The automated storage and retrieval system of claim 10, wherein, The automated storage and retrieval system comprises at least two storage shelves, and the at least two storage shelves are arranged at intervals in the first direction, and the vertical transportation device and the access device are located between the at least two storage shelves, so that the access device can store or take out the storage carriers from the storage shelves on both sides; And / or, the automated storage and retrieval system further comprises a horizontal transportation device, the horizontal transportation device extends in the first direction and is arranged on the end surface of the storage shelf, and the horizontal transportation device is used for transporting the storage carriers in the first direction to deliver or take the storage carriers to the access device, and the horizontal transportation device comprises a conveying mechanism and a stopping mechanism, the conveying mechanism is arranged on the end surface of the storage shelf in the first direction, and the stopping mechanism is arranged at a preset position of the conveying mechanism and is used for stopping the storage carriers at the preset position, and the stopping mechanism is a stopping sensor or a stopping component; And / or, the vertical transportation device comprises a lifting frame, a lifting drive and a lifting transmission mechanism, the lifting frame is arranged on the side surface of the storage shelf in the third direction, the lifting drive is arranged on the access device, and the lifting transmission mechanism is arranged on the lifting frame in the third direction and is in transmission connection with the lifting drive; And / or, the automated storage and retrieval system further comprises a sliding rail and a sliding drive device, the sliding rail is arranged on the storage shelf in the second direction, the vertical transportation device is slidably arranged on the sliding rail, and the sliding drive device drives the vertical transportation device to move along the sliding rail.

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