Conveying device, conveying equipment and warehousing system

Abstract

The utility model relates to a conveying device, conveying equipment and a warehousing system. The conveying device comprises a first moving assembly and a loading and unloading mechanism. The first moving assembly is used for driving the loading and unloading mechanism to move. The loading and unloading mechanism is used for moving the articles between an operation position for storing and taking the articles on the storage shelf and the matching mechanism, the operation space of the loading and unloading mechanism relative to the matching mechanism is adjustable, and the matching mechanism at least has the function of bearing the articles. By means of the arrangement, the conveying device can be used for moving objects of various specifications, and therefore applicability is good. Especially along with rapid development of electronic commerce and modern logistics industry, more and more types of commodities exist, and the conveying device capable of moving objects of various specifications can well meet the requirements, so that the logistics cost is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of warehousing, in particular to a kind of transmission device, with the transmission device of transmission equipment and the warehousing system with transmission equipment. BACKGROUND

[0002] With the rapid development of e-commerce and modern logistics industry, the warehousing and logistics industry is facing increasing throughput and efficiency pressure.

[0003] In a typical warehousing environment, accessing the box is an important business link of order fulfillment (goods into warehouse, goods out of warehouse, etc.). Currently, there are many solutions for accessing standard containers, but for compact warehouse shelves, especially non-standard containers such as cartons, accessing is still a bottleneck that restricts the efficiency of warehousing order fulfillment. SUMMARY

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the utility model, a kind of transmission device is provided.The transmission device includes: first mobile component and handling mechanism, first mobile component is used to drive handling mechanism to move;Handling mechanism is used to move goods between the operating position of article on the warehousing shelf and cooperation mechanism, the operating space of handling mechanism relative to cooperation mechanism is adjustable, and cooperation mechanism at least has the function of supporting goods.

[0005] Exemplarily, the handling mechanism includes: handling bracket and handling arm, the handling arm is arranged on the handling bracket, the first mobile component is connected to the handling bracket, and the handling arm is used to move goods between the operating position and the cooperation mechanism.

[0006] Exemplarily, the first mobile component is installed on the track assembly, and the handling mechanism can move independently.

[0007] Exemplarily, the track assembly can be arranged on the warehousing shelf or the cooperation mechanism, and the cooperation mechanism is a bearing mechanism, an automatic guided vehicle or an access robot.

[0008] Exemplarily, the track assembly includes at least one vertical rail, and the cooperation mechanism is a bearing mechanism;The height of the handling bracket relative to the bearing mechanism is adjustable;And / or the height of the handling arm relative to the bearing mechanism is adjustable;And / or the bearing mechanism and the handling bracket are respectively connected to at least one vertical rail and can independently ascend and descend along at least one vertical rail to change the height difference between the bearing mechanism and the handling bracket.

[0009] Exemplarily, the first mobile component includes a first mobile drive and a first flexible transmission mechanism, the first flexible transmission mechanism is connected between the driving end of the first mobile drive and the handling bracket, and the handling bracket drives the handling arm to ascend and descend under the driving of the first mobile drive. Exemplarily, the first mobile component includes a first mobile drive and a first flexible transmission mechanism, the first flexible transmission mechanism is connected between the driving end of the first mobile drive and the handling bracket, and the handling bracket drives the handling arm to ascend and descend under the driving of the first mobile drive.

[0010] Exemplarily, the first flexible transmission mechanism comprises a plurality of first wheels and a first annular flexible member, the first annular flexible member being tensioned on the plurality of first wheels, the first annular flexible member comprising a first vertical segment extending along a vertical direction, the loading and unloading support being connected to the first vertical segment, at least one of the plurality of first wheels being rotatable under the drive of the first movement driver to drive the carrier mechanism to lift.

[0011] Exemplarily, the loading and unloading mechanism is located above the matching mechanism, the matching mechanism and the loading and unloading mechanism being spaced apart from each other along a vertical direction to form a loading space for accommodating the articles between the matching mechanism and the loading and unloading mechanism.

[0012] Exemplarily, the loading and unloading mechanism further comprises a loading and unloading mechanism driver arranged on the loading and unloading support, the loading and unloading mechanism driver comprising a loading and unloading arm driver, the loading and unloading arm being rotatable under the drive of the loading and unloading arm driver, so that the height difference of the loading and unloading arm relative to the matching mechanism is adjustable.

[0013] Exemplarily, the loading and unloading arm is provided with a loading and unloading driver and a loading and unloading member, the loading and unloading driver being arranged at a free end of the loading and unloading arm, the loading and unloading member being connected to a driving end of the loading and unloading driver, the loading and unloading member being movable between an engaging position for engaging the articles and a releasing position for releasing the articles under the drive of the loading and unloading driver.

[0014] Exemplarily, the loading and unloading arm driver comprises a first loading and unloading arm driver and a second loading and unloading arm driver, and the loading and unloading arm comprises a first loading and unloading arm and a second loading and unloading arm, wherein: the first loading and unloading arm driver is arranged on the loading and unloading support, a driving end of the first loading and unloading arm driver being connected to the first loading and unloading arm for driving the first loading and unloading arm to rotate about a first horizontal axis parallel to the track assembly; the second loading and unloading arm driver is arranged on the first loading and unloading arm, a driving end of the second loading and unloading arm driver being connected to the second loading and unloading arm for driving the second loading and unloading arm to rotate about a second horizontal axis parallel to the track assembly; and the loading and unloading driver is arranged on the second loading and unloading arm, the loading and unloading driver being used for driving the loading and unloading member to rotate about a third horizontal axis parallel to the track assembly.

[0015] Exemplarily, two sides of the moving track of the loading and unloading member are respectively provided with loading and unloading portions for engaging the articles.

[0016] Exemplarily, the loading and unloading mechanism driver further comprises a translation driving mechanism, the loading and unloading arm driver and the loading and unloading arm being movable along a first horizontal direction under the drive of the translation driving mechanism, the first horizontal direction being perpendicular to the track assembly.

[0017] Exemplarily, the loading and unloading mechanism driver is configured to drive the loading and unloading arm to extend outwards of the matching mechanism to both sides along the first horizontal direction, the first horizontal direction being perpendicular to the track assembly.

[0018] According to another aspect of the present application, a conveying device is also provided.

[0019] Exemplarily, the conveying device further comprises a second moving assembly mounted on the track assembly, the second moving assembly being configured to move the cooperating mechanism, and the cooperating mechanism and the loading and unloading mechanism being independently movable.

[0020] Exemplarily, the second moving assembly comprises a second moving driving member and a second flexible transmission mechanism, the second flexible transmission mechanism being connected between a driving end of the second moving driving member and the cooperating mechanism, and the cooperating mechanism being liftable and lowerable under the driving of the second moving driving member.

[0021] Exemplarily, the track assembly comprises at least one vertical track extending along a vertical direction and at least one horizontal track extending along a first horizontal direction perpendicular to the vertical direction, the at least one vertical track being movably connected to the at least one horizontal track along the first horizontal direction, and the first moving assembly and the second moving assembly being mounted on the at least one vertical track.

[0022] According to still another aspect of the present application, a warehousing system is also provided. The warehousing system comprises a warehousing rack and any of the above conveying devices, the warehousing rack having a first side and a second side opposite to each other along a first horizontal direction, at least one of the first side and the second side being provided with the conveying device, and the first horizontal direction being perpendicular to the track assembly.

[0023] Exemplarily, the warehousing rack comprises a first warehousing rack and a second warehousing rack, the operation positions comprise a first operation position on the first warehousing rack and a second operation position on the second warehousing rack, the first warehousing rack and the second warehousing rack being spaced apart along the first horizontal direction to form a lane, the conveying device being located in the lane, and the loading and unloading mechanism being configured to cooperate with the cooperating mechanism to take and place the articles at the first operation position and at the second operation position.

[0024] When the loading and unloading mechanism is adjustable in height relative to the matching mechanism, the matching mechanism can be moved to be substantially flush with the operating position of the storage rack, and the loading and unloading mechanism can engage the adaptation structure of the articles of different heights, so that the articles can be smoothly moved between the matching mechanism and the operating position. When the loading and unloading mechanism is adjustable in horizontal distance relative to the matching mechanism, the loading and unloading mechanism can engage the adaptation structure of the articles in different positions in the horizontal direction, so that the articles can be smoothly moved between the matching mechanism and the operating position. In this way, the conveying device can be used to move articles of multiple specifications, and therefore has good applicability. Especially with the rapid development of e-commerce and modern logistics industry, the types of goods are increasing, and the conveying device capable of moving articles of multiple specifications can well meet the needs to reduce logistics costs and improve work efficiency.

[0025] A series of simplified concepts are introduced in the utility model content, which will be further described in detail in the specific embodiment part. The utility model content part does not mean trying to limit the key features and necessary technical features of the claimed technical scheme, and even less means trying to determine the protection scope of the claimed technical scheme.

[0026] The advantages and characteristics of the utility model will be described in detail below in combination with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] The following drawings of the utility model are hereby incorporated as part of the utility model for understanding the utility model. The drawings show the embodiments of the utility model and the description thereof, which are used to explain the principles of the utility model. In the drawings,

[0028] Figure 1 It is a perspective view of the existing goods carrying system;

[0029] Figure 2 It is a schematic view of the conveying device according to the first exemplary embodiment of the utility model;

[0030] Figure 3 It is a schematic view of the conveying device according to the second exemplary embodiment of the utility model;

[0031] Figure 4 It is a schematic view of the conveying device according to the third exemplary embodiment of the utility model;

[0032] Figure 5 It is a schematic view of the conveying device according to the fourth exemplary embodiment of the utility model;

[0033] Figure 6 It is a perspective view of the conveying device according to the fifth exemplary embodiment of the utility model;

[0034] Figure 7 It is Figure 6a partial enlarged view of the transport device shown in Fig. 1 1 ;

[0035] Figure 8 for Figure 7 a partial enlarged view of the transport device shown in Fig. 1 1 ;

[0036] Figure 9 for Figure 7 a partial enlarged view of the transport device shown in Fig. 1 1 ;

[0037] Figure 10 for Figure 9 a partial enlarged view of the transport device shown in Fig. 1 1 ;

[0038] Figure 11 for Figure 7 a schematic view of a partial structure of the transport device shown in Fig. 1 1 ;

[0039] Figure 12 for a partial perspective view of a transport device according to a sixth exemplary embodiment of the present utility model;

[0040] Figure 13 for a partial perspective view of a transport device according to a sixth exemplary embodiment of the present utility model;

[0041] Figure 14 for a side view of a warehousing system according to one exemplary embodiment of the present utility model; and

[0042] Figure 15 for a side view of a warehousing system according to one exemplary embodiment of the present utility model; and

[0043] wherein the above figures include the following reference signs:

[0044] 10, transverse beam; 20, longitudinal beam; 30, support frame; 31, transmission belt; 40, access robot; 41, draw hook; 42, motor; 100, conveying device; 200, track assembly; 210, vertical track; 211, transmission channel; 220, horizontal track; 400, matching mechanism; 401, bearing surface; 402, bearing space; 410, matching support; 411, transmission mechanism; 500, loading and unloading mechanism; 510, loading and unloading piece; 511, loading and unloading part; 520, loading and unloading support; 521, translation guide rail; 530, loading and unloading mechanism driver; 540, loading and unloading arm; 541, first loading and unloading arm; 542, second loading and unloading arm; 550, loading and unloading arm driver; 551, first loading and unloading arm driver; 552, second loading and unloading arm driver; 560, loading and unloading driver; 570, translation driving mechanism; 571, translation driver; 580, belt transmission mechanism; 590, sliding block; 600, first moving assembly; 610, first moving driving piece; 620, first wheel; 621, first upper end wheel; 622, first lower end wheel; 630, first annular flexible piece; 631, first vertical section; 632, third vertical section; 700, second moving assembly; 710, second moving driving piece; 720, second wheel; 721, second upper end wheel; 722, second lower end wheel; 730, second annular flexible piece; 731, second vertical section; 732, fourth vertical section; 810, lifting mechanism; 811, motor; 812, screw rod; 813, nut; 900, storage rack; 901, operation site; 910, first storage rack; 911, first operation site; 920, second storage rack; 921, second operation site; 930, lane. DETAILED DESCRIPTION

[0045] In the following description, some details of the present application are provided in order to better understand the technical scheme of the present application. However, it can be understood by those skilled in the art that the following description only exemplarily shows the preferred embodiments of the present application, and the present application can be implemented without one or more such details. In addition, in order to avoid confusion with the present application, some technical features known in the art are not described in detail.

[0046] According to one aspect of the present invention, a conveying device is provided. The conveying device can remove items from the operating position of a storage rack and move them to a cooperating mechanism, or place items from the cooperating mechanism onto the operating position of the storage rack. The conveying device can be applied to any suitable equipment, including but not limited to conveying devices. Therefore, according to another aspect of the present invention, a conveying device is also provided. The conveying device can be applied to any suitable system, including but not limited to a warehousing system. Therefore, according to another aspect of the present invention, a warehousing system is also provided. The conveying device, conveying equipment, and warehousing system of embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0047] In warehousing environments, to improve efficiency, a cargo handling system is currently available on the market, such as... Figure 1 As shown. This cargo handling system may include multiple transverse beams 10 extending in the X direction, multiple longitudinal beams 20 extending in the Z direction (i.e., the height direction of the storage rack), a support frame 30, and a retrieval robot 40. The multiple transverse beams 10 are mounted on the sides of the storage rack and arranged in the Z direction. The multiple longitudinal beams 20 are movable along the multiple transverse beams 10. The support frame 30 is mounted on the multiple longitudinal beams 20 and is movable up and down along the longitudinal beams 20. The retrieval robot 40 is mounted on the support frame 30. Thus, the support frame 30 can move the retrieval robot 40 in the XY plane to reach any operating position on the storage rack. The retrieval robot 40 can move in the Y direction to engage with the grooves of the goods via hooks 41, thereby pulling goods from the storage rack onto the support frame 30 or pushing goods from the support frame 30 onto the storage rack. Then, the support frame 30 can move in the XY plane to transfer the goods to a handling trolley or a manual transfer station.

[0048] In practical applications, the support frame 30 typically needs to be moved to a position roughly flush with the operating position of the storage rack before the retrieval robot 40 engages with the adapting structure of the goods to pull the goods onto the support frame 30 or push the goods on the support frame 30 to the operating position of the storage rack. Although the retrieval robot 40 is equipped with a motor 42 that drives the hook 41 to rotate, the motor 42's function is to drive the hook 41 to rotate to extend into and engage with the groove of the goods, or extend out and disengage from the groove of the goods. Therefore, the retrieval robot 40 can only engage with the adapting structure at a preset position. For goods, the adapting structure is fixed, so the existing retrieval robot 40 can only pull goods of the same specification. If the retrieval robot 40 wants to pull goods of other specifications, it needs to move both the retrieval robot 40 and the support frame 30, which results in the support frame 30 not being flush with the operating position of the storage rack, preventing the retrieval robot 40 from pulling goods between the support frame 30 and the operating position of the storage rack. Therefore, the cargo handling system has poor applicability and cannot meet the needs of warehousing and logistics.

[0049] In the present application, as shown in Figures 2 to 8 The transport device 100 can include a track assembly 200, a cooperating mechanism 400, and a transport device.

[0050] The transport device can include a first moving assembly 600 and a loading and unloading mechanism 500. The driving end of the first moving assembly 600 can be connected to the loading and unloading mechanism 500 to drive the loading and unloading mechanism 500 to move. The first moving assembly 600 includes, but is not limited to, a motor assembly, a pneumatic cylinder assembly, or a hydraulic cylinder assembly.

[0051] The cooperating mechanism 400 can at least have the function of supporting the article. The cooperating mechanism 400 can also have the function of fixing the article by clamping or the like. The cooperating mechanism 400 can be a carrying mechanism, an automatic guided vehicle (AGV), or an access robot. In the embodiment in which the cooperating mechanism 400 is a carrying mechanism, the carrying mechanism can include a carrying surface 401. The carrying surface 401 can be used to support the article. The carrying surface 401 can include any suitable surface on the carrying mechanism. Illustratively, the top surface of the carrying mechanism can be the carrying surface 401; or the carrying mechanism can be configured to have a bin for placing the article, and the carrying surface 401 can include the bottom surface inside the bin. Illustratively, the carrying mechanism can include a top wall, a bottom wall, and side walls, which are connected to each other to form a bin-like channel. The entrance and exit of the channel can be directed towards the storage shelf 900, so that the article can be moved between the operating position 901 on the storage shelf 900 and the carrying surface 401. Refer to Figure 14 The article includes, but is not limited to, goods or a box. The box can include one or more of a box that is suitable in size to the operating position 901 of the storage shelf 900, and a primary packaging of the goods, etc. The box includes, but is not limited to, a plastic box or a paper box. The primary packaging can include one or more of a primary packaging box and a primary packaging bag, etc. When the goods are stored by the box, generally, only one or a few sizes of boxes are placed on each storage shelf 900.

[0052] In combination with Figures 14 to 15As shown, the loading and unloading mechanism 500 can be used to move the goods between the operation position 901 of the storage rack 900 and the matching mechanism 400. When the goods in the box need to be taken, the loading and unloading mechanism 500 can move the box from the operation position 901 of the storage rack 900 to the matching mechanism 400. Then the target goods can be picked from the box on the matching mechanism 400 manually or by a picking device, and then the target goods are moved to the target position. Alternatively, the box on the matching mechanism 400 together with the goods therein can also be moved to the target position as a whole by the matching mechanism 400. Alternatively, the empty box on the operation position 901 of the storage rack 900 can also be moved to the matching mechanism 400 to place the goods in the empty box. Alternatively, in the case where the goods are directly placed on the operation position 901 of the storage rack 900, the goods on the operation position 901 can also be moved to the matching mechanism 400 as a whole, and then the goods are moved to the target position as a whole by the matching mechanism 400. In addition, in the case where only the goods are taken away without the box, the box can only be partially moved to the matching mechanism 400 as long as the goods therein can be taken out. In the case where the matching mechanism 400 needs to move the goods or the box as a whole to the target position, the goods or the box can be completely moved to the matching mechanism 400 to avoid interference with the rail assemblies 200 when the matching mechanism 400 moves along the rail assemblies 200. In summary, whether the empty box, the box containing goods, or the goods are moved to the matching mechanism 400, or they are moved from the matching mechanism 400 to the operation position 901 of the storage rack 900, the working principle of the loading and unloading mechanism 500 is similar.

[0053] Under the driving of the first moving assembly 600, the loading and unloading mechanism 500 is adjustable relative to the operation space of the matching mechanism 400. The adjustment includes but is not limited to height adjustment or horizontal distance adjustment. In this way, the loading and unloading mechanism 500 can be used to move goods of different specifications. Specifically, when the loading and unloading mechanism 500 is adjustable in height relative to the matching mechanism 400, the matching mechanism 400 can be moved to be substantially flush with the operation position 901 of the storage rack 900, and the loading and unloading mechanism 500 can engage the adaptation structure of goods of different heights, so that they can be smoothly moved between the matching mechanism 400 and the operation position 901. When the loading and unloading mechanism 500 is adjustable in horizontal distance relative to the matching mechanism 400, the loading and unloading mechanism 500 can engage the adaptation structure of goods at different positions in the horizontal direction, so that they can be smoothly moved between the matching mechanism 400 and the operation position 901. In this way, the conveying device can be used to move goods of multiple specifications, especially for moving non-standard goods, so the applicability is better. Especially with the rapid development of e-commerce and modern logistics industry, the types of goods are increasing, and the conveying device that can move goods of multiple specifications can well meet the needs to reduce logistics costs and improve work efficiency.

[0054] Exemplarily, the loading and unloading mechanism 500 can include a loading and unloading bracket 520 and a loading and unloading arm 540. The loading and unloading arm 540 can be used to move the articles between the operation position 901 and the cooperating mechanism 400. The loading and unloading arm 540 can be directly or indirectly arranged on the loading and unloading bracket 520 through other components. The first moving assembly 600 can be connected to the loading and unloading bracket 520. In this way, the first moving assembly 600 can drive the loading and unloading arm 540 to move through the loading and unloading bracket 520 so as to be adjustable relative to the operation space of the cooperating mechanism 400. In this way, the structure of the loading and unloading mechanism 500 is relatively simple, which is convenient for processing and manufacturing.

[0055] Exemplarily, the first moving assembly 600 can be mounted on the track assembly 200. The track assembly 200 can extend along any suitable direction, for example, the vertical direction Z-Z and / or the horizontal direction. In this way, the first moving assembly 600 can drive the loading and unloading mechanism 500 to move along the track assembly 200. In some embodiments, as shown in Figures 2 to 3 The loading and unloading mechanism 500 can be connected to the cooperating mechanism 400 through the lifting mechanism 810 or other components. The loading and unloading mechanism 500 and the cooperating mechanism 400 can move synchronously along the track assembly 200. In some embodiments, as shown in Figures 4 to 5 The loading and unloading mechanism 500 and the cooperating mechanism 400 can be completely spaced apart, and there is no connecting member between the two. Moreover, compared with the cooperating mechanism 400, the loading and unloading mechanism 500 can move independently under the driving of the first moving assembly 600, so as to be adjustable relative to the operation space of the cooperating mechanism 400.

[0056] For the convenience of description, the principles of the present application will be described below by taking the cooperating mechanism 400 including the bearing mechanism as an example.

[0057] Exemplarily, as shown in Figures 6 to 8 The track assembly 200 can include vertical tracks 210. The vertical tracks 210 can include at least one, for example, one, two or more. Each vertical track 210 can extend along the vertical direction Z-Z. In the embodiment in which the vertical tracks 210 are multiple, the multiple vertical tracks 210 can be arranged along the second horizontal direction X-X. The second horizontal direction X-X can be perpendicular to the vertical direction Z-Z. The vertical tracks 210 can be made of any suitable material such as aluminum or steel.

[0058] Exemplarily, the track assembly 200 can further include horizontal tracks 220. The horizontal tracks 220 can include at least one, for example, one, two or more. Each of the horizontal tracks 220 can extend along a second horizontal direction X-X. The at least one vertical track 210 can move along the horizontal tracks 220. In the embodiment where the horizontal tracks 220 are multiple, the multiple horizontal tracks 220 can be arranged along a vertical direction Z-Z. The at least one vertical track 210 can move along each of the horizontal tracks 220. The horizontal tracks 220 can be made of any suitable material, such as aluminum or steel.

[0059] In some embodiments, as shown in Figures 2 to 3 , the height of the loading and unloading bracket 520 relative to the carrying mechanism is adjustable, so that the height of the loading and unloading arm 540 relative to the carrying mechanism is adjustable. That is, the whole of the loading and unloading mechanism 500 can be lifted. Specifically, as shown in Figure 2 , the loading and unloading mechanism 500 can be connected to the carrying mechanism through a lifting mechanism 810. The lifting mechanism 810 can control the lifting of the loading and unloading bracket 520 to adjust the height difference of the loading and unloading arm 540 relative to the carrying surface 401 of the carrying mechanism. The lifting mechanism 810 can include a manual lifting mechanism, such as a screw rod mechanism or a guide rod with multiple limit positions, etc. In this way, according to the specifications of the articles to be moved, the height difference can be adjusted in advance by the lifting mechanism 810. Alternatively, the lifting mechanism 810 can also include an automatic lifting mechanism, such as a motor lifting mechanism or a hydraulic cylinder lifting mechanism, etc. Exemplarily, as shown in Figure 13 , the lifting mechanism 810 can include a motor 811, a screw rod 812 and a nut 813. The motor 811 can be provided on the carrying mechanism. The output shaft of the motor 811 can be connected to the screw rod 812 to drive the screw rod 812 to rotate. The nut 813 can be threadedly connected to the screw rod 812 and fixed to the loading and unloading bracket 520. In this way, when the screw rod 812 rotates, the nut 813 can drive the loading and unloading bracket 520 to lift.

[0060] In some embodiments, as shown in Figure 5 , the height of the loading and unloading arm 540 relative to the carrying mechanism can be adjusted individually. The loading and unloading bracket 520 of the loading and unloading mechanism 500 can be provided with a structure such as a loading and unloading mechanism driver 530. The loading and unloading mechanism driver 530 can be connected to the loading and unloading arm 540 to drive the loading and unloading arm 540 to lift, so that the height difference of the loading and unloading arm 540 relative to the carrying mechanism can be adjusted individually. In this process, the height difference of the loading and unloading bracket 520 relative to the carrying mechanism can remain unchanged. On this basis, the whole of the loading and unloading mechanism 500 can also be lifted. That is, the loading and unloading mechanism driver 530 can be combined with the embodiment shown in Figures 2 to 3 to form the embodiment shown in Figure 4 .

[0061] In some embodiments, as shown in FIG. 4, the matching mechanism 400 and the loading and unloading mechanism 500 can move to any position in the plane determined by the second horizontal direction X-X and the vertical direction Z-Z, so as to carry more articles on the operation sites 901 of the storage shelves 900. Figure 3

[0062] Exemplarily, at least one of the matching mechanism 400 and the loading and unloading mechanism 500 (specifically, the loading and unloading bracket 520) can be connected to the at least one vertical rail 210. And, at least one of the matching mechanism 400 and the loading and unloading mechanism 500 can be lifted along the at least one vertical rail 210. Exemplarily, the matching mechanism 400 and the loading and unloading mechanism 500 can be connected to the at least one vertical rail 210, respectively. And, the matching mechanism 400 and the loading and unloading mechanism 500 (specifically, the loading and unloading bracket 520) can be lifted along the at least one vertical rail 210 independently of each other, respectively, so as to change the height difference between the loading and unloading arm 540 and the matching mechanism 400. On this basis, the matching mechanism 400 and the loading and unloading mechanism 500 can completely realize independent work, rather than having to work together as in the prior art. For example, after the loading and unloading mechanism 500 moves the article on the operation site 901 to the matching mechanism 400, the matching mechanism 400 can be moved to the carrying trolley or the manual transfer station independently, without the need to carry the loading and unloading mechanism 500 to move synchronously, so as to reduce energy consumption; during this process, the loading and unloading mechanism 500 can be stationary or moved to the next operation site 901 in advance to prepare for the next movement, so as to improve work efficiency. The matching mechanism 400 and the loading and unloading mechanism 500 do not need to be set in one-to-one correspondence, and different matching mechanisms 400 and loading and unloading mechanisms 500 can be arbitrarily matched, for example, after the loading and unloading mechanism 500 moves the article on the operation site 901 to the matching mechanism 400, the loading and unloading mechanism 500 can cooperate with other matching mechanisms 400 to move the article; similarly, after the matching mechanism 400 completes the article transfer, it can also cooperate with other loading and unloading mechanisms 500 to move the article. In this way, the number of the matching mechanism 400 and the loading and unloading mechanism 500 can be different to adapt to different needs. For example, when the path of the matching mechanism 400 moving to the carrying trolley or the manual transfer station is long, more matching mechanisms 400 can be set independently. In summary, the matching mechanism 400 and the loading and unloading mechanism 500 can have multiple selection schemes to meet different logistics needs, so as to improve work efficiency in a targeted manner.

[0063] ​Exemplarily, in the case of including one vertical rail 210, the two opposite sides of the matching mechanism 400 along the second horizontal direction X-X can be connected to the vertical rail 210. Exemplarily, in the case of including multiple vertical rails 210, the multiple vertical rails 210 can be distributed on the two opposite sides of the matching mechanism 400 along the second horizontal direction X-X. The two opposite sides of the matching mechanism 400 along the second horizontal direction X-X can be respectively connected to the vertical rail 210. Of course, in the case of including multiple vertical rails 210, the multiple vertical rails 210 can also be arranged on one side of the matching mechanism 400. The way for driving the matching mechanism 400 to ascend and descend along the at least one vertical rail 210 can be arbitrary, for example, can be a manual way, a motor-driven way or a pneumatic cylinder-driven way. Similarly, in the case of including one vertical rail 210, the loading and unloading bracket 520 of the loading and unloading mechanism 500 can be connected to the vertical rail 210 on one side along the second horizontal direction X-X. Exemplarily, in the case of including multiple vertical rails 210, the multiple vertical rails 210 can be distributed on the two opposite sides of the loading and unloading bracket 520 of the loading and unloading mechanism 500 along the second horizontal direction X-X. The two opposite sides of the loading and unloading bracket 520 of the loading and unloading mechanism 500 along the second horizontal direction X-X can be respectively connected to the vertical rail 210. Of course, in the case of including multiple vertical rails 210, the multiple vertical rails 210 can also be arranged on one side of the loading and unloading bracket 520 of the loading and unloading mechanism 500. The way for driving the loading and unloading bracket 520 of the loading and unloading mechanism 500 to ascend and descend along the at least one vertical rail 210 can be arbitrary, for example, can be a manual way, a motor-driven way or a pneumatic cylinder-driven way.

[0064] Exemplarily, as shown in FIG. 6, the first moving assembly 600 can be arranged on one vertical rail 210, and the second moving assembly 700 can be arranged on another vertical rail 210. Figures 6 to 11 Exemplarily, as shown in FIG. 6, the first moving assembly 600 can be arranged on one vertical rail 210, and the second moving assembly 700 can be arranged on another vertical rail 210.

[0065] The first moving assembly 600 can include a first moving drive 610 and a first flexible transmission mechanism. The first flexible transmission mechanism can be connected between a driving end of the first moving drive 610 and the loading and unloading bracket 520. Under the driving of the first moving drive 610, the loading and unloading bracket 520 can drive the loading and unloading arm 540 to move up and down. The first flexible transmission mechanism can include, but is not limited to, a belt transmission mechanism or a chain transmission mechanism. Specifically, the first flexible transmission mechanism can include a first wheel 620 and a first annular flexible member 630. The first moving drive 610 can be arranged on the vertical rail 210. The first wheel 620 can include a plurality of. The first annular flexible member 630 can be tensioned on the plurality of first wheels 620. The first annular flexible member 630 can include a first vertical segment 631 extending along the vertical direction Z-Z. The loading and unloading bracket 520 can be connected to the first vertical segment 631. The driving end of the first moving drive 610 can be connected to at least one of the plurality of first wheels 620 to drive the first wheel 620 to rotate, so as to drive the first annular flexible member 630 to rotate, and in turn drive the loading and unloading mechanism 500 connected thereto to move up and down along the vertical direction Z-Z. The first moving drive 610 can adopt various types of drives known in the art or possibly appearing in the future, including but not limited to a motor or a rotary air cylinder. The first wheel 620 and the first annular flexible member 630 can be adapted, for example, the first wheel 620 can include a belt wheel, and the first annular flexible member 630 can include a belt; or, the first wheel 620 can include a sprocket, and the first annular flexible member 630 can include a chain.

[0066] Similarly, the second moving assembly 700 can include a second moving drive 710 and a second flexible transmission mechanism. The second flexible transmission mechanism can be connected between a driving end of the second moving drive 710 and the cooperating mechanism 400. Under the driving of the second moving drive 710, the cooperating mechanism 400 can be lifted. The second flexible transmission mechanism can include, but is not limited to, a belt transmission mechanism or a chain transmission mechanism. Specifically, the second flexible transmission mechanism can include a second wheel 720 and a second annular flexible member 730. The second moving drive 710 can be arranged on the vertical rail 210. The second wheel 720 can include a plurality of. The second annular flexible member 730 can be tensioned on the plurality of second wheels 720. The second annular flexible member 730 can include a second vertical segment 731 extending along the vertical direction Z-Z. The cooperating mechanism 400 can be connected to the second vertical segment 731. The driving end of the second moving drive 710 can be connected to at least one of the plurality of second wheels 720 to drive the second wheel 720 to rotate, so that the second annular flexible member 730 can be driven to rotate, and in turn the cooperating mechanism 400 connected thereto can be lifted along the vertical direction Z-Z. The second moving drive 710 can adopt various types of drives known in the art or possibly appearing in the future, including but not limited to a motor or a rotary air cylinder. The second wheel 720 and the second annular flexible member 730 can be adapted, for example, the second wheel 720 can include a belt wheel, and the second annular flexible member 730 can include a belt; or, the second wheel 720 can include a sprocket, and the second annular flexible member 730 can include a chain. By arranging the first moving assembly 600 and the second moving assembly 700, the cooperating mechanism 400 and the loading and unloading mechanism 500 can be lifted independently of each other along at least one vertical rail 210. The first moving assembly 600 and the second moving assembly 700 thus arranged have a relatively low cost and are convenient to install and maintain in the future. Especially for modern storage shelves 900, the height is getting higher and higher, so the path that the cooperating mechanism 400 and the loading and unloading mechanism 500 need to move is longer. In this case, the first moving assembly 600 and the second moving assembly 700 of the present embodiment have a relatively low cost.

[0067] Exemplarily, as shown in Figure 11 One of the first annular flexible member 630 and the second annular flexible member 730 can surround the other. Thus arranged, the structure of the first moving assembly 600 and the second moving assembly 700 is more compact, so that the space utilization of the conveying device 100 can be improved, and in turn the miniaturization can be facilitated.

[0068] Exemplarily, as shown in Figures 6 to 11As shown, the plurality of first wheels 620 can include a first upper end wheel 621 and a first lower end wheel 622. The first upper end wheel 621 and the first lower end wheel 622 can be disposed apart along the vertical direction Z-Z. The first upper end wheel 621 can be located at an upper end of the vertical rail 210 where the first upper end wheel 621 is located. The first lower end wheel 622 can be located at a lower end of the vertical rail 210 where the first lower end wheel 622 is located. The upper end and the lower end of the first annular flexible member 630 can be sleeved on the first upper end wheel 621 and the first lower end wheel 622, respectively.

[0069] Exemplarily, as shown, Figures 6 to 11 As shown, the plurality of second wheels 720 can include a second upper end wheel 721 and a second lower end wheel 722. The second upper end wheel 721 and the second lower end wheel 722 can be disposed apart along the vertical direction Z-Z. The second upper end wheel 721 can be located at an upper end of the vertical rail 210 where the second upper end wheel 721 is located. The second lower end wheel 722 can be located at a lower end of the vertical rail 210 where the second lower end wheel 722 is located. The upper end and the lower end of the second annular flexible member 730 can be sleeved on the second upper end wheel 721 and the second lower end wheel 722, respectively.

[0070] The first upper end wheel 621 can be located above the second upper end wheel 721. The number of the first upper end wheel 621 can be greater than the number of the second upper end wheel 721, for example, the first upper end wheel 621 can include two, and the second upper end wheel 721 can include one. Wherein: the diameter of the first upper end wheel 621 is not greater than the diameter of the second upper end wheel 721. In this way, a greater number of the first upper end wheel 621 can protrude to both sides of the second upper end wheel 721 along the horizontal axial direction of the second upper end wheel 721, so as to enable the first annular flexible member 630 to be located outside the second annular flexible member 730 at the upper end. Compared with using one large-size first upper end wheel, a plurality of small-size first upper end wheels 621 can reduce the weight and size, so as to enable the transmission device 100 to be lightweight and small in size.

[0071] The first lower end wheel 622 can be located below the second lower end wheel 722. The number of the first lower end wheel 622 can be greater than the number of the second lower end wheel 722, for example, the first lower end wheel 622 can include two, and the second lower end wheel 722 can include one. Wherein: the diameter of the first lower end wheel 622 is not greater than the diameter of the second lower end wheel 722. In this way, a greater number of the first lower end wheel 622 can protrude to both sides of the second lower end wheel 722 along the horizontal axial direction of the second lower end wheel 722, so as to enable the first annular flexible member 630 to be located outside the second annular flexible member 730 at the lower end. Compared with using one large-size first lower end wheel, a plurality of small-size first lower end wheels 622 can reduce the weight and size, so as to enable the transmission device 100 to be lightweight and small in size. In summary, the first annular flexible member 630 can surround the second annular flexible member 730.

[0072] For example, the drive end of the first moving drive member 610 can be connected to a first upper wheel 621, which can serve as the driving wheel, while the other first upper wheels 621 and the first lower wheels 622 can serve as driven wheels. The drive end of the second moving drive member 710 can be connected to a second upper wheel 721, which can serve as the driving wheel, while the other second upper wheels 721 and the second lower wheels 722 can serve as driven wheels.

[0073] For example, such as Figures 6 to 11 As shown, the first moving component 600 and the second moving component 700 can be arranged on the same vertical track 210. In the illustrated embodiment, there are two vertical tracks 210, each with a first moving component 600 and a second moving component 700. In other embodiments not shown, more or fewer vertical tracks 210 can be arranged. Arranging the first moving component 600 and the second moving component 700 on the vertical track 210 reduces the number of vertical tracks 210, thereby reducing the weight, size, and manufacturing cost of the transmission device 100. In particular, for embodiments where the first annular flexible member 630 and the second annular flexible member 730 surround each other, it is more advantageous to arrange them on the same vertical track 210 due to their small space occupation. A transmission channel 211 can be provided within the vertical track 210. The transmission channel 211 can extend through the vertical track 210 in the vertical direction. A portion of each of the first annular flexible member 630 and the second annular flexible member 730 can pass through the transmission channel 211. The first vertical segment 631 and the second vertical segment 731 may be located outside the transmission channel 211 to facilitate connection to the mating mechanism 400 and the loading / unloading mechanism 500. Exemplarily, the first annular flexible member 630 may further include a third vertical segment 632 extending ZZ in the vertical direction. The third vertical segment 632 may be parallel to and opposite to the first vertical segment 631. The first vertical segment 631 may be located on the side of the first annular flexible member 630 facing the mating mechanism 400 and the loading / unloading mechanism 500, and the third vertical segment 632 may be located on the side of the first annular flexible member 630 facing away from the mating mechanism 400 and the loading / unloading mechanism 500. The third vertical segment 632 may pass through the transmission channel 211. The second annular flexible member 730 may further include a fourth vertical segment 732 extending ZZ in the vertical direction. The fourth vertical segment 732 may be parallel to and opposite to the second vertical segment 731. The second vertical section 731 can be located on the side of the second annular flexible member 730 facing the mating mechanism 400 and the loading / unloading mechanism 500, and the fourth vertical section 732 can be located on the side of the second annular flexible member 730 facing away from the mating mechanism 400 and the loading / unloading mechanism 500. The fourth vertical section 732 can be inserted into the transmission channel 211.

[0074] For example, such as Figure 12As shown, the first moving assembly 600 and the second moving assembly 700 can be arranged on different vertical rails 210. For example, on each side of the matching mechanism 400, two vertical rails 210 can be arranged, which can include two arranged along the second horizontal direction X-X. Alternatively, the two vertical rails 210 can be attached to and connected with each other. Alternatively, a space can also be arranged between the two vertical rails 210. The first moving assembly 600 and the second moving assembly 700 can be arranged on the two vertical rails 210 respectively. In this way, the structure of the conveying device 100 is relatively simple, which is convenient for installation and later maintenance.

[0075] For example, the loading and unloading bracket 520 can be arranged at any suitable position, for example, can be arranged above the matching mechanism 400, or arranged on one side or both sides of the matching mechanism 400 along the second horizontal direction X-X, or arranged on one side of the matching mechanism 400 along the first horizontal direction Y-Y away from the storage shelf 900. The first horizontal direction Y-Y can be perpendicular to the second horizontal direction X-X and the vertical direction Z-Z. As shown in the figure, the loading and unloading bracket 520 can be arranged on one side of the matching mechanism 400 along the first horizontal direction Y-Y away from the storage shelf 900. Figures 6 to 8 As shown, the loading and unloading mechanism 500 can be located above the matching mechanism 400. The matching mechanism 400 and the loading and unloading mechanism 500 can be spaced apart from each other along the vertical direction Z-Z to form a load space 402 accommodating the articles between the matching mechanism 400 and the loading and unloading mechanism 500. The loading and unloading mechanism 500 can no longer interfere with the matching mechanism 400. Although in the illustrated embodiment, the loading and unloading mechanism 500 is located directly above the matching mechanism 400, in other embodiments not shown, the loading and unloading mechanism 500 can be located obliquely above the matching mechanism 400, as long as the loading and unloading mechanism 500 is located above the matching mechanism 400. For example, the loading and unloading mechanism 500 and the matching mechanism 400 can be completely spaced apart, and there is no connecting member between them. In this embodiment, the loading and unloading mechanism 500 and the matching mechanism 400 can be connected to the rail assembly 200 respectively. For example, a connecting member such as a bracket or a column can be connected between the spaced-apart loading and unloading mechanism 500 and the matching mechanism 400 to space them apart through the connecting member.

[0076] Compared with the prior art, the present application has the advantages of: Figure 1The structure of the access robot 40 mounted on the support frame 30, the spaced-apart matching mechanism 400 and the loading and unloading mechanism 500 of the present application no longer interfere with each other, so that not only the structures of the two can be simplified, but also the design can be optimized according to the use requirements. Based on this, the loading and unloading mechanism 500 can not be arranged at the rear side (i.e. the side facing away from the storage shelf 900) of the matching mechanism 400 along the first horizontal direction Y-Y, but can be arranged above the carrying surface 401. In this way, the loading and unloading mechanism 500 can not occupy the space on the matching mechanism 400, especially the space along the first horizontal direction Y-Y, thereby the size of the matching mechanism 400 along the first horizontal direction Y-Y can be reduced, and thus the distance between adjacent storage shelves 900 can be set smaller, so that the storage rate of the warehouse can be improved. Moreover, since the loading and unloading mechanism 500 is no longer arranged on the matching mechanism 400, the carrying space 402 can be larger, so that larger size articles can be carried, and the movement of the articles on the matching mechanism 400 along the first horizontal direction Y-Y can no longer be restricted, so that the articles can be freely accessed from the front side (i.e. the side facing the storage shelf 900) and the rear side (i.e. the side facing away from the storage shelf 900) of the carrying surface 401, so as to facilitate subsequent work. As Figure 15 As shown, the conveying device 100 can be arranged between two adjacent rows of storage shelves 900 along the first horizontal direction Y-Y, and in the case that the articles are freely accessed from the front and rear sides of the carrying surface 401, the loading and unloading member 510 can be configured to move the articles between the operation position 901 on the adjacent two rows of storage shelves 900 and the carrying surface 401. For example, the loading and unloading mechanism 500 can take the articles on the carrying surface 401 from the rear side of the matching mechanism 400 to move to the operation position 901 of the storage shelf 900 at the rear side of the matching mechanism 400; or the picking device can take the articles on the carrying surface 401 from the rear side of the matching mechanism 400 to transfer to a trolley or a manual transfer station. In this way, not only the number of conveying devices 100 used in the warehouse can be reduced, but also the function of the conveying device 100 is more reasonable, so that the work efficiency can be improved.

[0077] As Figure 14As shown, the warehouse system can include the warehouse rack 900 in addition to any of the conveying devices 100 of the present application. The warehouse rack 900 can include a plurality of operation sites 901. Each operation site 901 can place an article. The warehouse rack 900 can have a first side and a second side opposite along the first horizontal direction Y-Y. At least one of the first side and the second side can be provided with the conveying device 100. Among them, the warehouse system can not only be applied in the warehouse to play the role of transferring articles, but also can be applied in other scenarios. For example, the warehouse system can be arranged on a production line, and the warehouse rack 900 can be located beside the production line, which can be used to store articles required for production or store articles produced. In this way, the warehouse system can be part of the production line, and the conveying device 100 can play the role of feeding or discharging. In summary, the warehouse system can be applied to various scenarios requiring the handling of articles.

[0078] Exemplarily, as shown in Figure 15 The warehouse rack 900 can include a first warehouse rack 910 and a second warehouse rack 920. The operation site 901 can include a first operation site 911 on the first warehouse rack 910 and a second operation site 921 on the second warehouse rack 920. The first warehouse rack 910 and the second warehouse rack 920 can be spaced apart along the first horizontal direction Y-Y to form a lane 930. With the rapid development of the logistics industry, the density of the warehouse rack 900 is getting higher and higher, so the space of the lane 930 is more limited. The miniaturized conveying device 100 can move in the narrower lane 930, so as to adapt to the development needs of the modern logistics industry. The conveying device 100 can be located in the lane 930. The loading and unloading member 510 can be used to move articles between the cooperating mechanism 400 and the first operation site 911, and between the loading and unloading member 510 and the second operation site 921. In this way, the loading and unloading member 510 can move the articles directly between the two warehouse racks 900, so as to avoid the need to set a docking device between the two warehouse racks 900.

[0079] Exemplarily, as shown in Figures 6 to 8 The loading and unloading mechanism 500 can further include a loading and unloading mechanism driver 530. The loading and unloading mechanism driver 530 can include a loading and unloading arm driver 550. The loading and unloading arm driver 550 can be arranged on the loading and unloading bracket 520. Among them: under the driving of the loading and unloading arm driver 550, the loading and unloading arm 540 can rotate, so that the loading and unloading arm 540 can move the articles between the operation site 901 on the warehouse rack 900 and the cooperating mechanism 400. And under the driving of the loading and unloading arm driver 550, the loading and unloading arm 540 can rotate, so that the height difference of the loading and unloading arm 540 relative to the cooperating mechanism 400 is adjustable. The loading and unloading arm driver 550 includes but is not limited to a motor, a pneumatic cylinder and / or a hydraulic cylinder. In this way, the structure of the loading and unloading mechanism 500 is relatively simple, which is convenient for processing and manufacturing.

[0080] For example, such as Figures 6 to 8 As shown, a loading / unloading arm 540 may be equipped with a loading / unloading driver 560 and a loading / unloading component 510. The loading / unloading driver 560 may be located at the free end of the loading / unloading arm 540. The loading / unloading component 510 may be connected to the drive end of the loading / unloading driver 560. Thus, the loading / unloading mechanism driver 530 may drive the loading / unloading driver 560 and the loading / unloading component 510 to rotate synchronously. Driven by the loading / unloading driver 560, the loading / unloading component 510 may move between an engagement position for engaging the item and a release position for releasing the item. The loading / unloading driver 560 includes, but is not limited to, a motor, a cylinder, and / or a hydraulic cylinder. In practical applications, when the loading / unloading arm driver 550 drives the loading / unloading driver 560 and the loading / unloading component 510 to rotate to the adaptation structure of the item, the loading / unloading component 510 may be in the release position. Then, the loading / unloading driver 560 may drive the loading / unloading component 510 to move to the engagement position, thereby engaging with the item. In other words, when it is necessary to release the item, the loading / unloading driver 560 can drive the loading / unloading component 510 to the release position, thereby disengaging it from the item.

[0081] For example, such as Figures 6 to 8As shown, the handling arm driver 550 can include a first handling arm driver 551 and a second handling arm driver 552. The handling arm 540 can include a first handling arm 541 and a second handling arm 542. The driving end of the first handling arm driver 551 can be connected to the first handling arm 541 for driving the first handling arm 541 to rotate around a first horizontal axis parallel to the track assembly 200. The first horizontal axis can be parallel to the second horizontal direction X-X. Alternatively, one end of the first handling arm 541 can be directly connected to the driving end of the first handling arm driver 551 for being driven to rotate by the first handling arm driver 551. The second handling arm driver 552 can be disposed on the first handling arm 541. The driving end of the second handling arm driver 552 can be connected to the second handling arm 542 for driving the second handling arm 542 to rotate around a second horizontal axis parallel to the track assembly 200. The second horizontal axis can be parallel to the second horizontal direction X-X. Alternatively, the second handling arm 542 can be rotatably connected to the first handling arm 541, or directly connected to the driving end of the second handling arm driver 552. The handling driver 560 can be disposed on the second handling arm 542. The handling driver 560 can be used for driving the handling member 510 to rotate around a third horizontal axis parallel to the track assembly 200. The third horizontal axis can be parallel to the second horizontal direction X-X. Alternatively, the handling member 510 can be rotatably connected to the second handling arm 542, or directly connected to the driving end of the handling driver 560. In this way, the handling member 510 has a very high degree of freedom in a plane perpendicular to the second horizontal direction X-X, so as to be rotated to any desired position, thereby facilitating the connection to the fitting structure of the article for carrying the article. Moreover, the handling mechanism driver 530 can be configured to drive the handling member 510 to extend to the outside of the fitting mechanism 400 in both sides along a first horizontal direction Y-Y. The first horizontal direction Y-Y can be perpendicular to the track assembly 200. In this way, the handling mechanism driver 530 can drive the handling member 510 to access the first operation site 911 on the first storage rack 910 and the second operation site 921 on the second storage rack 920 for carrying the articles on the first operation site 911 and the second operation site 921. The first handling arm driver 551, the second handling arm driver 552 and the handling driver 560 can each include a motor or a rotary air cylinder or any other suitable driver.

[0082] In the illustrated embodiment, the handling arms 540 include two handling arms. In other embodiments not shown, the handling arms 540 can include more or less handling arms. In the case of including only one handling arm, the length of the handling member 510 can be increased, thereby increasing the movable range of the handling member 510. In addition, in the illustrated embodiment, each of the handling arms 540 and the rotation axis of the handling member 510 are parallel to the second horizontal direction X-X, but in other embodiments not shown, each of the handling arms and the rotation axis of the handling member 510 can extend in different directions. For example, in the embodiment in which the handling mechanism 500 is disposed obliquely above the fitting mechanism 400, the rotation axis of each of the handling arms and at least one of the handling members 510 can be substantially parallel to the first horizontal direction Y-Y to enable movement of the articles between the operation site 901 of the storage shelf 900 and the fitting mechanism 400. Even if the handling mechanism 500 is disposed directly above the fitting mechanism 400, the rotation axis of each of the handling arms and at least one of the handling members 510 can not be parallel to the second horizontal direction X-X, as long as it has a movement function.

[0083] As shown exemplarily, Figures 6 to 8 The handling member 510 can be provided with handling portions 511 for moving articles on both sides of the moving track thereof. The handling portions 511 can be oppositely arranged along the rotation direction of the handling member 510. The handling portions 511 can be used to engage the fitting structure of the articles. In this way, the handling portion 511 on one side can move the articles between the first operation site 911 of the first storage shelf 910 and the fitting mechanism 400, and the handling portion 511 on the other side can move the articles between the second operation site 921 of the second storage shelf 920 and the fitting mechanism 400. The handling portions 511 include, but are not limited to, suction cups, clamping jaws, or hooks.

[0084] As shown exemplarily, Figures 6 to 8As shown, the unloading mechanism driver 530 can further include a translation driving mechanism 570. Under the driving of the translation driving mechanism 570, the unloading arm 540 can move along the first horizontal direction Y-Y. Exemplarily, the translation driving mechanism 570 can include a translation driver 571. The driving end of the translation driver 571 can be connected to the unloading arm 540 for driving the unloading arm 540 to move along the first horizontal direction Y-Y. In this way, the stroke of the unloading arm 540 along the first horizontal direction Y-Y can be increased to move the articles at a deeper position of the storage rack 900. Moreover, the unloading arm 540 can move between the first storage rack 910 and the second storage rack 920 to facilitate the movement of the articles on the first operation site 911 and the second operation site 921. In the embodiment in which the unloading mechanism driver 530 includes the first unloading arm driver 551, the driving end of the translation driver 571 can be connected to the first unloading arm driver 551 to drive the first unloading arm driver 551, the second unloading arm driver 552, the unloading driver 560, the first unloading arm 541, the second unloading arm 542 and the unloading member 510 to move synchronously along the first horizontal direction Y-Y. The translation driver 571 includes, but is not limited to, a motor or a pneumatic cylinder. Exemplarily, the unloading support 520 can be provided with a translation guide rail 521 extending along the first horizontal direction Y-Y. The driving end of the translation driver 571 can be connected to a pulley of a belt driving mechanism 580 to drive the pulley to rotate. The belt of the belt driving mechanism 580 can be provided with a sliding block 590. The translation driver 571 can drive the belt of the belt driving mechanism 580 to rotate to drive the sliding block 590 to slide along the translation guide rail 521. The first unloading arm driver 551 and / or the first unloading arm 541 can be arranged on the sliding block 590. In this way, the unloading arm 540, the unloading arm driver 550 and the like can move along the first horizontal direction Y-Y with the sliding block 590.

[0085] In the above embodiment, the stroke of the unloading arm 540 can be increased by arranging more unloading arms and / or arranging the translation driving mechanism 570, so that the articles at a deeper position of the storage rack 900 can be moved. Thus, more layers of articles arranged along the first horizontal direction Y-Y can be arranged for one row or multiple rows of the storage rack 900. In this way, the storage rate of the warehouse can be increased.

[0086] Exemplarily, as shown in FIG. 1, the first storage rack 910 and the second storage rack 920 can be arranged along the first horizontal direction Y-Y. The first operation site 911 and the second operation site 921 can be arranged on the first storage rack 910 and the second storage rack 920, respectively. The first operation site 911 and the second operation site 921 can be arranged along the first horizontal direction Y-Y. The first operation site 911 and the second operation site 921 can be arranged in parallel to each other. The first operation site 911 and the second operation site 921 can be arranged in a staggered manner. Figures 6 to 8As shown, the fitting mechanism 400 can include a fitting bracket 410. The fitting bracket 410 can be connected to the track assembly 200. Specifically, the fitting mechanism 400 can be connected to the at least one vertical track 210, so as to be liftable along the at least one vertical track 210. Exemplarily, both ends of the fitting mechanism 400 can be liftable connected to the vertical track 210 along the second horizontal direction X-X. The fitting bracket 410 can include a conveying mechanism 411. The conveying mechanism 411 can be used to define a carrying surface 401. The conveying mechanism 411 can move the articles on the carrying surface 401 along the first horizontal direction Y-Y. In this way, the fitting mechanism 400 can facilitate conveying the articles out along the first horizontal direction Y-Y. Although in the illustrated embodiment, the conveying mechanism 411 includes a conveyor belt, in other embodiments not shown, the conveying mechanism 411 can include one or more of a conveyor roller, a conveyor chain, etc.

[0087] Exemplarily, as shown in FIG. 1, the carrying surface 401 can be a top surface of the fitting bracket 410 or any other suitable surface. The carrying surface 401 can be configured to accommodate articles of various sizes along the second horizontal direction X-X. Exemplarily, along the first horizontal direction Y-Y, the carrying surface 401 can extend from one side of the fitting bracket 410 to the other side. The width of the carrying surface 401 can be set to match the maximum width of commonly used articles. In this way, articles of any width can be placed on the carrying surface 401. As shown in FIG. 1, the carrying surface 401 can be configured to accommodate articles of various sizes along the second horizontal direction X-X. Figures 6 to 8 Figure 1 As shown, the prior art sets apart the transmission belts 31 on both sides of the access robot 40 in order to avoid the access robot 40, which can result in articles of small width being unable to be supported on the fitting bracket 410. The present application does not need to destroy the integrity of the carrying surface 401 because the loading and unloading mechanism 500 is arranged above the carrying surface 401 of the fitting mechanism 400, so it can accommodate articles of small width. Alternatively, the carrying surface 401 of the present application can also include a plurality of sub-carrying surfaces spaced apart along the second horizontal direction X-X, as long as the spacing does not cause the articles to fall off the fitting bracket 410 or get stuck in the gap between the sub-carrying surfaces.

[0088] Exemplarily, as shown in FIG. 1, the fitting bracket 410 can be configured to allow articles to be accessed from both sides along the first horizontal direction Y-Y. In this way, the loading and unloading mechanism 500 can facilitate moving articles between the carrying surface 401 and the first operation site 911 of the first storage rack 910, as well as between the carrying surface 401 and the second operation site 921 of the second storage rack 920. Figures 6 to 8

[0089] ​​In the description of the utility model, it is understood that the orientation words such as "front", "rear", "upper", "lower", "left", "right", "transverse", "vertical", "perpendicular", "horizontal" and "top", "bottom" and the like indicated orientation or positional relationship is usually based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, in the absence of the opposite statement, these orientation words do not indicate and imply that the device or element indicated must have a particular orientation or be constructed and operated in a particular orientation, therefore can not be understood as the limitation of the protection scope of the utility model;The orientation words "inner", "outer" refer to the inner and outer of the contour of each component.

[0090] For the convenience of description, regional relative terms such as "on", "above", "upper surface", "upper" and the like can be used here to describe the regional position relationship of one or more components or features shown in the drawing with other components or features.It should be understood that the regional relative terms not only include the orientation of the components described in the drawing, but also include different orientations in use or operation.For example, if the components in the drawing are inverted as a whole, the components "above" or "on" other components or features will include the case of "below" or "under" other components or structures.Therefore, the exemplary term "above" can include both "above" and "below".In addition, these components or features can also be positioned at other different angles (for example, rotated by 90 degrees or other angles), and all these cases are intended to be included herein.

[0091] It should be noted that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application.As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, it means that the features, steps, operations, components, assemblies and / or their combinations are present.

[0092] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence of precedence.It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0093] The utility model discloses has been through the above embodiment has been explained, but should understand, the above embodiment is only for the purpose of example and illustration, and is not intended to limit the utility model to the range of described embodiment. In addition, those skilled in the art can understand that the utility model is not limited to the above embodiment, and more kinds of variations and modifications can be made according to the teaching of the utility model, and the variations and modifications all fall within the range of the utility model claimed. The protection scope of the utility model is defined by the attached claims and its equivalent range.

Claims

1. A transmitting device, characterized by, The application relates to a storage and retrieval mechanism for a warehouse, comprising: a first moving assembly for moving a handling mechanism; the handling mechanism is used for moving an article between an operating position and a matching mechanism on a warehouse rack, the handling mechanism is adjustable relative to the operating space of the matching mechanism, and the matching mechanism at least has a function of supporting the article.

2. The transmission apparatus of claim 1, wherein, The handling mechanism comprises a handling support and a handling arm, the handling arm is arranged on the handling support, the first moving assembly is connected to the handling support, and the handling arm is used for moving the article between the operating position and the matching mechanism.

3. The transmission apparatus of claim 2, wherein, The first moving assembly is installed on a track assembly, and the handling mechanism can independently move.

4. The transmission apparatus of claim 3, wherein, The track assembly can be arranged on the warehouse rack or the matching mechanism, and the matching mechanism is a carrying mechanism, an automated guided vehicle or a storage and retrieval robot.

5. The transmission apparatus of claim 3, wherein, The track assembly comprises at least one vertical track, and the matching mechanism is a carrying mechanism; the height of the handling support relative to the carrying mechanism is adjustable; and / or the height of the handling arm relative to the carrying mechanism is adjustable; and / or the carrying mechanism and the handling support are respectively connected to the at least one vertical track and can independently ascend and descend along the at least one vertical track, so as to change the height difference between the carrying mechanism and the handling support.

6. The transmission device of claim 5, wherein, The first moving assembly comprises a first moving drive and a first flexible transmission mechanism, the first flexible transmission mechanism is connected between the driving end of the first moving drive and the handling support, and the handling support drives the handling arm to ascend and descend under the driving of the first moving drive.

7. The transmission device of claim 6, wherein, The first flexible transmission mechanism comprises a plurality of first wheels and a first annular flexible member, the first annular flexible member is tensioned on the plurality of first wheels, the first annular flexible member comprises a first vertical section extending in a vertical direction, the handling support is connected to the first vertical section, and at least one of the plurality of first wheels can rotate under the driving of the first moving drive, so as to drive the carrying mechanism to ascend and descend.

8. The transmitting apparatus of claim 3, wherein, The handling mechanism is located above the matching mechanism, and the matching mechanism and the handling mechanism are spaced apart from each other in a vertical direction, so as to form a carrying space accommodating the article between the matching mechanism and the handling mechanism.

9. The transmitting apparatus of claim 3, wherein, The handling mechanism further comprises a handling mechanism drive arranged on the handling support, the handling mechanism drive comprises a handling arm drive, the handling arm can rotate under the driving of the handling arm drive, so that the height difference of the handling arm relative to the matching mechanism is adjustable.

10. The transmission device of claim 9, wherein, A handling drive and a handling member are arranged on the handling arm, the handling drive is arranged at the free end of the handling arm, the handling member is connected to the driving end of the handling drive, and the handling member can move between an engaging position for engaging the article and a releasing position for releasing the article under the driving of the handling drive.

11. The transmission device of claim 10, wherein, The handling arm drive comprises a first handling arm drive and a second handling arm drive, and the handling arm comprises a first handling arm and a second handling arm, wherein: The first loading and unloading arm driver is arranged on the loading and unloading support, and a driving end of the first loading and unloading arm driver is connected to the first loading and unloading arm to drive the first loading and unloading arm to rotate around a first horizontal axis parallel to the track assembly. The second loading and unloading arm driver is arranged on the first loading and unloading arm, and a driving end of the second loading and unloading arm driver is connected to the second loading and unloading arm to drive the second loading and unloading arm to rotate around a second horizontal axis parallel to the track assembly. The loading and unloading driver is arranged on the second loading and unloading arm, and the loading and unloading driver is used to drive the loading and unloading member to rotate around a third horizontal axis parallel to the track assembly.

12. The transmission device of claim 11, wherein, Two sides of the moving track of the loading and unloading member are respectively provided with loading and unloading parts for engaging the articles.

13. The transmission device of claim 9, wherein, The loading and unloading mechanism driver further comprises a translation driving mechanism, and the loading and unloading arm driver and the loading and unloading arm are movable along a first horizontal direction under the driving of the translation driving mechanism, and the first horizontal direction is perpendicular to the track assembly.

14. The transmission device of claim 9, wherein, The loading and unloading mechanism driver is configured to drive the loading and unloading arm to be extended to the outside of the matching mechanism on both sides along a first horizontal direction, and the first horizontal direction is perpendicular to the track assembly.

15. A transmitting device, comprising: The transmission device comprises a track assembly, the matching mechanism and the transmission device as claimed in any one of claims 1-14, and the matching mechanism and the loading and unloading mechanism are independently movable along the track assembly.

16. The transmission device of claim 15, wherein, The transmission device further comprises a second moving assembly mounted on the track assembly, and the second moving assembly is used to drive the matching mechanism to move, and the matching mechanism and the loading and unloading mechanism are independently movable.

17. The transmission device of claim 16, wherein, The second moving assembly comprises a second moving driver and a second flexible transmission mechanism, the second flexible transmission mechanism is connected between a driving end of the second moving driver and the matching mechanism, and the matching mechanism is liftable under the driving of the second moving driver.

18. The transmission device of claim 17, wherein, The track assembly comprises at least one vertical track and at least one horizontal track, the at least one vertical track extends along a vertical direction, the at least one horizontal track extends along a first horizontal direction perpendicular to the vertical direction, the at least one vertical track is movably connected to the at least one horizontal track along the first horizontal direction, and the first moving assembly and the second moving assembly are mounted on the at least one vertical track.

19. A warehousing system characterized by The transmission device comprises a warehouse shelf and the transmission device as claimed in any one of claims 15-18, the warehouse shelf has a first side and a second side opposite along a first horizontal direction, at least one of the first side and the second side is provided with the transmission device, and the first horizontal direction is perpendicular to the track assembly.

20. The warehousing system of claim 19, wherein, The warehouse shelf comprises a first warehouse shelf and a second warehouse shelf, the operation position comprises a first operation position on the first warehouse shelf and a second operation position on the second warehouse shelf, The first warehouse shelf and the second warehouse shelf are arranged at intervals along the first horizontal direction to form a lane, and the transmission device is located in the lane, The loading and unloading mechanism is used to cooperate with the matching mechanism to take and place the articles in the first operation position and cooperate with the matching mechanism to take and place the articles in the second operation position.

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