Goods taking and placing equipment and warehousing system

Abstract

The utility model provides goods taking and placing equipment and a warehousing system.The goods taking and placing equipment is used for moving on the ground and a goods shelf and taking, placing and conveying goods on the goods shelf, the goods taking and placing equipment comprises a chassis, a first driving assembly and a plurality of balance arm assemblies, and the first driving assembly is arranged on the chassis; the multiple balance arm assemblies are arranged on the two sides of the chassis in the width direction correspondingly, the balance arm assemblies are connected with the first driving assembly, and the first driving assembly is configured to drive the balance arm assemblies to rotate in the vertical plane or telescopically move in the width direction of the chassis; the balance arm assembly has the first state and the second state, by switching the different states, the balance arm assembly can horizontally move along the ground or vertically climb along the goods shelf, and the space utilization rate is increased.

Description

Technical Field

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

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

[0003] In related technologies, shelves are typically quite tall and have tiered storage areas for goods. When a picking and placing robot is working, it first uses a ground moving mechanism to move horizontally along the ground to the designated area, and then uses a climbing mechanism to climb along the shelf to the designated layer. Finally, it takes out the goods from the shelf or puts the goods into the shelf.

[0004] However, the climbing mechanism of the picking and placing robot needs to be designed independently from the ground moving mechanism. The robot chassis structure is complex, the chassis size is large, the space utilization rate is low, and it occupies a large space between shelves, resulting in low warehouse density. Utility Model Content

[0005] This application provides a picking and placing equipment and a warehousing system to solve the technical problems of picking and placing robots having complex chassis structures, large chassis sizes, low space utilization, occupying a large amount of space between shelves, and resulting in low storage density.

[0006] In a first aspect, this application provides a picking and placing device for moving on the ground or on shelves, and for picking up, placing, and transporting goods on shelves; the picking and placing device includes:

[0007] Chassis;

[0008] First drive assembly, the first drive assembly is mounted on the chassis;

[0009] Multiple balance arm assemblies are respectively disposed on both sides of the chassis width direction; each balance arm assembly is connected to a first drive assembly; the first drive assembly is configured to drive the balance arm assemblies to rotate in a vertical plane or to extend and retract along the width direction of the chassis.

[0010] The counterweight arm assembly has a first state, a second state, and a third state. When the counterweight arm is in the first state, it is retracted relative to the chassis and set horizontally, and can contact the ground. When the counterweight arm is in the second state, it is extended relative to the chassis and set vertically, and can dock with the shelf and move vertically along the shelf.

[0011] The picking and placing equipment provided in this application allows the picking and placing equipment to move to different positions by switching the different states of the balance arm assembly. When the balance arm assembly is in the first state, the picking and placing equipment can move horizontally along the ground. When the balance arm assembly is in the second state, the picking and placing equipment can climb vertically along the shelf via the balance arm assembly. The balance arm assembly in the picking and placing equipment provided in this application can be used for ground movement and shelf climbing respectively by switching between the first state and the second state, realizing the coupled design of the vertical climbing structure and the horizontal movement structure, simplifying the structure of the picking and placing equipment, adapting to narrow ground aisles, and improving space utilization.

[0012] As an optional implementation, the counterweight arm assembly includes casters and lifting wheels; the rack has vertical rails;

[0013] When the balance arm assembly is in the first state, the moving wheels can contact the ground; when the balance arm assembly is in the second state, the climbing wheels can dock with the vertical track.

[0014] With this setup, the movement functions required by the picking and placing equipment can be achieved by switching the state of the balance arm, thus improving space utilization and picking and placing efficiency.

[0015] As an optional implementation, the first drive assembly includes a first drive mechanism, a second drive mechanism, a ball spline screw, a screw nut, and a spline nut, wherein the screw nut and the spline nut are coaxially connected to the ball spline screw; the ball spline screw is connected to the balance arm assembly.

[0016] The first drive mechanism is used to drive the lead screw nut to rotate, and the second drive mechanism is used to drive the spline nut to rotate, so that the ball spline lead screw produces at least one of the movements of rotation and axial movement.

[0017] This configuration, through the combination of two drive mechanisms, enables various motion modes to meet different application needs.

[0018] As an optional implementation, when the lead screw nut rotates and the spline nut is stationary, the ball screw moves along its axial direction; when the lead screw nut is stationary and the spline nut rotates, the ball screw rotates and moves along its axial direction simultaneously; when the lead screw nut and the spline nut rotate simultaneously, and their rotation speeds are equal and their rotation directions are opposite, the ball screw rotates.

[0019] With this configuration, the ball spline screw can perform multi-degree-of-freedom motion to switch between different states of the balance arm.

[0020] As an optional implementation, the first drive mechanism includes a first drive unit, a first transmission wheel, a second transmission wheel, and a first flexible transmission member; the first drive unit is connected to the chassis, the first transmission wheel is connected to the output end of the first drive unit, and the second transmission wheel is coaxially and fixedly connected to the lead screw nut; the first flexible transmission member is wound around the first transmission wheel and the second transmission wheel.

[0021] This configuration, through the precise coordination of the first drive unit and multiple transmission components, enables the operation of the first drive mechanism and improves transmission efficiency.

[0022] As an optional implementation, the second drive mechanism includes a second drive unit, a third transmission wheel, a fourth transmission wheel, and a second flexible transmission member; the second drive unit is connected to the chassis, the third transmission wheel is connected to the output end of the second drive unit, and the fourth transmission wheel is coaxially and fixedly connected to a spline nut; the second flexible transmission member is wound around the third and fourth transmission wheels.

[0023] This configuration, through the precise coordination of the second drive unit and multiple transmission components, enables the operation of the second drive mechanism and improves transmission efficiency.

[0024] As an optional implementation, the first drive assembly includes a first bearing housing, a second bearing housing, a first bearing, and a second bearing. Both the first bearing housing and the second bearing housing are connected to the chassis. The first bearing is disposed in the first bearing housing, and the second bearing is disposed in the second bearing housing.

[0025] The lead screw nut passes through the first bearing and is fixed coaxially with the inner ring of the first bearing; the spline nut passes through the second bearing and is fixed coaxially with the inner ring of the second bearing.

[0026] This configuration, through the support of the bearing housing and bearings for the lead screw nut and spline nut, ensures the smoothness and accuracy of the rotation and linear motion of the ball spline lead screw.

[0027] As an optional implementation, there are multiple first drive components, and each of the multiple first drive components is respectively configured to correspond one-to-one with a multiple balance arm components.

[0028] This configuration allows multiple counterbalance arm assemblies to work together, or individual counterbalance arm assemblies to be driven, enabling the moving or climbing functions of the loading and unloading equipment.

[0029] As an optional implementation, the balance arm assembly includes a housing and a climbing drive mechanism. The housing is connected to the output end of the first drive assembly. The climbing drive mechanism is disposed in the housing, and the climbing wheel is connected to the climbing drive mechanism. The climbing drive mechanism is configured to drive the climbing wheel to rotate.

[0030] With this configuration, the housing is rotated by the first drive component to adjust the direction of the climbing wheels, and the climbing drive mechanism drives the climbing wheels to rotate, enabling the climbing function to be achieved without adjusting the direction of the loading and unloading equipment, thus improving the flexibility of the equipment.

[0031] As an optional implementation, the climbing drive mechanism includes a climbing drive unit, a first bracket, a guide member, a linear bearing, and an elastic member. The guide member is connected to the housing, the linear bearing is movably sleeved on the guide member, the first bracket is connected to the linear bearing, the climbing drive unit is connected to the first bracket, and the climbing wheel is connected to the output end of the climbing drive unit.

[0032] The elastic element abuts between the housing and the linear bearing; when the climbing wheel aligns with the vertical track, the elastic element is configured to apply a force toward the vertical track to the climbing wheel.

[0033] With this design, the elastic element ensures that the contact force between the climbing wheel and the track remains within a reasonable range, preventing slippage or detachment from the track and improving climbing stability.

[0034] As an optional implementation, the balance arm assembly also includes a guide drive mechanism and a guide actuator disposed in the housing, the guide actuator being connected to a first guide wheel; the guide drive mechanism is connected to the guide actuator and can drive the first guide wheel to move so that the first guide wheel and the climbing wheel grip it from different sides of the vertical track.

[0035] With this configuration, the first guide wheel and the climbing wheel grip the vertical track from different sides, improving climbing stability.

[0036] As an optional implementation, the guide drive mechanism includes a guide drive unit, a transmission mechanism, and a first gear and a second gear arranged coaxially; the guide drive unit is connected to the housing, the transmission mechanism is connected to the guide drive unit, and the transmission mechanism is configured to cause the first gear and the second gear to rotate in opposite directions;

[0037] There are two guiding actuators, which are respectively connected to the first gear and the second gear. The first guide wheels on the two guiding actuators abut against both sides of the vertical track.

[0038] With this configuration, the guide drive unit can drive the two first guide wheels to grip the vertical track through the transmission mechanism, the first gear, and the second gear, thereby improving climbing stability.

[0039] As an optional implementation, the transmission mechanism includes a transmission shaft, a first bevel gear, a second bevel gear, and a third bevel gear. The transmission shaft is connected to the output end of the guide drive unit. The first bevel gear is coaxially and fixedly connected to the transmission shaft, and the second bevel gear is coaxially arranged with the first bevel gear. The rotation axis of the third bevel gear is perpendicular to the transmission shaft and meshes with both the first and second bevel gears.

[0040] The first gear is fixedly connected to the drive shaft on the same axis, and the second gear is fixedly connected to the second bevel gear on the same axis.

[0041] This configuration, through the meshing of the bevel gear with the first and second gears, improves the accuracy and reliability of the transmission.

[0042] As an optional implementation, the guiding actuator includes a second bracket and a half-amplitude gear. The second bracket is connected to the housing, the half-amplitude gear is rotatably mounted on the second bracket, and the half-amplitude gear meshes with a first gear or a second gear. The first guide wheel is rotatably connected to the half-amplitude gear.

[0043] With this configuration, the movement of the first guide wheel can be controlled by the rotation of the half-width gear, thus avoiding interference between the half-width gear and the track.

[0044] As an optional implementation, the half-width gear is arc-shaped, and the meshing teeth of the half-width gear are located on the outer side of the arc; the guide actuator also includes a guide bearing, which is disposed on the second bracket and abuts against the inner side of the arc of the half-width gear.

[0045] This configuration allows the half-width gear to rotate around the center while axially limiting it, thus improving rotational stability and load capacity.

[0046] As an optional implementation, a first rolling groove is provided on the inner side of the arc of the half-width gear, and the guide bearing is rotatably disposed in the first rolling groove;

[0047] The guiding actuator also includes multiple needle rollers, which are distributed on both sides of the axial direction of the half-width gear. All needle rollers are rotatably connected to the second bracket. The axial direction of the half-width gear is provided with a second rolling groove, and the needle rollers on both sides are respectively rolled in the second rolling groove.

[0048] This configuration, using multiple needle rollers to radially limit the half-width gear, improves rotational stability and load capacity.

[0049] As an optional implementation, the balance arm assembly also includes a second guide wheel, which is rotatably mounted on the housing; the second guide wheel and the climbing wheel abut against the same side of the vertical track.

[0050] With this configuration, the second guide wheel can act as a guide and support during climbing, improving climbing stability.

[0051] As an alternative implementation, the counterweight arm assembly has a third state; the shelf has a horizontal track, and when the counterweight arm assembly is in the third state, the counterweight arm assembly extends out relative to the chassis and is horizontally positioned, and the casters can engage with the horizontal track and move horizontally along the shelf.

[0052] With this setup, the picking and placing equipment can move horizontally on the shelves to pick up and place goods at different horizontal positions without having to climb repeatedly, thus improving the efficiency of goods handling.

[0053] As an optional implementation, the loading and unloading equipment also includes a drive wheel assembly and a second drive assembly, the second drive assembly being disposed on the chassis; the drive wheel assembly is connected to the second drive assembly, and the second drive assembly is configured to drive the drive wheel assembly to extend or retract along the width direction of the chassis;

[0054] When the drive wheel assembly extends, it can engage with the horizontal track to allow the picking and placing equipment to move along the horizontal track on the shelf.

[0055] This design allows the drive wheel assembly to extend and retract to adapt to different movement scenarios, improving the flexibility of the device.

[0056] As an optional implementation, the second drive assembly includes a third drive unit, a guide rail mechanism, a drive gear, and a transmission rack; the third drive unit is connected to the chassis, and the drive gear is connected to the output end of the third drive unit; the transmission rack extends along the width direction of the chassis and meshes with the drive gear.

[0057] The guide rail mechanism includes an inner rail and an outer rail that slide relative to each other along the width direction of the chassis. The outer rail is fixedly connected to the chassis. The transmission rack is connected to the inner rail. The drive wheel assembly is connected to the inner rail.

[0058] This configuration, through the design of transmission components and dual tracks, improves transmission efficiency and stability.

[0059] As an optional implementation, the drive wheel assembly includes a drive base, a fourth drive unit, and a walking drive wheel. The drive base is fixedly connected to the inner rail, the fourth drive unit is connected to the drive base, and the walking drive wheel is connected to the output end of the fourth drive unit.

[0060] This design improves the stability of the drive wheels.

[0061] As an optional implementation, drive wheel assemblies are provided on both sides of the chassis width direction; there are two transmission racks, which mesh with the two sides of the drive gear so that the drive gear drives the two transmission racks to move in opposite directions; the two transmission racks respectively drive the drive wheel assemblies on both sides of the chassis width direction to extend or retract.

[0062] This configuration allows the drive wheel assembly to extend or retract to adapt to different movement scenarios.

[0063] As an optional implementation, two balance arm assemblies are provided on both sides of the chassis in the width direction, and the drive wheel assembly is located between the two balance arm assemblies.

[0064] This configuration, with counterbalance arm assemblies on both sides of the chassis, allows the picking and placing equipment to climb on both sides of the shelves without turning, improving the equipment's flexibility; and with two counterbalance arm assemblies on each side of the chassis and the drive wheel assembly located between the two counterbalance arm assemblies, it improves horizontal movement stability.

[0065] As an optional implementation, the loading and unloading equipment also includes a cable tray assembly located above and connected to the chassis; the cable tray assembly has multiple storage positions for storing goods, and the multiple storage positions are arranged along the length of the chassis.

[0066] This setup allows for the retrieval and placement of multiple goods at once, improving handling efficiency.

[0067] As an optional implementation, the cable tray assembly includes a cable tray body, a shifting mechanism, and a pick-and-place mechanism. Both the shifting mechanism and the pick-and-place mechanism are disposed on the cable tray body. The shifting mechanism is configured to move goods between different storage locations, and the pick-and-place mechanism is configured to pick up or remove goods from the cable tray assembly along the width direction of the chassis.

[0068] This setup enables automatic handling of multiple goods by using a pick-and-place mechanism to pick up and place goods, and a transfer mechanism to discharge goods, thereby improving handling efficiency.

[0069] As an optional implementation, there are at least three storage positions; the edges of the storage positions located at both ends of the cable tray body in the length direction are provided with retaining edges; the pick-and-place mechanism is located in the middle of the cable tray body in the length direction and is movable along the width direction of the cable tray body.

[0070] This setup improves handling efficiency and safety.

[0071] Secondly, this application provides a warehousing system, including shelves and the aforementioned picking and placing equipment; there are multiple shelves, and aisles are provided between adjacent shelves;

[0072] Among them, the picking and placing equipment can drive into the aisle along the ground; the picking and placing equipment can dock with the shelves on either side of the aisle and climb and move vertically.

[0073] The warehousing system provided in this application can shorten aisle width and reduce the distance between shelves by using the aforementioned picking and placing equipment to transport goods, thereby increasing storage density and improving the storage efficiency of the warehousing system.

[0074] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the support device, picking and placing equipment, and warehousing system provided by this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific embodiments. Attached Figure Description

[0075] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is a schematic diagram of the structure of the picking and placing equipment provided in the embodiments of this application;

[0077] Figure 2 This is a schematic diagram of the chassis structure of the loading and unloading equipment provided in the embodiments of this application;

[0078] Figure 3 This is a first-view schematic diagram of the first driving component provided in an embodiment of this application;

[0079] Figure 4 This is a second-view schematic diagram of the first driving component provided in an embodiment of this application;

[0080] Figure 5 A partial structural cross-sectional view of the first driving component provided in an embodiment of this application;

[0081] Figure 6 This is a schematic diagram of the retraction of the first guide wheel in the balance arm assembly provided in the embodiments of this application;

[0082] Figure 7 This is a schematic diagram showing the extension of the first guide wheel in the balance arm assembly provided in the embodiments of this application;

[0083] Figure 8 An exploded view of the counterweight arm assembly provided in an embodiment of this application;

[0084] Figure 9 This is a schematic diagram of the climbing drive mechanism provided in an embodiment of this application;

[0085] Figure 10 An exploded view of the climbing drive mechanism provided in the embodiments of this application;

[0086] Figure 11 This is a schematic diagram of the climbing guide component structure provided in an embodiment of this application;

[0087] Figure 12 This is a schematic diagram of the retraction of the first guide wheel in the climbing guide assembly provided in the embodiments of this application;

[0088] Figure 13 This is a schematic diagram showing the first guide wheel extending from the climbing guide assembly provided in the embodiments of this application;

[0089] Figure 14 This is a schematic diagram of the guide drive mechanism structure provided in the embodiments of this application;

[0090] Figure 15 An exploded view of the guide drive mechanism provided in the embodiments of this application;

[0091] Figure 16 This is a schematic diagram of the guiding actuator structure provided in an embodiment of this application;

[0092] Figure 17 An exploded view of the guiding actuator provided in the embodiments of this application;

[0093] Figure 18 A first cross-sectional view of the guiding actuator provided in an embodiment of this application;

[0094] Figure 19 A second sectional view of the guiding actuator provided in an embodiment of this application;

[0095] Figure 20 A schematic diagram of a half-pitch gear in a guiding actuator provided in an embodiment of this application;

[0096] Figure 21 This is a schematic diagram of the narrowest position of the adjustable width chassis drive assembly provided in an embodiment of this application;

[0097] Figure 22 This is a schematic diagram showing the widest position of the adjustable-width chassis drive assembly provided in an embodiment of this application;

[0098] Figure 23 An exploded view of the adjustable width chassis drive assembly provided in an embodiment of this application;

[0099] Figure 24 An exploded view of the drive wheel assembly provided in an embodiment of this application;

[0100] Figure 25 A schematic diagram of a cable tray assembly provided in an embodiment of this application;

[0101] Figure 26 A schematic diagram of a shelf provided for an embodiment of this application;

[0102] Figure 27 A schematic diagram of the vertical and horizontal tracks provided in the embodiments of this application;

[0103] Figure 28 A schematic diagram showing the interaction between the first guide wheel and the vertical track in an embodiment of this application;

[0104] Figure 29 This is a schematic diagram of the first guide wheel and the I-beam rail in an embodiment of this application.

[0105] Figure 30 This is a schematic diagram of the movement of the picking and placing equipment in the roadway provided in the embodiments of this application;

[0106] Figure 31 This is a schematic diagram of the single-sided counterweight arm extending before the loading and unloading equipment climbs, provided in an embodiment of this application.

[0107] Figure 32 This is a schematic diagram of the structure of the loading and unloading equipment with one-sided balance arm extended, provided in an embodiment of this application.

[0108] Figure 33 A schematic diagram showing the vertical erection of a single-sided counterweight arm before the lifting and placing equipment provided in this application is raised.

[0109] Figure 34 A schematic diagram of the structure of the picking and placing equipment provided in this application with the single-sided balance arm vertically erected;

[0110] Figure 35 This is a schematic diagram of the first guide wheel and the I-beam rail before the loading and unloading equipment climbs, provided in an embodiment of this application.

[0111] Figure 36 A schematic diagram of the loading and unloading equipment provided in this application embodiment climbing to a designated floor;

[0112] Figure 37 A schematic diagram showing the horizontal extension of the other side counterweight arm after the loading and unloading equipment provided in this embodiment of the application has climbed to the designated floor;

[0113] Figure 38 A schematic diagram of the structure of the loading and unloading equipment provided in this application embodiment when the other side balance arm extends horizontally after climbing to the designated floor;

[0114] Figure 39 A schematic diagram of the picking and placing equipment provided in this application embodiment when it can travel along a horizontal track;

[0115] Figure 40 This is a schematic diagram of the structure of the picking and placing equipment provided in this application embodiment when it can travel along a horizontal track;

[0116] Figure 41 This is a schematic diagram of the picking and placing equipment provided in the embodiments of this application.

[0117] Figure 42A schematic diagram illustrating the pickup and delivery device provided in this application when receiving a single item;

[0118] Figure 43 This is a schematic diagram of the picking and placing equipment provided in this application embodiment when picking up three goods.

[0119] Explanation of reference numerals in the attached figures:

[0120] 10- Picking and placing equipment;

[0121] 100-Chassis;

[0122] 200-First drive assembly; 210-First drive mechanism; 211-First drive unit; 212-First transmission wheel; 213-Second transmission wheel; 214-First flexible transmission component; 220-Second drive mechanism; 221-Second drive unit; 222-Third transmission wheel; 223-Fourth transmission wheel; 224-Second flexible transmission component; 230-Ball spline screw; 231-Threaded hole; 240-Screw nut; 250-Spline nut; 260-First bearing housing; 261-Snap ring; 270-Second bearing housing; 280-First bearing; 290-Second bearing;

[0123] 300 - Balance arm assembly; 310 - Moving wheel; 320 - Climbing wheel; 330 - Housing; 340 - Climbing drive mechanism; 341 - Climbing drive unit; 342 - First bracket; 343 - First guide; 344 - Linear bearing; 345 - Elastic element; 350 - Guide drive mechanism; 351 - Guide drive unit; 352 - Transmission mechanism; 3521 - Transmission shaft; 3522 - First bevel gear; 3523 - Second bevel gear; 3524 - Third bevel gear; 353 - First gear; 354 ​​- Second gear; 355 - Motor Support bracket; 356-Bearing support bracket; 357-Flat key; 358-Spacer sleeve; 359a-First mounted bearing; 359b-Second mounted bearing; 359c-Third mounted bearing; 360-Guide actuator; 361-First guide wheel; 362-Second support bracket; 363-Half-width gear; 3631-First rolling groove; 3632-Second rolling groove; 364-Guide bearing; 365-Needle roller; 366-Second guide wheel; 367-Shaft pin; 368-Nut; 369-Step; 370-Plug screw; 371-Third bearing;

[0124] 400 - Second drive assembly; 410 - Third drive unit; 420 - Guide rail mechanism; 421 - Inner rail; 422 - Outer rail; 430 - Drive gear; 440 - Transmission rack; 450 - Width-adjusting motor mounting base;

[0125] 500 - Drive wheel assembly; 510 - Drive base; 520 - Fourth drive unit; 521 - Motor; 522 - Reducer; 523 - Reducer mount; 530 - Walking drive wheel; 540 - Fixing screw;

[0126] 600-Cable tray assembly; 610-Cable tray body; 611-Side guard; 620-Shifting mechanism; 630-Pick-and-place mechanism;

[0127] 20-Shelf; 201-Vertical rail; 202-Horizontal rail; 203-I-beam rail; 204-Span beam; 205-Upright; 206-Beam. Detailed Implementation

[0128] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0129] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0130] Secondly, it should be noted that in the description of this application, the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0131] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0132] In this application, the terms "installation" and "connection" are used interchangeably. A "connection" can be a direct connection or an indirect connection via intermediate components; it can be an active connection or a fixed connection. The term "and / or" includes any combination of the listed items, for example, "A and / or B" includes three cases: "A and B", "A only", or "B only".

[0133] Various types of robots are widely used in various fields such as industry and daily life. Robots play an important role in industries such as transportation and logistics. In warehousing and logistics systems, goods are usually stored on shelves. Robots can pick up and put down goods by docking with shelves or conveyor lines, and can also transport goods.

[0134] In related technologies, shelves are typically quite tall and have tiered storage areas for goods. When a picking and placing robot is working, it first moves horizontally along the ground to the designated area, then climbs up the shelf to the designated layer via a climbing mechanism, and finally retrieves the goods from the shelf or places the goods into the shelf.

[0135] However, the climbing mechanism of the picking and placing robot needs to be designed independently from the ground moving mechanism. The robot chassis structure is complex, the chassis size is large, the space utilization rate is low, and it occupies a large space between shelves, resulting in low warehouse density.

[0136] To address the aforementioned problems, embodiments of this application provide a picking and placing equipment and a warehousing system, through...

[0137] The system features a balance arm assembly with two different states, allowing the picking and placing equipment to move horizontally along the ground or climb vertically along the shelves, thus improving space utilization and picking and placing efficiency. For ease of understanding, the application scenarios of the picking and placing equipment and warehousing system provided in this application embodiment will first be described.

[0138] The picking and placing equipment provided in this application is applied to warehousing systems. This equipment can be a robot used for picking up, placing, and transporting goods. Specifically, it can be applied to logistics distribution in industrial production lines, inbound and outbound inventory in manufacturing, inbound and outbound product warehousing in the retail industry, and inbound and outbound express delivery in e-commerce logistics, among other fields. The products or goods involved in transportation can be industrial parts, electronic components or products, pharmaceuticals, clothing and accessories, food, books, etc. This picking and placing equipment can directly transfer goods or transfer material boxes containing goods; this application does not specifically limit this, and will use "goods" to refer to the objects handled by the picking and placing equipment below, without further specific examples.

[0139] like Figures 1 to 8As shown, this application provides a picking and placing device 10 for moving on the ground or on a shelf 20, and picking up, placing and transporting goods on the shelf 20. The picking and placing device 10 includes a chassis 100, a first drive assembly 200 and a plurality of balance arm assemblies 300. The first drive assembly 200 is disposed on the chassis 100, and the plurality of balance arm assemblies 300 are respectively disposed on both sides of the chassis 100 in the width direction. The balance arm assemblies 300 are all connected to the first drive assembly 200. The first drive assembly 200 is configured to drive the balance arm assemblies 300 to rotate in the vertical plane or to extend and retract along the width direction of the chassis 100.

[0140] The counterweight arm assembly 300 has a first state and a second state. When the counterweight arm assembly 300 is in the first state, it is retracted relative to the chassis 100 and set horizontally, and it can contact the ground. When the counterweight arm assembly 300 is in the second state, it is extended relative to the chassis 100 and set vertically, and it docks with the shelf 20 and can move vertically along the shelf 20.

[0141] It is understandable that the chassis 100 serves as the basic structure of the loading and unloading equipment 10, connecting other components and supporting the operation of the entire equipment; the first drive assembly 200 is mounted on the chassis 100 and is used to drive the balance arm assembly 300 to extend or retract or move in the vertical direction; multiple balance arm assemblies 300 are respectively mounted on both sides of the chassis 100 in the width direction to ensure the balance of the loading and unloading equipment 10 during operation.

[0142] It should be noted that the two states of the counterweight arm assembly 300 correspond to the movement of the picking and placing device 10 in different positions. When the picking and placing device 10 moves in the ground aisle, the counterweight arm assembly 300 is in the first state, reducing the width of the picking and placing device 10. When the picking and placing device 10 moves to a designated area in the ground aisle and needs to climb up the shelf 20, the counterweight arm assembly 300 switches to the second state and docks with the shelf 20, allowing the picking and placing device 10 to climb to the designated shelf level for goods handling. Similarly, when the picking and placing device returns from the shelf to the ground, the counterweight arm assembly 300 switches from the second state to the first state, causing the picking and placing device to switch from the climbing state to the horizontal movement state.

[0143] The balance arm assembly 300 in the picking and placing equipment 10 provided in this application can be used for ground movement and climbing of the shelf 20 by switching between a first state and a second state, respectively. This realizes the coupled design of the vertical climbing structure and the horizontal movement structure, simplifies the structure of the picking and placing equipment 10, can adapt to narrower ground aisles, improves space utilization, and thus improves storage density.

[0144] In one possible implementation, the counterweight arm assembly 300 includes a moving wheel 310 and a climbing wheel 320; the shelf 20 has a vertical track 201; when the counterweight arm assembly 300 is in a first state, the moving wheel 310 can contact the ground; when the counterweight arm assembly 300 is in a second state, the climbing wheel 320 can dock with the vertical track 201.

[0145] It should be noted that the moving wheel 310 is a driven omnidirectional wheel. When the balance arm assembly 300 is in a horizontal state, that is, in the first state, the moving wheel 310 is in contact with the ground and is used to support the picking and placing equipment 10 and cooperate with the drive wheel to assist the entire equipment in moving. The moving wheel 310 and the climbing wheel 320 are perpendicular to each other. The climbing wheel 320 only works when the picking and placing equipment 10 is climbing, and is driven by the corresponding drive unit to climb along the vertical track 201.

[0146] The first driver component 200 is described below, refer to... Figures 3 to 5 .

[0147] In one possible implementation, the first drive assembly 200 includes a first drive mechanism 210, a second drive mechanism 220, a ball spline screw 230, a screw nut 240, and a spline nut 250, with the screw nut 240 and spline nut 250 coaxially connected to the ball spline screw 230; the ball spline screw 230 is connected to the balance arm assembly 300; the first drive mechanism 210 is used to drive the screw nut 240 to rotate, and the second drive mechanism 220 is used to drive the spline nut 250 to rotate, so that the ball spline screw 230 produces at least one of rotational and axial movements.

[0148] It is understood that the first drive assembly 200 drives the lead screw nut 240 and spline nut 250 through the first drive mechanism 210 and the second drive mechanism 220 to drive the ball spline lead screw 230 to rotate or extend. The ball spline lead screw 230 is connected to the balance arm assembly 300. The rotation or extension of the ball spline lead screw 230 can drive the balance arm assembly 300 to rotate or extend, so that the balance arm is in the first state, the second state or the third state.

[0149] In one possible implementation, when the lead screw nut 240 rotates and the spline nut 250 is stationary, the ball spline lead screw 230 moves along its axial direction; when the lead screw nut 240 is stationary and the spline nut 250 rotates, the ball spline lead screw 230 rotates and moves along its axial direction simultaneously; when the lead screw nut 240 and the spline nut 250 rotate simultaneously, and their rotation speeds are equal and their rotation directions are opposite, the ball spline lead screw 230 rotates.

[0150] It should be noted that the ball spline screw 230 includes a screw shaft part and a spline shaft part. The screw nut 240 contains balls, and the screw shaft surface has a helical groove. The rotation of the screw nut 240 can drive the balls to roll and realize the axial movement of the screw shaft. The spline shaft has a spline groove, and the spline nut 250 has spline teeth that mesh with it. The spline nut 250 drives the spline shaft to rotate through the meshing of the spline groove and the spline teeth.

[0151] It is understandable that by combining different driving methods of the first drive mechanism 210 and the second drive mechanism 220, the ball spline screw 230 can be made to have different motion states. When the screw nut 240 rotates and the spline nut 250 is stationary, the screw nut 240 engages with the screw shaft of the ball spline screw 230, converting the rotational motion into the axial movement of the ball spline screw 230. Since the spline nut 250 is stationary, the spline shaft of the ball spline screw 230 is fixed and cannot rotate. At this time, the ball spline screw 230 only performs axial extension and retraction motion. When the screw nut 240 is stationary and the spline nut 250 is stationary... During rotation, the spline nut 250 engages with the spline shaft portion of the ball spline screw 230, driving the ball spline screw 230 to rotate. Since the screw nut 240 is stationary, the ball spline screw 230 and the screw nut 240 rotate relative to each other, causing the ball spline screw 230 to move axially. At this time, the ball spline screw 230 rotates while moving along its axial direction. When the screw nut 240 and the spline nut 250 rotate simultaneously, and their rotational speeds are equal but their rotational directions are opposite, the rotation of the screw nut 240 and the spline nut 250 cancels out the axial movement component, and the ball spline screw 230 only retains rotational motion.

[0152] The ball spline screw 230 may be provided with a double flat part and a threaded hole 231 at its end to fix and drive the balance arm to perform telescopic and / or rotational movements.

[0153] In one possible implementation, the first drive mechanism 210 includes a first drive unit 211, a first transmission wheel 212, a second transmission wheel 213, and a first flexible transmission member 214; the first drive unit 211 is connected to the chassis 100, the first transmission wheel 212 is connected to the output end of the first drive unit 211, and the second transmission wheel 213 is coaxially fixedly connected to the lead screw nut 240; the first flexible transmission member 214 is wound around the first transmission wheel 212 and the second transmission wheel 213.

[0154] The second drive mechanism 220 includes a second drive unit 221, a third transmission wheel 222, a fourth transmission wheel 223, and a second flexible transmission member 224. The second drive unit 221 is connected to the chassis 100, the third transmission wheel 222 is connected to the output end of the second drive unit 221, and the fourth transmission wheel 223 is coaxially fixedly connected to the spline nut 250. The second flexible transmission member 224 is wound around the third transmission wheel 222 and the fourth transmission wheel 223.

[0155] It is understandable that the first drive unit 211 and the second drive unit 221 are fixedly connected to the chassis 100, which can increase the stability during driving. The first drive mechanism 210 is used to drive the lead screw nut 240 to rotate in order to control the axial movement of the ball spline lead screw 230. The second drive mechanism 220 is used to drive the spline nut 250 to rotate in order to control the rotational movement of the ball spline lead screw 230.

[0156] The first flexible transmission component 214 and the second flexible transmission component 224 can be belts, synchronous belts, or chains, etc. For example, the first flexible transmission component 214 and the second flexible transmission component 224 are synchronous belts. The synchronous belts transmit power through gear meshing between the belt teeth and the transmission wheel, which can improve transmission efficiency and accuracy.

[0157] In one possible implementation, the first drive assembly 200 includes a first bearing housing 260, a second bearing housing 270, a first bearing 280, and a second bearing 290. Both the first bearing housing 260 and the second bearing housing 270 are connected to the chassis 100. The first bearing 280 is disposed in the first bearing housing 260, and the second bearing 290 is disposed in the second bearing housing 270. A lead screw nut 240 passes through the first bearing 280 and is coaxially fixed to the inner ring of the first bearing 280. A spline nut 250 passes through the second bearing 290 and is coaxially fixed to the inner ring of the second bearing 290.

[0158] Understandably, both the first bearing housing 260 and the second bearing housing 270 are connected to the chassis 100 to support the first bearing 280 and the second bearing 290, providing a stable mounting base and ensuring the positional accuracy of the first bearing 280 and the second bearing 290. The first bearing 280 supports the lead screw nut 240 and allows it to rotate within its inner ring. The second bearing 290 supports the spline nut 250 and allows it to rotate within its inner ring. The second drive wheel 213 and the fourth drive wheel 223 are connected to the first bearing housing 260 and the second bearing housing 270 respectively via the first bearing 280 and the second bearing 290, and are axially limited by the snap ring 261, allowing the second drive wheel 213 and the fourth drive wheel 223 to rotate.

[0159] In one possible implementation, there are multiple first drive components 200, and each of the multiple first drive components 200 is respectively configured to correspond one-to-one with a multiple balance arm components 300.

[0160] For example, there are four first drive components 200 and four balance arm components 300. There are two balance arm components 300 on each side of the chassis 100 in the width direction. The two balance arm components 300 on each side are respectively set at both ends in the length direction. The four first drive components 200 and the four balance arm components 300 are arranged one-to-one to drive the four balance arm components 300 to work together.

[0161] The following describes the counterweight arm assembly 300, please refer to... Figures 6 to 20 .

[0162] In one possible implementation, the balance arm assembly 300 includes a housing 330 and a climbing drive mechanism 340. The housing 330 is connected to the output end of the first drive assembly 200. The climbing drive mechanism 340 is disposed in the housing 330, and the climbing wheel 320 is connected to the climbing drive mechanism 340. The climbing drive mechanism 340 is configured to drive the climbing wheel 320 to rotate.

[0163] It is understood that the housing 330 can be rotated by the first drive component 200 to adjust the direction of the climbing wheel 320, and the climbing wheel 320 can be rotated by the climbing drive mechanism 340 to achieve vertical climbing of the picking and placing equipment 10.

[0164] It should be noted that the housing 330 is also provided with a moving wheel 310 mounting hole and a balance arm mounting shaft. The moving wheel 310 mounting hole is used to install the moving wheel 310. The balance arm mounting shaft is fixedly connected to the spline shaft of the ball spline screw 230 with double flat positions and threaded holes 231. The bottom and side surfaces of the housing 330 are also provided with mounting holes to install the climbing drive mechanism 340, the guide drive mechanism 350 and the guide actuator 360.

[0165] In one possible implementation, the climbing drive mechanism 340 includes a climbing drive unit 341, a first bracket 342, a guide member 343, a linear bearing 344, and an elastic member 345. The guide member 343 is connected to the housing 330, the linear bearing 344 is movably sleeved on the guide member 343, the first bracket 342 is connected to the linear bearing 344, the climbing drive unit 341 is connected to the first bracket 342, and the climbing wheel 320 is connected to the output end of the climbing drive unit 341. The elastic member 345 abuts between the housing 330 and the linear bearing 344. When the climbing wheel 320 is engaged with the vertical track 201, the elastic member 345 is configured to apply a force toward the vertical track 201 to the climbing wheel 320.

[0166] Understandably, the climbing drive unit 341 can be a motor and a right-angle reducer. The motor provides the power source, and the right-angle reducer changes the direction of power transmission and reduces the speed while increasing torque. The first bracket 342 is connected to the linear bearing 344 and supports the climbing drive unit 341 and the climbing wheel 320. The first bracket 342 may have a limiting edge to ensure that the climbing wheel 320 does not protrude excessively from the housing 330. The guide member 343 can be a plug screw, which is connected to the housing 330 and serves as a guide rail for the linear bearing 344, ensuring that the linear bearing 344... The linear bearing 344 moves along a predetermined direction and is movably sleeved on the guide member 343, connected to the first bracket 342, supporting the climbing drive unit 341 and the climbing wheel 320. The elastic member 345 can be a suspension spring, abutting between the housing 330 and the linear bearing 344, and is used to apply a force toward the vertical track 201 to the climbing wheel 320 to ensure that the climbing wheel 320 is tightly connected to the vertical track 201. The climbing wheel 320 is connected to the output end of the climbing drive unit 341, and realizes the vertical movement of the balance arm assembly 300 by connecting with the vertical track 201.

[0167] In one possible implementation, the balance arm assembly 300 further includes a guide drive mechanism 350 and a guide actuator 360 disposed in the housing 330. The guide actuator 360 is connected to a first guide wheel 361. The guide drive mechanism 350 is connected to the guide actuator 360 and can drive the first guide wheel 361 to move so that the first guide wheel 361 and the climbing wheel 320 grip it from different sides of the vertical track 201.

[0168] It is understood that the guide drive mechanism 350 and the guide actuator 360 are located inside the housing 330. The guide drive mechanism 350 provides a power source, and the guide actuator 360 is used to transmit power to drive the first guide wheel 361 to grip or release the vertical track 201.

[0169] The vertical track 201 has an I-beam rail 203, which is installed on the shelf uprights 205. When the picking and placing equipment 10 climbs, the first guide wheel 361 extends out of the housing 330 and hugs the I-beam rail 203 from both sides, playing the roles of support, guidance and anti-fall.

[0170] In one possible implementation, the guide drive mechanism 350 includes a guide drive unit 351, a transmission mechanism 352, and a first gear 353 and a second gear 354 arranged coaxially. The guide drive unit 351 is connected to the housing 330, and the transmission mechanism 352 is connected to the guide drive unit 351. The transmission mechanism 352 is configured to cause the first gear 353 and the second gear 354 to rotate in opposite directions. There are two guide actuators 360, which are respectively connected to the first gear 353 and the second gear 354. The first guide wheels 361 on the two guide actuators 360 respectively abut against both sides of the vertical track 201.

[0171] In one possible implementation, the transmission mechanism 352 includes a transmission shaft 3521, a first bevel gear 3522, a second bevel gear 3523, and a third bevel gear 3524. The transmission shaft 3521 is connected to the output end of the guide drive unit 351. The first bevel gear 3522 is coaxially and fixedly connected to the transmission shaft 3521, and the second bevel gear 3523 is coaxially arranged with the first bevel gear 3522. The rotation axis of the third bevel gear 3524 is perpendicular to the transmission shaft 3521 and meshes with both the first bevel gear 3522 and the second bevel gear 3523. The first gear 353 is coaxially and fixedly connected to the transmission shaft 3521, and the second gear 354 is coaxially and fixedly connected to the second bevel gear 3523.

[0172] It should be noted that the guide drive mechanism 350 also includes a motor bracket 355, a bearing bracket 356, a first seated bearing 359a, a second seated bearing 359b, a third seated bearing 359c, a snap ring 261, a third bearing 371, a flat key 357, and a spacer 358.

[0173] The guide drive unit 351 can be a drive motor. The output shaft of the drive motor and the hole of the transmission shaft 3521 are fitted together by a flat fit to output power. The motor bracket 355 and the bearing bracket 356 jointly support the guide drive unit 351, the first seated bearing 359a, the second seated bearing 359b, the third seated bearing 359c, the transmission shaft 3521, the transmission mechanism 352, and related components. The first gear 353 is fixed to the transmission shaft 3521 by components such as the flat key 357, the spacer 358, the third seated bearing 359c, and the shoulder structure of the transmission shaft 3521. When the transmission shaft 3521 rotates, it can drive the first gear 353 to rotate in the same direction. The first bevel gear 3522 is fixed to the transmission shaft 3521 by components such as the flat structure, the shoulder structure, and the first seated bearing 359a. When 521 rotates, it can drive the first bevel gear 3522 to rotate in the same direction. The second seated bearing 359b is fixed on the bearing bracket 356, and its inner ring is engaged with the second gear 354. The second gear 354 can rotate around its center. The second gear 354 is a hollow structure and does not contact the transmission shaft 3521. The second gear 354 and the second bevel gear 3523 are axially and circumferentially limited by the flat structure, the snap ring 261, and the second seated bearing 359b, and the two are fixedly connected. The third bevel gear 3524 is fixed on the bearing bracket 356 by the third bearing 371 and the snap ring 261, and can rotate around its center. When the first bevel gear 3522 rotates, it can drive the third bevel gear 3524 to rotate 90 degrees in opposite directions, thereby driving the second bevel gear 3523 to rotate in the opposite direction, and at the same time driving the second gear 354 to rotate in the opposite direction.

[0174] With the above-mentioned structure in place, the reverse rotation function of the first gear 353 and the second gear 354 can be completed, so that the two guide actuators 360 move in opposite directions, and the two first guide wheels 361 in the two guide actuators 360 can extend out from opposite directions and be upside down on the I-beam rail 203.

[0175] In one possible implementation, the guide actuator 360 includes a second bracket 362 and a half-amplitude gear 363. The second bracket 362 is connected to the housing 330, and the half-amplitude gear 363 is rotatably mounted on the second bracket 362. The half-amplitude gear 363 meshes with a first gear 353 or a second gear 354, and the first guide wheel 361 is rotatably connected to the half-amplitude gear 363.

[0176] Understandably, the second bracket 362 is connected to the housing 330 to support the half-width gear 363. The two half-width gears 363 mesh with the first gear 353 and the second gear 354 respectively, and rotate in opposite directions under the drive of the first gear 353 and the second gear 354, so as to drive the two first guide wheels 361 to move in opposite directions.

[0177] The first guide wheel 361 can be a bearing roller. The bearing roller is fixed to the first guide wheel mounting hole at the end of the half-width gear 363 by the plug screw 370, so that the bearing roller can roll around its center and reduce the resistance during climbing guidance.

[0178] It should be noted that, since the first guide wheel 361 needs to cooperate with the vertical track 201 when the balance arm assembly 300 climbs and retracts when moving horizontally, in order to avoid interference with the vertical track 201, the relevant transmission gears cannot be designed as complete gears, nor can the central rotating shaft be designed. Therefore, it is designed as a half-width gear 363, which is rotated, fixed and transmitted through specific technology.

[0179] In one possible implementation, the half-width gear 363 is arc-shaped, and the meshing teeth of the half-width gear 363 are located on the outer side of the arc; the guide actuator 360 also includes a guide bearing 364, which is disposed on the second bracket 362 and abuts against the inner side of the arc of the half-width gear 363.

[0180] It should be noted that the second bracket 362 has two rings of holes evenly arranged on its side. The inner ring of holes is used to fix the pin 367, and the outer ring of holes is used to install the needle roller 365. The inner side of the half-width gear 363 has a first rolling groove 3631. The first rolling groove 3631 has steps 369 on both sides that are higher than the first rolling groove 3631. The steps 369 are used to prevent the guide bearing 364 from axially shifting. One end of the pin 367 has a bolt head and the other end has a thread. The pin 367 can be fixed to both sides of the second bracket 362 with a nut 368. The pin 367 passes through the guide bearing 364 to fix the guide bearing 364. Through the design of the shoulder of the pin 367, the snap ring 261, the first rolling groove 3631 and the steps 369, the half-width gear 363 is axially limited so that it cannot move axially. When the bearing roller extends and climbs, multiple guide bearings 364 can withstand a large tensile load. The number of guide bearings 364 can be determined according to the load.

[0181] In one possible implementation, the inner side of the arc of the half-width gear 363 is provided with a first rolling groove 3631, and the guide bearing 364 is rotatably disposed in the first rolling groove 3631; the guide actuator 360 also includes a plurality of needle rollers 365, which are distributed on both sides of the axial direction of the half-width gear 363. The plurality of needle rollers 365 are rotatably connected to the second bracket 362. The axial sides of the half-width gear 363 are provided with a second rolling groove 3632, and the needle rollers 365 on both sides are respectively rotatably disposed in the second rolling groove 3632.

[0182] Understandably, multiple needle rollers 365 are symmetrically inserted into the outer ring holes from both sides of the second bracket 362, with one end installed on the outer ring hole and the other end installed on the second rolling groove 3632. Through the design of multiple needle rollers 365, the half-width gear 363 is radially limited, so that the half-width gear 363 cannot move radially. The number of needle rollers 365 can be determined according to the load.

[0183] The design of the needle roller 365 and the guide bearing 364 allows the half-width gear 363 to have only the freedom to rotate around its center, but it cannot move axially or radially. Since the half-width gear 363 is arc-shaped, the meshing teeth of the half-width gear 363 are located on the outside of the arc and mesh with the first gear 353 and the second gear 354. The rotation of the first gear 353 and the second gear 354 can drive the arc-shaped half-width gear 363 to rotate around its center, resulting in a large structural load capacity.

[0184] In one possible implementation, the balance arm assembly 300 further includes a second guide wheel 366, which is rotatably disposed on the housing 330; the second guide wheel 366 and the climbing wheel 320 abut on the same side of the vertical track 201.

[0185] It should be noted that the second guide wheel 366 can be a small rubber-coated wheel, with its surface covered with a layer of rubber or other elastic material to provide better friction, cushioning performance and quietness. The second guide wheel 366 and the climbing wheel 320 are located on the same side of the housing 330. When climbing, the second guide wheel 366 and the climbing wheel 320 abut against the same side of the vertical track 201, playing a guiding and supporting role.

[0186] In one possible implementation, the counterweight arm assembly 300 has a third state; the shelf 20 has a horizontal track 202, and when the counterweight arm assembly 300 is in the third state, the counterweight arm assembly 300 extends out relative to the chassis 100 and is horizontally positioned, and the moving wheels 310 can engage with the horizontal track 202 and can move horizontally along the shelf 20.

[0187] In some embodiments, the horizontal position of the shelf has multiple storage positions. After the picking and placing device 10 climbs to the designated shelf layer, the balance arm assembly 300 can switch from the second state to the third state. At this time, the walking drive wheels 530 and the moving wheels 310 on both sides of the picking and placing device 10 are respectively connected to the horizontal rails 202 of the shelf 20 on both sides. The walking drive wheels 530 provide driving force, and the moving wheels 310 can move the picking and placing device 10 along the horizontal rails 202 to the corresponding storage position to transport goods without having to repeatedly climb to the ground, thus improving the handling efficiency.

[0188] The intermediate travel drive structure is described below, referring to... Figures 21 to 24 .

[0189] In one possible implementation, the picking and placing device 10 further includes a drive wheel assembly 500 and a second drive assembly 400, the second drive assembly 400 being disposed on the chassis 100; the drive wheel assembly 500 is connected to the second drive assembly 400, and the second drive assembly 400 is configured to drive the drive wheel assembly 500 to extend or retract along the width direction of the chassis 100; wherein, when the drive wheel assembly 500 extends, it can engage with the horizontal rail 202, so that the picking and placing device 10 can move on the shelf 20 along the horizontal rail 202.

[0190] Understandably, the drive wheel assembly 500 is used to drive the picking and placing equipment 10 to move horizontally. When the picking and placing equipment 10 is on the ground, the drive wheel assembly 500 retracts below the chassis 100, and the balance arm assembly 300 retracts at the same time. The drive wheel assembly 500 can be driven by the second drive assembly 400, and together with the moving wheels 310, the picking and placing equipment 10 moves horizontally. At this time, the width of the picking and placing equipment 10 is relatively narrow. When the picking and placing equipment 10 climbs to the designated shelf level to pick up goods, the drive wheel assembly 500 extends out of the chassis 100, and the balance arm assembly 300 extends at the same time. The two driving wheels 530 and the multiple moving wheels 310 span across the horizontal rails 202 of the two side shelves 20, which allows the picking and placing equipment 10 to move along the horizontal rails 202. At this time, the width of the picking and placing equipment 10 is relatively wide, and its width can be adjusted according to the spacing of the horizontal rails 202 of the two side shelves 20.

[0191] In one possible implementation, the second drive assembly 400 includes a third drive unit 410, a guide rail mechanism 420, a drive gear 430, and a transmission rack 440; the third drive unit 410 is connected to the chassis 100, and the drive gear 430 is connected to the output end of the third drive unit 410; the transmission rack 440 extends along the width direction of the chassis 100 and meshes with the drive gear 430; the guide rail mechanism 420 includes an inner rail 421 and an outer rail 422 that are slidably disposed relative to each other along the width direction of the chassis 100, and the outer rail 422 is fixedly connected to the chassis 100; the transmission rack 440 is connected to the inner rail 421; and the drive wheel assembly 500 is connected to the inner rail 421.

[0192] It is understood that the third drive unit 410 can be a width-adjusting motor. The third drive unit 410 is connected to the width-adjusting motor mounting base 450, which is fixed to the chassis 100. The third drive unit 410 is fixedly connected to the drive gear 430 through parts such as keys. The two sides of the drive gear 430 mesh with the transmission rack 440. The third drive unit 410 can drive the drive gear 430 to rotate, so that the transmission rack 440 can extend and retract. The transmission rack 440 can drive the drive wheel assembly 500 to extend and retract through the inner rail 421. The inner rail 421 is set on the track of the outer rail 422, and the outer rail 422 is used to limit the movement path of the inner rail 421.

[0193] In one possible implementation, the drive wheel assembly 500 includes a drive base 510, a fourth drive unit 520, and a walking drive wheel 530. The drive base 510 is fixedly connected to the inner rail 421, the fourth drive unit 520 is connected to the drive base 510, and the walking drive wheel 530 is connected to the output end of the fourth drive unit 520.

[0194] It is understood that the fourth drive unit 520 includes a motor 521, a reducer 522, and a reducer base 523. The motor 521 and the reducer 522 are connected through the reducer base 523. The motor 521 is used to output power, and the reducer 522 is used to increase torque and reduce speed. The drive base 510 is used to fix the fourth drive unit 520. The walking drive wheel 530 can rotate under the drive of the fourth drive unit 520 to drive the picking and placing equipment 10 to move horizontally. The drive base 510 can move with the inner rail 421, thereby driving the drive wheel assembly 500 to extend and retract along the width direction of the chassis 100. The various components of the drive wheel assembly 500 can be fixedly connected by fixing screws 540.

[0195] In one possible implementation, drive wheel assemblies 500 are provided on both sides of the chassis 100 in the width direction; there are two transmission racks 440, which mesh with both sides of the drive gear 430 so that the drive gear 430 drives the two transmission racks 440 to move in opposite directions; the two transmission racks 440 respectively drive the drive wheel assemblies 500 on both sides of the chassis 100 in the width direction to extend or retract.

[0196] It is understood that the two transmission racks 440 extend in opposite directions, and the third drive unit 410 can drive the drive gear 430 to rotate so as to drive the two transmission racks 440 to extend and retract symmetrically in opposite directions. The two transmission racks 440 can drive the two drive wheel assemblies 500 to extend and retract through the inner rail 421 to adapt to different movement scenarios.

[0197] In one possible implementation, two balance arm assemblies 300 are provided on both sides of the chassis 100 in the width direction, and the drive wheel assembly 500 is located between the two balance arm assemblies 300.

[0198] It is understandable that by setting balance arm assemblies 300 on both sides of the chassis 100, the picking and placing equipment 10 can climb on the double-sided shelves 20 without turning. The two balance arm assemblies 300 on one side of the chassis 100 can be respectively set at both ends of the chassis 100 in the length direction, so that the four moving wheels 310 are located at the four ends of the chassis 100, and the walking drive wheel 530 is located in the middle of the chassis 100 to provide walking drive force. In conjunction with the four moving wheels 310, the horizontal movement stability of the picking and placing equipment 10 can be improved.

[0199] The following describes cable tray assembly 600; see [link / reference] Figure 25.

[0200] In one possible implementation, the loading and unloading device 10 further includes a cable tray assembly 600, which is located above and connected to the chassis 100; the cable tray assembly 600 has multiple storage positions for storing goods, which are arranged along the length of the chassis 100.

[0201] Understandably, the cable tray assembly 600 is fixedly connected to the chassis 100, providing multiple temporary storage locations for goods, and the number of storage locations can be determined according to the actual working scenario.

[0202] In one possible implementation, the cable tray assembly 600 includes a cable tray body 610, a shifting mechanism 620, and a pick-and-place mechanism 630. Both the shifting mechanism 620 and the pick-and-place mechanism 630 are disposed on the cable tray body 610. The shifting mechanism 620 is configured to move goods between different storage locations, and the pick-and-place mechanism 630 is configured to pick up or remove goods into or out of the cable tray assembly 600 along the width direction of the chassis 100.

[0203] Understandably, the cable tray body 610 serves as a support structure for the shifting mechanism 620 and the pick-and-place mechanism 630, providing a stable installation foundation. The shifting mechanism 620 is mounted on the cable tray body 610 and is used to move goods between different storage locations. The shifting mechanism 620 may include components such as guide rails, sliders, and drive units. The pick-and-place mechanism 630 is mounted on the cable tray body 610 and is used to pick up or remove goods from the cable tray assembly 600 along the width direction of the chassis 100. The pick-and-place mechanism 630 may include components such as telescopic arms, grippers, and drive units.

[0204] In one possible implementation, there are at least three storage positions; the edges of the storage positions located at both ends of the cable tray body 610 in the length direction are provided with retaining edges 611; the pick-and-place mechanism 630 is located in the middle of the length direction of the cable tray body 610 and is movable along the width direction of the cable tray body 610.

[0205] For example, the cable tray body 610 has three storage positions. The pick-and-place mechanism 630 is a hook assembly, and the shifting mechanism 620 is an electric roller. When three goods need to be picked up at once, the pick-and-place device 10 moves to the first goods position according to the instruction. The hook assembly hooks the hook hole on the goods and moves them to the middle storage position of the cable tray body 610. The electric roller can move the goods to the first storage position of the two ends by rolling. The guard 611 can prevent the goods from continuing to move after reaching the storage position and prevent the goods from slipping off the cable tray body 610. In this way, the first goods are successfully picked up. The pick-and-place device 10 then moves to the second goods position according to the instruction and repeats the above steps to roll the goods to the second storage position. The third goods do not need to be adjusted by the electric roller and are directly moved to the middle storage position by the hook assembly.

[0206] See Figures 1 to 43 This application provides a warehousing system, including shelves 20 and the aforementioned picking and placing equipment 10; there are multiple shelves 20, and aisles are provided between adjacent shelves 20; wherein, the picking and placing equipment 10 can drive into the aisles along the ground; the picking and placing equipment 10 can dock with the shelves 20 on either side of the aisle and climb vertically.

[0207] It should be noted that the shelving 20 provided in this application includes span beams 204, uprights 205, and crossbeams 206. Vertical rails 201 are installed on the uprights 205, and horizontal rails 202 are installed on the crossbeams 206. The warehousing system provided in this application embodiment can include all the technical solutions and technical effects of the above-mentioned shelving 20 and picking and placing equipment 10, which will not be repeated here.

[0208] The following describes the specific steps of the picking and placing equipment 10 for picking and placing goods through a specific embodiment.

[0209] Step one: The control center issues a retrieval command, providing the coordinates of the goods. Upon receiving the command, the retrieval / release device 10 moves along the aisle to the climbing position, such as... Figure 30 , Figure 1 .

[0210] Step two, extend two sets of balance arms horizontally from under the chassis 100 on one side, as follows: Figure 31 , Figure 32 .

[0211] Step three, the first drive assembly 200 drives the balance arm to rotate 90 degrees, from horizontal to vertical, and the climbing wheel 320 and the second guide wheel 366 connect with the vertical track 201, as shown. Figure 33 , Figure 34 .

[0212] Step four: The first guide wheel 361 extends and grips the I-beam rail 203 of the vertical track 201, completing the engagement between the wheel assembly and the I-beam rail 203. Figure 35 , Figure 29 .

[0213] Step 5: The lifting wheels 320 rotate, and the loading / unloading device 10 climbs to the designated height and layer of the shelf 20, such as... Figure 36 .

[0214] Step six: The two horizontally extended counterweight arms on the other side and the drive wheel assembly 500 at the center of the chassis 100, the two walking drive wheels 530 and the two single-sided moving wheels 310 contact the horizontal rail 202 on the shelf 20, so that the loading and unloading equipment 10 is loaded on the horizontal rail 202, as shown. Figure 37 , Figure 38 .

[0215] Step 7: Retract the first guide wheel 361 and rotate the two balance arms on the climbing side 90 degrees to level them, so that all four moving wheels 310 are engaged with the horizontal track 202. At this point, the loading / unloading device 10 can move normally on the horizontal track 202. Figure 39 , Figure 40 .

[0216] Step 8: The loading / unloading device 10 moves to the designated position to hook up the goods, such as... Figure 41 .

[0217] Step nine: The goods are moved to the central storage position of the cable tray body 610, and the electric roller rotates to adjust the position of the goods, such as... Figure 42 .

[0218] Step 10: The picking and placing device 10 is moved to another location to complete three picking operations, such as... Figure 43 .

[0219] At this point, the picking and placing equipment 10 has completed the picking process for multiple goods, and the placing process is similar.

[0220] This application provides a picking and placing device 10 and a warehousing system. The picking and placing device 10 provided by this application is used to move on the ground and on a shelf 20, and to pick up, place and transport goods on the shelf 20. The picking and placing device 10 includes a chassis 100, a first drive assembly 200 and a plurality of balance arm assemblies 300. The first drive assembly 200 is disposed on the chassis 100, and the plurality of balance arm assemblies 300 are respectively disposed on both sides of the chassis 100 in the width direction. The balance arm assemblies 300 are all connected to the first drive assembly 200. The first drive assembly 200 is configured to drive the balance arm assemblies 300 to rotate in a vertical plane or to extend and retract along the width direction of the chassis 100. The balance arm assemblies 300 have a first state and a second state. By switching between different states, the balance arm can move horizontally along the ground or climb vertically along the shelf 20, thereby improving space utilization.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A picking and placing device (10), characterized in that, Used for moving on the ground or on a shelf (20), and for picking up, placing and transporting goods on the shelf (20); The picking and placing equipment (10) includes: Chassis (100); A first drive assembly (200) is disposed on the chassis (100); Multiple balance arm assemblies (300) are respectively disposed on both sides of the chassis (100) in the width direction; each balance arm assembly (300) is connected to the first drive assembly (200); the first drive assembly (200) is configured to drive the balance arm assembly (300) to rotate in a vertical plane or to extend and retract along the width direction of the chassis (100); The balance arm assembly (300) has a first state and a second state. When the balance arm assembly (300) is in the first state, it is retracted relative to the chassis (100) and horizontally positioned, and it can contact the ground. When the balance arm assembly (300) is in the second state, it is extended relative to the chassis (100) and vertically positioned, and it is connected to the shelf (20) and can move vertically along the shelf (20).

2. The picking and placing equipment (10) according to claim 1, characterized in that, The counterweight arm assembly (300) includes casters (310) and lifting casters (320); the shelf (20) has vertical rails (201); When the balance arm assembly (300) is in the first state, the moving wheel (310) can contact the ground; when the balance arm assembly (300) is in the second state, the climbing wheel (320) can dock with the vertical track (201).

3. The picking and placing equipment (10) according to claim 1, characterized in that, The first drive assembly (200) includes a first drive mechanism (210), a second drive mechanism (220), a ball spline screw (230), a screw nut (240), and a spline nut (250). The screw nut (240) and the spline nut (250) are coaxially connected to the ball spline screw (230). The ball spline screw (230) is connected to the balance arm assembly (300). The first drive mechanism (210) is used to drive the lead screw nut (240) to rotate, and the second drive mechanism (220) is used to drive the spline nut (250) to rotate, so that the ball spline lead screw (230) produces at least one of rotational and axial movements.

4. The picking and placing equipment (10) according to claim 3, characterized in that, When the lead screw nut (240) rotates and the spline nut (250) is stationary, the ball spline lead screw (230) moves along its axial direction; when the lead screw nut (240) is stationary and the spline nut (250) rotates, the ball spline lead screw (230) rotates and moves along its axial direction; when the lead screw nut (240) and the spline nut (250) rotate simultaneously, and their rotation speeds are equal and their rotation directions are opposite, the ball spline lead screw (230) rotates.

5. The picking and placing equipment (10) according to claim 3, characterized in that, The first drive mechanism (210) includes a first drive unit (211), a first transmission wheel (212), a second transmission wheel (213), and a first flexible transmission member (214); the first drive unit (211) is connected to the chassis (100), the first transmission wheel (212) is connected to the output end of the first drive unit (211), and the second transmission wheel (213) is coaxially fixedly connected to the lead screw nut (240); the first flexible transmission member (214) is wound around the first transmission wheel (212) and the second transmission wheel (213).

6. The picking and placing equipment (10) according to claim 3, characterized in that, The second drive mechanism (220) includes a second drive unit (221), a third transmission wheel (222), a fourth transmission wheel (223), and a second flexible transmission member (224); the second drive unit (221) is connected to the chassis (100), the third transmission wheel (222) is connected to the output end of the second drive unit (221), and the fourth transmission wheel (223) is coaxially fixedly connected to the spline nut (250); the second flexible transmission member (224) is wound around the third transmission wheel (222) and the fourth transmission wheel (223).

7. The picking and placing equipment (10) according to claim 3, characterized in that, The first drive assembly (200) further includes a first bearing housing (260), a second bearing housing (270), a first bearing (280), and a second bearing (290). The first bearing housing (260) and the second bearing housing (270) are both connected to the chassis (100). The first bearing (280) is disposed in the first bearing housing (260), and the second bearing (290) is disposed in the second bearing housing (270). The lead screw nut (240) passes through the first bearing (280) and is coaxially fixed with the inner ring of the first bearing (280); the spline nut (250) passes through the second bearing (290) and is coaxially fixed with the inner ring of the second bearing (290).

8. The picking and placing equipment (10) according to claim 3, characterized in that, There are multiple first drive components (200), and each of the multiple first drive components (200) is respectively configured to correspond one-to-one with the multiple balance arm components (300).

9. The picking and placing equipment (10) according to claim 2, characterized in that, The balance arm assembly (300) includes a housing (330) and a climbing drive mechanism (340). The housing (330) is connected to the output end of the first drive assembly (200). The climbing drive mechanism (340) is disposed in the housing (330), and the climbing wheel (320) is connected to the climbing drive mechanism (340). The climbing drive mechanism (340) is configured to drive the climbing wheel (320) to rotate.

10. The picking and placing equipment (10) according to claim 9, characterized in that, The climbing drive mechanism (340) includes a climbing drive unit (341), a first bracket (342), a guide (343), a linear bearing (344), and an elastic element (345). The guide (343) is connected to the housing (330), the linear bearing (344) is movably sleeved on the guide (343), the first bracket (342) is connected to the linear bearing (344), the climbing drive unit (341) is connected to the first bracket (342), and the climbing wheel (320) is connected to the output end of the climbing drive unit (341). The elastic element (345) abuts between the housing (330) and the linear bearing (344); when the climbing wheel (320) engages with the vertical track (201), the elastic element (345) is configured to apply a force to the climbing wheel (320) toward the vertical track (201).

11. The picking and placing equipment (10) according to claim 9, characterized in that, The balance arm assembly (300) further includes a guide drive mechanism (350) and a guide actuator (360) disposed in the housing (330). The guide actuator (360) is connected to a first guide wheel (361). The guide drive mechanism (350) is connected to the guide actuator (360) and can drive the first guide wheel (361) to move so that the first guide wheel (361) and the climbing wheel (320) grip the vertical track (201) from different sides.

12. The picking and placing equipment (10) according to claim 11, characterized in that, The guide drive mechanism (350) includes a guide drive unit (351), a transmission mechanism (352), and a first gear (353) and a second gear (354) arranged coaxially; the guide drive unit (351) is connected to the housing (330), the transmission mechanism (352) is connected to the guide drive unit (351), and the transmission mechanism (352) is configured to cause the first gear (353) and the second gear (354) to rotate in opposite directions; There are two guide actuators (360), which are respectively connected to the first gear (353) and the second gear (354). The first guide wheels (361) on the two guide actuators (360) respectively abut against both sides of the vertical track (201).

13. The picking and placing equipment (10) according to claim 12, characterized in that, The transmission mechanism (352) includes a transmission shaft (3521), a first bevel gear (3522), a second bevel gear (3523), and a third bevel gear (3524). The transmission shaft (3521) is connected to the output end of the guide drive unit (351). The first bevel gear (3522) is coaxially fixedly connected to the transmission shaft (3521), and the second bevel gear (3523) is coaxially arranged with the first bevel gear (3522). The rotation axis of the third bevel gear (3524) is perpendicular to the transmission shaft (3521) and meshes with both the first bevel gear (3522) and the second bevel gear (3523). The first gear (353) is coaxially and fixedly connected to the transmission shaft (3521), and the second gear (354) is coaxially and fixedly connected to the second bevel gear (3523).

14. The picking and placing equipment (10) according to claim 12, characterized in that, The guiding actuator (360) includes a second bracket (362) and a half-amplitude gear (363). The second bracket (362) is connected to the housing (330). The half-amplitude gear (363) is rotatably mounted on the second bracket (362). The half-amplitude gear (363) meshes with the first gear (353) or the second gear (354). The first guide wheel (361) is rotatably connected to the half-amplitude gear (363).

15. The picking and placing equipment (10) according to claim 14, characterized in that, The half-width gear (363) is arc-shaped, and the meshing teeth of the half-width gear (363) are located on the outer side of the arc. The guide actuator (360) also includes a guide bearing (364), which is disposed on the second bracket (362) and abuts against the inner side of the arc of the half-width gear (363).

16. The picking and placing equipment (10) according to claim 15, characterized in that, The inner side of the arc of the half-width gear (363) is provided with a first rolling groove (3631), and the guide bearing (364) is rotatably disposed in the first rolling groove (3631); The guide actuator (360) also includes a plurality of needle rollers (365), which are distributed on both sides of the axial direction of the half-width gear (363). The plurality of needle rollers (365) are rotatably connected to the second bracket (362). The half-width gear (363) is provided with a second rolling groove (3632) on both sides of the axial direction, and the needle rollers (365) on both sides are respectively rolled in the second rolling groove (3632).

17. The picking and placing equipment (10) according to claim 9, characterized in that, The balance arm assembly (300) further includes a second guide wheel (366), which is rotatably disposed on the housing (330); the second guide wheel (366) and the climbing wheel (320) abut against the same side of the vertical track (201).

18. The picking and placing equipment (10) according to claim 2, characterized in that, The counterweight arm assembly (300) has a third state; the shelf (20) has a horizontal track (202), and when the counterweight arm assembly (300) is in the third state, the counterweight arm assembly (300) extends out relative to the chassis (100) and is horizontally arranged, and the moving wheels (310) can dock with the horizontal track (202) and can move horizontally along the shelf (20).

19. The picking and placing equipment (10) according to claim 18, characterized in that, The loading and unloading equipment (10) further includes a drive wheel assembly (500) and a second drive assembly (400), the second drive assembly (400) being disposed on the chassis (100); the drive wheel assembly (500) is connected to the second drive assembly (400), and the second drive assembly (400) is configured to drive the drive wheel assembly (500) to extend or retract along the width direction of the chassis (100); When the drive wheel assembly (500) extends, it can dock with the horizontal track (202) so that the picking and placing equipment (10) can move along the horizontal track (202) on the shelf (20).

20. The picking and placing equipment (10) according to claim 19, characterized in that, The second drive assembly (400) includes a third drive unit (410), a guide rail mechanism (420), a drive gear (430), and a transmission rack (440); the third drive unit (410) is connected to the chassis (100), and the drive gear (430) is connected to the output end of the third drive unit (410); the transmission rack (440) extends along the width direction of the chassis (100) and meshes with the drive gear (430); The guide rail mechanism (420) includes an inner rail (421) and an outer rail (422) that are slidably disposed relative to each other along the width direction of the chassis (100). The outer rail (422) is fixedly connected to the chassis (100). The transmission rack (440) is connected to the inner rail (421). The drive wheel assembly (500) is connected to the inner rail (421).

21. The picking and placing equipment (10) according to claim 20, characterized in that, The drive wheel assembly (500) includes a drive base (510), a fourth drive unit (520), and a walking drive wheel (530). The drive base (510) is fixedly connected to the inner rail (421), the fourth drive unit (520) is connected to the drive base (510), and the walking drive wheel (530) is connected to the output end of the fourth drive unit (520).

22. The picking and placing equipment (10) according to claim 20, characterized in that, The chassis (100) has drive wheel assemblies (500) on both sides in the width direction; there are two transmission racks (440), which mesh with the two sides of the drive gear (430) so that the drive gear (430) drives the two transmission racks (440) to move in opposite directions; the two transmission racks (440) respectively drive the drive wheel assemblies (500) on both sides of the chassis (100) in the width direction to extend or retract.

23. The picking and placing equipment (10) according to claim 22, characterized in that, Two balance arm assemblies (300) are provided on both sides of the chassis (100 degrees), and the drive wheel assembly (500) is located between the two balance arm assemblies (300).

24. The picking and placing equipment (10) according to claim 1, characterized in that, The loading and unloading equipment (10) further includes a cable tray assembly (600), which is located above and connected to the chassis (100); the cable tray assembly (600) has multiple storage positions for storing goods, and the multiple storage positions are arranged along the length of the chassis (100).

25. The picking and placing equipment (10) according to claim 24, characterized in that, The cable tray assembly (600) includes a cable tray body (610), a shifting mechanism (620), and a pick-and-place mechanism (630). The shifting mechanism (620) and the pick-and-place mechanism (630) are both disposed on the cable tray body (610). The shifting mechanism (620) is configured to move goods between different storage positions, and the pick-and-place mechanism (630) is configured to pick up or remove goods from the cable tray assembly (600) along the width direction of the chassis (100).

26. The picking and placing equipment (10) according to claim 25, characterized in that, The storage slots are at least three; the edges of the storage slots located at both ends of the length direction of the cable tray body (610) are provided with retaining edges (611); the pick-and-place mechanism (630) is located in the middle of the length direction of the cable tray body (610) and is movable along the width direction of the cable tray body (610).

27. A warehousing system, characterized in that, Includes shelves (20) and picking and placing equipment (10) as described in any one of claims 1-26; there are multiple shelves (20), and aisles are provided between adjacent shelves (20); The picking and placing equipment (10) can drive into the alley along the ground; the picking and placing equipment (10) can dock with the shelf (20) on either side of the alley and climb vertically.

Images