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 taking and placing goods on a goods shelf. The goods taking and placing equipment comprises an equipment body, a telescopic assembly and a goods taking and placing device, and the telescopic assembly is arranged on the equipment body; the goods taking and placing device is movably arranged on the telescopic assembly. At least part of the structure of the telescopic assembly can stretch out relative to the equipment body and is in butt joint with the goods shelf to form a moving channel. The goods taking and placing device is configured to move into the storage location of the goods shelf through the moving channel and take and place goods at a preset position in the depth direction of the storage location. According to the goods taking and placing equipment, goods taking and placing are not affected by the goods specification and the goods shelf depth, and the carrying efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a goods taking and placing device and a warehouse system. BACKGROUND

[0002] With the development of artificial intelligence and automation technology, robots are widely used in the field of warehouse logistics for taking and placing, transporting and sorting goods. In a logistics system, goods are usually stored in shelves, and goods taking and placing robots with corresponding functions take and place goods or complete goods transportation tasks by being connected to shelves or conveying lines.

[0003] In the related art, a shelf is provided with a storage space, and a goods taking and placing device takes out goods on the shelf or places goods in the shelf by using telescopic forks to fork the goods or pallets.

[0004] However, when the shelf has multiple deep positions, the conventional goods taking and placing device is difficult to cope with. UTILITY MODEL CONTENT

[0005] The present application provides a goods taking and placing device and a warehouse system to solve the problem that the conventional goods taking and placing device is difficult to cope with multiple deep positions.

[0006] In a first aspect, the present application provides a goods taking and placing device for taking and placing goods on a shelf, the goods taking and placing device comprising:

[0007] a device main body;

[0008] a telescopic assembly arranged on the device main body;

[0009] a goods taking and placing device movably arranged on the telescopic assembly;

[0010] At least part of the structure of the telescopic assembly can be extended relative to the device main body and connected to the shelf to form a moving channel, and the goods taking and placing device is configured to move to the inside of the storage position of the shelf through the moving channel and take and place goods at a preset position in the depth direction of the storage position.

[0011] The goods taking and placing device provided by the present application can connect the device main body and the shelf through the telescopic assembly and form a moving channel when taking and placing goods, the goods taking and placing device moves to the inside of the storage position of the shelf through the moving channel, takes out or places down goods at a preset deep position, and finally returns to the device main body, thereby realizing multiple deep position taking and placing; wherein the telescopic assembly can be telescoped in both directions, so that the goods taking and placing device can take and place goods on both sides of the shelf, thereby improving the transportation efficiency.

[0012] As an optional implementation, the goods taking and placing device comprises a device body and a lifting assembly, and the lifting assembly is arranged on the device body; the device body is configured to drive the lifting assembly to move below the goods on the telescopic assembly or the goods shelf, and the lifting assembly is configured to lift or place the goods.

[0013] In this way, the device body and the lifting assembly can be designed to adapt to goods of different specifications and different shapes, thereby improving adaptability and carrying efficiency.

[0014] As an optional implementation, the device body comprises a bottom shell, a first driving assembly and a plurality of driving wheels, the first driving assembly is arranged on the bottom shell, and the plurality of driving wheels are rotationally connected to the bottom shell; the first driving assembly is configured to drive at least one of the plurality of driving wheels to rotate, so that the goods taking and placing device moves on the telescopic assembly and / or the goods shelf.

[0015] In this way, the goods taking and placing device can move on the telescopic assembly or the goods shelf according to instructions, so as to carry goods in different deep positions, thereby improving the flexibility of carrying.

[0016] As an optional implementation, the first driving assembly comprises a first driving unit, a flexible transmission member and at least two first transmission wheels; the at least two first transmission wheels are arranged at intervals along the length direction of the bottom shell; the flexible transmission member is arranged around the at least two first transmission wheels; and the output end of the first driving unit is connected to one of the at least two first transmission wheels.

[0017] At least one of the driving wheels is connected to at least one of the first transmission wheels.

[0018] In this way, the driving force of the first driving unit can be transmitted to the driving wheels through the transmission wheels, thereby improving transmission efficiency and accuracy.

[0019] As an optional implementation, the first driving assembly is two, and the two first driving assemblies are arranged near the two sides of the width direction of the bottom shell.

[0020] The plurality of driving wheels are distributed on the two sides of the width direction of the bottom shell, the first transmission wheels of the two first driving assemblies are respectively connected to the driving wheels on the two sides of the bottom shell, and the first driving units of the two first driving assemblies are respectively arranged at the front end and the rear end of the length direction of the bottom shell.

[0021] In this way, the driving force can be enhanced, and the stress of the transmission system can be balanced, thereby improving transmission stability and balance.

[0022] As an optional implementation, the driving wheels and the first transmission wheels are one-to-one corresponding and coaxially fixed.

[0023] In this way, each driving wheel can directly and effectively receive power from the first transmission wheel, reducing energy loss during transmission and improving transmission efficiency.

[0024] As an optional implementation, two driving wheels are arranged corresponding to each first transmission wheel; the first transmission wheel has a coaxially connected first gear part, and each driving wheel has a coaxially arranged second gear part, and the first gear part is simultaneously engaged with the second gear parts of the two driving wheels to drive the two driving wheels to move simultaneously.

[0025] In this way, the number of driving wheels is increased to enhance the grip and improve the stability of the moving goods taking and placing device.

[0026] As an optional implementation, the lifting assembly includes a second driving assembly, a lifting mechanism, and a bracket, the second driving assembly and the lifting mechanism are arranged on the device body, and the bracket is connected with the lifting mechanism; the second driving assembly is in butt joint with the bracket and is configured to drive the bracket to vertically lift.

[0027] In this way, the second driving assembly is used as a power source to enable the bracket to quickly and accurately complete the vertical lifting action, improving the lifting efficiency.

[0028] As an optional implementation, the lifting mechanism includes two support arms, the two support arms are arranged in a cross shape and are hingedly connected with each other; a first end of one of the two support arms is rotationally connected with the device body, and a second end thereof is slidingly connected with the bracket; a first end of the other of the two support arms is slidingly connected with the device body, and a second end thereof is rotationally connected with the bracket.

[0029] In this way, the cross-shaped arm structure can uniformly distribute the load on the two support arms, improving the carrying capacity.

[0030] As an optional implementation, the lifting mechanism is at least two and is arranged on both sides of the bracket in the width direction.

[0031] In this way, the lifting mechanisms on both sides of the bracket in the width direction are synchronously lifted, which can evenly share the load and maintain the stability during lifting.

[0032] As an optional implementation, two lifting mechanisms are arranged on each side of the bracket in the width direction, and the two lifting mechanisms on each side are symmetrically arranged in front and back in the length direction of the bracket.

[0033] In this way, the four lifting mechanisms on both sides of the bracket in the width direction collectively share the load, which can significantly improve the carrying capacity and improve the stability during lifting.

[0034] As an optional implementation, the second driving assembly comprises a second driving unit and a swing rod, the second driving unit is connected with the device body, a first end of the swing rod is fixedly connected with an output end of the second driving unit, and a second end of the swing rod is in abutment with the bracket; the second driving unit is configured to drive the swing rod to rotate, so that the swing rod pushes the bracket to vertically lift.

[0035] In this way, the swing rod can directly transmit the driving force of the second driving unit to the bracket, and the lifting height of the bracket can be accurately controlled.

[0036] As an optional implementation, a roller is rotatably connected to the second end of the swing rod, and the roller is in abutment with the bottom of the bracket; when the bracket is lifted, the roller rolls on the surface of the bottom of the bracket.

[0037] In this way, the sliding friction is reduced by introducing the rolling friction, so that the stability of the lifting process is improved.

[0038] As an optional implementation, a plurality of guide wheels are arranged on the circumferential edge of the device body, and the guide wheels are rotatably connected with the device body.

[0039] In this way, the guide wheels can reduce the friction between the side of the goods taking and placing device and the side of the track, and reduce the moving resistance.

[0040] As an optional implementation, at least two detection units are arranged on the device body, and the detection units are respectively located at the front end and the rear end of the device body in the length direction; the detection units are configured to detect whether there is goods above the goods taking and placing device.

[0041] In this way, it can be ensured that the goods cover the length direction of the device body, so that the goods are prevented from falling during the taking and placing process, and the safety is improved.

[0042] As an optional implementation, the goods taking and placing device further comprises a supporting plate, the supporting plate is arranged above the lifting assembly, and the supporting plate is used for carrying goods.

[0043] In this way, the goods can be carried by the supporting plate, so that the goods can be kept stable during the carrying process, and the safety is improved.

[0044] As an optional implementation, the telescopic assembly comprises a third driving assembly, a base plate and a sliding plate, the base plate is connected with the device body, the third driving assembly is arranged on the base plate, and the sliding plate is slidably arranged on the base plate in the goods taking and placing direction; the third driving assembly is configured to drive the sliding plate to extend or retract relative to the base plate.

[0045] In this way, the sliding plate is driven to extend or retract by the third driving assembly, so that a moving channel is formed when needed, and the flexibility and applicability of the device are improved.

[0046] As an optional implementation, the third driving assembly includes a third driving unit, a second flexible transmission member, and a plurality of second transmission wheels. The plurality of second transmission wheels are arranged at intervals along the length direction of the base plate. The second flexible transmission member is arranged around the plurality of second transmission wheels, and the second flexible transmission member is connected with the sliding plate. The output end of the third driving unit is connected with one of the plurality of second transmission wheels, and drives the second flexible transmission member to transmit around the plurality of second transmission wheels, so as to drive the sliding plate to move.

[0047] The base plate is provided with a guide rail extending along the length direction thereof. The sliding plate is connected with a sliding block, and the sliding block is in sliding cooperation with the guide rail.

[0048] In this way, the driving force of the third driving unit is transmitted through the second transmission wheels, and the sliding track is ensured through the cooperation of the guide rail and the sliding block, so that the transmission efficiency and the accuracy of the movement of the sliding plate are improved.

[0049] As an optional implementation, the end of the sliding plate in the direction of taking and placing goods is provided with a protruding portion. When the sliding plate extends relative to the base plate, the protruding portion can be overlapped with the edge of the storage location of the goods shelf.

[0050] In this way, the sliding plate is overlapped with the goods shelf, and the stability of the movement of the taking and placing device between the sliding plate and the goods shelf is improved.

[0051] As an optional implementation, the sliding plate can extend bidirectionally at both ends in the length direction of the base plate. The sliding plate has a channel for the taking and placing device to move, and both ends of the channel are open.

[0052] In this way, the taking and placing device can move bidirectionally along the sliding plate, and work on the goods shelves on both sides in the length direction of the base plate as needed, so that the carrying efficiency is improved.

[0053] As an optional implementation, the device body has a support portion on each side in the width direction. The telescopic assembly is located between the two support portions, and the upper surface of the support portion is higher than the load surface of the taking and placing device when the taking and placing device places goods on the telescopic assembly.

[0054] In this way, the two support portions can provide greater support, so that the stability of the movement of the telescopic assembly and the safety of the taking and placing device when loading goods are improved.

[0055] As an optional implementation, the device body has a climbing mechanism configured to be docked with the goods shelf, so that the taking and placing device moves along the height direction of the goods shelf.

[0056] In this way, the taking and placing device can work on goods shelves at different heights, so that the carrying efficiency is improved.

[0057] As an optional implementation, the taking and placing device is in communication connection with the device body.

[0058] In this way, the goods taking and placing device and the device main body can cooperate with each other to realize real-time cooperation.

[0059] As an optional implementation, the goods taking and placing device comprises a battery, and the device main body is configured to charge the battery when the goods taking and placing device is located on the telescopic assembly.

[0060] In this way, the goods taking and placing device does not need to be charged separately, and the continuous operation capability of the goods taking and placing device is improved.

[0061] In the second aspect, the application provides a warehouse system, which comprises a goods shelf and the goods taking and placing device, and the goods shelf comprises a plurality of storage locations, and the storage locations are sequentially provided with a plurality of storage positions in the depth direction, and the goods taking and placing device of the goods taking and placing device can move to the inside of the storage locations and take and place goods at different storage positions.

[0062] In this way, the storage density can be improved and the space utilization rate can be improved by providing a plurality of storage positions, and the goods can be taken and placed at different storage positions by moving the goods taking and placing device, so that the carrying efficiency is improved.

[0063] As an optional implementation, the goods shelf comprises a plurality of warehouse layers arranged in the vertical direction in sequence, each warehouse layer comprises at least one storage location, the storage location is provided with a track extending in the depth direction thereof, and the goods are carried on the upper surface of the track; and the goods taking and placing device can move along the track.

[0064] In this way, the goods taking and placing device can be accurately positioned and move along the corresponding track to take and place the target goods, so that the carrying efficiency is improved.

[0065] As an optional implementation, the goods shelf comprises a cross beam and a cross beam, the cross beam is arranged at both ends in the depth direction of the storage location; the cross beam extends in the depth direction of the storage location, and the two ends are connected with the cross beam, respectively.

[0066] The cross beam comprises a first support surface and a second support surface, the first support surface is higher than the second support surface, the first support surface is used for supporting the goods, and the second support surfaces of the two parallel cross beams are used for forming the track.

[0067] In this way, the goods taking and placing device can accurately move to the position below the target goods along the moving track and support the goods, so that efficient carrying is realized.

[0068] As an optional implementation, the goods shelf comprises a goods shelf main body and a multi-fold support; the multi-fold support comprises a connecting plate, a first support plate and a second support plate, the connecting plate is connected to the outer side edge of the first support plate, and the connecting plate is connected with the goods shelf main body; the second support plate is connected with the inner side edge of the first support plate, and is lower than the first support plate.

[0069] Two multi-fold supports are arranged in parallel and at intervals to form a storage location; the upper surface of the first support plate of the two multi-fold supports is used to support goods; and the upper surface of the second support plate of the two multi-fold supports is used to form a track.

[0070] In this way, the goods taking and placing device can be accurately moved to below the target goods along the track and support the goods, thereby achieving efficient carrying.

[0071] In addition to the technical problems solved by the embodiments of the application described above, the technical features constituting the technical solutions and the beneficial effects brought by these technical features, other technical problems solved by the goods taking and placing device and the warehouse system provided by the application, other technical features included in the technical solutions and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0073] Figure 1 A working scene schematic diagram of the goods taking and placing device provided by the embodiments of the application;

[0074] Figure 2 A structure schematic diagram of the goods taking and placing device provided by the embodiments of the application;

[0075] Figure 3 A top view of the goods taking and placing device provided by the embodiments of the application;

[0076] Figure 4 A structure schematic diagram of the four-wheel drive goods taking and placing device provided by the embodiments of the application;

[0077] Figure 5 A structure schematic diagram of the eight-wheel drive goods taking and placing device provided by the embodiments of the application;

[0078] Figure 6 A side view of the goods taking and placing device provided by the embodiments of the application;

[0079] Figure 7 A schematic diagram of the pallet of the goods taking and placing device provided by the embodiments of the application;

[0080] Figure 8 A structure schematic diagram of the sliding plate of the telescopic assembly provided by the embodiments of the application;

[0081] Figure 9A telescopic assembly substrate structure schematic diagram provided for the embodiment of the present application;

[0082] Figure 10 A cross-beam structure schematic diagram provided for the embodiment of the present application;

[0083] Figure 11 A cross-beam shelf structure schematic diagram provided for the embodiment of the present application;

[0084] Figure 12 A bracket shelf structure schematic diagram provided for the embodiment of the present application;

[0085] Figure 13 A picking and placing process schematic diagram of the picking and placing equipment provided for the embodiment of the present application.

[0086] Legend of reference signs:

[0087] 10 - picking and placing equipment;

[0088] 100 - equipment main body; 110 - support part; 120 - climbing mechanism; 130 - tray;

[0089] 200 - telescopic assembly; 210 - third driving assembly; 211 - third driving unit; 212 - second flexible transmission member; 213 - second transmission wheel; 220 - substrate; 221 - guide rail; 230 - sliding plate; 231 - sliding block; 232 - protruding part;

[0090] 300 - picking and placing device; 310 - device main body; 311 - bottom shell; 312 - first driving assembly; 3121 - first driving unit; 3122 - flexible transmission member; 3123 - first transmission wheel; 3124 - first gear part; 313 - driving wheel; 3131 - second gear part; 314 - guide wheel; 315 - detection unit; 320 - lifting assembly; 321 - second driving assembly; 3211 - second driving unit; 3212 - swing lever; 3213 - roller; 322 - lifting mechanism; 3221 - support arm; 3222 - scissor guide rail; 323 - bracket; 330 - supporting plate; 340 - battery;

[0091] 400 - shelf; 401 - track; 410 - cross beam; 420 - cross beam; 421 - first support surface; 422 - second support surface; 430 - multi-fold bracket; 431 - connecting plate; 432 - first support plate; 433 - second support plate. DETAILED DESCRIPTION

[0092] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0093] The terms “first”, “second”, “third”, “fourth” and the like in the description and in the claims of the present application and above drawings are used to distinguish similar objects, and do not necessarily indicate a specified order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information, without departing from the scope herein.

[0094] Depending on the context, the word “if” as used herein can be interpreted to mean “when” or “while” or “in response to determining”.

[0095] Furthermore, as used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context indicates otherwise.

[0096] Furthermore, as used herein, “plurality” means “at least two”, unless the context indicates otherwise.

[0097] It should be further understood that the terms “comprise”, “comprising”, “include”, “including”, “contain”, “containing”, “have”, “having”, “consist”, “consisting”, “consist of”, indicate the presence of the specified feature, step, operation, element, component, item, kind, and / or group but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups.

[0098] The terms “or” and “and / or” as used herein are to be interpreted as inclusive, or meaning either or any combination. Therefore, “A, B, and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C”. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

[0099] Robots are widely used in various fields such as industry and life, and play an important role in transportation and logistics industries. In a warehouse logistics system, goods are usually stored in shelves, and robots take and place goods by docking with the shelves or conveying lines, and can transport the goods. In the related art, the shelves are provided with storage spaces, and the taking and placing equipment takes out or places the goods on the shelves by using telescopic forks to fork the goods or pallets. At present, in order to increase the space utilization rate, some shelves increase the storage density by using the multi-depth storage method, but the traditional taking and placing equipment is difficult to cope with goods in deep positions.

[0100] To solve the above problems, the embodiments of the present application provide a taking and placing equipment and a warehouse system. The movable taking and placing device is provided, and the taking and placing device can move on the taking and placing equipment and the shelves and take and place target goods, complete the transportation of goods, and improve the transportation efficiency.

[0101] In order to facilitate understanding, the application scenario of the taking and placing equipment and the warehouse system provided by the embodiments of the present application is first described.

[0102] The taking and placing equipment provided by the present application can be a robot for taking, placing and transporting goods. The taking and placing equipment can be applied to a warehouse or logistics system. Specifically, the taking and placing equipment can be applied to logistics distribution of industrial production lines, warehouse in and out of manufacturing industry products, warehouse in and out of retail industry products, and can also be applied to express in and out of e-commerce logistics and other different fields, and the transported products or goods can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The robot can directly transport goods, or can transport a goods box containing goods, which is not limited in the present application. Hereinafter, the transportation object of the robot will be referred to as "goods", and specific examples will not be given.

[0103] Figure 1 The working scene diagram of the taking and placing equipment provided by the embodiments of the present application is shown in the figure; Figure 2 The structure diagram of the taking and placing equipment provided by the embodiments of the present application is shown in the figure; Figure 3 The top view of the taking and placing equipment provided by the embodiments of the present application is shown in the figure; Figure 4 The structure diagram of the four-wheel drive taking and placing device provided by the embodiments of the present application is shown in the figure;

[0104] Figure 5 The structure diagram of the eight-wheel drive taking and placing device provided by the embodiments of the present application is shown in the figure. Figure 6 The side view of the taking and placing device provided by the embodiments of the present application is shown in the figure; Figure 7 The schematic diagram of the taking and placing device pallet provided by the embodiments of the present application is shown in the figure; Figure 8 The structure diagram of the sliding plate of the telescopic assembly provided by the embodiments of the present application is shown in the figure; Figure 9A telescopic assembly substrate structure schematic diagram provided by an embodiment of the present application; Figure 10 A cross-beam structure schematic diagram provided by an embodiment of the present application; Figure 11 A cross-beam shelf structure schematic diagram provided by an embodiment of the present application; Figure 12 A bracket shelf structure schematic diagram provided by an embodiment of the present application; Figure 13 A picking and placing process schematic diagram of the picking and placing equipment provided by an embodiment of the present application.

[0105] As Figures 1 to 3 shown, the picking and placing equipment 10 provided by the present application is used for picking and placing goods on the goods shelf 400; the picking and placing equipment 10 comprises an equipment main body 100, a telescopic assembly 200 and a picking and placing device 300, the telescopic assembly 200 is arranged on the equipment main body 100; the picking and placing device 300 is movably arranged on the telescopic assembly 200; wherein at least part of the structure of the telescopic assembly 200 can be extended relative to the equipment main body 100 and is docked with the goods shelf 400 to form a moving channel; the picking and placing device 300 is configured to move to the inside of the storage location of the goods shelf 400 through the moving channel and pick and place goods at a preset position in the storage location depth direction, wherein the storage location depth direction is the X direction in Figure 1 .

[0106] It can be understood that the equipment main body 100 is the basic structure of the entire picking and placing equipment 10, which is used to support and fix other components; the telescopic assembly 200 is arranged on the equipment main body 100, and its main function is to provide the telescopic capability of the picking and placing equipment 10 in the horizontal direction, at least part of the structure of the telescopic assembly 200 can be extended relative to the equipment main body 100 and is docked with the goods shelf 400 to form a moving channel, so that the picking and placing device 300 can move between the picking and placing equipment 10 and the goods shelf 400, the telescopic assembly 200 can adopt hydraulic, pneumatic or electric driving mode, and the specific implementation mode can be selected according to actual requirements; the picking and placing device 300 is movably arranged on the telescopic assembly 200, and its main function is to pick and place goods in the inside of the storage location of the goods shelf 400, after receiving the instruction of the control center, the picking and placing device 300 moves to the inside of the storage location of the goods shelf 400 through the moving channel and picks and places goods at a preset position in the storage location depth direction, wherein the picking and placing device 300 can realize the carrying of goods through a suction cup mechanism, a jacking mechanism or other suitable picking and placing mechanism.

[0107] As Figures 4 to 7As an optional implementation, the goods taking and placing device 300 comprises a device body 310 and a lifting assembly 320, and the lifting assembly 320 is arranged on the device body 310; the device body 310 is configured to drive the lifting assembly 320 to move to below the goods on the telescopic assembly 200 or the goods shelf 400, and the lifting assembly 320 is configured to lift or place the goods.

[0108] It can be understood that the device body 310 is the basic part of the goods taking and placing device 300, which is used to support and fix the lifting assembly 320 and drive the lifting assembly 320 to move on the telescopic assembly 200 or the goods shelf 400; the lifting assembly 320 is arranged on the device body 310 and is used to lift or place the goods and take or place the goods from or to the storage location.

[0109] For example, when the goods taking and placing equipment 10 receives a goods carrying instruction, the goods taking and placing device 300 moves to below the predetermined goods on the telescopic assembly 200 or the goods shelf 400 under the power drive of the device body 310, the lifting assembly 320 lifts the goods, and then the goods taking and placing device 300 moves back to the goods taking and placing equipment 10, the lifting assembly 320 descends, and a goods carrying is completed.

[0110] As an optional implementation, the device body 310 comprises a bottom shell 311, a first driving assembly 312 and a plurality of driving wheels 313, the first driving assembly 312 is arranged on the bottom shell 311, and the plurality of driving wheels 313 are rotationally connected with the bottom shell 311; the first driving assembly 312 is configured to drive at least one of the plurality of driving wheels 313 to rotate, so as to drive the goods taking and placing device 300 to move on the telescopic assembly 200 and / or the goods shelf 400.

[0111] It can be understood that the bottom shell 311 is the basic structure of the device body 310, which is used to support and fix other components, and can be made of high-strength and lightweight materials to ensure the stability and durability of the device; the first driving assembly 312 can be power-driven and connected with the control system, and can accurately control the rotation direction and speed of the driving wheel 313 according to the preset program or sensor feedback, so as to control the moving direction and speed of the goods taking and placing device 300 on the telescopic assembly 200 or the goods shelf 400; at least one of the plurality of driving wheels 313 is driven by the first driving assembly 312, and the other driving wheels 313 can be driven wheels; the driving wheels 313 are usually made of wear-resistant and anti-skid materials and are reasonably distributed on the bottom shell 311, so as to ensure the stability and safety of the movement.

[0112] As an optional implementation, the first driving assembly 312 comprises a first driving unit 3121, a flexible transmission member 3122, and at least two first transmission wheels 3123; the at least two first transmission wheels 3123 are arranged at intervals along the length direction of the bottom shell 311; the flexible transmission member 3122 is arranged around the at least two first transmission wheels 3123; and the output end of the first driving unit 3121 is connected to one of the at least two first transmission wheels 3123.

[0113] At least one of the driving wheels 313 is connected to at least one of the first transmission wheels 3123.

[0114] It can be understood that the first driving unit 3121 is the power source of the first driving assembly 312, and the first driving unit 3121 can be a motor and a speed reducer. The motor provides power, and the speed reducer is used to stop the movement of the device main body 310. The motor and one of the at least two first transmission wheels 3123 can be driven through gear engagement, the first transmission wheels 3123 are driven through the flexible transmission member 3122, the flexible transmission member 3122 can be a belt, a chain, etc., and at least one of the driving wheels 313 is connected to at least one of the first transmission wheels 3123, so that at least one driving wheel 313 can be driven to move the goods taking and placing device 300 when the first driving unit 3121 works.

[0115] As an optional implementation, the first driving assembly 312 is two, and the two first driving assemblies 312 are arranged near the two sides of the width direction of the bottom shell 311.

[0116] The plurality of driving wheels 313 are distributed on the two sides of the width direction of the bottom shell 311, the first transmission wheels 3123 of the two first driving assemblies 312 are respectively connected to the driving wheels 313 on the two sides of the bottom shell 311, and the first driving units 3121 of the two first driving assemblies 312 are arranged at the front end and the rear end of the length direction of the bottom shell 311.

[0117] It can be understood that each first driving assembly 312 independently drives the driving wheel 313 on one side, so that the power distribution is uniform during the movement of the device main body 310, and the unbalanced load or skidding can be avoided. The first driving units 3121 of the two first driving assemblies 312 are arranged at the front end and the rear end of the length direction of the bottom shell 311, so that the space can be reasonably utilized, and the weight distribution of the device main body 310 is balanced.

[0118] As an optional implementation, the driving wheel 313 corresponds to the first transmission wheel 3123 one by one, and is coaxially fixed.

[0119] It can be understood that the first driving unit 3121 drives each first transmission wheel 3123 to rotate through the flexible transmission member 3122, and since the first transmission wheel 3123 is coaxially fixed with the driving wheel 313, the power is directly transmitted to the driving wheel 313, reducing the transmission link, reducing energy loss, and improving transmission efficiency.

[0120] The driving wheel 313 and the first transmission wheel 3123 can be coaxially fixed by key connection, welding, interference connection or bolt fixation.

[0121] For example, each first driving assembly 312 drives two first transmission wheels 3123, and the two first transmission wheels 3123 driven by the same first driving assembly 312 are respectively located at the front end and the rear end of the length direction of the bottom shell 311, the driving wheel 313 corresponds to the first transmission wheel 3123 one by one, and there are four driving wheels 313, which can realize the stable movement of the device main body 310.

[0122] As an optional embodiment, each first transmission wheel 3123 is provided with two driving wheels 313; the first transmission wheel 3123 has a coaxially connected first gear part 3124, and the driving wheel 313 has a coaxially arranged second gear part 3131, the first gear part 3124 is engaged with the second gear parts 3131 of the two driving wheels 313 at the same time to drive the two driving wheels 313 to move at the same time.

[0123] It can be understood that the first gear part 3124 can be located in the middle of the two second gear parts 3131, and the two sides of the first gear part 3124 are engaged with the two second gear parts 3131, when the first gear part 3124 rotates, the two second gear parts 3131 rotate in the same direction, so that the corresponding two driving wheels 313 rotate in the same direction.

[0124] For example, each first driving assembly 312 drives two first transmission wheels 3123, and the two first transmission wheels 3123 driven by the same first driving assembly 312 are respectively located at the front end and the rear end of the length direction of the bottom shell 311, each first transmission wheel 3123 is provided with two driving wheels 313, and there are eight driving wheels 313, so that the device main body 310 moves better in adaptability and is not easy to slip.

[0125] As an optional embodiment, the lifting assembly 320 includes a second driving assembly 321, a lifting mechanism 322 and a bracket 323, the second driving assembly 321 and the lifting mechanism 322 are arranged on the device main body 310, and the bracket 323 is connected with the lifting mechanism 322; the second driving assembly 321 is connected with the bracket 323, and is configured to drive the bracket 323 to vertically lift.

[0126] It can be understood that the second driving assembly 321 is the power source of the lifting assembly 320, which can be a motor and a reducer. The motor provides power, and the reducer is used to stop the lifting or lowering action of the lifting assembly 320. The lifting mechanism 322 is used to provide balance when the lifting assembly is lifted, preventing the bracket 323 from tilting. The lifting mechanism 322 can be a screw nut mechanism, a scissor lifting mechanism, a chain or belt transmission mechanism, which can be selected according to the specific scene. The bracket 323 has a fixed structure at the top, which can fix the supporting plate 330 that supports the goods.

[0127] As an optional embodiment, the lifting mechanism 322 includes two support arms 3221, which are cross arranged and hinged to each other. The first end of one of the two support arms 3221 is rotatably connected to the device body 310, and the second end is slidably connected to the bracket 323. The first end of the other of the two support arms 3221 is slidably connected to the device body 310, and the second end is rotatably connected to the bracket 323.

[0128] It can be understood that the two support arms 3221 are cross arranged and connected to each other through the hinge point, forming a scissor structure. In the initial state, the two support arms 3221 are in a folded state, and the bracket 323 is in the lowest position. During the lifting process, the sliding end of the support arm 3221 moves after the second driving assembly 321 is started, and the two support arms 3221 unfold around the hinge point, and the bracket 323 rises vertically. During the descending process, the second driving assembly 321 moves reversely, the two support arms 3221 fold around the hinge point, and the bracket 323 descends vertically.

[0129] The bottom of the bracket 323 and the bottom of the device body 310 can be provided with a scissor guide rail 3222 to facilitate the sliding of the sliding end of the support arm 3221. When the lifting mechanism 322 descends, the sliding direction of the sliding end of the two support arms 3221 can be pointed from the end to the middle of the device body 310. When the lifting mechanism 322 rises, the sliding direction of the sliding end of the two support arms 3221 can be pointed from the middle to the end of the device body 310.

[0130] As an optional embodiment, the lifting mechanism 322 is at least two and is arranged on both sides of the bracket 323 in the width direction.

[0131] It can be understood that the two lifting mechanisms 322 are symmetrically arranged to ensure that the bracket 323 is uniformly stressed during lifting and to avoid partial load or tilting. The two lifting mechanisms 322 can be arranged at the middle position of the bracket 323 in the length direction to prevent the bracket 323 from tilting forward and backward during lifting.

[0132] As an optional implementation, two lifting mechanisms 322 are respectively arranged on each side of the width direction of the bracket 323, and the two lifting mechanisms 322 on each side are symmetrically arranged in the length direction of the bracket 323.

[0133] It can be understood that two lifting mechanisms 322 are respectively arranged on each side of the width direction of the bracket 323, and a total of four lifting mechanisms 322 are arranged, the two lifting mechanisms 322 on each side are symmetrically arranged in the length direction of the bracket 323, and the four lifting mechanisms 322 are synchronously operated when the lifting assembly 320 is lifted, so as to ensure that the bracket 323 is smoothly lifted.

[0134] As an optional implementation, the second driving assembly 321 includes a second driving unit 3211 and a swing rod 3212, the second driving unit 3211 is connected with the device body 310, the first end of the swing rod 3212 is fixedly connected with the output end of the second driving unit 3211, the second end of the swing rod 3212 is abutted with the bracket 323, and the second driving unit 3211 is configured to drive the swing rod 3212 to rotate, so as to push the bracket 323 to vertically lift.

[0135] It can be understood that the second driving unit 3211 is a power source of the lifting assembly 320, which is used to provide driving force, the swing rod 3212 is a rigid rod, which needs to have sufficient strength and rigidity to bear load, the first end of the swing rod 3212 is fixedly connected with the output end of the second driving unit 3211, so as to receive driving force, and the second end of the swing rod 3212 moves along an arc-shaped track, and pushes the bracket 323 to move vertically by rotating.

[0136] As an optional implementation, the second end of the swing rod 3212 is rotatably connected with a roller 3213, and the roller 3213 is abutted with the bottom of the bracket 323; when the bracket 323 is lifted, the roller 3213 rolls on the surface of the bottom of the bracket 323.

[0137] It can be understood that the roller 3213 is rotatably connected with the second end of the swing rod 3212 through a bearing, so as to ensure that the roller 3213 can freely rotate, the friction between the swing rod 3212 and the bracket 323 can be reduced through the roller 3213, the bracket 323 can be more smoothly lifted in the lifting process, the roller 3213 can be made of wear-resistant materials such as nylon, polyurethane or rubber, so as to reduce wear and noise, and the rolling track of the roller 3213 on the bottom of the bracket 323 can be perpendicular to the length direction of the bracket 323 or perpendicular to the width direction of the bracket 323.

[0138] As an optional implementation, a plurality of guide wheels 314 are arranged on the circumferential edge of the device body 310, and the guide wheels 314 are rotatably connected with the device body 310.

[0139] The shelf 400 has a track 401 horizontally arranged along the depth direction of the storage location. When the picking and placing device 300 moves on the bottom surface of the track 401, the guide wheels 314 abut against the side surface of the track 401 and roll along the track 401.

[0140] For example, the track 401 has a bottom surface on which the driving wheels 313 of the picking and placing device can roll to drive the picking and placing device 300 to move on the shelf 400. The track 401 also has a side surface. When the picking and placing device 300 moves on the shelf 400, the guide wheels 314 abut against the side surface of the track 401 and roll along the side surface of the track 401.

[0141] It can be understood that the guide wheels 314 are used to guide the moving direction of the picking and placing device 300 on the shelf 400 and reduce the friction between the picking and placing device 300 and the side wall of the track 401. The guide wheels 314 can be provided in multiple numbers and uniformly distributed along the circumferential edge of the device body 310, and can be provided at the four corners or two sides of the device body 310. The guide wheels 314 can be made of wear-resistant materials such as nylon, polyurethane or rubber, so as to reduce wear and noise.

[0142] As an optional embodiment, at least two detection units 315 are arranged on the device body 310, and the at least two detection units 315 are respectively located at the front end and the rear end of the device body 310 in the length direction. The detection units 315 are configured to detect whether there is a cargo above the picking and placing device 300.

[0143] Optionally, the detection units 315 can be two or more and uniformly arranged at the front end and the rear end of the device body 310 in the length direction. The detection units 315 can be photoelectric sensors, ultrasonic sensors, infrared sensors, etc., and are used to detect whether there is an object in a predetermined range or the distance to the object.

[0144] For example, the picking and placing device 300 receives an instruction to move to a predetermined area. When the detection units 315 at the front end and the rear end of the device body 310 in the length direction both detect that there is an object above, a signal is emitted to start the second driving assembly 321, the lifting assembly 320 lifts the cargo, and the carrying work starts. When only one detection unit 315 detects that there is an object above, the picking and placing device 300 moves to the detection unit 315 end where the object is detected, until the detection units 315 at the front end and the rear end of the device body 310 in the length direction both detect that there is an object above.

[0145] As an optional embodiment, the picking and placing device 300 further comprises a supporting plate 330 arranged above the lifting assembly 320. The supporting plate 330 is used to carry the cargo.

[0146] It can be understood that the supporting plate 330 is fixed on the bracket 323 for supporting the goods, and the supporting plate 330 can be in a flat plate type, a frame type or other structures suitable for carrying goods.

[0147] As Figure 8 , Figure 9 As an optional embodiment, the telescopic assembly 200 comprises a third driving assembly 210, a base plate 220 and a sliding plate 230. The base plate 220 is connected with the device body 100, the third driving assembly 210 is arranged on the base plate 220, and the sliding plate 230 is arranged to slide with the base plate 220 along the goods taking and placing direction. The third driving assembly 210 is configured to drive the sliding plate 230 to extend or retract relative to the base plate 220. The goods taking and placing direction is the direction in which the goods taking and placing device 300 enters or exits the telescopic assembly 200.

[0148] It can be understood that the third driving assembly 210 is the power source of the telescopic assembly 200, which is used to drive the sliding plate 230 to extend or retract relative to the base plate 220. The base plate 220 is the basic structure of the telescopic assembly 200, which is used to support and fix the third driving assembly 210 and the sliding plate 230. The base plate 220 is fixedly connected with the device body 100, which can be achieved by bolts, welding or other connection methods. The sliding plate 230 is the movable part of the telescopic assembly 200, which is used to carry the goods taking and placing device 300 and move along the goods taking and placing direction. The sliding plate 230 can be made of lightweight and high-strength materials such as aluminum alloy or engineering plastic, etc. to reduce the weight and improve the motion efficiency.

[0149] As an optional embodiment, the third driving assembly 210 comprises a third driving unit 211, a second flexible transmission member 212 and a plurality of second transmission wheels 213. The plurality of second transmission wheels 213 are arranged at intervals along the length direction of the base plate 220. The second flexible transmission member 212 is arranged around the plurality of second transmission wheels 213, and the second flexible transmission member 212 is connected with the sliding plate 230. The output end of the third driving unit 211 is connected with one of the plurality of second transmission wheels 213, and drives the second flexible transmission member 212 to transmit around the plurality of second transmission wheels 213 to drive the sliding plate 230 to move.

[0150] The base plate 220 is provided with a guide rail 221 extending along the length direction thereof, and the sliding plate 230 is connected with a sliding block 231 which is in sliding cooperation with the guide rail 221.

[0151] It can be understood that the third driving unit 211 is the power source of the third driving assembly 210, which can be a motor and a reducer; the second transmission wheels 213 are multiple, and the second transmission wheels 213 connected with the output end of the third driving unit 211 can transmit power to the flexible transmission member 3122 and other second transmission wheels 213; the flexible transmission member 3122 drives the sliding block 231 to move during rotation, and the sliding plate 230 moves stably along the length direction of the base plate 220 through the sliding cooperation of the sliding block 231 and the guide rail 221.

[0152] In the formula, the flexible transmission member 3122 can be a belt, a chain or the like, and in some embodiments, a synchronous belt can be selected, which is engaged with the gear of the second transmission wheel 213 through the toothed surface of the inner surface, so as to transmit power; the guide rail 221 and the sliding block 231 can be made of high-strength and wear-resistant materials such as steel or aluminum alloy, so as to ensure the carrying capacity and durability.

[0153] As an optional implementation, the end of the sliding plate 230 in the direction of taking and placing goods is provided with a protruding part 232, and when the sliding plate 230 extends relative to the base plate 220, the protruding part 232 can be overlapped with the edge of the storage location of the goods shelf 400.

[0154] It can be understood that the protruding part 232 is located on the moving channel, and when the protruding part 232 is overlapped with the edge of the storage location of the goods shelf 400, the sliding plate 230 is more accurate and reliable in docking with the goods shelf 400, the driving wheel 313 of the taking and placing device 300 can pass through the protruding part 232, and the overlapping of the protruding part 232 with the edge of the goods shelf 400 can share part of the load, so as to reduce the stress on the sliding plate 230 and the base plate 220.

[0155] As an optional implementation, the sliding plate 230 can extend bidirectionally at both ends in the length direction of the base plate 220; the sliding plate 230 has a channel for the movement of the taking and placing device 300, and both ends of the channel are open.

[0156] It can be understood that the goods shelves 400 in the warehouse system can be placed at intervals, and a channel is left in the middle, and the taking and placing device 10 can climb on one side of the goods shelf 400 when working, and take and place goods on the side of the goods shelf 400; when the sliding plate 230 can extend bidirectionally at both ends in the length direction of the base plate 220, the taking and placing device 10 can form a moving channel by extending and overlapping the sliding plate 230 on the other side of the goods shelf 400 without shifting the goods shelf 400, and the taking and placing device 300 can move to the other side of the goods shelf 400 through the moving channel to work.

[0157] As an optional implementation, the device body 100 has a support part 110 on each side in the width direction, and the telescopic assembly 200 is located between the two support parts 110; when the goods taking and placing device 300 is on the telescopic assembly 200, the upper surface of the support part 110 is higher than the load bearing surface of the goods taking and placing device 300 when the goods are placed.

[0158] It can be understood that the support part 110 has a corresponding width and height, and can provide more stable support. When the goods taking and placing device 300 is on the telescopic assembly 200 and loaded with goods, the support part 110 can limit the goods, ensuring that the goods can be placed stably during the taking and placing process, and preventing tilting or shaking due to uneven load.

[0159] As an optional implementation, the device body 100 has a climbing mechanism 120 configured to be docked with the goods shelf 400, so that the goods taking and placing device 10 moves in the height direction of the goods shelf 400.

[0160] For example, the climbing mechanism 120 can climb along the vertical guide rail of the goods shelf 400 through a motor-driven gear, a toothed synchronous belt, a friction wheel or the like, and the vertical guide rail is provided with a corresponding docking structure. Meanwhile, the climbing mechanism 120 can also be provided with a clamping jaw to ensure that the climbing mechanism 120 can be attached to the goods shelf 400. The climbing mechanism 120 can be provided with a corresponding safety device such as a fall prevention device or a limit switch to ensure the safety of the device during the climbing process.

[0161] In some embodiments, the goods taking and placing device 300 is in communication connection with the device body 100. For example, the specific communication mode between the goods taking and placing device 300 and the device body 100 includes but is not limited to Bluetooth, wireless network (WIFI, Wireless Fidelity), infrared communication and other short-distance wireless communication modes.

[0162] In some embodiments, the goods taking and placing device 300 includes a battery 340, and the device body 100 is used to charge the battery 340 when the goods taking and placing device 300 is on the telescopic assembly 200.

[0163] For example, the device body 100 can charge the battery 340 of the goods taking and placing device 300 through wireless charging, or the device body 100 and the goods taking and placing device 300 are respectively provided with dockable charging connectors. When the goods taking and placing device 300 moves to the device body 100, the charging connectors of the two are docked to charge the battery 340.

[0164] For example, the device body 100 can charge the battery 340 of the goods taking and placing device 300 through wireless charging, or the device body 100 and the goods taking and placing device 300 are respectively provided with dockable charging connectors. When the goods taking and placing device 300 moves to the device body 100, the charging connectors of the two are docked to charge the battery 340. Figure 1This application also provides a warehousing system, which includes a rack 400 and the aforementioned picking and placing equipment 10. The rack 400 includes multiple storage locations, and multiple storage positions are arranged sequentially in the depth direction of the storage locations. The picking and placing device 300 of the picking and placing equipment 10 can move into the storage location and pick up and place goods in different storage locations.

[0165] Understandably, setting multiple storage locations in the depth direction of the shelving 400 can increase storage density and significantly improve space utilization. At the same time, the picking and placing device 300 can move to the depth of the storage location to pick and place goods in different storage locations, which significantly improves the efficiency of picking and placing goods.

[0166] As an optional implementation, the shelf 400 has multiple storage layers arranged in a vertical direction, each storage layer having at least one storage location, and the storage location is provided with a track 401 extending along its depth direction, with goods carried on top of the track 401; the picking and placing device 300 can move along the track 401.

[0167] It is understandable that the corresponding goods can be located by the storage layer and the corresponding storage location. During the picking and placing operation, the picking and placing equipment 10 first climbs to the corresponding storage layer, and then the picking and placing device 300 can move to the preset area through the track 401. Since the goods are carried on the track 401, the picking and placing device 300 is below the goods after arriving at the preset area, and the goods can be lifted by the lifting mechanism 322 for handling.

[0168] like Figure 10 As an optional implementation, the shelf 400 includes a crossbeam 410 and a span beam 420. The crossbeam 410 is disposed at both ends in the depth direction of the storage location; the span beam 420 extends along the depth direction of the storage location and is connected to the crossbeam 410 at both ends.

[0169] The span beam 420 includes a first support surface 421 and a second support surface 422. The first support surface 421 is higher than the second support surface 422. The first support surface 421 is used to support goods. The second support surfaces 422 of the two parallel span beams 420 are used to form the track 401.

[0170] Understandably, the crossbeam 410 is fixed at both ends in the depth direction of the storage location to support the crossbeam 420; the crossbeam 420 is used to form the track 401 and provide a support surface higher than the track 401 to support the goods.

[0171] The crossbeam 410 and span beam 420 can be made of high-strength materials such as steel or aluminum alloy to ensure load-bearing capacity and durability. The span beam 420 can be made of materials such as... Figure 11 The Z-shaped beam shown has its top surface used to support cargo, and its bottom surface or the bottom and sides together form track 401.

[0172] As an optional embodiment, the shelf 400 comprises a shelf body and a multi-fold support 430. The multi-fold support 430 comprises a connecting plate 431, a first support plate 432 and a second support plate 433, the connecting plate 431 is connected to the outer side edge of the first support plate 432, and the connecting plate 431 is connected with the shelf body; the second support plate 433 is connected with the inner side edge of the first support plate 432 through a side plate, and is lower than the first support plate 432.

[0173] Two multi-fold supports 430 are arranged in parallel and spaced apart to form a storage location. The upper surface of the first support plate 432 of the two multi-fold supports 430 is used to support goods; the upper surface of the second support plate 433 of the two multi-fold supports 430 is used to form a track 401 alone or together with the side plate.

[0174] It can be understood that the multi-fold support 430 is connected with the shelf body to form a stable support structure, and the multi-fold support 430 can carry goods of different specifications, and has strong flexibility.

[0175] Among them, the multi-fold support 430 can also be adopted corbel support, "J" type support and "C" type support, etc., and the corresponding support can be selected according to different goods.

[0176] The specific steps of the goods taking and placing equipment 10 taking and placing goods will be introduced below. Figure 13 The specific steps of the goods taking and placing equipment 10 taking and placing goods will be introduced below.

[0177] Step one, the control center issues a taking instruction and gives a coordinate position of the goods, and the goods taking and placing equipment 10 receives the instruction and climbs along the shelf 400 to the corresponding height of the storage layer.

[0178] It should be noted that the control center can be the control center of the storage system.

[0179] Step two, the third driving unit 211 is started to drive the sliding plate 230 to extend in the telescopic direction until the protruding part 232 of the driving plate is lapped on the shelf 400 cross beam 420 to form a moving channel, and then the first driving unit 3121 of the goods taking and placing device 300 is started to drive the goods taking and placing device 300 to enter the shelf 400 storage location along the moving channel.

[0180] Step three, the goods taking and placing device 300 travels to the predetermined depth along the track 401, and the detection unit 315 detects that the goods taking and placing device 300 is under the goods, and stops the forward movement.

[0181] Step four, the second driving unit 3211 is started to drive the lifting mechanism 322 to lift and hold the goods.

[0182] Step five, the goods taking and placing device 300 holds the goods and moves towards the body of the goods taking and placing equipment 10 and travels to the sliding plate 230.

[0183] Step six, the lifting mechanism 322 is lowered, and the goods are received by the tray 130 of the goods taking and placing device 10 body.

[0184] At this point, the goods transfer of the goods taking and placing device 10 is completed, and the goods placing process is similar to this, which is the reverse of the goods taking process.

[0185] This scheme is also applicable to the scenario where the goods taking and placing device 10 has shelves 400 on both sides.

[0186] The present application provides a goods taking and placing device 10 and a warehouse system, the goods taking and placing device 10 is used for taking and placing goods on the shelves 400; the goods taking and placing device 10 comprises a device body 100, a telescopic assembly 200 and a goods taking and placing device 300, the telescopic assembly 200 is arranged on the device body 100; the goods taking and placing device 300 is movably arranged on the telescopic assembly 200; wherein at least part of the structure of the telescopic assembly 200 can be extended relative to the device body 100 and is connected with the shelves 400 to form a moving channel; the goods taking and placing device 300 is configured to move to the inside of the storage location of the shelves 400 through the moving channel, and take and place goods at a preset position in the depth direction of the storage location. The goods taking and placing device 10 provided by the present application can take and place goods without being affected by the specifications of the goods and the depth of the shelves 400, and can improve the carrying efficiency.

[0187] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A picking and placing device, characterized in that, Used for picking up and placing goods on the shelf (400); The picking and placing equipment (10) includes: Equipment body (100); Telescopic assembly (200), the telescopic assembly (200) being disposed on the device body (100); A loading and unloading device (300) is movably mounted on the telescopic assembly (200); At least a portion of the telescopic component (200) can extend relative to the main body (100) and dock with the shelf (400) to form a moving channel; the picking and placing device (300) is configured to move through the moving channel to the storage location of the shelf (400) and pick up and place goods at a preset position in the depth direction of the storage location.

2. The picking and placing equipment according to claim 1, characterized in that, The picking and placing device (300) includes a device body (310) and a lifting component (320), wherein the lifting component (320) is disposed on the device body (310); the device body (310) is configured to drive the lifting component (320) to move on the telescopic component (200) or the shelf (400) to below the goods, and the lifting component (320) is configured to lift or lower the goods.

3. The picking and placing equipment according to claim 2, characterized in that, The main body (310) of the device includes a bottom shell (311), a first drive assembly (312) and a plurality of drive wheels (313). The first drive assembly (312) is disposed on the bottom shell (311), and the plurality of drive wheels (313) are rotatably connected to the bottom shell (311). The first drive assembly (312) is configured to drive at least one of the plurality of drive wheels (313) to rotate so that the picking and placing device (300) moves on the telescopic assembly (200) and / or the shelf (400).

4. The picking and placing equipment according to claim 3, characterized in that, The first drive assembly (312) includes a first drive unit (3121), a flexible transmission member (3122), and at least two first transmission wheels (3123); the at least two first transmission wheels (3123) are arranged at intervals along the length direction of the bottom shell (311); the flexible transmission member (3122) is wound around the at least two first transmission wheels (3123); the output end of the first drive unit (3121) is connected to one of the at least two first transmission wheels (3123); At least one of the drive wheels (313) is connected to at least one of the first transmission wheels (3123).

5. The picking and placing equipment according to claim 4, characterized in that, There are two first drive components (312), and the two first drive components (312) are respectively arranged close to both sides of the bottom shell (311) in the width direction; Multiple drive wheels (313) are respectively distributed on both sides of the bottom shell (311) in the width direction, and the first transmission wheels (3123) of the two first drive components (312) are respectively connected to the drive wheels (313) on both sides of the bottom shell (311); the first drive units (3121) of the two first drive components (312) are respectively disposed at the front end and rear end of the bottom shell (311) in the length direction.

6. The picking and placing equipment according to claim 4, characterized in that, The drive wheel (313) corresponds one-to-one with the first transmission wheel (3123) and is fixedly arranged coaxially.

7. The picking and placing equipment according to claim 4, characterized in that, Each of the first transmission wheel (3123) is provided with two driving wheels (313); the first transmission wheel (3123) has a first gear part (3124) coaxially connected, and each of the driving wheels (313) has a second gear part (3131) coaxially arranged. The first gear part (3124) meshes with the second gear part (3131) of the two driving wheels (313) at the same time, thereby driving the two driving wheels (313) to move simultaneously.

8. The picking and placing equipment according to claim 2, characterized in that, The lifting assembly (320) includes a second drive assembly (321), a lifting mechanism (322), and a bracket (323). The second drive assembly (321) and the lifting mechanism (322) are disposed on the main body (310) of the device. The bracket (323) is connected to the lifting mechanism (322). The second drive assembly (321) is connected to the bracket (323) and is configured to drive the bracket (323) to lift vertically.

9. The picking and placing equipment according to claim 8, characterized in that, The lifting mechanism (322) includes two support arms (3221), which are arranged crosswise and hinged to each other; the first end of one of the two support arms (3221) is rotatably connected to the main body of the device (310), and the second end is slidably connected to the bracket (323); the first end of the other of the two support arms (3221) is slidably connected to the main body of the device (310), and the second end is rotatably connected to the bracket (323).

10. The picking and placing equipment according to claim 9, characterized in that, There are at least two lifting mechanisms (322), which are respectively located on both sides of the bracket (323) in the width direction.

11. The picking and placing equipment according to claim 10, characterized in that, Two lifting mechanisms (322) are provided on each side of the bracket (323) in the width direction, and the two lifting mechanisms (322) on each side are symmetrically arranged in the front and back directions in the length direction of the bracket (323).

12. The picking and placing equipment according to claim 8, characterized in that, The second drive assembly (321) includes a second drive unit (3211) and a swing arm (3212). The second drive unit (3211) is connected to the main body (310) of the device. The first end of the swing arm (3212) is fixedly connected to the output end of the second drive unit (3211), and the second end of the swing arm (3212) abuts against the bracket (323). The second drive unit (3211) is configured to drive the swing arm (3212) to rotate so that the swing arm (3212) pushes the bracket (323) to rise vertically.

13. The picking and placing equipment according to claim 12, characterized in that, The second end of the swing arm (3212) is rotatably connected to a roller (3213), which abuts against the bottom of the bracket (323); when the bracket (323) is raised or lowered, the roller (3213) rolls on the bottom surface of the bracket (323).

14. The picking and placing equipment according to any one of claims 2-13, characterized in that, The peripheral edge of the device body (310) is provided with a plurality of guide wheels (314), and the guide wheels (314) are rotatably connected to the device body (310).

15. The picking and placing equipment according to any one of claims 2-13, characterized in that, At least two detection units (315) are provided on the main body (310) of the device. The at least two detection units (315) are located at the front end and the rear end of the main body (310) in the length direction of the device, respectively. The detection units (315) are configured to detect whether there are goods above the picking and placing device (300).

16. The picking and placing equipment according to any one of claims 2-13, characterized in that, The loading and unloading device (300) also includes a pallet (330), which is disposed above the lifting assembly (320) and is used to carry goods.

17. The picking and placing equipment according to any one of claims 1-13, characterized in that, The telescopic assembly (200) includes a third drive assembly (210), a base plate (220), and a sliding plate (230). The base plate (220) is connected to the device body (100). The third drive assembly (210) is disposed on the base plate (220). The sliding plate (230) is slidably disposed with respect to the base plate (220) along the loading / unloading direction. The third drive assembly (210) is configured to drive the sliding plate (230) to extend or retract relative to the base plate (220).

18. The picking and placing equipment according to claim 17, characterized in that, The third driving assembly (210) includes a third driving unit (211), a second flexible transmission member (212), and a plurality of second transmission wheels (213). The plurality of second transmission wheels (213) are arranged at intervals along the length direction of the substrate (220). The second flexible transmission member (212) is wound around the plurality of second transmission wheels (213) and is connected to the sliding plate (230). The output end of the third driving unit (211) is connected to one of the plurality of second transmission wheels (213) and drives the second flexible transmission member (212) to drive around the plurality of second transmission wheels (213) to move the sliding plate (230). The substrate (220) is provided with a guide rail (221) extending along its length direction, and the sliding plate (230) is connected to a slider (231), the slider (231) and the guide rail (221) are slidably engaged.

19. The picking and placing equipment according to claim 17, characterized in that, The sliding plate (230) has a protrusion (232) at its end along the picking and placing direction. When the sliding plate (230) extends relative to the base plate (220), the protrusion (232) can overlap with the storage edge of the shelf (400).

20. The picking and placing equipment according to claim 17, characterized in that, The sliding plate (230) can extend bidirectionally from both ends of the base plate (220) along its length; the sliding plate (230) has a channel for the loading and unloading device (300) to move, and the two ends of the channel are open.

21. The picking and placing equipment according to any one of claims 1-13, characterized in that, The main body (100) of the equipment has support portions (110) on both sides in the width direction. The telescopic component (200) is located between the support portions (110) on both sides. The upper surface of the support portion (110) is higher than the bearing surface of the loading and unloading device (300) when the goods are placed on the telescopic component (200).

22. The picking and placing equipment according to any one of claims 1-13, characterized in that, The main body of the equipment (100) has a climbing mechanism (120) configured to dock with the shelf (400) so that the picking and placing equipment (10) can climb and move along the height direction of the shelf (400).

23. The picking and placing equipment according to any one of claims 1-13, characterized in that, The picking and placing device (300) is communicatively connected to the main body of the equipment (100).

24. The picking and placing equipment according to any one of claims 1-13, characterized in that, The loading and unloading device (300) includes a battery (340), and when the loading and unloading device (300) is located on the telescopic assembly (200), the main body of the device (100) is used to charge the battery (340).

25. A warehousing system, characterized in that, Includes a shelf (400) and a picking and placing device (10) as described in any one of claims 1-24, wherein the shelf (400) includes multiple storage locations, and multiple storage positions are arranged sequentially in the depth direction of the storage locations, and the picking and placing device (300) of the picking and placing device (10) can move into the storage location and pick and place goods in different storage locations.

26. The warehousing system according to claim 25, characterized in that, The shelf (400) has multiple storage layers arranged in a vertical direction, each storage layer has at least one storage location, the storage location is provided with a track (401) extending along its depth direction, and goods are carried on the upper surface of the track (401); the picking and placing device (300) can move along the track (401).

27. The warehousing system according to claim 26, characterized in that, The shelf (400) includes a crossbeam (410) and a span beam (420), the crossbeam (410) being disposed at both ends in the depth direction of the storage location; the span beam (420) extending along the depth direction of the storage location, and both ends being connected to the crossbeam (410); The span beam (420) includes a first support surface (421) and a second support surface (422), the first support surface (421) being higher than the second support surface (422), the first support surface (421) being used to support goods, and the second support surface (422) of the two parallel span beams (420) being used to form the track (401).

28. The warehousing system according to claim 26, characterized in that, The shelf (400) includes a shelf body and a multi-fold support (430); the multi-fold support (430) includes a connecting plate (431), a first support plate (432) and a second support plate (433), the connecting plate (431) is connected to the outer edge of the first support plate (432) and the connecting plate (431) is connected to the shelf body; the second support plate (433) is connected to the inner edge of the first support plate (432) and is lower than the first support plate (432); Two of the multi-fold brackets (430) are arranged in parallel and spaced apart to form the storage location; the upper surface of the first support plate (432) of the two multi-fold brackets (430) is used to support goods; the upper surface of the second support plate (433) of the two multi-fold brackets (430) is used to form the track (401).

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