Actuator, goods shelf robot and warehousing system

Abstract

The utility model discloses an actuating mechanism, goods shelf robot and warehousing system, including bottom plate and two opposite setting telescopic mechanism, two telescopic mechanism interval ground setting on bottom plate, telescopic mechanism includes telescopic goods taking subassembly, telescopic goods taking subassembly along the first direction sliding arrangement, the first direction with two telescopic mechanism's interval direction intersection, at least one telescopic mechanism along two telescopic mechanism's interval direction slidably arranged on bottom plate, at least one telescopic mechanism includes transmission assembly, transmission assembly is used for when telescopic goods taking subassembly along the first direction sliding, drive corresponding telescopic mechanism along two telescopic mechanism's interval direction sliding. The utility model can accommodate the use of goods in smaller material box interval, and the warehousing system's capacity factor has been improved.

Description

Technical Field

[0001] This utility model relates to the field of warehousing technology, specifically to an actuator, a shelf robot, and a warehousing system. Background Technology

[0002] In the warehousing industry, in order to facilitate the turnover of materials, the bins on the shelves are usually retrieved by actuators.

[0003] When the actuator retrieves a bin from the shelf, especially when retrieving bins located on the inner side of the shelf, a portion of the structure needs to extend into the shelf. When storing bins, in order to ensure that the actuator has enough space to reach into the shelf to move the inner bins, the spacing between bins located on the outer side of the shelf is generally larger. This leads to a decrease in the material storage density on the shelf and reduces the warehouse capacity. Utility Model Content

[0004] This utility model aims to solve one of the technical problems in related technologies to a certain extent. To this end, this utility model provides an actuator, a shelf robot, and a warehousing system that can adapt to the retrieval of goods within smaller bin intervals, thereby improving the storage capacity of the warehousing system.

[0005] To achieve the above objectives, a first aspect of this utility model discloses an actuator, including a base plate and two opposing telescopic mechanisms. The two telescopic mechanisms are spaced apart on the base plate. Each telescopic mechanism includes a telescopic picking component, which is slidably disposed along a first direction, the first direction intersecting the spacing direction of the two telescopic mechanisms.

[0006] At least one of the telescopic mechanisms is slidably disposed on the base plate along the distance between the two telescopic mechanisms. The at least one telescopic mechanism includes a transmission component, which is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the telescopic picking component slides along the first direction.

[0007] In this technical solution, the sliding motion of the telescopic picking component and the spacing adjustment motion of the movable support are interconnected through the transmission component. During use, when the telescopic picking component extends into the shelf, the spacing between the two telescopic picking components can be adjusted as needed, so that the telescopic picking component can enter the shelf with a suitable spacing. This reduces the spacing between the storage bins on the shelf, and the actuator can also smoothly extend into the shelf to retrieve the bins while reducing the spacing, thus improving the storage capacity of the warehousing system.

[0008] Furthermore, the at least one telescopic mechanism includes a movable support member, which is slidably disposed on the base plate along the distance between the two telescopic mechanisms. The telescopic picking component is slidably disposed on the movable support member along a first direction. The telescopic picking component and the movable support member are connected by a transmission component. The sliding of the telescopic picking component along the first direction drives the corresponding movable support member to slide along the distance between the two telescopic mechanisms through the transmission component, thereby adjusting the distance between the two telescopic mechanisms.

[0009] Furthermore, the two telescopic mechanisms are slidably disposed on the base plate along the distance between them, and the distance between the two movable support members forms a storage space.

[0010] When the telescopic retrieval component extends beyond the storage space beyond a preset distance, the distance between the two movable support members is adjusted to a first distance.

[0011] When the telescopic picking component extends outward from the storage space without exceeding a preset distance, the distance between the two movable support members is adjusted to a second distance, where the first distance is smaller than the second distance. When the telescopic picking component extends a preset distance, the distance between the movable support members decreases, allowing the telescopic picking component to extend into the inner side of the shelf with a smaller gap, reducing the storage gap of the shelf boxes and improving the warehouse capacity.

[0012] Furthermore, the telescopic retrieval assembly includes a transmission input component, which can switch between a transmission position and a non-transmission position as the telescopic retrieval assembly slides.

[0013] In the transmission position, the transmission input component is connected to the input end of the transmission assembly, and the movement of the telescopic picking component is driven by the transmission assembly to slide the corresponding movable support component along the spacing direction.

[0014] In the non-transmission position, the transmission input component is disengaged from the transmission assembly, and the movement of the telescopic picking component cannot drive the sliding of the movable support component.

[0015] Furthermore, the telescopic picking assembly includes a primary telescopic fork, which is slidably disposed on the movable support member along a first direction. The transmission input member is disposed at each end of the primary telescopic fork along the first direction, and the transmission component is disposed at each end of the movable support member along the first direction. The transmission input member and the transmission component are disposed in a one-to-one correspondence. Along the first direction, the distance between the ends of the two movable support members forms a first material inlet and a second material inlet, respectively. The two ends of the telescopic picking assembly can extend into the storage space from the first material inlet and the second material inlet, respectively. During the extension process, the distance between the two movable support members can be adjusted through the cooperation of the corresponding transmission input member and the transmission component.

[0016] Furthermore, the transmission assembly includes a first gear, a transmission shaft, a second gear, and a second rack. The transmission shaft is rotatably mounted on the movable support member. The first gear and the second gear are respectively mounted at both ends of the transmission shaft. The second rack is mounted on the base plate along the spacing direction of the movable support member. The actuator includes a width-adjusting guide rail along the spacing direction of the movable support member. The movable support member is slidably mounted on the width-adjusting guide rail. The second gear and the second rack mesh with each other. The sliding of the telescopic picking assembly can drive the rotation of the first gear.

[0017] Furthermore, the telescopic picking assembly includes a primary telescopic fork, a secondary telescopic fork, and a hook component. The primary telescopic fork is slidably disposed on the movable support member, the secondary telescopic fork is slidably disposed on the primary telescopic fork, and the hook component spans between two opposing secondary telescopic forks. The hook component is rotatably disposed on the secondary telescopic fork, and the width of the hook component along the spacing direction of the movable support member is adjustable to adapt to the adjustment of the spacing of the movable support member.

[0018] Furthermore, the hook-and-pull component includes two flip arms and a hook-and-pull bracket. The two flip arms are arranged opposite to each other and are rotatably mounted on two secondary telescopic forks. The two flip arms are connected through the hook-and-pull bracket, and the two flip arms are slidably connected to the hook-and-pull bracket along the spacing direction of the movable support member.

[0019] Furthermore, the telescopic picking assembly also includes a tilting drive unit, which is mounted on one of the secondary telescopic forks and connected to the tilting arm on the corresponding side. The tilting drive unit is used to drive the hook component to rotate and switch between an avoidance position and a feeding position. Along the first direction, the distance between the two ends of the two movable support members respectively forms a first material inlet and a second material inlet.

[0020] At the feeding position, the hook bracket is opposite to the first material inlet or the second material inlet along the first direction;

[0021] In the avoidance position, the hook bracket is located on the top side of the first material inlet and the second material inlet.

[0022] Furthermore, the hook support includes a mounting plate, a hook plate, and a hook guide rail. The hook guide rail is disposed on a first surface of the mounting plate, and the flipping arm is slidably disposed on the hook guide rail. The hook plate is disposed on a second surface of the mounting plate opposite to the first surface. The hook plate includes two hook heads disposed opposite to each other along the rotation direction of the hook component, so that the hook component can hook and pull materials in the forward and reverse directions of the first direction.

[0023] Furthermore, the actuator also includes a support component, which is disposed on the base plate and located within the gap between the two movable supports. The support component is used to support the hopper entering the actuator.

[0024] The second aspect of this utility model discloses a shelf robot, including a gantry and an actuator of the first aspect, wherein the gantry is slidably mounted on a shelf along a second direction, and the actuator is slidably mounted on the gantry along a third direction, wherein the second direction and the third direction intersect.

[0025] Furthermore, the shelf robot includes a ground walking mechanism, which is located at the bottom of the gantry and can slide along the ground to drive the gantry to slide on the shelf in a second direction.

[0026] The third aspect of this utility model discloses a warehousing system, including a first shelf, a second shelf, and a shelf robot arranged at intervals. The shelf robot is disposed within the interval between the first shelf and the second shelf. A gantry is slidably disposed on the first shelf along a second direction. An actuator is located between the first shelf and the second shelf. The sliding direction of the telescopic picking component is consistent with the interval direction between the first shelf and the second shelf. The two ends of the telescopic mechanism are respectively spaced apart from the first shelf and the second shelf along the first direction. The first shelf and the second shelf realize material interaction through the actuator. At least one of the first shelf and the second shelf is configured as a multi-depth shelf. Along the first direction, the multi-depth shelf includes multiple storage positions arranged at intervals. The transmission component is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the actuator interacts with the storage positions in the inner layer of the multi-depth shelf.

[0027] The reasoning process for the beneficial effects of the shelf robot and warehousing system provided by this utility model and the aforementioned actuator is similar, and will not be repeated here.

[0028] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but this is not intended to limit the technical solution of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings:

[0030] Figure 1 This is an overall structural diagram of the actuator according to one embodiment of the present utility model;

[0031] Figure 2 This is an overall structural diagram of the actuator of one embodiment of the present utility model (with the first-stage telescopic forks extended).

[0032] Figure 3 This is an exploded view of the telescopic mechanism structure on one side of the actuator in one embodiment of the present invention;

[0033] Figure 4 This is a structural diagram showing the hook-pull component of the actuator in an avoidance position according to one embodiment of the present invention;

[0034] Figure 5 This is an overall structural diagram of the shelf robot according to one embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0038] Figure 9 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0040] Figure 11This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0041] Figure 12 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0043] Figure 14 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0044] Figure 15 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0045] Figure 16 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0046] Figure 17 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0047] Figure 18 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention;

[0048] Figure 19 This is a schematic diagram of the shelf robot picking process according to one embodiment of the present invention.

[0049] in,

[0050] 10. Actuator; 11. Base plate; 12. Movable support component; 121. Width adjustment guide rail;

[0051] 13. Telescopic picking assembly; 131. Primary telescopic fork; 132. Transmission input component; 133. Primary belt; 134. Secondary telescopic fork; 135. Hook assembly; 1351. Tilting arm; 1352. Mounting plate; 1353. Hook plate; 1354. Hook guide rail; 136. Tilting drive unit; 137. Secondary belt; 138. Primary telescopic motor; 139. Secondary telescopic motor;

[0052] 14. Transmission assembly; 141. First gear; 142. Drive shaft; 143. Second gear; 144. Second rack;

[0053] 15. Load-bearing components;

[0054] 16. Bevel guide plate; 161. Guide bevel;

[0055] 21. Gantry; 22. Ground walking mechanism;

[0056] 31. First shelf; 32. Second shelf;

[0057] 40. Material bin. Detailed Implementation

[0058] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0059] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this utility model. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0060] See appendix Figures 1 to 4 One embodiment of this utility model discloses an actuator, including a base plate 11 and two telescopic mechanisms arranged opposite each other. The two telescopic mechanisms are spaced apart on the base plate. Each telescopic mechanism includes a telescopic picking component 13, which is slidably arranged along a first direction. The first direction intersects the spacing direction of the two telescopic mechanisms (generally, in actual installation, the first direction and the spacing direction of the movable support 12 are set to be orthogonal).

[0061] At least one of the telescopic mechanisms is slidably disposed on the base plate 11 along the distance between the two telescopic mechanisms. The at least one telescopic mechanism includes a transmission component 14, which is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the telescopic picking component 13 slides along the first direction.

[0062] Two telescopic mechanisms are slidably disposed on the base plate 11 along the distance between the two telescopic mechanisms. Each telescopic mechanism includes a movable support member 12, which is slidably disposed on the base plate 11 along the distance between the two telescopic mechanisms. A telescopic picking assembly 13 is slidably disposed on the movable support member 12 along a first direction. The telescopic picking assembly 13 and the movable support member 12 are connected by a transmission assembly 14. The sliding of the telescopic picking assembly 13 along the first direction drives the corresponding movable support member 12 to slide along the distance between the two telescopic mechanisms through the transmission assembly 14, thereby adjusting the distance between the two telescopic mechanisms.

[0063] The actuator 10 in this embodiment can be applied to a handling robot or a shelf robot, and its main function is to handle the material box 40.

[0064] When it is necessary to move the material box 40, the gap area between the ends of the two movable support members 12 of the telescopic mechanism faces the material box 40 to be moved, and the telescopic picking component 13 extends to the material box 40 to move the material box 40 into the actuator 10.

[0065] It should be noted that the telescopic picking component 13 in this embodiment can handle the material box 40 by clamping, hooking, lifting and other methods, and no specific limitation is made thereto.

[0066] In this embodiment, when the actuator 10 is moving the material box 40, the space between the two movable support members 12 can be used as the storage space for the material box 40.

[0067] In this embodiment, the actuator 10 also includes a transmission component 14. The transmission component 14 serves as an intermediate transmission component between the telescopic retrieval component 13 and the movable support member 12. During use, when the telescopic retrieval component 13 moves along the first direction, the transmission component 14 drives the movable support member 12 to slide along the spacing direction, thereby adjusting the distance between the two movable support members 12. In this embodiment, the sliding action of the telescopic retrieval component 13 and the sliding action of the movable support member 12 are interconnected through the transmission component 14, achieving linkage between the telescopic retrieval component 13 and the movable support member 12. Specifically, the actual action of the actuator 10 is that when the telescopic retrieval component 13 extends, it can simultaneously retract or expand. Compared to some related technologies where actuators 10 are equipped with separate drive mechanisms to control the adjustment of the width of the movable support member 12 and the sliding of the telescopic retrieval component 13, the actuator 10 in this embodiment reduces the number of drive mechanisms required, making the actuator 10 more compact overall. Furthermore, it achieves automatic adjustment of the distance between the movable support members 12, making control more convenient.

[0068] In this embodiment, the linkage between the telescopic picking component 13 and the movable support 12 can be performed throughout the entire stroke of the telescopic picking component 13, or only a portion of the stroke of the telescopic picking component 13 can be linked with the movable support 12.

[0069] Furthermore, in this embodiment, one of the two movable support members 12 can be configured to move with the sliding of the telescopic picking component 13, or both movable support members 12 can be configured to move with the sliding of the telescopic picking component 13. There is no specific limitation on this, as long as the distance between the movable support members 12 can change with the sliding of the telescopic picking component 13.

[0070] When both movable support members 12 are slidably mounted on the base plate 11, they can be set to slide synchronously. This ensures that the center of the two telescopic mechanisms remains unchanged, which facilitates alignment with the material box 40 and improves the stability of material handling.

[0071] This embodiment does not specifically limit the structure of the transmission component 14. In actual installation, the transmission component 14 can be configured as a gear transmission structure, a wedge block spring structure, etc.

[0072] This embodiment does not specifically limit whether the telescopic picking component 13 can reduce or increase the distance between the movable support members 12 by sliding in the positive direction of the first direction. In actual settings, it can be reasonably designed according to actual needs.

[0073] As one embodiment of this utility model, see the appendix. Figure 1 , 4 The distance between the two movable support members 12 forms a storage space. When the telescopic retrieval component 13 extends beyond the storage space beyond a preset distance, the distance between the two movable support members 12 is adjusted to a first distance.

[0074] When the telescopic retrieval component 13 extends outward into the storage space without exceeding a preset distance, the distance between the two movable support members 12 is adjusted to a second distance, where the first distance is less than the second distance.

[0075] In this embodiment, the extension of the telescopic picking component 13 from the storage space reduces the spacing of the movable support members 12. This allows the telescopic picking component 13 to reach into the shelf and handle materials with a smaller gap during actual use, helping to reduce the storage gap of the shelf bins 40 and improve storage capacity. (See attached diagram.) Figure 2 .

[0076] It should be noted that in this embodiment, when the actuator 10 needs to retrieve the material box 40 from the inside of the shelf during use, in the initial state, the telescopic retrieval component 13 is located within the distance between the two movable support members 12. When the telescopic retrieval component 13 needs to retrieve the material from the inside of the shelf, the telescopic retrieval component 13 extends towards the shelf from the distance between the two movable support members 12. The adjustment of the distance between the movable support members 12 is completed before the telescopic retrieval component 13 extends into the shelf. This can avoid the influence of the material box 40 on the outside of the shelf on the telescopic retrieval component 13 when it extends into the shelf.

[0077] It can be seen that in order to achieve the adjustment of the spacing between the movable support 12 before the telescopic picking component 13 extends into the shelf, when the actuator 10 is set, the end of the movable support 12 needs to form a certain gap with the corresponding shelf (this gap provides room for the sliding of the telescopic picking component 13, so that it can drive the movable support 12 to be adjusted into place within this room).

[0078] Furthermore, during use, when the telescopic picking component 13 moves the material box 40 from inside the shelf towards the actuator 10 (opposite to the aforementioned extension action), after the telescopic picking component 13 moves out of the shelf, its continued movement will increase the distance between the two movable support members 12 (opposite to the aforementioned action of decreasing the distance between the movable support members 12 caused by the extension action of the telescopic picking component 13). This makes it easier for the material box 40 to enter between the two movable support members 12 or makes its movement between the two movable support members 12 smoother.

[0079] In this embodiment, when the telescopic picking component of the actuator extends beyond the preset distance, it is at a smaller first distance, which makes it easier for the telescopic picking component to extend into the shelf, thereby reducing the storage gap of the material boxes on the shelf and improving the warehouse capacity.

[0080] As one embodiment of this utility model, see the appendix. Figure 2 The telescopic retrieval assembly 13 includes a transmission input component 132, which can switch between a transmission position and a non-transmission position as the telescopic retrieval assembly 13 slides.

[0081] In the transmission position, the transmission input component 132 is connected to the input end of the transmission assembly 14, and the movement of the telescopic picking component 13 drives the corresponding movable support component 12 to slide along the spacing direction through the transmission assembly 14.

[0082] In the non-transmission position, the transmission input component 132 is disengaged from the transmission assembly 14, and the movement of the telescopic picking component 13 cannot drive the sliding of the movable support component 12.

[0083] In this embodiment, only a portion of the sliding stroke of the telescopic picking component 13 can drive the movement of the movable support 12. The telescopic picking component 13 in this embodiment includes a transmission input component 132. In actual installation, in order to enable the telescopic picking component 13 to drive the movement of the movable support 12 only in a portion of its stroke, the distribution length of the transmission input component 132 can be set. When the transmission input component 132 moves to a position opposite to the transmission component 14, the transmission input component 132 is connected to the transmission component 14. At this time, the sliding of the telescopic picking component 13 can drive the sliding of the movable support 12 through the transmission input component 132 and the transmission component 14. When the transmission input component 132 disengages from the transmission component 14 as the telescopic picking component 13 slides, the sliding of the telescopic picking component 13 will not drive the movement of the movable support 12. The setting of the transmission input component 132 in this embodiment is equivalent to a clutch structure.

[0084] As one embodiment of this example, see Appendix Figure 1 , 2 3. The telescopic picking component 13 includes a primary telescopic fork 131, which is slidably disposed on the movable support member 12 along a first direction. The primary telescopic fork 131 is provided with transmission input members 132 at both ends along the first direction, and the movable support member 12 is provided with transmission components 14 at both ends along the first direction. The transmission input members 132 and the transmission components 14 are arranged in a one-to-one correspondence. Along the first direction, the distance between the two ends of the two movable support members 12 forms a first material inlet and a second material inlet, respectively. The two ends of the telescopic picking component 13 can extend out of the storage space from the first material inlet and the second material inlet, respectively. During the extension process, the distance between the two movable support members 12 can be adjusted by the cooperation of the corresponding transmission input members 132 and the transmission components 14.

[0085] In this embodiment, the telescopic picking component 13 can extend from both ends of the two movable supports 12 along the first direction (the first material inlet and the second material inlet) to perform the material box 40 transfer operation. Correspondingly, in this embodiment, transmission input components 132 are respectively provided at both ends of the first-stage telescopic fork 131 in the first direction, and transmission components 14 corresponding to the two transmission input components 132 are provided at both ends of the movable supports 12 in the first direction. In this way, during use, when the telescopic picking component 13 extends from the storage space from the first material inlet, the transmission input component 132 and the transmission component 14 at the end corresponding to the first material inlet will cooperate to realize the sliding of the movable support 12. Correspondingly, when the telescopic picking component 13 extends from the storage space from the second material inlet, the transmission input component 132 and the transmission component 14 at the end corresponding to the second material inlet will cooperate to realize the sliding of the movable support 12. In this way, no matter which end of the movable support 12 the telescopic picking component 13 extends from, it can have the above-mentioned action of adjusting the distance between the movable supports 12.

[0086] It should be noted that, in actual setup, in order to ensure the stability of the actuator 10, the two sets of transmission input components 132 and transmission components 14 at both ends should not interact with each other. In actual setup, the transmission input components 132 at both ends can be set to a structure that is staggered with each other (specifically, in this embodiment, the first gear 141 of the transmission components 14 at both ends can be set to different heights). In this way, even if the transmission input component 132 at one end moves to the position of the transmission component 14 at the other end, it will not be connected to the transmission component 14 at the other end.

[0087] In actual installation, the actuator 10 may also include a bevel guide plate 16. The bevel guide plate 16 is respectively disposed on the inner side of the two movable support members 12. Referring to the attached figure, the two ends of the bevel guide plate 16 are located at the first material inlet and the second material inlet, respectively, and form a guide bevel 161. The width of the guide bevel 161 at the outer end of the two bevel guide plates 16 is greater than the width at the inner end. This can guide the material box 40 from the first material inlet and the second material inlet into the actuator 10, making the material conveying smoother.

[0088] As one embodiment of this utility model, see the appendix. Figure 2The transmission assembly 14 includes a first gear 141, a transmission shaft 142, a second gear 143, and a second rack 144. The transmission shaft 142 is rotatably mounted on the movable support member 12. The first gear 141 and the second gear 143 are respectively mounted at both ends of the transmission shaft 142. The second rack 144 is mounted on the base plate 11 along the spacing direction of the movable support member 12. The actuator 10 includes a width-adjusting guide rail 121 mounted along the spacing direction of the movable support member 12. The movable support member 12 is slidably mounted on the width-adjusting guide rail 121. The second gear 143 and the second rack 144 mesh with each other. The sliding of the telescopic picking assembly 13 can drive the rotation of the first gear 141.

[0089] In this embodiment, the transmission component 14 adopts gear transmission. Specifically, the transmission component 14 includes a first gear 141, a transmission shaft 142, a second gear 143, and a second rack 144. In actual installation, the transmission shaft 142, the first gear 141, and the second gear 143 are assembled as a single unit, and the three can rotate synchronously. The transmission shaft 142 is arranged along the height direction of the movable support member 12, and the rotating shaft is rotatably connected to the movable support member 12. It can move together with the movable support member 12 to ensure the stability of the transmission action during the movement of the support part.

[0090] In this embodiment, the transmission input component 132 is generally set as a first rack. The first rack is set along a first direction and has a certain length. When the telescopic picking component 13 drives the first rack to move to the corresponding transmission component 14 position, the first rack will mesh with the first gear 141. The movement of the first rack will drive the rotation of the first gear 141, and then the second gear 143 will rotate synchronously. Under the action of the meshing of the second gear 143 and the second rack 144, the movable support 12 will slide along the width adjustment guide rail 121, thereby realizing the adjustment of the distance between the two movable support components 12.

[0091] As one embodiment of this utility model, see the appendix. Figure 3 The diameter of the first gear 141 is smaller than the diameter of the second gear 143.

[0092] This embodiment achieves the adjustment of the transmission coefficient by setting different wheel diameters for the first gear 141 and the second gear 143. In this way, a small displacement of the telescopic picking component 13 can achieve a large adjustment of the distance between the two movable support members 12. In actual settings, the distance between the actuator 10 and the shelf is generally set to a fixed interval. Based on this interval, the wheel diameter ratio of the transmission input component 132, the first gear 141 and the second gear 143 can be reasonably designed. This allows the telescopic picking component 13 to adjust the distance between the two movable support members 12 to a suitable width within a fixed interval. For example, the preset distance between the first-stage telescopic fork 131 on the actuator 10 and the shelf is 80mm. Through reasonable design of structural parameters, a 120mm widening distance between the two movable support members 12 can be achieved.

[0093] Of course, in actual settings, the diameter of the first gear 141 can also be set to be less than or equal to the diameter of the second gear 143. The specific wheel diameter relationship can be determined based on the stroke of the telescopic cargo-taking component 13 and the relationship between the retraction stroke of the two telescopic mechanisms.

[0094] As one embodiment of this utility model, see the appendix. Figure 1 The telescopic picking assembly 13 includes a primary telescopic fork 131, a secondary telescopic fork 134, and a hook component 135. The primary telescopic fork 131 is slidably disposed on the movable support member 12, and the secondary telescopic fork 134 is slidably disposed on the primary telescopic fork 131. The hook component 135 spans between two opposing secondary telescopic forks 134 and is rotatably disposed on the secondary telescopic forks 134. The width of the hook component 135 along the spacing direction of the movable support member 12 is adjustable to accommodate the adjustment of the spacing of the movable support member 12.

[0095] The telescopic retrieval component 13 in this embodiment includes a two-stage telescopic structure, which allows for a greater telescopic retrieval distance with the same size actuator 10 during use.

[0096] In actual setup, the primary telescopic fork 131 is connected to the movable support 12 via a primary belt 133. During use, the primary telescopic motor 138 drives the primary telescopic fork 131 to slide via the primary belt 133. When the primary telescopic fork 131 moves, the secondary telescopic fork 134 can move together with the primary telescopic fork 131. The telescopic picking assembly 13 also includes two secondary belts 137 and a secondary telescopic motor 139. The secondary telescopic motor 139 can drive the secondary telescopic fork 134 to move relative to the primary telescopic fork 131 via the secondary belts 137. The secondary sliding structure of the telescopic picking assembly 13 has been described in related technologies, and the specific structure will not be repeated here.

[0097] In this embodiment, the telescopic picking component 13 transports materials by hooking. In order to accommodate the adjustable spacing of the movable support 12 in this invention, the width of the hooking component 135 along the spacing direction of the movable support 12 can be adjusted.

[0098] For details, please see the appendix. Figure 2 The hook-and-pull component 135 includes two flip arms 1351 and a hook-and-pull bracket. The two flip arms 1351 are arranged opposite to each other and are rotatably mounted on two secondary telescopic forks 134. The two flip arms 1351 are connected through the hook-and-pull bracket and are slidably connected to the hook-and-pull bracket along the spacing direction of the movable support member 12.

[0099] When the distance between the two movable support members 12 is adjusted, the flip arm 1351 can slide relative to the hook bracket to adapt to the change in distance.

[0100] To enable the actuator 10 to move materials more smoothly and improve handling efficiency, see Appendix. Figure 1 , 2 In one embodiment of this utility model, the telescopic picking assembly 13 further includes a flipping drive unit 136. The flipping drive unit 136 is disposed on one of the secondary telescopic forks 134 and connected to the flipping arm 1351 on the corresponding side. The flipping drive unit 136 is used to drive the hook member 135 to rotate and switch between an avoidance position and a feeding position. Along the first direction, the distance between the two ends of the two movable support members 12 respectively forms a first material inlet and a second material inlet.

[0101] At the feeding position, the hook bracket is opposite to the first material inlet or the second material inlet along the first direction;

[0102] In the avoidance position, the hook bracket is located on the top side of the first material inlet and the second material inlet.

[0103] In this embodiment, the hooking component 135 has different working positions. When it is necessary to hook the material box 40, the hooking component 135 is in the feeding position. At this time, the hooking bracket can take the material box 40 out of the storage space or send it into the storage space along the first direction.

[0104] When the hook-pull component 135 does not need to move the material box 40, the hook-pull component 135 can be rotated to the clearance position, as shown in the attached figure. Figure 4 As shown, at this time, the hook component 135 rotates to position the hook bracket on the top side of the movable support 12. At this point, the hook component 135 can move independently relative to the primary telescopic fork 131 along with the secondary telescopic fork 134. The movement of the secondary telescopic fork 134 can adjust the hook component 135 to different positions, such as... Figure 6 and 7 As shown, when the hook-pull component 135 feeds the material box 40 from the first material port into the actuator 10, and then needs to feed the material box 40 from the second material port into the second shelf 32, the hook-pull component 135 changes position in the avoidance position to avoid mutual interference between the movement of the material box 40 and the hook-pull component 135.

[0105] It should be noted that when the hooking component 135 in this embodiment is in the feeding position, it can be used to hook the material box 40 (generally used to pull the external material box 40 into the actuator 10), and it can also be used to push materials (generally used to push the material box 40 located inside the actuator 10). See Appendix. Figure 11 As shown.

[0106] To better enable the actuator 10 to hook and pull materials from the first material inlet and the second material inlet respectively, one embodiment of the present invention includes a hooking bracket comprising a mounting plate 1352, a hooking plate 1353, and a hooking guide rail 1354. The hooking guide rail 1354 is disposed on the first surface of the mounting plate 1352, and the flipping arm 1351 is slidably disposed on the hooking guide rail 1354. The hooking plate 1353 is disposed on the second surface of the mounting plate 1352 opposite to the first surface. The hooking plate 1353 includes two hook heads disposed opposite to each other along the rotation direction of the hooking member 135, so that the hooking member 135 can hook and pull materials in the forward and reverse directions of the first direction.

[0107] See appendix Figure 1 , 2 4. In this embodiment, the hook plate 1353 includes hooks extending in two directions. In use, when the hook member 135 swings clockwise from the avoidance position to the feeding position, one hook head faces down. When the hook member 135 swings counterclockwise from the avoidance position to the feeding position, the other hook head faces down. This ensures that the hook member 135 can hook the material box 40 in both symmetrical feeding positions.

[0108] As one embodiment of this utility model, see the appendix. Figure 1 The actuator 10 also includes a support component 15, which is disposed on the base plate 11 and located within the gap between the two movable support members 12. The support component 15 is used to support the material box 40 entering the actuator 10.

[0109] In this embodiment, the bearing component 15 is disposed between two movable support members 12. It can generally be configured as a structure protruding from the top surface of the base plate 11. In actual installation, the bearing component 15 can also be configured as a plate-shaped structure or as a conveying mechanism with conveying function.

[0110] See appendix Figure 5 The second aspect of this utility model discloses a shelf robot, including a mast 21 and an actuator 10 as described in the first aspect. The mast 21 is slidably mounted on a shelf along a second direction, and the actuator 10 is slidably mounted on the mast 21 along a third direction, the second direction and the third direction intersecting. The shelf robot includes a ground walking mechanism 22, which is disposed at the bottom end of the mast 21 and is capable of sliding along the ground to drive the mast 21 to slide along the second direction on the shelf.

[0111] In this embodiment, the second direction generally refers to the direction along the length of the shelf (horizontal direction), the third direction generally refers to the direction along the height of the shelf, and the first direction is generally the direction orthogonal to the second direction and the third direction (the width direction of the shelf). In use, the shelf robot, with its own movement along the length of the shelf and the movement of the actuator 10 along the height direction, can enable the actuator 10 to reach any position on the shelf to transport materials. By moving the telescopic picking component 13 inside the actuator 10 along the first direction, the material box 40 stored inside the shelf can be picked up, which improves the picking range of the actuator 10. Moreover, the material boxes 40 on the shelf can be stored at small intervals, which increases the storage capacity of the shelf.

[0112] The third aspect of this utility model discloses a warehousing system, including a first shelf 31 and a second shelf 32 spaced apart, and a shelf robot of the second aspect. The shelf robot is disposed within the interval between the first shelf 31 and the second shelf 32. A gantry 21 is slidably disposed on the first shelf 31 along a second direction. An actuator 10 is located between the first shelf 31 and the second shelf 32. The sliding direction of the telescopic picking component 13 is consistent with the interval direction between the first shelf 31 and the second shelf 32. The two ends of the movable support 12 form intervals with the first shelf 31 and the second shelf 32 along the first direction, respectively. The first shelf 31 and the second shelf 32 realize material interaction through the actuator 10. At least one of the first shelf 31 and the second shelf 32 is configured as a multi-depth shelf. Along the first direction, the multi-depth shelf includes multiple spaced storage positions. The transmission component 14 is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the actuator interacts with the storage positions in the inner layer of the multi-depth shelf.

[0113] The warehousing system disclosed in the third aspect of this application can automatically realize material interaction between different shelves (first shelf 31 and second shelf 32), which improves material turnover efficiency. Moreover, when the telescopic picking component 13 picks up goods from the first shelf 31 and the second shelf 32, it can be retracted, which can increase the storage capacity of the first shelf 31 and the second shelf 32.

[0114] The actuator in this embodiment is particularly suitable for structures with multi-depth shelves. By changing the spacing of the telescopic mechanism, the telescopic picking component 13 can be extended into the storage position inside the shelf more smoothly with a smaller spacing to pick up materials, thereby reducing the storage gap of the material boxes on the shelf and improving the storage capacity.

[0115] The following description, in conjunction with the accompanying drawings, details the loading and unloading process of the actuator 10 and the shelf robot of this utility model:

[0116] When the shelf robot needs to retrieve the outer material box 40 stored on the first shelf 31, see Appendix Figures 5 to 7 The first-stage telescopic fork 131 remains stationary, while the second-stage telescopic fork 134 extends to the target position and swings to the feeding position via the hooking component 135 to hook the material box 40 on the outer side of the first shelf 31. Then, the second-stage fork retracts to take the material box 40 into the actuator 10; at this time, the removal of the material box 40 outside the first fork is completed.

[0117] When the rack robot needs to place the hopper 40 removed from the first fork onto the second rack 32, see Appendix Figures 8 to 13 ,in Figure 8 The aforementioned material box 40, retrieved from the first shelf 31, is moved into the actuator 10. At this time, the material box 40 is located on the side of the actuator 10 closest to the first shelf 31, and the hook component 135 is located on the side closest to the second shelf 32. First, the hook component 135 disengages from the material box 40 and swings to an avoidance position. See Appendix. Figure 9 ;

[0118] Then, the secondary telescopic fork 134 moves, causing the hook component 135, which was in the avoidance position, to move to the side of the hopper 40 near the first shelf 31, and causing the hook component 135 to swing down to the feeding position on that side. See Appendix. Figure 10 ;

[0119] At this time, the secondary telescopic fork 134 moves to push the hopper 40 from the side closer to the first shelf 31 to the side closer to the second shelf 32 via the hook component 135. See Appendix. Figure 11 At this point, the hook component 135 swings again to... Figure 9 and 10 The feeding positions are symmetrical, and then the hook component 135 is hooked and connected to the material box 40. See Appendix. Figure 12 Finally, the secondary telescopic fork 134 moves to push the hopper 40 onto the second shelf 32, see appendix. Figure 13 .

[0120] When the shelf robot needs to retrieve the material bin 40 stored on the inner side of the first shelf 31, see Appendix Figures 14 to 19First, the shelf robot moves the actuator 10 to the position on the first shelf 31 where the material box 40 needs to be retrieved. (See attached diagram) Figure 14 Then, the first-stage telescopic fork 131 extends, and simultaneously, driven by the transmission assembly 14, the movable support members 12 on both sides drive the two telescopic picking components 13 to retract towards the center. As the first-stage telescopic fork 131 enters the first shelf 31, the movable support members 12 on both sides complete retraction and remain in the retracted state. (See attached diagram) Figure 15 The first-stage telescopic fork 131 continues to extend into the first shelf 31 to the target position, and the hook component 135 hooks onto the material box 40. (See attached diagram) Figure 16 The first-stage telescopic fork 131 retracts, causing the inner forks to move towards the actuator 10. (See attached diagram.) Figure 17 As the first-stage telescopic fork 131 disengages from the first shelf 31, the movable supports 12 on both sides open under the drive of the transmission assembly 14. After returning to the initial state (widest spacing), the opening is completed and maintained. See Appendix. Figure 18 The secondary telescopic fork 134 hooks onto the material box 40 and continues to move, bringing the material box 40 into the actuator 10. (See attached diagram.) Figure 19 .

[0121] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. An actuator, comprising a base plate (11) and two telescopic mechanisms disposed opposite to each other, the two telescopic mechanisms being disposed spaced apart on the base plate, each telescopic mechanism comprising a telescopic picking component (13), the telescopic picking component (13) being slidably disposed along a first direction, the first direction intersecting the spacing direction of the two telescopic mechanisms, characterized in that, At least one of the telescopic mechanisms is slidably disposed on the base plate (11) along the distance between the two telescopic mechanisms. The at least one telescopic mechanism includes a transmission assembly (14), which is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the telescopic picking assembly (13) slides along the first direction.

2. The actuator according to claim 1, characterized in that, Two telescopic mechanisms are slidably disposed on the base plate (11) along the distance between the two telescopic mechanisms. Each telescopic mechanism includes a movable support member (12). The movable support member (12) is slidably disposed on the base plate (11) along the distance between the two telescopic mechanisms. The telescopic picking assembly (13) is slidably disposed on the movable support member (12) along a first direction. The telescopic picking assembly (13) and the movable support member (12) can be connected by transmission assembly (14). The sliding of the telescopic picking assembly (13) along the first direction drives the corresponding movable support member (12) to slide along the distance between the two telescopic mechanisms through the transmission assembly (14) to adjust the distance between the two telescopic mechanisms.

3. The actuator according to claim 2, characterized in that, The distance between the two movable support members (12) forms a storage space. When the telescopic retrieval component (13) extends beyond the storage space beyond a preset distance, the distance between the two movable support members (12) is adjusted to the first distance. When the telescopic picking component (13) extends outward into the storage space without exceeding a preset distance, the distance between the two movable support members (12) is adjusted to a second distance, where the first distance is less than the second distance.

4. The actuator according to claim 3, characterized in that, The telescopic retrieval assembly (13) includes a transmission input (132) which can switch between a transmission position and a non-transmission position as the telescopic retrieval assembly (13) slides. In the transmission position, the transmission input component (132) is connected to the input end of the transmission assembly (14), and the movement of the telescopic picking component (13) drives the corresponding movable support component (12) to slide along the spacing direction through the transmission assembly (14); In the non-transmission position, the transmission input (132) is disengaged from the transmission assembly (14), and the movement of the telescopic picking assembly (13) cannot drive the sliding of the movable support (12).

5. The actuator according to claim 4, characterized in that, The telescopic picking assembly (13) includes a first-stage telescopic fork (131), which is slidably disposed on the movable support member (12) along a first direction. The first-stage telescopic fork (131) is provided with the transmission input member (132) at both ends along the first direction. The movable support member (12) is provided with the transmission assembly (14) at both ends along the first direction. The transmission input member (132) and the transmission assembly (14) are arranged in a one-to-one correspondence. Along the first direction, the distance between the two ends of the two movable support members (12) forms a first material port and a second material port, respectively. The two ends of the telescopic picking assembly (13) can extend out of the storage space from the first material port and the second material port, respectively. During the extension process, the distance between the two movable support members (12) can be adjusted by the cooperation of the corresponding end transmission input member (132) and transmission assembly (14).

6. The actuator according to any one of claims 2 to 5, characterized in that, The transmission assembly (14) includes a first gear (141), a transmission shaft (142), a second gear (143), and a second rack (144). The transmission shaft (142) is rotatably mounted on the movable support member (12). The first gear (141) and the second gear (143) are respectively mounted at both ends of the transmission shaft (142). The second rack (144) is mounted on the base plate (11) along the spacing direction of the movable support member (12). The actuator (10) includes a width-adjusting guide rail (121) along the spacing direction of the movable support member (12). The movable support member (12) is slidably mounted on the width-adjusting guide rail (121). The second gear (143) and the second rack (144) mesh with each other. The sliding of the telescopic picking assembly (13) can drive the rotation of the first gear (141).

7. The actuator according to any one of claims 1 to 5, characterized in that, The telescopic picking assembly (13) includes a primary telescopic fork (131), a secondary telescopic fork (134), and a hook component (135). The primary telescopic fork (131) is slidably disposed along a first direction, and the secondary telescopic fork (134) is slidably disposed on the primary telescopic fork (131). The hook component (135) spans between two opposing secondary telescopic forks (134). The hook component (135) is rotatably disposed on the secondary telescopic fork (134). The width of the hook component (135) along the spacing direction of the telescopic mechanism is adjustable to adapt to the adjustment of the spacing of the telescopic mechanism.

8. The actuator according to claim 7, characterized in that, The hook-and-pull component (135) includes two flip arms (1351) and a hook-and-pull bracket. The two flip arms (1351) are arranged opposite to each other and are rotatably mounted on two secondary telescopic forks (134). The two flip arms (1351) are connected through the hook-and-pull bracket. The two flip arms (1351) are slidably connected to the hook-and-pull bracket along the distance between the two telescopic mechanisms.

9. The actuator according to claim 8, characterized in that, The telescopic picking assembly (13) further includes a tilting drive unit (136), which is mounted on one of the secondary telescopic forks (134) and connected to the tilting arm (1351) on the corresponding side. The tilting drive unit (136) is used to drive the hook member (135) to rotate and switch between the avoidance position and the feeding position. Along the first direction, the distance between the two ends of the two telescopic mechanisms forms a first material inlet and a second material inlet, respectively. At the feeding position, the hook bracket is opposite to the first material inlet or the second material inlet along the first direction; In the avoidance position, the hook bracket is located on the top side of the first material inlet and the second material inlet.

10. The actuator according to claim 9, characterized in that, The hook support includes a mounting plate (1352), a hook plate (1353), and a hook guide rail (1354). The hook guide rail (1354) is disposed on the first surface of the mounting plate (1352). The flipping arm (1351) is slidably disposed on the hook guide rail (1354). The hook plate (1353) is disposed on the second surface of the mounting plate (1352) opposite to the first surface. The hook plate (1353) includes two hook heads disposed opposite to each other along the rotation direction of the hook member (135), so that the hook member (135) can hook and pull materials in the forward and reverse directions of the first direction.

11. A shelf robot, comprising a gantry (21) and an actuator (10) as described in any one of claims 1 to 10, characterized in that, The gantry (21) is slidably mounted on the shelf along a second direction, and the actuator (10) is slidably mounted on the gantry (21) along a third direction, the second direction and the third direction intersecting.

12. The shelf robot according to claim 11, characterized in that, The shelf robot includes a ground walking mechanism (22), which is located at the bottom of the gantry (21) and can slide along the ground to drive the gantry (21) to slide on the shelf in a second direction.

13. A warehousing system comprising a first shelf (31), a second shelf (32) spaced apart, and a shelf robot as described in claim 11 or 12, characterized in that, The shelf robot is set in the interval between the first shelf (31) and the second shelf (32). The gantry (21) is slidably set on the first shelf (31) along the second direction. The actuator (10) is located between the first shelf (31) and the second shelf (32). The sliding direction of the telescopic picking component (13) is consistent with the interval direction of the first shelf (31) and the second shelf (32). The two ends of the telescopic mechanism form an interval with the first shelf (31) and the second shelf (32) respectively along the first direction. The first shelf (31) and the second shelf (32) realize material interaction through the actuator (10). Wherein, at least one of the first shelf (31) and the second shelf (32) is configured as a multi-deep shelf. Along the first direction, the multi-deep shelf includes multiple storage positions spaced apart. The transmission component (14) is used to drive the corresponding telescopic mechanism to slide along the distance between the two telescopic mechanisms when the actuator interacts with the storage position material in the inner layer of the multi-deep shelf.

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