Motion component, removal and placement device and transport robot

Abstract

Removal and placement device, comprising: a removal and placement device (32) configured for removing and placing the items; an installation platform (31) on which the removal and placement device (32) is rotatably mounted; a motion component (6) comprising a drive device (6a) attached to the installation platform (31), wherein the power output of the drive device (6a) is located on and connected to the axis of rotation of the removal and placement device (32) to drive the rotation of the removal and placement device (32) relative to the installation platform (31).

Description

[0001] This disclosure requires filing priority applications with the Patent Office of China by November 30, 2023 for Application No. 202323261741.9 and by September 27, 2024 for Application No. 202422377550.7. All contents are incorporated by reference into this disclosure. Technical area

[0002] The present disclosure relates to the technical field of logistics warehouse and in particular to a movement component, a picking and placing device and a transport robot. Background technology

[0003] With the rapid development of the logistics industry and the continuous increase in labor costs, more and more people are opting for automated warehouses to improve warehousing efficiency and reduce storage costs. Currently, warehousing systems typically use transport robots with multi-level gantries to move containers at different heights.

[0004] To enable access to the shopping baskets on the shelves on both sides of the aisle, the picking and placing device of the transport robot can be rotated relative to the installation platform under the motion component to move the picking and placing device in different directions. The motion component includes a drive device and a transmission device that drives the rotation of the picking and placing device through the drive device and the transmission device. For example, the picking and placing device can be driven using drive devices such as chains or belts. Content of the utility model

[0005] This embodiment of the present disclosure provides a moving component, a picking and placing device, and a transport robot that simplify the structure of the moving component and facilitate disassembly and maintenance of the moving component.

[0006] On the one hand, this embodiment of the present disclosure provides a removal and placement device comprising: a picking and placing device configured to pick and place the items; an installation platform on which the removal and placement device is rotatably mounted; a motion component comprising a drive device attached to the installation platform, the power output of the drive device being located on and connected to the rotational axis of the pick and place device to drive the rotation of the pick and place device relative to the installation platform.

[0007] On the other hand, this embodiment of the present disclosure provides a transport robot comprising: a chassis component; a gantry component mounted on the chassis component; a picking and placing device for picking and placing items; an installation platform. The removal and placement device is rotatably mounted on the installation platform, allowing movement of the removal and placement device along the gantry component. a motion component comprising a drive device, wherein the power output of the drive device is located on and connected to the rotation axis of the pick and place device to rotate the pick and place device relative to the installation platform.

[0008] On the other hand, this embodiment of the present disclosure provides a movement component used for a picking and placing device, comprising: a drive device configured to be connected to the installation platform of the picking and placing device, wherein the power output of the drive device is configured to be provided on and connected to the rotation axis of the picking and placing device of the picking and placing device to rotate the picking and placing device relative to the installation platform.

[0009] In some embodiments, the axis of rotation of the output element of the deceleration device and the axis of rotation of the motor output shaft coincide.

[0010] This embodiment of the present disclosure provides a moving component, a picking and placing device, and a transport robot. By placing the power output of the drive device on the rotation axis of the picking and placing device, the present disclosure provides a moving component capable of directly driving the rotation of the picking and placing device. Compared to existing technology, the provided moving component does not require a transmission structure such as belts or chains. Instead, the picking and placing device is directly driven with respect to the installation platform. The structure of the provided moving component is simple, low-cost, high-reliability, and easy to disassemble and repair.In addition, this design allows for a reduction in the space required for the movement component. Illustration of the attached drawings Fig. 1 is a schematic diagram of the structure of a transport robot and a carrier according to an embodiment of the present disclosure. Fig. 2 is a schematic diagram of the structure of the transport robot according to an embodiment of the present disclosure. Fig. 3 is a schematic diagram of the structure of a chassis component according to an embodiment of the present disclosure. Fig. 4 is a schematic representation of the structure of a gantry component according to an embodiment of the present disclosure. Fig. 5 is a schematic diagram of the structure of a gripping and placing device according to an embodiment of the present disclosure. Fig. 6 is a partially schematic diagram of the structure of a gripping and placing device according to an embodiment of the present disclosure. Fig. 7 is a schematic diagram of the structure of the gripping and placing device, the installation platform, and a movement component according to an embodiment provided in the present disclosure. Fig. 8 is a schematic diagram of the structure of the installation platform and the movement component in the first perspective according to an embodiment provided in the present disclosure. Fig. 9 is a schematic diagram of the structure of the motion component according to an embodiment provided in the present disclosure. Fig. 10 is a longitudinal cross-sectional view of a motion component according to an embodiment provided in the present disclosure. Fig. 11 is a schematic diagram of the structure of the installation platform according to an embodiment provided in the present disclosure. Fig. 12 is a schematic representation of the structure of the installation platform and the movement component in a second perspective according to an embodiment provided in the present disclosure. Fig. 13 is a horizontal sectional view of the motion component according to an embodiment provided in the present disclosure. Fig. 14 is a top view of the installation platform, the gripping and placement device, a support component, and another movement component according to an embodiment provided in the present disclosure. Fig. 15 is a schematic representation of the structure of the gripping and placing device and another movement component according to an embodiment provided in the present disclosure. Fig. 16 is a partially schematic diagram of the structure of another motion component according to an embodiment provided in the present disclosure. Fig. 17 is a schematic diagram of the structure of a rotary bearing according to an embodiment provided in the present disclosure. Fig. 18 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. 19 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. 20 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. 21 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure.

[0011] In the drawings, the reference numerals indicate the following components: 1, chassis component; 11, drive wheel; 12, radar; 13, chassis camera; 2, portal construction component; 21, intermediate storage location; 22, fixed portal; 23, movable portal; 24, crossbeam; 3, removal and placement device; 31, installation platform; 31a, through-hole; 31b, connecting structure; 311, lifting device; 32, removal and placement device; 321, support component; 322, removal and placement component; 30, gripper unit; 301, extendable arms; 302, front shift finger; 303, rear shift finger; 4, support component; 401, first support component; 402, second support component; 41, support element; 42, contact component; 5, carrier; 6, moving component; 6a, drive device; 61, motor; 611, motor body; 612, motor output shaft; 62, deceleration device; 621, transmission body; 6211, gear group; 621a, center gear; 621b, external gear; 6211a, first gear group; 6211b, second gear group; 6212, fixing bracket; 622, output member; 63, housing; 63a, internal gear; 631, first housing; 632, second housing; 64, connecting member; 65, rolling component; 6b, drive device; 66, drive motor; 67, reduction gear; 671, output shaft; 68, first connecting member; 69, second connecting member; 70, rotary bearing; 71, inner ring portion; 72, outer ring section. Specific embodiments

[0012] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure are described clearly and completely below with reference to the accompanying figures. Obviously, the described embodiments are only a part of the disclosure and not all embodiments. Based on the embodiments in this disclosure, all other embodiments that can be acquired by those skilled in the art without creative work should be within the scope of this disclosure.

[0013] It should be noted that in the following description, many specific details are set forth in order to provide a thorough understanding of this disclosure. However, this disclosure may be practiced in other ways than those described herein. Therefore, the scope of this disclosure is not limited to the specific embodiments disclosed in this disclosure.

[0014] In describing this disclosure, it should be noted that terms such as "top," "bottom," "horizontal," "bottom," "inside," "outside," etc., are provided based on the position or relationship shown in the diagram only to describe this disclosure and simplify the description. However, they do not indicate or imply that the device or component in question must have a particular position or orientation, or be constructed or operated in a particular way. Therefore, this should not be construed as limiting this disclosure. In this disclosure, unless expressly stated or limited otherwise, the first feature may be in direct contact with the second "top" or "bottom" feature, or may be in contact indirectly via an intermediate medium.

[0015] In this disclosure, unless expressly stated or limited otherwise, terms such as "connected," "attached," "attached," etc., should be interpreted broadly. For example, they may be a fixed or detachable connection, or they may form a whole. They may be directly connected or indirectly connected via an intermediate medium. They may represent a connection or interaction between two elements within an element or between two elements. However, when a direct connection is stated, it means that the connection between the two subjects is not established by a transitional structure, but by a connecting structure that forms a unit. For those skilled in the art, the above terms may have specific meanings depending on the specific situation in this disclosure.

[0016] The description of "first," "second," etc., in this disclosure is for descriptive purposes only and should not be understood as indicating or implying their relative importance or the number of technical features described in this disclosure. Therefore, a feature labeled "first" or "second" may explicitly or implicitly include at least one such feature.

[0017] Fig. 1 is a schematic diagram of the structure of a transport robot and a carrier according to an embodiment provided in the present disclosure. Fig. 2 is a schematic diagram of the structure of the transport robot according to an embodiment provided in the present disclosure. Fig. 3 is a schematic diagram of the structure of a chassis component according to an embodiment provided in the present disclosure. Fig. 4 is a schematic diagram of the structure of a gantry component according to an embodiment provided in the present disclosure. Fig. 5 is a schematic representation of the structure of a removal and placement device according to an embodiment provided in the present disclosure. With reference to Fig. 1-5, according to the embodiment provided in the present disclosure, a transport robot is provided. The transport robot is configured to travel to the storage zone to pick up or place target items. In particular, the storage zone may include multiple carriers 5 and aisles formed by adjacent carriers 5. Items that can be stored on the carriers 5 are not limited to goods, containers, pallets, original packaging, packaging, cargo containers, storage boxes, etc. No limitations are stated in the present disclosure.

[0018] As in the Fig. 2-5, the transport robot according to the present disclosure comprises a chassis component 1, a gantry component 2, and a picking and placing device 3. The picking and placing device 3 comprises a picking and placing device 32, an installation platform 31, and a movement component 6.

[0019] As in Fig. 3, the chassis component 1 is configured to support the transport robot on the work surface. The work surface may include aisles between the supports 5 and the floor outside the storage zone. The chassis component 1 may be equipped with a drive wheel 11. In some embodiments, the chassis component 1 may also have an articulated wheel that cooperates with the drive wheel 11. The drive wheel 11 and the articulated wheel cooperate to move and steer the transport robot on the work surface to facilitate the transport robot's picking and placing tasks for target objects.

[0020] In some embodiments, radars 12 can be mounted at the front and rear ends of the moving direction of the chassis component 1, and the chassis component 1 can also be equipped with a chassis camera 13. When the transport robot receives the command to pick and place objects, the transport robot can move to the target position using the positioning of the radars 12. During movement, the chassis camera 13 can scan the QR codes embedded in the storage system on the floor in real time to confirm the transport robot's travel path. Radars 12 also have an obstacle detection function. Radars 12 can detect whether there are obstacles in the transport robot's path. If obstacles are encountered, the transport robot must avoid obstacles based on the signal feedback from radars 12.

[0021] The chassis component 1 is also configured to support other components required for the transport robot, such as the gantry component 2, the installation platform 31, the pick-and-place device 32, and the movement component 6. The gantry component 2 is mounted on the chassis component 1 and configured to extend upward from the chassis component 1. Typically, the height of the gantry component 2 is as high as or higher than the height of the carrier 5 to allow the transport robot to smoothly pick up various target objects on the carrier 5.

[0022] In some embodiments, as in Fig. As shown in Figure 4, the height of the transport robot can be adjusted depending on the height of the support 5. If the non-adjustable gantry component 2 is set too high, this may not only impede the transport robot's access to the storage zone, but also impair the stability of the gantry component 2 during movement. Therefore, the gantry component 2 in this embodiment also includes a fixed gantry 22 and a movable gantry 23 that can be moved in the height direction along the fixed gantry 22. Both the fixed and movable gantry 22 may have a crossbeam 24 to increase the rigidity of the gantry component 2. The picking and placing device 32 is configured to be moved along the movable gantry 23 in the height direction to pick and place the target objects.

[0023] In some embodiments, the pick-and-place device 32 can be mounted on the most advanced movable gantry 23 by means of a lifting platform to extend the pick-and-place range of the pick-and-place device 32 to the height spaces of the fixed gantry 22 and the movable gantry 23. In the transport robot described here, the lifting platform is the installation platform 31. However, in other applications, the lifting platform and installation platform 31 can be two separate structures. The pick-and-place device 32 is configured to be movable along the gantry component 2 in the height direction to pick and place the target objects.

[0024] Since the gantry component 2 has a height that matches the carrier 5, the picking and placing device 32 can pick up any target object on the carrier 5 without creating blind spots.

[0025] During the movement of the transport robot driven by the chassis component 1 described above, all movable gantries 23 of the gantry component 2 can be in a retracted position relative to the fixed gantries 22, meaning that all movable gantries 23 are at the lowest position relative to the previous level. The overall height of the gantry component 2 is at its lowest level in this state. Compared to a non-adjustable, higher-adjusted gantry component 2, the transport robot with a gantry component 2 in which all movable gantries 23 are retracted can remain stable during movement. Apart from the scene in which the transport robot picks up and places the target object on a carrier 5 at a high height, the transport robot can also pick up and place target objects on a low carrier 5.Therefore, in this embodiment, the transport robot can improve its work efficiency by flexibly adjusting the overall height of the gantry component 2 to different heights of the carrier 5.

[0026] When the pick-and-place device 32 is mounted on the most advanced movable gantry 23 through the installation platform 31, the installation platform 31 can cooperate with the movable gantry 23, and the movement of the movable gantry 23 and the installation platform 31 can be independent of each other. That is, the movement of the movable gantry 23 and the pick-and-place device 32 can be synchronized in some cases. In this way, the flexibility of the movements of the installation platform 31 and the pick-and-place device 32 is increased. Those skilled in the art will appreciate that the movement of the movable gantry 23 and the pick-and-place device 32 can be synchronized, that is, the movement of the movable gantry 23 is coupled with the movement of the pick-and-place device 32, without being limited in this disclosure.

[0027] As in Fig. As shown in Figure 5, the picking and placing device 32 is rotatably mounted on the installation platform 31, which is configured to move the picking and placing device 32 up and down along the gantry structural component 2. The installation platform 31 can be moved along the gantry structural component 2 in the height direction to bring the picking and placing device 32 to different target heights and to pick and place various target objects. A side of the installation platform 31, which is close to the gantry structural component 2, is connected to a lifting device 311 fixed to the gantry structural component 2. Through the cooperation between the installation platform 31 and the lifting device 311, the installation platform 31 can be moved up and down synchronously with the gantry structural component 2 to bring it to the target position.The present disclosure does not provide any specific requirements for the cooperation between the lifting device system 311 and the gantry component 2.

[0028] The removal and placement device 32 can be rotated to various angular positions relative to the installation platform 31 in order to remove and place target objects in different directions. For example, the removal and placement device 32 can be rotated as shown in Fig. 1, to connect to the carrier 5 on the left side of the track. When the pick-and-place device 32 is rotated to the left, it can engage the target tray of the left carrier 5 to pick and place target objects. When the pick-and-place device 32 is rotated to the right, it can engage the target tray of the right carrier 5 to pick and place target objects.

[0029] In some embodiments, the picking and placing device 32 includes a support component 321 for picking and placing objects, and a picking and placing component 322 for picking and placing objects. The picking and placing component 322 can place objects on the support component 321 or transport objects on the support component 321 to other locations. The picking and placing component 322 can be an extendable fork, a gripper, a robotic arm, a hook structure, a suction cup, or another mechanical structure that enables the picking and placing of objects. The present disclosure does not specify the structure of the picking and placing component 322.

[0030] Fig. 6 is a partially schematic representation of the structure of a removal and placement device according to an embodiment provided in the present disclosure. As in Fig. 5 and Fig. As shown in Figure 6, the picking and placing component 322 may be a gripper unit 30 having two aligned extendable arms 301 that can be extended and retracted in the direction of picking and placing objects. The extendable arms 301 can be configured as a single-stage extendable fork structure, a two-stage extendable fork structure, or a multi-stage extendable fork structure to accommodate different storage bin depths. Front indexing fingers 302 are attached to the free ends of the extendable arms 301, while rear indexing fingers 303 are attached to the other ends.

[0031] The front switching fingers 302 are configured to move between a vertical and a horizontal position. During the container removal process, the two front switching fingers 302 remain in a vertical position to ensure smooth extension of the extendable arms 301 without contacting the objects. When the extendable arms 301 reach both sides of the container, the two front switching fingers 302 move to a horizontal position to horizontally support the rear end of the container. The two front switching fingers 302 remain in a horizontal position during the retraction of the extendable arms 301 to hook the container onto the removal and placement device 32. The two rear switching fingers 303 can always remain in a horizontal position during this process.During the return of the container to the target tray, the two rear switching fingers 303 can push the container and push it onto the target tray.

[0032] To improve the efficiency of the transport robot, in some embodiments, as in Fig. 2 and Fig. 4, intermediate storage locations 21 are mounted on the gantry component 2. The removal and placement device 32 is configured to rotate relative to the installation platform 31 toward the intermediate storage location 21 to enable the direct transfer of items between the removal and placement device 32 and the intermediate storage location 21. At least one intermediate storage location 21 may be provided on the side of the gantry component 2 opposite the removal and placement device 32. The items removed by the removal and placement device 32 may be temporarily placed on the intermediate storage location 21 before the removal and placement device 32 resumes its work.

[0033] Fig. 7 is a schematic representation of the structure of the removal and placement device, the installation platform, and a movement component according to an embodiment provided in the present disclosure. As in Fig. 7, in some embodiments, the removal and placement device 3 also comprises a movement component 6, by means of which the removal and placement device 32 is connected to the installation platform 31 and the removal and placement device 32 can be rotated relative to the installation platform 31 under the guidance of the movement component 6.

[0034] In the relevant technology, the movement component 6 comprises a drive device and a transmission device, wherein the drive device drives the rotation of the removal and placement device 32 through the transmission device. For example, the removal and placement device 32 can be driven by an electric motor via a chain or belt transmission.

[0035] However, the above-mentioned components of the movement component 6 are numerous, the structure is complex, the maintenance is troublesome, the failure rate is high, and the space requirement is large.

[0036] In this embodiment of the present disclosure, the moving component 6 is constituted by a drive device (6a, 6b), the power output of which is mounted on the rotation axis of the pick-and-place device 32 to provide a moving component 6 capable of directly driving the rotation of the pick-and-place device 32. Compared with existing technology, the moving component 6 provided in this embodiment does not require a transmission structure such as a belt or chain, but directly drives the pick-and-place device 32 relative to the installation platform 31. The moving component 6 provided by this embodiment is simple in structure, inexpensive and reliable, easy to maintain, and has a low failure rate and a small footprint.

[0037] Furthermore, a motor output shaft 612 of the drive device 6a can be directly used as the input of the deceleration device 62, that is, the drive device 6a is an integrated motor with a deceleration device. Compared with the separate arrangement of the motor and deceleration devices, the need for structures such as an elastic coupling or a gear between the motor output shaft 612 and the input shaft of the deceleration device can be eliminated. The shafts of the motor and deceleration devices 62 are aligned in parallel, resulting in downsizing and integration of the drive device 6a. The space required by the drive device 6a on the installation platform 31 is reduced, providing more space for other components on the installation platform 31. Furthermore, the energy consumption of the drive device 6a during the up and down movement of the installation platform 31 is reduced.

[0038] It should be noted that the picking and placing device 3 provided in this embodiment can be used in the warehousing industry. This picking and placing device 3 can be used to transfer target items within the storage area, for example, between different carriers 5, between different storage locations on the same carrier 5, or between the carrier 5 and other locations. Of course, the picking and placing device 3 of this embodiment can also be used in other application scenarios, such as in shops, hotels, workshops, and other scenarios where technicians in the field require transportation and transfer. This will not be explained in detail in this embodiment.

[0039] The specific structure of the removal and placement device 3 according to the present embodiment will be explained in detail below with reference to the attached figures.

[0040] Fig. 8 is a schematic diagram of the structure of the installation platform and the movement component in the first perspective according to an embodiment provided in the present disclosure. Fig. 9 is a schematic diagram of the structure of the motion component according to an embodiment provided in the present disclosure. Fig. 10 is a longitudinal sectional view of a motion component according to an embodiment provided in the present disclosure. As in Fig. 5-10, the present disclosure provides a picking and placing device 3 comprising a picking and placing device 32 and an installation platform 31, wherein the picking and placing device 32 is configured for picking and placing objects. The support component 321 of the picking and placing device 32 is shown in Fig. 7. The removal and placement device 32 is rotatably connected to the installation platform 31 so as to be rotated in various directions relative to the installation platform 31. A connecting structure 31b is mounted on the installation platform 31 and connected to a lifting device 311 to enable vertical movement of the installation platform 31 along the height direction of the gantry component 2.

[0041] The removal and placement device 3 according to the present disclosure also includes a moving component 6 connected to the removal and placement device 32 and the installation platform 31 so that the removal and placement device 32 can be rotated relative to the installation platform 31 under the drive of the moving component 6.

[0042] As in Fig. 9, the movement component 6 specifically comprises a drive device 6a which is mounted on the installation platform 31 and whose power output is attached to the rotation axis of the removal and placement device 32 in order to drive the removal and placement device 32 relative to the installation platform 31.

[0043] The drive device 6a can directly transmit the rotational force to the pick-and-place device 32 via the power output, so that the pick-and-place device 32 can be rotated relative to the installation platform 31. Compared with the prior art, the moving component 6 of the present disclosure does not require a transmission structure such as a belt or a chain, but controls the rotation of the pick-and-place device 32 relative to the installation platform 31 directly via the drive device 6a. The structure of the moving component 6 provided in the present disclosure is simple, inexpensive, and reliable, and easy to disassemble and assemble, resulting in a low failure rate and a smaller space requirement, enabling the miniaturization of the entire pick-and-place device 3.Furthermore, the moving component 6 of the present disclosure omits a transmission structure, resulting in a weight reduction and reducing the energy consumption of the lifting device 311 that moves the picking and placing device 32 up and down.

[0044] As in Fig. 10, in some embodiments, the drive device 6a comprises a motor 61 and a deceleration device 62, wherein the motor 61 may comprise a motor body 611 and a motor output shaft 612, wherein the motor body 611, after switching on, can rotate the motor output shaft 612 about its own shaft.

[0045] The deceleration device 62 may include a power input shaft, a transmission body 621, and an output member 622. The two ends of the transmission body 621 are respectively connected to the power input shaft and the output member 622, so that the rotational force of the power input shaft is transmitted through the transmission body 621 to the output member 622. It can be understood that one end of the output member 622 is configured as the power output of the drive device 6a, that is, one end of the output member 622 is connected to the picking and placing device 32, so that the picking and placing device 32 is driven by the rotation of the output member 622.

[0046] In some embodiments, the motor body 621 of the deceleration device 62 may include, but is not limited to, a gear assembly structure, a worm gear structure, or other structures.

[0047] As an example of the transmission body 621 of the deceleration device 62 having a worm gear structure, the power input shaft of the deceleration device 62 is connected to the worm to rotate the worm, while the worm wheel is rotated under the control of the worm. The output member 622 is connected to the worm wheel to rotate under the control of the worm wheel and control the pick-and-place device 32. It is understood that in some embodiments, the power input shaft can be used directly as a worm, and the output member 622 can be used directly as a worm wheel and connected to the pick-and-place device 32.

[0048] In some embodiments, the power input shaft of the deceleration device 62 and the motor output shaft 612 are independent parts connected by a flexible coupling, a gear coupling, or other structures. Under this configuration, the motor output shaft 612 can be rotated by the motor 611 to transmit the rotational force to the power input shaft of the deceleration device 62, which is then transmitted through the transmission body 621 to the output member 622 to rotate the pick and place device 32.

[0049] In this example, the power input shaft, the transmission body 621, and the output element 622 of the deceleration device 62 are all used to regulate the rotational speed output from the motor output shaft 612 to avoid an uncontrolled speed that may arise from directly driving the motor output shaft 612 to the pick and place device 32. In the device, the extension direction of the motor output shaft and the power input shaft of the deceleration device 62 may be oriented in different directions, such as perpendicular to each other, to allow the pick and place device 32 to perform evasive movements on the installation platform 31.

[0050] In some embodiments, the motor output shaft 612 is configured as the power input shaft of the deceleration device 62, ie, the power input shaft is omitted and the motor output shaft 612 is directly coupled to the transmission body 621 of the deceleration device 62 to transmit the rotational force of the motor output shaft 612 directly to the transmission body 621 of the deceleration device 62 and thereby rotate the output power shaft 622 to control the picking and placing device 32.

[0051] When the transmission body 621 of the deceleration device 62 is designed as a worm gear structure, the motor output shaft 612 can be directly connected to the worm or it can be directly used as a worm.

[0052] In this example, the transmission body 621 of the deceleration device 62 and the output power shaft 622 are used to regulate the rotational speed of the motor output shaft 612. Understandably, the drive device 6a in this example is an integrated motor with a reduction gear, in which the motor and the deceleration device are integrated. This eliminates the need for flexible couplings or gears between the motor output shaft 612 and the power input shaft of the deceleration device 62, and aligns the shafts of the motor 61 and the deceleration device 62, thus achieving miniaturization and integration of the drive device 6a and saving space on the installation platform 31.In order to create space for the installation of additional components on the installation platform 31 and to achieve a weight reduction of the drive device 6a, the energy consumption for the installation platform 31 for controlling the drive device 6a and the removal and placement device 32 was reduced.

[0053] In some embodiments, the rotational axes of the output element 622 of the deceleration device 62 and the motor output shaft 612 of the motor may coincide when the drive device 6a is an integrated motor with a reduction gear. This makes the entire shaft of the drive device 6a uniform and located on the rotational axis of the pick-and-place device 32, which increases the compactness of the drive device 6a in the radial direction and saves space on the installation platform 31.

[0054] In some embodiments, the output element 622 of the delay device 62 may be connected to the removal and placement device 32 by screw connection, clamp connection, weld connection or other types of connections, without limiting this disclosure.

[0055] For example, as in Fig. 9, a screw hole such as a first screw hole may be provided in the drive element 622 of the deceleration device 62, and a screw hole such as a second screw hole arranged coaxially with the first screw hole in the support component 321 of the removal and placement device 32 may establish a firm connection between the removal and placement device 32 and the drive element 622 of the deceleration device 62 by supporting the fastening element installed in the first screw hole and the second screw hole. The fastening element may include, by way of example, a screw, bolt, rivet, or other types of fastening elements, without limitation.

[0056] In some embodiments, the drive device 6a may include a housing 63 in which the motor 61 and the deceleration device 62 are embedded, so that the motor 61 and the deceleration device 62 are protected by the housing 63 and isolated from the outside world to prevent damage to the drive device 6a due to collisions or moisture.

[0057] Furthermore, the motor 61 and the deceleration device 62 are mounted in the housing 63 connected to the installation platform 31, so that the entire drive device 6a is integrated in the housing 63 to enable the modularity of the drive device 6a and to facilitate the assembly and disassembly between the drive device 6a and the installation platform 31 and to reduce the space required for the drive device 6a.

[0058] It will be understood that the housing 63 has an open structure on the side facing the removal and placement device 32 to enable connection between the drive element 622 of the delay device 62 and the removal and placement device 32.

[0059] In some embodiments, the motor 61 and the delay device 62 may be embedded in the housing 63 and connected to the inner wall of the housing 63, for example, by at least one of them being attached to the inner wall of the housing 63 to increase the stability of the motor 61 and the delay device 62 inside the housing 63. For example, the motor 61 and the delay device 62 may both be clamped into the housing 63 or glued to the inner wall of the housing 63.

[0060] In some embodiments, the housing 63 may be a unitary structure, i.e., the motor 61 and the delay device 62 are embedded in a housing 63. If the motor 61 or the delay device 62 need to be repaired, the entire housing 63 must be removed.

[0061] In some embodiments, the housing 63 may comprise a detachable connection of a first housing 631 and a second housing 632, wherein the motor 61 is embedded in the first housing 631 and the delay device 62 is embedded in the second housing 632. For example, the motor 61 may be connected to the first housing 631 after being embedded therein, while the delay device 62 may be connected to the second housing 632 after being embedded therein, in order to increase the stability of the motor 61 and the delay device 62 inside the housing 63.

[0062] By designing the housing 63 as a removable connection of a first housing 631 and a second housing 632, if necessary, only the first housing 631 can be removed to maintain the connection between the second housing 632 and the delay device 62, or only the second housing 632 can be removed to maintain the connection between the first housing 631 and the motor 61, thereby simplifying the disassembly process for the separate repair of the motor 61 or the delay device 62.

[0063] In some embodiments, the first housing 631 and the second housing 632 may be connected to each other by plug connections, screw connections, or other methods. The present disclosure does not impose any restrictions on the connection between the first housing 631 and the second housing 632.

[0064] Fig. Figure 11 is a schematic diagram of the structure of the installation platform according to an embodiment provided in the present disclosure. In some embodiments, a through-hole 31a is provided on the installation platform 31, the inner diameter of which is configured to match the outer diameter of the drive device 6a. The drive device 6a is passed through the through-hole 31a and fixed to the installation platform 31.

[0065] In some examples, a portion of the drive device 6a may be positioned at the rear of the installation platform 31, while another portion, such as the power output, is exposed at the front of the installation platform 31 and extends, for example, to the front of the installation platform 31 to connect to the removal and placement device 32 and rotate it relative to the installation platform 31 by the drive device 6a. It should be noted that the front of the installation platform 31 is the side on which the removal and placement device 32 is positioned, while the rear of the installation platform 31 is the side facing away from the removal and placement device 32.

[0066] In some examples, at least a portion of the power output of the drive device 6a may be exposed on the front side of the installation platform 31, such as the output element 622 of the deceleration device 62, to facilitate connection to the removal and placement device 32. Of course, in some examples, the output element 622 of the drive device 6a may also be positioned within the through-hole 31a, with one side of the output element 622 corresponding to the power output of the drive device 6a on the front side of the installation platform 31, in order to reduce the size of the installation platform 31, as long as a connection between the power output and the removal and placement device 32 is ensured.

[0067] In other examples, the power output of the drive device 6a may be positioned below the front of the installation platform 31. In this example, the removal and placement device 32 may have a connecting portion inserted into the through-hole 31a of the installation platform 31 and connected to the power output to be driven and rotated by the drive device 6a.

[0068] In some examples, to facilitate attachment of the housing 63 to the installation platform 31, the movement component 6 also includes a connecting element 64 attached to the outer wall of the housing 63 and connected to the installation platform 31 to improve the connection between the housing 63 and the installation platform 31.

[0069] For example, the connecting element 64 can be aligned horizontally from the outer wall of the housing 63 toward the shaft so that it protrudes from the outer wall of the housing 63. Thus, fastening structures such as screw holes or clamping structures can be provided on the connecting element 64 to establish a connection with the installation platform 31. For example, screw holes can be provided on both the connecting element 64 and the installation platform 31, and fastening elements such as screws or rivets can be passed through the screw holes of the connecting element 64 and the installation platform 31 to establish a connection between the connecting element 64 and the installation platform 31 and to hold the drive device 6a stably on the installation platform 31.There are no restrictions on the type of connection between the connecting element and the installation platform 31 in this disclosure.

[0070] Fig. 12 is a schematic representation of the structure of the installation platform and the movement component in a second perspective according to an embodiment provided in the present disclosure. As shown in Fig. 9 and Fig. 12, in some examples, the connecting element 64 may be attached to the outer edge of the through-hole 31a facing away from the removal and placement device 32, or to a side of the installation platform 31 facing away from the removal and placement device 32. For example, the connecting element 64 may be a protruding plate extending outwardly from the outer wall of the housing 63, such as the first housing 631, and abutting and connecting to the rear of the installation platform 31.

[0071] Additionally, during assembly on the installation platform 31, the moving component 6 is guided from below through the through hole 31a of the installation platform 31, and the protruding plate is blocked on the back of the installation platform 31. At this time, the power output of the moving component 6 reaches the appropriate position to be connected to the removal and placement device 32. The protruding plate serves as an initial positioning aid for the assembly process of the moving component 6 and is then fixed to the back of the installation platform 31.

[0072] The use of connecting element 64 increases the contact area between the connecting element 64 and the installation platform 31, facilitates the firm connection between the connecting element 64 and the installation platform 31, and increases the stability of the assembly between the connecting element 64 and the installation platform 31. Furthermore, the connecting element 64 can serve as a positioning aid during the assembly of the moving component 6 and the installation platform 31 to prevent the power output of the moving component 6 from protruding too far beyond the front of the installation platform 31 and interfering with the assembly of the removal and placement device 32. This increases the assembly efficiency of the moving component 6 and the installation platform 31.

[0073] In some embodiments, the connecting element 64 has an annular structure and is mounted around the circumference of the housing 63 to increase the contact area between the connecting element 64 and the installation platform 31 and to make the connection between the connecting element 64 and the installation platform 31 more stable.

[0074] In some embodiments, the connecting element 64 has multiple pieces and is mounted at laterally spaced intervals around the circumference of the housing 63 to save the use of connecting elements 64 and reduce the weight of the entire moving component 6 while maintaining the stability of the assembly between the moving component 6 and the installation platform 31.

[0075] As in Fig. 9 and Fig. 12, for example, two connecting elements 64 are mounted, each on one side of the housing 63.

[0076] In some embodiments, the connecting element 64 can be mounted on the first housing 631 so that the deceleration device 62 of the drive device 6a can be mounted within the through-hole 31a when the connecting element 64 is attached to the back of the installation platform 31, and the power output of the drive device 6a protrudes through the through-hole 31a to connect to the removal and placement device 32.

[0077] Of course, this disclosure does not preclude examples in which the connecting element 64 is mounted on the second housing 632, as long as one end of the removal and placement device 622 of the second housing 632 protrudes through the through-hole 31a and can be connected to the removal and placement device 32 without the need to attach the connecting element 64 to the housing 63. This disclosure does not limit the position of the connecting element 64 on the housing 63.

[0078] In some embodiments, the connecting element 64 may be a separate structure independent of the housing 63. The connecting element 64 may be attached to the housing 63, for example, by screwing, welding, gluing, etc. This disclosure does not limit the connection method between the connecting element 64 and the housing 63.

[0079] In some embodiments, the first housing 631 and the second housing 632 of the housing 63 can be connected to each other by the connecting member 64, and then the connecting member 64 can be connected to the installation platform 31. In this way, the number of parts of the drive device 6a can be reduced because no additional connecting structure is required to attach the first housing 631 and the second housing 632. This simplifies the assembly of the drive device 6a and can contribute to reducing the size and weight of the drive device 6a.

[0080] In some embodiments, the connecting element 64 may be an integrated part molded with the housing 63. For example, the housing 63 and the connecting element 64 may be directly molded by injection molding. In this way, the connection strength between the connecting element 64 and the housing 63 can be ensured, improving the stability of the entire structure. At the same time, the connection between the connecting element 64 and the housing 63 is also simplified, facilitating the assembly of the drive device 6a.

[0081] In the above examples, the housing 63 is connected to the installation platform 31 by the connecting element 64, that is, the housing 63 is indirectly connected to the installation platform 31.

[0082] In some embodiments, the housing 63 may be directly connected to the installation platform 31 by welding, screwing, internal and external threads, snap-in connection, or other connection methods. This disclosure does not limit the connection method between the housing 63 and the installation platform 31.

[0083] According to Fig. 10, in some examples, the drive device 6a may also include a rolling component 65 positioned between the side wall of the output member 622 and the inner wall of the housing 63, the output member 622 being designed to roll along the inner wall of the housing 63 during rotation of the pick and place device 32 by the rolling component 65.

[0084] On the one hand, the output element 622 is supported by the rolling component 65 on the inner wall of the housing 63 to prevent tilting of the output element 622 during rotation and to prevent deviation of the rotation axis of the output element 622 from the rotation axis of the motor output shaft 612. This ensures that the rotation axis of the removal and placement device 32 is not misaligned, e.g., to ensure that the rotation axis of the removal and placement device 32 is perpendicular to the installation platform 31 to ensure that the positioning between the removal and placement device 32 and the storage space on the carrier 5 is not compromised.

[0085] On the other hand, by positioning the rolling component 65, a rolling contact surface can be established between the output member 622 and the inner wall of the housing 63, thereby reducing the frictional forces between the output member 622 and the inner wall of the housing 63 during rotation. This ensures the controllability of the rotational force transmitted from the output member 622 to the pick-and-place device 32, thereby achieving smooth movement of the pick-and-place device 32 at a controlled speed.

[0086] Furthermore, compared to using bearings with an inner ring and outer ring outside the pick-and-place device 6a, the driven element 622 and the rolling component 65 can be positioned on the inner wall of the housing 63 to perform the function of bearings. Compared to using bearings independent of the drive device 6a, this can reduce the number of components in the moving component 6 and enable downsizing and weight reduction of the pick-and-place device 6.

[0087] For example, the housing 63 of the moving component 6 is directly regarded as the outer ring of the bearing, the driven element 622 is regarded as the inner ring of the bearing, and the rolling component 65 is regarded as the balls of the bearing, whereby the bearing is integrated into and unitary with the drive device 6a.

[0088] In some examples, the rolling component 65 may consist of a plurality of balls, rollers, etc., embedded in the inner wall of the output member 622 or the housing 63. For example, a plurality of balls may be spaced around the circumference of the sidewall of the output member 622, that is, the plurality of balls are spaced around the shaft of the output member 622.

[0089] In some examples, the rolling component 65 may include an annular mounting component and a rolling component within the annular mounting component. The annular mounting component is attached to the inner wall of the output member 622 or the housing 63, with the rolling component in contact with the inner wall of the output member 622 and the inner wall of the housing 63 on both sides.

[0090] In some embodiments, the rolling component 65 may consist of one or more groups. If the rolling component 65 consists of one group, this rolling component 65 may be mounted at any position along the shaft of the output member 622. If the rolling component 65 consists of multiple groups, multiple groups of rolling components 65 may be mounted along the shaft of the output member 622 at intervals to increase the contact area between the output member 622 and the inner wall 63 of the housing, thereby improving the stability and smoothness of movement of the output member 622 within the housing 63.

[0091] Fig. 13 is a horizontal sectional view of the motion component according to an embodiment provided in the present disclosure. As in Fig. 10 and Fig. As shown in Figure 13, in some embodiments, the transmission body 621 of the deceleration device 62 may be a gear system in which the transmission body 621 of the deceleration device 62 comprises at least one gear group 6211. The gear group 6211 includes the center gear 621a in the center and the outer gear 621b at the edge.

[0092] The center gear 621a is connected to the motor output shaft 612. For example, the center gear 621a is fixedly mounted on the motor output shaft 612 to align the rotational axis of the motor output shaft 612 with the rotational axis of the center gear 621a. The external gear 621b meshes with the center gear 621a and is connected to the output member 622.

[0093] An internal gear 63a is provided on the inner wall of the housing 63, into which the external gear 621b engages. Driven by the center gear 621a, the external gear 621b rotates around the center gear 621a, thus driving the output element 622.

[0094] When the center gear 621a is driven by the motor output shaft 612, it can drive the external gear 621b. Because the external gear 621b meshes with the internal gear 63a of the inner wall of the housing 63, the external gear 621b can rotate around the center gear 621a and along the inner wall of the housing 63. Because the external gear 621b is connected to the output member 622, it can drive the output member 622 around the center gear 621a.

[0095] It is understood that the external gear 621b is mounted between the center gear 621a and the inner wall of the housing 63, and that one side of the external gear 621b engages with the center gear 621a and the other side engages with the internal gear 63a of the inner wall of the housing 63.

[0096] In some embodiments, the gear group 6211 forming the transmission body 621 of the deceleration device 62 may, for example, consist of a direct connection between the center gear 621a and the motor output shaft 612, as well as a direct connection between the gear shaft a of the external gear 621b and the output member 622. In this way, the rotational force of the motor output shaft 612 can be first transmitted to the external gear 621b via the center gear 621a, and then the external gear 621b can transmit the rotational force to the output member 622 to achieve a primary transmission of the rotational force of the motor output shaft 612.

[0097] For example, the center gear 621a may be directly mounted on the motor output shaft 612 or there may be an external gear on the side wall of the motor output shaft 612, which may be implemented as part of the integrated part with the motor output shaft 612 to simplify the assembly process of the drive device 6a.

[0098] In some embodiments, the gear shaft of the external gear 621b may be connected directly to the output member 622, for example, by welding, clamping, or fastening with screws.

[0099] In some embodiments, mounting holes can be provided on the output element 622 through which the gear shaft of the external gear 621b can be inserted, but without being connected to the hole wall. The rotation of the external gear 621b around the center gear 621a rotates the output element 622, with the gear shaft of the external gear 621b driving the output element 622. This can reduce the number of connecting elements between the external gear 621b and the output element 622 and simplify the assembly process between the external gear 621b and the output element 622.

[0100] In some embodiments, the distance between the connecting position of the external gear 621b and the center of the output member 622 is the first distance, and the distance between the gear shaft of the external gear 621b and the gear shaft of the center gear 621a is the second distance. The first distance may correspond to the second distance so that the rotational axis of the output member 622 coincides with the rotational axis of the gear 621a, so that the rotational axis of the output member 622 and the rotational axis of the motor output shaft 612 coincide, thereby ensuring the compactness of the drive device 6a and precise control of the rotational speed of the deceleration device 62 on the rotational axis of the motor output shaft 612.

[0101] During installation, the output member 622 may be mounted coaxially with the center gear 621a to ensure that the first distance and the second distance are equal.

[0102] Of course, in some embodiments, the first distance and the second distance may be different as long as the output member 622 can be rotated.

[0103] As in Fig. As shown in Figure 10, in some embodiments, the transmission body 621 of the deceleration device 62 may be two-stage, with at least one gear group 6211 comprising a first gear group 6211a and a second gear group 6211b. The first gear group 6211a and the second gear group 6211b are arranged one above the other along the extension direction of the motor output shaft 612.

[0104] The deceleration device 62 also includes a mounting bracket 6212 to which the external gear 621b of the first gear group 6211a is attached and deviates from the central shaft of the mounting bracket 6212 to rotate the mounting bracket 6212 upon rotation of the external gear 621b about the center gear 621a. Understandably, the center gear 621a of the first gear group 6211a is fixedly connected to the motor output shaft 612.

[0105] In some examples, the external gear 621b of the first gear group 6211a may be connected to the mounting bracket 6212 via the gear shaft of the external gear 621b. The exact connection may be the same as the connection of the external gear 621b to the output member 622 in the above example and will not be further explained here.

[0106] For example, the motor output shaft 612 of the motor can drive the center gear 621a of the first gear group 6211, which can drive the external gear 621b. Since the external gear 621b meshes with the internal gear 63a of the inner wall of the housing 63, it can rotate around the center gear 621a, that is, along the inner wall of the housing 63. Since the external gear 621b is connected to the mounting bracket 6212, it can rotate the mounting bracket 6212 around the center gear 621a.

[0107] Furthermore, the center gear 621a of the second gear group 6211b is fixed to the mounting bracket 6212 and is located on the central axis of the mounting bracket 6212 to rotate with the rotation of the mounting bracket 6212. It is understood that the external gear 621b of the second gear group 6211b is directly connected to the driven member 622, so that the center gear 621a of the second gear group 6211b can drive the external gear 621b, while the driven member 622 can be rotated around the gear shaft of the center gear 621a during the rotation of the external gear 621b along the inner wall of the housing 63.

[0108] It is understood that the connection between the external gear 621b of the second gear group 6211b and the output element 622 can directly correspond to the connection between the external gear 621b and the output element 622 in the above-mentioned example and will not be explained further here.

[0109] When the transmission body 621 of the deceleration device 62 has two gear groups 6211, the rotational force output from the motor output shaft 612 of the motor can be transmitted through the engagement of the two groups of the center gears 621a and the outer gears 621b of the two gear groups 6211 to realize the two-stage transmission of the deceleration device 62.

[0110] Of course, the deceleration device 62 in this disclosure is not limited to two gear groups 6211, but more than two gear groups 6211 can be set as needed. It is understood that the adjacent gear groups 6211 are connected by the fixing bracket 6212. For example, the external gear 621b of the lower gear group 6211 is connected to the center gear 621a of the adjacent gear group 6211 by the fixing bracket 6212, while the external gear 621b of the uppermost gear group 6211 is directly connected to the output member 622.

[0111] The present embodiment utilizes the inner wall of the housing 63 by directly arranging the internal gear 63a to engage with the gear group 6211 of the deceleration device 62. This effectively utilizes the housing 63 as a component without requiring additional independent internal gears 63a, such as a ring gear, to be separately mounted from the housing 63. This reduces the number of components of the drive device 6a and achieves high integration of the drive device 6a, resulting in downsizing and weight reduction of the drive device 6a.

[0112] In some examples, the pick and place device 32 is configured to rotate in the direction of the first direction as it rotates relative to the installation platform 31. For example, the pick and place device 32 may be rotated under the movement component 6 relative to the installation platform 31 to ensure that the pick and place device 32 of the pick and place component 322 points in the direction of the first direction to pick and place items on the carrier 5 in the first direction in the aisle. The pick and place device 32 is also configured to rotate in the direction of the second direction as it rotates relative to the installation platform 31.For example, the pick and place device 32 under the moving component 6 can be rotated relative to the installation platform 31 to ensure that the pick and place device 32 of the pick and place component 322 points toward the second direction to pick and place items on the carrier 5 in the second direction in the aisle.

[0113] As in Fig. 2, the first direction may be defined as the x-direction and the second direction as the opposite x-direction. The pick and place device 32 extends in the first or second direction to complete the picking and placing of items in the first or second direction. The first direction and the second direction in the present disclosure are defined to clarify the picking and placing actions of the pick and place device 32 and may be two relative directions.

[0114] In some examples, the pick and place device 32 may be rotated relative to the installation platform 31 in the third direction, which is the direction in which the pick and place device 32 points toward the intermediate storage location 21. As shown in Fig. 2, the angle between the third direction and the first direction is 90°. For example, after removing an object from a carrier 5 in the first direction, the removal and placement device 32 can be rotated 90° to point toward the intermediate storage location 21 to place the object on the intermediate storage location 21, and then the removal and placement device 32 can be rotated again in the first or second direction to remove and place further objects on the carrier 5.

[0115] In some examples, the drive device may include a drive motor and a reduction gear, wherein the drive motor is mounted below the installation platform, and the reduction gear includes an input shaft and an output shaft, wherein the input shaft is directly connected to the drive motor and the output shaft pierces the installation platform and is connected to the removal and placement device. In other words, the output shaft of the reduction gear is located between the installation platform and the removal and placement device, while the input shaft is located below the installation platform. The drive motor is located on the rotation axis of the removal and placement device, directly below the installation platform, and directly drives the removal and placement device through the reduction gear.Compared to the drive structures in existing technology that require belts, conveyors, or chain structures to achieve rotation, the drive structure described in the present disclosure is simpler and directly penetrates the installation platform.

[0116] By placing the line output of the drive device on the rotation axis of the pick-and-place device, the present disclosure provides a motion component that can directly drive the rotation of the pick-and-place device. Compared to existing technology, the provided motion component does not require a transmission structure such as belts or chains, but directly drives the pick-and-place device relative to the installation platform. The structure of the provided motion component is simple, low-cost, high-reliability, and easy to repair.

[0117] For better understanding, the specific structure and operation of the removal and placement device in the present disclosure is explained using an embodiment in Fig. 14 to 21 are described in detail.

[0118] Fig. 14 shows a top view of the installation platform, the removal and placement device, a support component and another movement component according to an embodiment provided in the present disclosure, Fig. 15 is a schematic representation of the structure of the pick and place device and another moving component according to an embodiment provided in the present disclosure. As shown in Fig. 14 and Fig. As shown in Figure 15, the movement component 6 comprises a drive device 6b attached to the installation platform 31, the power output of which is positioned on the rotation axis of the removal and placement device 32 and is configured to be connected to the removal and placement device 32 in order to rotate this removal and placement device relative to the installation platform 31. The drive device 6b can transmit the rotational force directly to the removal and placement device 32 so that this removal and placement device can be rotated relative to the installation platform 31.

[0119] In one embodiment of the present disclosure, the drive device 6b may include a drive motor 66 and a reduction gear 67. The drive motor 66 may be mounted below the installation platform 31, while the reduction gear 67 has an input and an output port. The input port is directly connected to the drive motor 66, while the output port penetrates the installation platform 31 and is connected to the removal and placement device 32. In other words, the output port of the reduction gear 67 is located between the installation platform 31 and the removal and placement device 32, while the input port is located below the installation platform 31.The drive motor 66 is located on the rotation axis of the pick-and-place device 32, directly below the installation platform 31, and directly drives the pick-and-place device 32 through the action of the reduction gear 67. Compared to transmission structures such as belts, conveyors, or chains in existing technology, the structure of the drive device 6b, which passes directly through the installation platform 31, is simpler in the present disclosure.

[0120] In the present disclosure, by placing the power output of the drive device 6b on the rotation axis of the pick-and-place device 32, a moving component 6 is provided that can directly drive the rotation of the pick-and-place device 32. Compared with existing technology, the provided moving component 6 does not require a transmission structure such as belts or chains, but directly drives the pick-and-place device 32 relative to the installation platform 31. The structure of the provided moving component 6 is simple, the cost is low, the reliability is high, and it is easy to repair.

[0121] The specific structure of the movement component 6 in this embodiment will be described in detail below.

[0122] Fig. 16 is a partially schematic representation of the structure of another motion component according to an embodiment provided in the present disclosure, and Fig. 17 is a schematic diagram of the structure of a rotary bearing according to an embodiment provided in the present disclosure. In a particular embodiment of the present disclosure, as shown in Fig. 15 and Fig. 17, the moving component 6 includes a rotary bearing 70 that includes a relatively rotatable inner ring portion 71 and an outer ring portion 72. The drive device 6b is configured to rotate the inner ring portion 71 relative to the outer ring portion 72. The inner ring portion 71 is configured to be connected to the bottom of the removal and placement device 32, and the outer ring portion 72 is configured to be connected to the installation platform 31. Alternatively, the inner ring portion 71 is configured to be connected to the installation platform 31, and the outer ring portion 72 is configured to be connected to the bottom of the removal and placement device 32. The rotary bearing 70 can be configured as a circular hollow bearing structure, wherein the inner ring portion 71 located on the inside can be rotated relative to the outer ring portion 72 located on the outside.

[0123] The rotary bearing 70 can be connected to the installation platform 31 and the removal and placement device 32 in two ways. In the first method, the outer ring portion 72 is fixed to the installation platform 31, and the outer ring portion 72 and the installation platform 31 together form a fixed structure. The inner ring portion 71 is connected to the bottom of the removal and placement device 32, and the inner ring portion 71 and the removal and placement device 32 together form a rotatable structure. The drive device 6b can be connected to the inner ring portion 71 or the base plate of the removal and placement device 32, and the inner ring portion 71 can be rotated relative to the outer ring portion 72 under the action of the drive device 6b, and the removal and placement device 32 can be rotated relative to the installation platform 31.In the second method, the outer ring portion 72 is fixed to the bottom of the pick-and-place device 32, and the outer ring portion 72 and the pick-and-place device 32 together form a rotatable structure. The inner ring portion 71 is connected to the installation platform 31, and the inner ring portion 71 and the installation platform 31 together form a fixed structure. The drive device 6b can be connected to the base plate of the pick-and-place device 32 or the outer ring portion 72, and the pick-and-place device 32 can be rotated relative to the installation platform 31 under the action of the pick-and-place device, and the inner ring portion 71 can be rotated relative to the outer ring portion 72.

[0124] In a particular embodiment of the present disclosure, the first connection method is selected. The outer ring portion 72 is fixed to the installation platform 31, and the inner ring portion 71 is connected to the bottom of the pick-and-place device 32. The drive device 6b is connected to the inner ring portion 71 and is configured to directly rotate the inner ring portion 71 relative to the outer ring portion 72, thereby rotating the pick-and-place device 32 relative to the installation platform 31.

[0125] In a particular embodiment of the present disclosure, as shown in Fig. As shown in Figure 16, the drive device 6b includes a reduction gear 67 and a drive motor 66, and the output shaft 671 of the reduction gear 67 is configured to be drivingly connected to the inner ring portion 71, the outer ring portion 72, or the pick-and-place device 32. The reduction gear 67 consists of a closed gear, a worm gear, and a worm gear enclosed in a rigid housing, and is often used as a speed reduction transmission device between the drive motor and the work machine. By using the reduction gear 67, the speed of the drive motor 66 can be reduced and the torque can be increased, thereby reducing the torque requirement of the drive motor 66.The output end of the reduction gear 67 is the output shaft 671, which in a particular embodiment may extend through the installation platform 31 and is drivingly connected to the inner ring portion 71, the outer ring portion 72, or the removal and placement device 32, thereby rotating the removal and placement device 32 relative to the installation platform 31.

[0126] In some examples, the rotation axis of the reduction gear 67 is perpendicular to the rotation axis of the drive motor 66 or parallel to the rotation axis of the drive motor 66. The specific arrangement can be selected depending on the spatial position and gear transmission type of the reduction gear 67 in practical application.

[0127] In a particular embodiment, the drive motor 66 is as shown in Fig. 16, is firmly connected to the housing side wall of the reduction gear 67. The drive motor 66 is mounted horizontally, while the reduction gear 67 is mounted in the direction perpendicular to the installation platform 31. The input of the reduction gear 67 is located below and is connected to the drive motor 66. The reduction gear 67 penetrates the installation platform 31 in the direction perpendicular to the installation platform 31, thus fixing the output shaft 671 to the inner ring member 71. Since the installation platform 31 and the pick-and-place device 32 are closely mounted, the drive motor 66 must be placed outside the gap to meet structural requirements.If the drive motor 66 is placed on the side wall or corner of the removal and placement device 32, a pulling element is usually required to realize the rotation function, which leads to a high susceptibility to damage.

[0128] In this disclosure, the reduction gear 67 is mounted on the drive motor 66, and the reduction gear 67 penetrates the installation platform 31 to drive the output shaft 671 to rotate the pick-and-place device 32. This eliminates the need for a tension member, simplifying the structure of the moving component 6. Furthermore, the reduction gear 67 reduces the torque requirement of the drive motor 66, thus reducing the cost of the moving component 6. The horizontal or vertical arrangement of the drive motor 66 and the reduction gear 67 saves space and makes the structure more compact.

[0129] In one embodiment, the moving component 6 may also include a first connecting element 68 and a second connecting element 69 for more secure installation. The second connecting element 69 is attached to the reduction gear 67 and configured to be connected to the installation platform 31, the outer ring portion 72, or the inner ring portion 71. As shown in Fig. 16, the second connecting member 69 may be a flange connection on the reduction gear 67, or it may be configured to be fixedly fitted on the reduction gear 67 or to be integrally formed with the housing of the reduction gear 67.

[0130] The second connecting member 69 is a fixed structure that does not rotate. In this embodiment, the second connecting member 69 is configured to be fixed to the bottom of the installation platform 31 when the outer ring portion 72 is on the installation platform 31 and the inner ring portion 71 is connected to the bottom of the take-out and place device 32. The second connecting member 69 may also be inserted into the installation platform 31 or positioned between the installation platform 31 and the take-out and place device 32 and connected to the outer ring portion 72 of the rotary bearing 70 to increase the stability of the outer ring portion 72. In this disclosure, the connection method and connection position of the second connecting member 69 are not specifically limited.

[0131] In one embodiment of the present disclosure, the bottom surface of the first connecting member 68 is connected to the output shaft 671 of the reduction gear 67. The first connecting member 68 is configured to be connected to one of the inner ring portion 71 and the outer ring portion 72 of the pick-and-place device 32 and, under the driving action of the output shaft 671 of the reduction gear 67, to rotate the pick-and-place device 32 relative to the installation platform 31.

[0132] In detail, the first connecting element 68, as shown in Fig. 16, a flange connection may be attached to the top of the output shaft 671 of the reduction gear 67. When the output shaft 671 rotates, the first connecting member 68 can follow the rotation and rotate the structure thereon. In this embodiment, the first connecting member 68 is attached to the lower part of the inner ring portion 71 of the rotary bearing 70 so that it can drive the inner ring portion 71 to rotate the pick-and-place device 32 on the installation platform 31. In this embodiment, the reduction gear 67 output shaft 671, the first connecting member 68, the inner ring portion 71 of the rotary bearing 70, and the pick-and-place device 32 can be considered as one structure that can be rotated together relative to the installation platform 31.The first connecting element 68 is mounted between the installation platform 31 and the removal and placement device 32 and can be connected in various ways to the removal and placement device 32 and the inner ring portion 71 of the rotary bearing 70.

[0133] Fig. 18 is a schematic sectional view illustrating a mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. 19 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. 20 is a schematic illustration of the sectional view of another mounting manner of another moving component according to an embodiment provided in the present disclosure. Fig. Figure 21 is a schematic representation of the sectional view of another mounting type of another movement component according to an embodiment provided in the present disclosure. Various settings of the first connecting element 68 are described below with reference to Fig. 18 to Fig. 21 in detail. It should be noted that Fig. 18 to Fig. 21 are sectional views drawn for illustrative purposes and do not accurately represent the proportions and structures of the various components.

[0134] In a particular embodiment, as shown in Fig. 28 and Fig. As shown in Figure 19, the diameter of the first connecting member 68 is configured to match the inner diameter of the inner ring portion 71, and the inner wall of the inner ring portion 71 is fixed to the outer wall of the first connecting member 68, while the pick-and-place device 32 is fixed to the top of the first connecting member 68. The rotary bearing 70 is a hollow shaft bearing in which the inner ring portion 71 is circular, and the first connecting member 68 can be positioned in the inner ring portion 71 to be firmly connected to the inner ring portion 71 and rotate together.

[0135] For example, the outer diameter of the first connecting member 68 matches the inner diameter of the inner ring portion 71, and the outer wall of the first connecting member 68 can be fixed to the inner wall of the inner ring portion 71. Since the inner ring portion 71 is attached to the bottom of the pick-and-place device 32, the upper end of the first connecting member 68 can be fixed to the bottom of the pick-and-place device 32 to fix the inner ring portion 71, the pick-and-place device 32, and the output shaft 671 of the reduction gear 67 together and rotate them together. When the output shaft 671 of the reduction gear 67 rotates, it can rotate the first connecting member 68, which drives the inner ring portion 71 and the pick-and-place device 32.

[0136] As in Fig. As shown in Figure 18, a through-hole may be provided on the installation platform 31, the inner diameter of which corresponds to the diameter of the pivot bearing 70, and the outer wall of the outer ring portion 72 is fixed to the inner edge of the through-hole on the installation platform 31. A through-hole or recess structure may be provided on the installation platform 31 to accommodate the pivot bearing 70, and the pivot bearing 70 may be embedded in the installation platform 31. Specifically, the outer wall of the outer ring portion 72 of the pivot bearing 70 may be fixed to the inner edge of the through-hole on the installation platform 31 to create an embedding structure. In this case, the first connecting element 68 may be positioned inside the inner ring portion 71, as shown in Figure 18. Fig. 18. Such a structure can reduce the gap between the picking and placing device 32 and the installation platform 31 and make the structure of the picking and placing device 32 more compact.

[0137] In a particular embodiment, as shown in Fig. 20, the inner ring portion 71 is configured such that its upper surface is connected to the bottom of the pick-and-place device 32, and its bottom is connected to the upper surface of the first connecting member 68. In this embodiment, the first connecting member 68 is not directly fixed to the bottom of the pick-and-place device 32, but is connected to the bottom of the pick-and-place device 32 through the inner ring portion 71. The outer ring portion 72 may be fixed to the installation platform 31. Specifically, the position where the installation platform 31 is connected to the outer ring portion 72 may be formed as a protrusion structure to compensate for the height difference caused by the output shaft 671 of the reduction gear 67.In this embodiment, the output shaft 671 of the reduction gear 67 is fixedly connected to the inner ring portion 71 by the first connecting member 68 to realize the transmission.

[0138] In a particular embodiment, as shown in Fig. 21, the first connecting member 68 is configured such that its upper surface is connected to the bottom of the picking and placing device 32, and its bottom is connected to the upper surface of the inner ring portion 71. The output shaft 671 of the reduction gear 67 penetrates the through hole of the inner ring portion 71 to be connected to the bottom of the first connecting member 68. In this embodiment, the first connecting member 68 is fixed between the picking and placing device 32 and the inner ring portion 71, and the inner ring portion 71 is not directly fixed to the picking and placing device, but is indirectly connected to the bottom of the picking and placing device 32 via the first connecting member 68.The pivot bearing 70 is a hollow shaft, with the central position of the inner ring portion 71 having a through hole through which the output shaft 671 of the reduction gear 67 can pass and is connected to the bottom of the first connecting member 68. When the output shaft 671 rotates, the first connecting member 68 can track the rotation, and the inner ring portion 71 and the pick-and-place device 32 rotate together.

[0139] In a particular embodiment, the movement component 6 is configured to be located in the center of the bottom of the pick and place device 32. As shown in Fig. 14 and Fig. As shown in Figure 15, the moving components 6, such as the drive motor 66, the reduction gear 67, the rotary bearing 70, the first link 68, and the second link 69, are all mounted at the center of the bottom of the pick-and-place device 32 to ensure that the pick-and-place device 32 rotates around the center shaft. Compared with disposing the rotation axis off the center axis, this embodiment saves the space required for the pick-and-place device 32, thereby making the overall structure of the pick-and-place device 32 more compact.

[0140] In a particular embodiment, the removal and placement device 32 is configured to rotate relative to the installation platform 31 up to the first direction in order to remove and place the containers on the carrier 5 in the first direction, and it is also configured to rotate at least with respect to the installation platform 31 up to the second direction in order to remove and place the containers on the carrier 5 in the second direction. As in Fig. As shown in Figure 14, the arrow on the dashed line points toward the first direction, while the opposite arrow on the other side points toward the second direction. The picking and placing device 32 is configured to extend in the first or second direction to enable the picking or placing of containers in the first or second direction. The first and second directions in the present disclosure are defined to clearly describe the movements of the picking and placing device 32, and the first direction and the second direction may be two opposite directions.

[0141] In a particular embodiment, the transport robot also comprises a support component 4, as shown in Fig. 4 and Fig. 5. The support component 4 is mounted on the installation platform 31 and can move between a first position and a second position. When in the first position, the support component 4 extends to the carrier 5, and when in the second position, the support component 4 retracts. The support component 4 is initially in the second position and has no supporting effect. When support is needed, the support component 4 is configured to extend relative to the transport robot until it comes into contact with the carrier 5 on the transport robot side, which corresponds to the first position. In this way, the position of the picking and placing device 32 with respect to the carrier 5 can be kept stable to improve the success rate of picking and placing containers by the picking and placing device 32.

[0142] The support component 4 is equipped with at least two components, each referred to as a first support component 401 for extending in the first direction and a second support component 402 for extending in the opposite direction. As shown in Fig. As shown in Figure 14, the support component 4 extending in the first direction is defined as the first support component 401, while the support component 4 extending in the second direction is defined as the second support component 402. The specific structure of the first support component 401 and the second support component 402 is identical, the only difference being that they extend in different directions.

[0143] The transport robot is configured to control the first support component 401 and the second support component 402 in opposite directions with the same or different displacements, based on the detected distance between it and the carrier 5 in the first direction and the width of the aisle.

[0144] In a specific application of the present disclosure, the width of the aisle between the carriers 5 is a fixed value, and the pick-and-place device 32 or the support component 4 can be equipped with a distance sensor. For example, this distance sensor can measure information about the distance between itself and the carrier 5 in the first direction and transmit this distance data to the control server. The control server can determine the length that the first support component 401 must extend based on preset information, such as the distance data between the distance sensor and the first support component 401 in the first direction. The first support component 401 can then extend accordingly under the control of the control server to contact the carrier 5 in the first direction.At the same time, the control server can determine the length the second support component 402 must extend based on the width of the aisle. The second support component 402 can then extend accordingly under the control of the control server to contact the carrier 5 in the second direction. In addition to such a distance sensor, other methods such as an image capture device can also be used to collect distance data. The present disclosure does not further limit the possibility of collecting distance data by the transport robot.

[0145] In an embodiment according to the present invention, as in Fig. 5, the support component 4 comprises a support element 41 and an abutment component 42 attached to the support element 41. In position 1, the support element 41 is configured to be extended outward to bring the abutment component 42 into contact with the carrier 5. In position 2, the support element 41 is configured to be retracted to bring the abutment component 42 into proximity with the installation platform 31. In position 2, the abutment component 42 is configured to be positioned outside the rotational range of the removal and placement device 32. As shown in Fig. As shown in Figure 4, the support element 41 can have a slender, rod-shaped structure. If it comes into direct contact with the carrier 5, the contact area is too small and the supporting effect is insufficient. Therefore, an abutment component 42 for abutment against the carrier 5 can be attached to the end position of the support element 41. In this embodiment, the abutment component 42 is positioned outside the rotation range of the removal and placement device 32, so that the support component 4 does not interfere with the rotation of the removal and placement device 32, even in position 2 near the installation platform 31.

[0146] As mentioned above, the present disclosure also provides a transport robot comprising a chassis component 1, a gantry component 2, a pick-and-place device 32, an installation platform 31, and a movement component 6. The gantry component 2 is mounted on the chassis component 1. The pick-and-place device 32 is rotatably mounted on the installation platform 31, which enables the movement of the pick-and-place device 32 along the gantry component 2. The movement component 6 includes a drive device 6b connected to the installation platform 31. The power output of the drive device 6b is located on the rotation axis of the pick-and-place device 32 and is connected thereto to rotate the pick-and-place device 32 relative to the installation platform 31.The effect of the transport robot corresponds to that described above and will not be explained further here.

[0147] To improve the performance of transport robots, in one embodiment of the present disclosure, as shown in Fig. 2 and Fig. 4, an intermediate storage location 21 is provided on the gantry component 2. The picking and placing device 32 is configured to rotate relative to the installation platform 31 to directly transfer items between the picking and placing device 32 and the intermediate storage location 21. At least one intermediate storage location 21 may be provided on the side of the gantry component 2 opposite the picking and placing device 32. Containers picked by the picking and placing device 32 may be temporarily stored in the intermediate storage location 21 before the picking and placing device 32 resumes its operation.

[0148] As in Fig.4, for example, eight intermediate storage locations 21 are arranged vertically on one side of the gantry structural component 2 at specific intervals. The intermediate storage location 21 can be configured as a rectangle with a specific length and width to support containers. The picking and placing device 32 can pick up a container from a carrier 5 in a first or second direction and place it on the intermediate storage location 21. After the picking and placing device 32 has picked up the container from the first or second direction, it rotates toward any intermediate storage location 21 and places the container thereon to transfer the container to the intermediate storage location 21.The removal and placement device 32 may also rotate toward the container's temporary storage location 21, pick up the container from the temporary storage location 21, and then rotate toward the first or second direction to transport the container to a corresponding position in the first or second direction and remove it from the temporary storage location 21.

[0149] The specific embodiments above explain the purpose, technical solutions, and advantageous effects of the present disclosure. However, it should be noted that these specific embodiments serve only as examples and should not be used to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, or the like made based on the technical solutions of the present disclosure should be included within the scope of the present disclosure.

Claims

[1] Removal and placement device, comprising: a removal and placement device (32) configured to remove and place the objects; an installation platform (31) on which the removal and placement device (32) is rotatably mounted; a movement component (6) comprising a drive device (6a) attached to the installation platform (31), wherein the power output of the drive device (6a) is located on the axis of rotation of the removal and placement device (32) and is connected thereto in order to drive the rotation of the removal and placement device (32) relative to the installation platform (31). [2] Removal and placement device according to claim 1, characterized byin that the drive device (6a) comprises a motor (61) and a deceleration device (62), wherein the motor output shaft (612) of the motor (61) is configured as a power input shaft of the deceleration device (62), wherein one end of the output element (622) of the deceleration device (62) is configured as a power output. [3] Removal and placement device according to claim 2, characterized by that the drive device (6a) comprises a housing (63) in which the motor (61) and the deceleration device (62) are embedded; wherein the housing (63) is connected to the installation platform (31). [4] Removal and placement device according to claim 3, characterized byin that the drive device (6a) also comprises a rolling component (65), wherein the rolling component (65) is mounted between the side wall of the output element (622) and the inner wall of the housing (63), wherein the output element (622) is configured to roll along the inner wall of the housing (63) during rotation of the removal and placement device (32) by the rolling component (65). [5] Removal and placement device according to claim 3, characterized by that the deceleration device (62) comprises at least one gear group (6211); wherein the center gear (621a) of the gear group (6211) is fixed to the motor output shaft (612) and the external gear (621b) of the gear group (6211) is engaged with the center gear (621a) and is connected to the output member (622); wherein an internal toothing (63a) is provided on the inner wall of the housing (63), into which the external gear (621b) engages, wherein under the drive of the central gear, the external gear (621b) rotates around the central gear 621a and thus drives the output element (622) to rotate. [6] Removal and placement device according to claim 5, characterized by that at least one gear group (6211) comprises a first gear group (6211a) and a second gear group (6211b), wherein the first gear group (6211a) and the second gear group (6211b) are provided one above the other along the extension direction of the motor output shaft (612); wherein the deceleration device (62) also comprises a mounting bracket (6212) to which the external gear (621b) of the first gear group (6211a) is fixed and deviates from the central shaft of the mounting bracket (6212) in order to rotate the mounting bracket (6212) upon rotation of the external gear (621b) around the central gear (621a), wherein the center gear (621a) of the second gear group (6211b) is fixed to the fixing bracket (6212) and is located on the central axis of the fixing bracket (6212) to rotate under the drive of the fixing bracket (6212). [7] Removal and placement device according to claim 3, characterized by that the movement component (6) comprises a connecting element (64) which is attached to the outer wall of the housing (63) and is connected to the installation platform (31). [8] Removal and placement device according to claim 7, characterized bythat a through-opening (31a) is provided on the installation platform (31), the inner diameter of which is configured to match the outer diameter of the drive device (6a); wherein the drive device (6a) is guided through the through-opening (31a); wherein the connecting element (64) is fastened to the outer edge of the through-opening (31a) facing away from the removal and placement device (32). [9] Removal and placement device according to claim 3, characterized by that the housing (63) has a first housing (631) and a second housing (632), wherein the motor (61) is embedded in the first housing (631) and the deceleration device (62) is embedded in the second housing (632); wherein the first housing (631) and the second housing (632) are detachably connected to each other. [10] Removal and placement device according to one of claims 1-9, characterized bythat the axis of rotation of the output element (622) of the deceleration device (62) and the axis of rotation of the motor output shaft (612) coincide. [11] Removal and placement device according to claim 1, characterized byin that the movement component (6) comprises a rotary bearing (70) comprising a relatively rotatable inner ring portion (71) and an outer ring portion (72), wherein the drive device (6b) is configured to rotate the inner ring portion (71) relative to the outer ring portion (72); wherein the inner ring portion (71) is configured to be connected to the bottom of the removal and placement device (32), wherein the outer ring portion (72) is configured to be connected to the installation platform (31); or wherein the inner ring portion (71) is configured to be connected to the installation platform (31), wherein the outer ring portion (72) is configured to be connected to the bottom of the removal and placement device (32). [12] Removal and placement device according to claim 11, characterized byin that the drive device (6b) comprises a drive motor (66) and a reduction gear (67), wherein the output shaft (671) of the reduction gear (67) is configured to be drivingly connected to the inner ring section (71) or the outer ring section (72) or the removal and placement device (32); wherein the reduction gear (67) is configured to rotate the removal and placement device (32) relative to the installation platform (31) through the drive action of the drive motor (66). [13] Removal and placement device according to claim 12, characterized by that the axis of rotation of the reduction gear (67) is perpendicular to the axis of rotation of the drive motor (66) or parallel to the axis of rotation of the drive motor (66). [14] Removal and placement device according to claim 13, characterized bythat the drive motor (66) is fixedly connected to the housing side wall of the reduction gear (67); wherein the drive motor (66) is mounted horizontally, while the reduction gear (67) is mounted in a direction perpendicular to the installation platform (31). [15] Removal and placement device according to claim 12, characterized by in that the movement component (6) also comprises a first connecting element (68), wherein the underside of the first connecting element (68) is connected to the output shaft (671) of the reduction gear (67); wherein the first connecting element (68) is configured to be connected to the inner ring section (71) or the outer ring section (72) or the removal and placement device (32) and, under the driving action of the output shaft (671) of the reduction gear (67), rotates the removal and placement device (32) relative to the installation platform 31. [16] Removal and placement device according to claim 15, characterized by in that the diameter of the first connecting element (68) is configured to match the inner diameter of the inner ring portion (71), wherein the inner wall of the inner ring portion (71) is fixed to the outer wall of the first connecting element (68); wherein the removal and placement device (32) is fixed to the top of the first connecting element (68). [17] Removal and placement device according to claim 16, characterized by that a through-opening is provided on the installation platform (31), wherein the inner diameter of the through-opening matches the diameter of the rotary bearing (70); wherein the outer wall of the outer ring portion (72) is fastened to the inner edge of the through-opening on the installation platform (31). [18] Removal and placement device according to claim 15, characterized bythat the inner ring portion (71) is configured such that its upper side is connected to the bottom of the removal and placement device (32) and its bottom is connected to the upper side of the first connecting element (68). [19] Removal and placement device according to claim 15, characterized by in that the first connecting element (68) is configured such that its upper side is connected to the bottom of the removal and placement device (32) and its bottom is connected to the upper side of the inner ring portion (71); wherein the output shaft (671) of the reduction gear (67) penetrates the through hole of the inner ring portion (71) to be connected to the bottom of the first connecting element (68). [20] Removal and placement device according to claim 12, characterized byin that the movement component (6) also comprises a second connecting element (69) attached to the reduction gear (67), the second connecting element (69) being configured to be connected to the installation platform (31), the outer ring portion (72) or the inner ring portion (71). [21] Removal and placement device according to one of claims 1-20, characterized by that the movement component (6) is configured to be provided in the center of the bottom of the removal and placement device (32). [22] Removal and placement device according to one of claims 1-21, characterized byin that the removal and placement device (32) is configured to rotate relative to the installation platform (31) up to the first direction in order to remove and place the objects on the carrier 5 in the first direction, wherein the removal and placement device (32) is also configured to rotate relative to the installation platform (31) up to the second direction in order to remove and place the objects on the carrier 5 in the second direction. [23] Transport robot, comprising: a chassis component; a portal component (2) mounted on the chassis component (1); a removal and placement device (32) for removing and placing objects; an installation platform (31), wherein the removal and placement device (32) is rotatably mounted on the installation platform (31), which enables the movement of the removal and placement device (32) along the portal component (2); a movement component (6) comprising a drive device (6b), wherein the power output of the drive device (6b) is located on the axis of rotation of the removal and placement device (32) and is connected thereto in order to rotate the removal and placement device (32) relative to the installation platform (31). [24] Transport robot according to claim 23, characterized byin that the drive device (6a) comprises a motor (61) and a deceleration device (62), wherein the motor output shaft (612) of the motor (61) is configured as a power input shaft of the deceleration device (62), wherein one end of the output element (622) of the deceleration device (62) is configured as a power output. [25] Transport robot according to claim 23, characterized by that an intermediate storage location (21) is provided on the portal construction component (2); wherein the removal and placement device (32) is configured to rotate relative to the installation platform (31) in order to directly transfer objects between the removal and placement device (32) and the intermediate storage location (21). [26] A moving component used for a removal and placement device, comprising: a drive device (6a) configured to be connected to the installation platform (31) of the removal and placement device, wherein the power output of the drive device (6a) is configured to be provided on and connected to the rotation axis of the removal and placement device (32) of the removal and placement device in order to rotate the removal and placement device (32) relative to the installation platform (31). [27] Movement component according to claim 26, characterized by that the drive device (6a) comprises a motor (61) and a deceleration device (62), wherein the motor output shaft (612) of the motor (61) is configured as a power input shaft of the deceleration device (62), wherein one end of the output element (622) of the deceleration device (62) is configured as a power output. [28] Movement component according to claim 27, characterized bythat the drive device (6a) comprises a housing (63) in which the motor (61) and the deceleration device (62) are embedded; wherein the housing (63) is connected to the installation platform (31). [29] Movement component according to claim 28, characterized by in that the drive device (6a) also comprises a rolling component (65), wherein the rolling component (65) is mounted between the side wall of the output element (622) and the inner wall of the housing (63), wherein the output element (622) is configured to roll along the inner wall of the housing (63) during rotation of the removal and placement device (32) by the rolling component (65). [30] Movement component according to claim 29, characterized by that the deceleration device (62) comprises at least one gear group (6211); wherein the center gear (621a) of the gear group (6211) is fixed to the motor output shaft (612) and the external gear (621b) of the gear group (6211) is engaged with the center gear (621a) and is connected to the output member (622); wherein an internal toothing (63a) is provided on the inner wall of the housing (63), into which the external gear (621b) engages, wherein under the drive of the central gear (621a), the external gear (621b) rotates around the central gear 621a and thus drives the output element (622) to rotate. [31] Movement component according to one of claims 27-30, characterized by that the axis of rotation of the output element (622) of the deceleration device (62) and the axis of rotation of the motor output shaft (612) coincide.

Images