Bearing device, transport robot, and warehousing system

Abstract

A bearing device, a transport robot, and a warehousing system. The bearing device (002) comprises a bottom plate (100), and two first bearing structures (200) and two second bearing structures (300) connected onto the bottom plate (100); the two first bearing structures (200) are spaced apart and arranged opposite to each other in a first direction, each first bearing structure (200) is provided with a plurality of first bearing surfaces (210) for bearing cargo boxes, the plurality of first bearing surfaces (210) are sequentially arranged in the first direction, and the heights of the plurality of first bearing surfaces are sequentially decreased in a first stepped direction; the two second bearing structures (300) are arranged opposite to each other in a second direction, each second bearing structure (300) is provided with a plurality of second bearing surfaces (310) for bearing cargo boxes, the plurality of second bearing surfaces (310) are sequentially arranged in the second direction, and the heights of the plurality of second bearing surfaces are sequentially decreased in a second stepped direction. In the bearing device, the number of specifications of cargo boxes that can be borne is increased, so that a transport robot equipped with the bearing device can transport cargo boxes of different specifications, thereby broadening the application range of the transport robot.

Description

Carrying device, carrying robot and warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202421805185.9, filed on July 26, 2024, entitled "Carrying device, carrying robot and warehouse system", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the technical field of intelligent warehousing, and in particular, to a carrying device, a carrying robot and a warehouse system. BACKGROUND

[0003] In order to improve the efficiency of logistics, intelligent warehouse systems are widely used. In the warehouse system, carrying robots for carrying boxes and other objects are usually provided to replace manual carrying, thereby improving the carrying efficiency. In the related art, a carrying robot usually includes a body and a carrying device arranged on the body. The carrying device is used to carry the boxes. However, in the related art, the carrying device of the carrying robot can only carry a single specification of the boxes, resulting in a small application range of the carrying robot. SUMMARY

[0004] Therefore, embodiments of the present disclosure provide a carrying device, a carrying robot and a warehouse system to solve the technical problem that the carrying device in the related art can only carry a single specification of the boxes, resulting in a small application range of the carrying robot.

[0005] In order to achieve the above-mentioned purpose, embodiments of the present disclosure provide the following technical solutions:

[0006] In a first aspect, embodiments of the present disclosure provide a carrying device, which includes a bottom plate, two first carrying structures and two second carrying structures connected to the bottom plate, and the two second carrying structures are located between the two first carrying structures in a first direction.

[0007] The two first carrying structures are spaced apart and oppositely arranged in the first direction, and the first carrying structure is provided with a plurality of first carrying surfaces for carrying the boxes, the plurality of first carrying surfaces are sequentially arranged in the first direction, and the heights along a first stepped direction are sequentially decreased, the first stepped direction is a direction of the first carrying structure where the plurality of first carrying surfaces are located pointing to another first carrying structure.

[0008] The two second bearing structures are oppositely arranged in a second direction intersecting the first direction, and are provided with a plurality of second bearing surfaces for bearing the containers, the plurality of second bearing surfaces are sequentially arranged in the second direction and sequentially decrease in height along a second step direction, the second step direction being a direction in which the second bearing structure where the plurality of second bearing surfaces are located points to the other second bearing structure.

[0009] The bearing device provided with two first bearing structures and two second bearing structures. The two first bearing structures can be spaced apart and oppositely arranged in a first direction. The first bearing structure can be provided with a plurality of first bearing surfaces, and the height of the plurality of first bearing surfaces can sequentially decrease along a first step direction. The two second bearing structures can be located between the two first bearing structures in the first direction and oppositely arranged in a second direction. The second bearing structure can be provided with a plurality of second bearing surfaces, and the plurality of second bearing surfaces can be sequentially arranged in the second direction, and the height of the plurality of second bearing surfaces can sequentially decrease along a second step direction. At least one first bearing surface in one first bearing structure can correspond to at least one first bearing surface in the other first bearing structure to form a first bearing space. The plurality of first bearing surfaces of the two first bearing structures can form a plurality of first bearing spaces. At least one second bearing surface in one second bearing structure can correspond to at least one second bearing surface in the other second bearing structure to form a second bearing space, and the plurality of second bearing surfaces in the two second bearing structures can form a plurality of second bearing spaces. The plurality of first bearing spaces and the plurality of second bearing spaces can be used to stably bear containers of different specifications, thereby increasing the number of container specifications that the bearing device can bear, so that the carrying robot equipped with the bearing device can carry containers of different specifications, and the application range of the carrying robot is improved.

[0010] In some possible implementation manners, the first bearing structure includes a first limiting surface corresponding to the first bearing surface, the height of the first limiting surface is higher than the height of the corresponding first bearing surface, and the first limiting surface is located at the rear side of the corresponding first bearing surface in the first step direction, and the first limiting surface is used for limiting the container on the corresponding first bearing surface in the first direction.

[0011] In some possible implementation manners, the second bearing structure includes a second limiting surface corresponding to the second bearing surface, the height of the second limiting surface is higher than the height of the corresponding second bearing surface, and the second limiting surface is located at the rear side of the corresponding second bearing surface in the second step direction, and the second limiting surface is used for limiting the container on the corresponding second bearing surface in the second direction.

[0012] In some possible implementation manners, the first bearing surfaces are sequentially numbered as 1 to m in a vertically upward direction, and the second bearing surfaces are sequentially numbered as 1 to n; a height of the first second bearing surface is less than a height of the first first bearing surface; a height of the i-th second bearing surface is the same as a height of the (i-1)-th first bearing surface; m and n are both natural numbers greater than or equal to 2; i is a natural number greater than or equal to 2 and less than or equal to n.

[0013] In some possible implementation manners, the first bearing structure is further provided with a third limiting surface at an end of the first bearing structure in the first stepped direction, and the third limiting surface is configured to limit the container on the first second bearing surface in the first direction.

[0014] In some possible implementation manners, the first bearing structure comprises a plurality of first bearing plates arranged in a vertical direction, a bottom side of each first bearing plate is connected to the bottom plate, and a top side of each first bearing plate forms the first bearing surface.

[0015] In some possible implementation manners, one of the first bearing plates is a support plate, and a bottom side of the support plate is fixed to the bottom plate; and a bottom side of each of the remaining first bearing plates is provided with a bending portion facing the support plate, and the bending portion is connected to the support plate.

[0016] In some possible implementation manners, a bottom side of the support plate is provided with a second connecting portion fixed to the bottom plate; and the first bearing structure further comprises at least one reinforcing plate connected to the support plate, the second connecting portion and / or the bottom plate.

[0017] In some possible implementation manners, a side of the first bearing plate facing another first bearing structure is a first limiting surface or a third limiting surface.

[0018] In some possible implementation manners, the first bearing structure further comprises a first anti-skid sleeve, the first anti-skid sleeve is sleeved on a top side of the first bearing plate, and a top surface of the first anti-skid sleeve is the first bearing surface.

[0019] In some possible implementation manners, a side of the first anti-skid sleeve facing another first bearing structure is a first limiting surface or a third limiting surface.

[0020] In some possible implementations, the second bearing structure comprises a second bearing plate arranged vertically, the second bearing plate is located between the two first bearing structures in the first direction and is connected with the bottom plate, a top side of the second bearing plate is provided with at least one bearing recess, the bearing recess is close to the center of the bottom plate; a bottom surface of the bearing recess and a top surface of the second bearing plate form at least part of the second bearing surface of the second bearing structure.

[0021] In some possible implementations, the side surface in the bearing recess is a second limiting surface.

[0022] In some possible implementations, the second bearing structure further comprises a second anti-skid sleeve, the second anti-skid sleeve is sleeved on the top surface of the second bearing plate, and a top surface of the second anti-skid sleeve is the second bearing surface.

[0023] In some possible implementations, the number of the second bearing plates is plural, the plural second bearing plates are all located between the two first bearing structures in the first direction, and the plural second bearing plates are arranged at intervals in the first direction.

[0024] In some possible implementations, the second bearing plates of the two second bearing structures are connected or arranged at intervals in the second direction.

[0025] In some possible implementations, the second bearing structure further comprises a third bearing plate, the third bearing plate is located on a side of the second bearing plate away from the center of the bottom plate and is detachably connected with the bottom plate, a top side of the third bearing plate is higher than a top side of the second bearing plate, and the top side of the third bearing plate forms part of the second bearing surface of the second bearing structure.

[0026] In some possible implementations, the second bearing structure further comprises a third anti-skid sleeve, the third anti-skid sleeve is sleeved on the top side of the third bearing plate, and a top surface of the third anti-skid sleeve is the second bearing surface.

[0027] In some possible implementations, a side surface of the third bearing plate facing the second bearing plate is a second limiting surface.

[0028] In some possible implementations, the bearing device further comprises at least two first limiting members connected to the bottom plate, the at least two first limiting members are oppositely arranged on two sides of the two first bearing structures; each first limiting member is provided with a fourth limiting surface on a side facing the first bearing structure, for limiting a container on the highest first bearing surface in the plural first bearing surfaces in the first direction.

[0029] In some possible implementation manners, the first limiting member is further provided with a first guide surface, which is arranged on a side of the fourth limiting surface away from the bottom plate; the first guide surface extends in a direction vertically upward and away from the fourth limiting surface.

[0030] In some possible implementation manners, the bearing device further comprises at least two second limiting members connected to the bottom plate, which are arranged on two sides of the two second bearing structures respectively; each of the second limiting members is provided with a fifth limiting surface on a side thereof facing the second bearing structure, for limiting the container on the highest second bearing surface in the second direction.

[0031] In some possible implementation manners, the second limiting member is further provided with a second guide surface, which is arranged on a side of the fifth limiting surface away from the bottom plate; the second guide surface extends in a direction vertically upward and away from the fifth limiting surface.

[0032] In the second aspect, the embodiments of the present disclosure provide a carrying robot, which comprises a body and the bearing device as any one of the above.

[0033] The carrying robot of the embodiments of the present disclosure has the advantages of the bearing device as any one of the above, and the embodiments of the present disclosure will not be repeated here.

[0034] In some possible implementation manners, the top side of the body is provided with a lifting mechanism; the bottom plate comprises a first sub-bottom plate and a second sub-bottom plate arranged separately, the first sub-bottom plate is connected with the lifting mechanism, and the second sub-bottom plate is connected with the top side of the body; the two first bearing structures are arranged on the first sub-bottom plate, the first part of the two second bearing structures is arranged on the first sub-bottom plate, and the second part of the two second bearing structures is arranged on the second sub-bottom plate.

[0035] In the third aspect, the embodiments of the present disclosure provide a warehouse system, which comprises the carrying robot as any one of the above.

[0036] The warehouse system of the embodiments of the present disclosure has the advantages of the carrying robot as any one of the above, and the embodiments of the present disclosure will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0038] Fig. 1 is a perspective structural schematic view of a carrying robot provided by an embodiment of the present disclosure;

[0039] Fig. 2 is a perspective structural schematic view of a carrying device in Fig. 1;

[0040] Fig. 3 is a schematic view of the carrying device in Fig. 2 carrying a first-specification container;

[0041] Fig. 4 is a schematic view of the carrying device in Fig. 2 carrying a second-specification container;

[0042] Fig. 5 is a schematic view of the carrying device in Fig. 2 carrying a third-specification container;

[0043] Fig. 6 is a schematic view of the carrying device in Fig. 2 carrying a fourth-specification container;

[0044] Fig. 7 is a schematic view of the carrying device in Fig. 2 carrying a fifth-specification container;

[0045] Fig. 8 is a schematic view of the carrying device in Fig. 2 carrying a sixth-specification container;

[0046] Fig. 9 is a height schematic view of a first carrying surface and a second carrying surface in the carrying device of an embodiment of the present disclosure;

[0047] Fig. 10 is a perspective structural schematic view of a carrying device in some possible implementation manners of the present disclosure.

[0048] Reference signs:

[0049] 001 - body;

[0050] 010 - roller;

[0051] 002 - carrying device;

[0052] 100 - bottom plate;

[0053] 110 - first sub-bottom plate; 120 - second sub-bottom plate;

[0054] 200 - first carrying structure;

[0055] 210 - first carrying surface; 220 - first limiting surface;

[0056] 230 - third limiting surface; 240 - first carrying plate;

[0057] 241 - support plate; 242 - bending part;

[0058] 243 - second connecting part; 244 - first lightening hole;

[0059] 250 - first reinforcing plate; 260 - first anti-skid sleeve;

[0060] 300 - second bearing structure;

[0061] 310 - second bearing surface; 320 - second limiting surface;

[0062] 330 - second bearing plate; 331 - bearing recess;

[0063] 332 - third connecting part; 333 - second lightening hole;

[0064] 340 - third bearing plate; 341 - fourth connecting part;

[0065] 342 - third lightening hole; 350 - second anti-skid sleeve;

[0066] 360 - third anti-skid sleeve;

[0067] 400 - first limiting member;

[0068] 410 - fourth limiting surface; 420 - first guide surface;

[0069] 430 - first limiting plate; 431 - fifth connecting part;

[0070] 440 - first guide plate; 450 - second reinforcing plate;

[0071] 460 - third reinforcing plate;

[0072] 500 - second limiting member;

[0073] 510 - fifth limiting surface; 520 - second guide surface. DETAILED DESCRIPTION

[0074] As described in the background, the carrying device of the carrying robot in the related art can only carry a single specification of the box, resulting in the technical problem that the carrying robot has a small applicable range. The inventor found that the reason is that the carrying device in the related art is usually provided with a horizontal carrying plate and a baffle surrounding the carrying plate, and the baffle and the carrying plate surround a carrying space for carrying the box. The carrying space can only stably carry a box of a specific specification matching the size thereof. When a box of another specification, for example, a box larger than the specific specification, is placed on the carrying device, the box will shake and deflect greatly, and a large positional deviation will occur in the carrying process of the carrying robot, thereby reducing the success rate of taking and placing the box and resulting in a small applicable range of the carrying robot.

[0075] Therefore, the present disclosure provides a carrying device, a carrying robot and a warehouse system. Two first carrying structures and two second carrying structures are arranged on the bottom plate. The two first carrying structures are arranged in a first direction and opposite to each other. The first carrying structure is provided with a plurality of first carrying surfaces. The plurality of first carrying surfaces are arranged in the first direction in sequence. The heights of the plurality of first carrying surfaces decrease in a first stepped direction in sequence. The two second carrying structures are arranged in the first direction between the two first carrying structures and opposite to each other in a second direction perpendicular to the first direction. The second carrying structure is provided with a plurality of second carrying surfaces. The plurality of second carrying surfaces are arranged in the second direction in sequence. The heights of the plurality of second carrying surfaces decrease in a second stepped direction in sequence. At least one first carrying surface in one first carrying structure can correspond to at least one first carrying surface in another first carrying structure to form a first carrying space. The plurality of first carrying surfaces in the two first carrying structures can form a plurality of first carrying spaces. At least one second carrying surface in one second carrying structure can correspond to at least one second carrying surface in another second carrying structure to form a second carrying space. The plurality of second carrying surfaces in the two second carrying structures can form a plurality of second carrying spaces. The plurality of first carrying spaces and the plurality of second carrying spaces can be used to stably carry boxes of different specifications, thereby increasing the number of specifications of the boxes that can be carried by the carrying device, so that the carrying robot provided with the carrying device can carry boxes of different specifications, and the applicable range of the carrying robot is improved.

[0076] In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present disclosure.

[0077] The warehouse system can comprise a carrying robot. The carrying robot can be used to carry the containers and other objects, so as to improve the carrying efficiency.

[0078] Referring to FIG. 1, the carrying robot can comprise a body 001 and a carrying device 002, which can be mounted on the body 001. The carrying device 002 can be used to carry the containers. Exemplarily, the body 001 can have a moving function. As shown in FIG. 1, the bottom of the body 001 can be provided with a plurality of rollers 010. The body 001 can further be provided with a driving mechanism (not shown in the drawings), which can be in driving connection with the rollers 010 to drive the rollers 010 to roll on the ground, so that the body 001 can move, thereby driving the carrying device 002 and the containers and other objects to move, so as to realize the carrying function of the carrying robot.

[0079] Referring to FIG. 2, it is a structural schematic view of the carrying device 002 in some possible implementation manners of the present disclosure. As shown in FIG. 2, the carrying device 002 can comprise a bottom plate 100, and two first carrying structures 200 and two second carrying structures 300 connected to the bottom plate 100.

[0080] Referring to FIGS. 1 and 2, the carrying robot of the present disclosure can be provided with a lifting mechanism on the top side of the body 001. The bottom plate 100 can comprise a first sub-bottom plate 110 and a second sub-bottom plate 120, which are provided separately. The first sub-bottom plate 110 can be connected with the lifting mechanism, and the second sub-bottom plate 120 can be connected with the top side of the body 001. The two first carrying structures 200 can be arranged on the first sub-bottom plate 110, and the first parts of the two second carrying structures 300 can be arranged on the first sub-bottom plate 110, and the second parts of the two second carrying structures 300 can be arranged on the second sub-bottom plate 120. When the lifting mechanism is lifted, the first sub-bottom plate 110, the two first carrying structures 200 and the first parts of the two second carrying structures 300 can be lifted, and the height of the second parts of the two second carrying structures 300 can remain unchanged. In this way, the carrying robot can be conveniently connected with other equipment in the warehouse system, and the convenience in transferring the containers can be improved.

[0081] The two first bearing structures 200 can be spaced apart and opposite in the first direction. The first bearing structure 200 can be provided with a plurality of first bearing surfaces 210 for bearing the containers. The plurality of first bearing surfaces 210 can be arranged in sequence in the first direction and decrease in height along the first stepped direction in sequence. The two second bearing structures 300 can be located between the two first bearing structures 200 in the first direction. The two second bearing structures 300 can be opposite in a second direction intersecting the first direction. The second bearing structure 300 can be provided with a plurality of second bearing surfaces 310 for bearing the containers. The plurality of second bearing surfaces 310 can be arranged in sequence in the second direction and decrease in height along the second stepped direction in sequence.

[0082] It should be noted that the first direction can refer to the width direction of the bearing device 002, for example, the direction x shown in FIG. 2. The second direction can intersect the first direction and can refer to the length direction of the bearing device 002, for example, the direction y shown in FIG. 2. For the sake of clear description of the technical solutions of the embodiments of the present disclosure, the first direction is referred to as the first direction x and the second direction is referred to as the second direction y.

[0083] The first stepped direction can be the direction in which the first bearing structure 200 on which the plurality of first bearing surfaces 210 are located points to another first bearing structure 200. For example, as shown in FIG. 2, for the plurality of first bearing surfaces 210 located on the left first bearing structure 200, the first stepped direction can be the direction in which the left first bearing structure 200 points to the right first bearing structure 200, and the first stepped direction can be in the same direction as the first direction x. For the plurality of first bearing surfaces 210 located on the right first bearing structure 200, the first stepped direction can be the direction in which the right first bearing structure 200 points to the left first bearing structure 200, and the first stepped direction can be in the opposite direction of the first direction x.

[0084] The second stepped direction can be the direction in which the second bearing structure 300 on which the plurality of second bearing surfaces 310 are located points to another second bearing structure 300. For example, as shown in FIG. 2, for the plurality of second bearing surfaces 310 located on the left second bearing structure 300, the second stepped direction can be the direction in which the left second bearing structure 300 points to the right second bearing structure 300, and the second stepped direction can be in the same direction as the second direction y. For the plurality of second bearing surfaces 310 located on the right second bearing structure 300, the second stepped direction can be the direction in which the right second bearing structure 300 points to the left second bearing structure 300, and the second stepped direction can be in the opposite direction of the second direction y.

[0085] The bearing device 002 of the embodiments of the present disclosure is provided with two first bearing structures 200 and two second bearing structures 300. The two first bearing structures 200 can be arranged in a first direction x. The first bearing structure 200 can be provided with a plurality of first bearing surfaces 210, and the heights of the plurality of first bearing surfaces 210 can decrease in a first step direction. The two second bearing structures 300 can be arranged between the two first bearing structures 200 in the first direction x and can be arranged opposite to each other in a second direction y. The second bearing structure 300 can be provided with a plurality of second bearing surfaces 310, and the plurality of second bearing surfaces 310 can be arranged in the second direction y. The heights of the plurality of second bearing surfaces 310 can decrease in a second step direction.

[0086] At least one first bearing surface 210 in one first bearing structure 200 can correspond to at least one first bearing surface 210 in another first bearing structure 200 to form a first bearing space. The plurality of first bearing surfaces 210 in the two first bearing structures 200 can form a plurality of first bearing spaces. At least one second bearing surface 310 in one second bearing structure 300 can correspond to at least one second bearing surface 310 in another second bearing structure 300 to form a second bearing space. The plurality of second bearing surfaces 310 in the two second bearing structures 300 can form a plurality of second bearing spaces. The plurality of first bearing spaces and the plurality of second bearing spaces can be used to stabilize bearing of different specifications of cases, thereby increasing the number of specifications of cases that can be borne by the bearing device 002, so that the carrying robot provided with the bearing device 002 can carry cases of different specifications, and the application range of the carrying robot is improved.

[0087] It should be noted that the plurality of first bearing surfaces 210 in one first bearing structure 200 can correspond to the plurality of first bearing surfaces 210 in another first bearing structure 200 to form a first bearing space. Alternatively, the plurality of first bearing surfaces 210 in one first bearing structure 200 can correspond to one first bearing surface 210 in another first bearing structure 200 to form a first bearing space. Alternatively, one first bearing surface 210 in one first bearing structure 200 can correspond to the plurality of first bearing surfaces 210 in another first bearing structure 200 to form a first bearing space. Alternatively, one first bearing surface 210 in one first bearing structure 200 can correspond to one first bearing surface 210 in another first bearing structure 200 to form a first bearing space.

[0088] The second bearing surfaces 310 in one second bearing structure 300 can correspond to the second bearing surfaces 310 in another second bearing structure 300 to form a second bearing space. Alternatively, the second bearing surfaces 310 in one second bearing structure 300 can correspond to one second bearing surface 310 in another second bearing structure 300 to form a second bearing space. Alternatively, one second bearing surface 310 in one second bearing structure 300 can correspond to the second bearing surfaces 310 in another second bearing structure 300 to form a second bearing space. Alternatively, one second bearing surface 310 in one second bearing structure 300 can correspond to one second bearing surface 310 in another second bearing structure 300 to form a second bearing space.

[0089] When one first bearing surface 210 in one first bearing structure 200 corresponds to one first bearing surface 210 in another first bearing structure 200 to form a first bearing space, the heights of the two first bearing surfaces 210 forming the first bearing space can be the same or different.

[0090] When one second bearing surface 310 in one second bearing structure 300 corresponds to one second bearing surface 310 in another second bearing structure 300 to form a second bearing space, the heights of the two second bearing surfaces 310 forming the second bearing space can be the same or different.

[0091] The following describes the technical solutions of the present disclosure with reference to the example in which one first bearing surface 210 in one first bearing structure 200 corresponds to one first bearing surface 210 in another first bearing structure 200 to form a first bearing space, and the heights of the two first bearing surfaces 210 forming the first bearing space are the same; one second bearing surface 310 in one second bearing structure 300 corresponds to one second bearing surface 310 in another second bearing structure 300 to form a second bearing space, and the heights of the two second bearing surfaces 310 forming the second bearing space are the same. For other technical solutions in which at least one first bearing surface 210 in one first bearing structure 200 corresponds to at least one first bearing surface 210 in another first bearing structure 200 to form a first bearing space, and technical solutions in which at least one second bearing surface 310 in one second bearing structure 300 corresponds to at least one second bearing surface 310 in another second bearing structure 300, reference can be made to the following description, and the present disclosure will not repeat the description here.

[0092] In the vertical upward direction, the serial numbers of the plurality of first bearing surfaces 210 can be 1-m, and m can be a natural number greater than or equal to 2. As shown in FIG. 3, m can be 3. That is, in the first bearing structure 200, the number of first bearing surfaces 210 can be three. In the vertical upward direction z, the three first bearing surfaces 210 can be a first first bearing surface 210, a second first bearing surface 210, and a third first bearing surface 210 in sequence. The first first bearing surface 210 of the left first bearing structure 200 and the first first bearing surface 210 of the right first bearing structure 200 can be located at the same height to form a first bearing space. The first bearing space can be used to stably bear a box A with a first specification.

[0093] As shown in FIG. 4, the second first bearing surface 210 of the left first bearing structure 200 and the second first bearing surface 210 of the right first bearing structure 200 can be located at the same height to form another first bearing space. The first bearing space can be used to stably bear a box B with a second specification. The first bearing space formed by the two first first bearing surfaces 210 and the first bearing space formed by the two second first bearing surfaces 210 can be used to bear boxes with different specifications, increasing the number of specifications of the boxes that can be borne by the bearing device 002, so that the carrying robot equipped with the bearing device 002 can carry boxes with different specifications, and the application range of the carrying robot is improved.

[0094] As shown in FIG. 5, the third first bearing surface 210 of the left first bearing structure 200 and the third first bearing surface 210 of the right first bearing structure 200 can be located at the same height to form another first bearing space. The first bearing space can be used to stably bear a box C with a third specification. The first bearing space formed by the two first first bearing surfaces 210, the first bearing space formed by the two second first bearing surfaces 210, and the first bearing space formed by the two third first bearing surfaces 210 can be used to bear boxes with different specifications, increasing the number of specifications of the boxes that can be borne by the bearing device 002, so that the carrying robot equipped with the bearing device 002 can carry boxes with different specifications, and the application range of the carrying robot is improved.

[0095] In the vertical upward direction, the serial numbers of the plurality of second bearing surfaces 310 can be 1-n, and n can be a natural number greater than or equal to 2. As shown in FIG. 6, n can be 3. That is, in the second bearing structure 300, the number of second bearing surfaces 310 can be three. In the vertical upward direction z, the three second bearing surfaces 310 can be a first second bearing surface 310, a second second bearing surface 310, and a third second bearing surface 310 in sequence. The first second bearing surface 310 of the left second bearing structure 300 and the first second bearing surface 310 of the right second bearing structure 300 can be located at the same height to form a second bearing space. The second bearing space can be used to stably bear a container D with a fourth specification.

[0096] As shown in FIG. 7, the second second bearing surface 310 of the left second bearing structure 300 and the second second bearing surface 310 of the right second bearing structure 300 can be located at the same height to form another second bearing space. The second bearing space can be used to stably bear a container E with a fifth specification. The second bearing space formed by the two first second bearing surfaces 310 and the second bearing space formed by the two second second bearing surfaces 310 can be used to bear containers of different specifications, increasing the number of specifications of containers that can be borne by the bearing device 002, so that the carrying robot equipped with the bearing device 002 can carry containers of different specifications, and the application range of the carrying robot is improved.

[0097] As shown in FIG. 8, the third second bearing surface 310 of the left second bearing structure 300 and the third second bearing surface 310 of the right second bearing structure 300 can be located at the same height to form another second bearing space. The second bearing space can be used to stably bear a container F with a sixth specification. The second bearing space formed by the two first second bearing surfaces 310, the second bearing space formed by the two second second bearing surfaces 310, and the second bearing space formed by the two third second bearing surfaces 310 can be used to bear containers of different specifications, increasing the number of specifications of containers that can be borne by the bearing device 002, so that the carrying robot equipped with the bearing device 002 can carry containers of different specifications, and the application range of the carrying robot is improved.

[0098] Referring to FIG. 2, the first bearing structure 200 of the embodiment of the present disclosure can further include a first limiting surface 220 corresponding to the first bearing surface 210. The height of the first limiting surface 220 can be higher than the height of the corresponding first bearing surface 210. In the first stepped direction, the first limiting surface 220 can be located at the rear side of the corresponding first bearing surface 210. The first limiting surface 220 can be used to limit the position of the container on the corresponding first bearing surface 210 in the first direction x. In this way, the container can be prevented from shaking and deviating in the first direction x as much as possible, which is conducive to improving the position accuracy of the container during the carrying process and improving the success rate of taking and placing the container.

[0099] It should be noted that in the first bearing structure 200, at least part of the first bearing surface 210 can have a corresponding first limiting surface 220. For example, in the first bearing structure 200, all first bearing surfaces 210 can have a corresponding first limiting surface 220. Alternatively, in the first bearing structure 200, part of the first bearing surface 210 can have a corresponding first limiting surface 220. For example, as shown in FIG. 2, taking the left first bearing structure 200 as an example, the first bearing surface 210 and the second bearing surface 210 each have a corresponding first limiting surface 220.

[0100] In the corresponding first bearing surface 210 and the first limiting surface 220, the height of the first limiting surface 220 can be higher than the height of the first bearing surface 210. In the first stepped direction, the first limiting surface 220 can be located at the rear side of the first bearing surface 210. When the container is placed on the first bearing surface 210, the first limiting surface 220 corresponding to the first bearing surface 210 can limit the position of the container in the first direction x, so as to prevent the container from shaking and deviating in the first direction x as much as possible.

[0101] As shown in FIG. 2, the second bearing structure 300 of the embodiment of the present disclosure can include a second limiting surface 320 corresponding to the second bearing surface 310, and the height of the second limiting surface 320 can be higher than the height of the corresponding second bearing surface 310. In the second stepped direction, the second limiting surface 320 can be located at the rear side of the corresponding second bearing surface 310. The second limiting surface 320 can be used to limit the position of the container on the corresponding second bearing surface 310 in the second direction y. In this way, the container can be prevented from shaking and deviating in the second direction y as much as possible, which is conducive to improving the position accuracy of the container during the carrying process and improving the success rate of taking and placing the container.

[0102] It should be noted that in the second bearing structure 300, at least part of the second bearing surfaces 310 can have a corresponding second limiting surface 320. For example, in the second bearing structure 300, all of the second bearing surfaces 310 can have a corresponding second limiting surface 320. Alternatively, in the second bearing structure 300, part of the second bearing surfaces 310 can have a corresponding second limiting surface 320. For example, as shown in FIG. 2, the right second bearing structure 300 is taken as an example, the first second bearing surface 310 and the second second bearing surface 310 each have a corresponding second limiting surface 320.

[0103] In the corresponding second bearing surface 310 and the second limiting surface 320, the height of the second limiting surface 320 can be higher than the height of the second bearing surface 310. In the second step direction, the second limiting surface 320 can be located at the rear side of the second bearing surface 310. When the container is placed on the second bearing surface 310, the second limiting surface 320 corresponding to the second bearing surface 310 can limit the container in the second direction y to prevent the container from shaking and deviating in the second direction y as much as possible.

[0104] In some possible implementation manners of the embodiments of the present disclosure, the heights of the plurality of first bearing surfaces 210 in the first bearing structure 200 and the heights of the plurality of second bearing surfaces 310 in the second bearing structure 300 can all be different. In this way, the heights of the plurality of first bearing spaces and the plurality of second bearing spaces formed in the bearing device 002 can all be different, so that the bearing device 002 can stably bear more containers of different specifications, which is beneficial to increase the number of specifications of the containers that can be borne, so that the carrying robot equipped with the bearing device 002 can carry more containers of different specifications, and the application range of the carrying robot is improved.

[0105] In some possible implementation manners of the present disclosure, at least part of the first bearing surfaces 210 in the first bearing structure 200 can be arranged in correspondence with at least part of the second bearing surfaces 310 in the second bearing structure 300. The heights of the at least part of the corresponding first bearing surfaces 210 and second bearing surfaces 310 can be the same. By setting the heights of the corresponding first bearing surfaces 210 and second bearing surfaces 310 to be the same, the first bearing space formed by the first bearing surface 210 and the second bearing space formed by the second bearing surface 310 can have the same height, so that the at least part of the cargo boxes of different specifications can be placed on the first bearing surface 210 and the second bearing surface 310 at the same height at the same time, and be simultaneously borne by the first bearing surface 210 and the second bearing surface 310, thereby increasing the contact area between the bearing device 002 and the at least part of the cargo boxes of different specifications, and improving the bearing stability of the at least part of the cargo boxes of different specifications. In addition, the first limiting surface 220 corresponding to the first bearing surface 210 and the second limiting surface 320 corresponding to the second bearing surface 310 can simultaneously limit the cargo box, thereby improving the bearing stability of the cargo box.

[0106] For example, the height of the first second bearing surface 310 can be less than the height of the first first bearing surface 210. The first bearing space formed by the first first bearing surface 210 and the second bearing space formed by the first second bearing surface 310 have different heights, so that the cargo boxes of different specifications can be stably borne, which is beneficial to increase the number of specifications of the cargo boxes, so that the carrying robot provided with the bearing device 002 can carry more cargo boxes of different specifications, thereby improving the application range of the carrying robot.

[0107] The height of the i-th second bearing surface 310 can be the same as the height of the (i-1)-th first bearing surface 210. Wherein, i can be a natural number greater than or equal to 2 and less than or equal to n. The height of the i-th second bearing surface 310 is the same as the height of the (i-1)-th first bearing surface 210, so that the first bearing space formed by the (i-1)-th first bearing surface 210 and the second bearing space formed by the i-th second bearing surface 310 have the same height, thereby enabling the cargo boxes of different specifications to be placed on the first bearing surface 210 and the second bearing surface 310 at the same height at the same time, and be simultaneously borne by the first bearing surface 210 and the second bearing surface 310, thereby increasing the contact area between the bearing device 002 and the cargo boxes of different specifications, and improving the bearing stability of the cargo boxes of different specifications.

[0108] Referring to FIG. 9, taking m as 3 and n as 3 as an example, i can be 1, 2 or 3. When i is 1, the height of the first second bearing surface 310 is H1, and the height of the first first bearing surface 210 is H2, H1 is less than H2. Referring to FIG. 6, the first second bearing surface 310 of the two second bearing structures 300 can form a second bearing space. The fourth specification box D can be placed in the second bearing space to be stably carried by the second bearing space. Referring to FIG. 3, the first first bearing surface 210 of the two first bearing structures 200 can form a first bearing space. The first specification box A can be placed in the first bearing space to be stably carried by the first bearing space. The heights of the first bearing space and the second bearing space are different, which can stably carry the fourth specification box D and the first specification box A respectively, thereby increasing the number of specifications of the box, so that the carrying robot equipped with the bearing device 002 can carry more boxes of different specifications, and the application range of the carrying robot is improved.

[0109] When i is 2, the height of the second second bearing surface 310 is H2, which is the same as the height of the first first bearing surface 210. Referring to FIG. 7, the second second bearing surface 310 of the two second bearing structures 300 can form a second bearing space. The first first bearing surface 210 of the two first bearing structures 200 can form a first bearing space. The fifth specification box E can be placed in the first bearing space and the second bearing space at the same time to be carried by the first bearing space and the second bearing space at the same time, thereby increasing the contact area between the bearing device 002 and the fifth specification box E, and improving the carrying stability of the fifth specification box E. In addition, the first limiting surface 220 corresponding to the first first bearing surface 210 and the second limiting surface 320 corresponding to the second second bearing surface 310 can simultaneously limit the fifth specification box E, thereby improving the carrying stability of the box.

[0110] When i is 3, the height of the third second bearing surface 310 is H3, which is the same as the height of the second first bearing surface 210. Referring to FIG. 8, the third second bearing surface 310 of the two second bearing structures 300 can form a second bearing space. The second first bearing surface 210 of the two first bearing structures 200 can form a first bearing space. The sixth specification box F can be placed in the first bearing space and the second bearing space at the same time to be carried by the first bearing space and the second bearing space at the same time, thereby increasing the contact area between the bearing device 002 and the sixth specification box F, and improving the carrying stability of the sixth specification box F. In addition, the first limiting surface 220 corresponding to the second first bearing surface 210 can limit the sixth specification box F, thereby improving the carrying stability of the box.

[0111] It can be understood that m, n and i can also be other values, and the embodiments of the present disclosure will not be repeated here.

[0112] Referring to FIGS. 2 and 6, the first bearing structure 200 can further be provided with a third limiting surface 230. The third limiting surface 230 can be located at the end of the first bearing structure 200 in the first stepped direction, and the third limiting surface 230 is used to limit the position of the box on the first second bearing surface 310 in the first direction x. In this way, the sliding and deviation of the box placed on the first second bearing surface 310 in the first direction x can be prevented as much as possible, which is beneficial to improve the position accuracy of the box during the carrying process and improve the success rate of taking and placing the box.

[0113] The number of the first bearing structure 200 can be two, and the two first bearing structures 200 can be spaced apart and oppositely arranged in the first direction x.

[0114] In some possible implementations of the embodiments of the present disclosure, the first bearing structure 200 can be a first block structure. The first block structure can be connected to the bottom plate 100. The plurality of first bearing surfaces 210 can be arranged on the side of the first block structure away from the bottom plate 100.

[0115] In another possible implementation of the embodiments of the present disclosure, referring to FIG. 2, the first bearing structure 200 can include a plurality of first bearing plates 240 arranged in the vertical direction. The bottom side of the first bearing plate 240 can be connected to the bottom plate 100, and the top side of the first bearing plate 240 can form the first bearing surface 210. For example, the top side of the first bearing plate 240 is the first bearing surface 210, and the top side of the first bearing plate 240 is used to bear the box. Compared with the first block structure, the plurality of first bearing plates 240 have smaller weight, which is beneficial to reduce the weight of the bearing device 002, thereby prolonging the endurance time of the carrying robot.

[0116] For example, the bottom side of each first bearing plate 240 can be provided with a first connecting portion, and the first connecting portion can be welded to the bottom plate 100, or the first connecting portion can be connected to the bottom plate 100 by means of bolts, rivets or other fasteners.

[0117] For example, among the plurality of first bearing plates 240, the bottom side of part of the first bearing plates 240 can be directly connected to the bottom plate 100, and the bottom side of another part of the first bearing plates 240 can be indirectly connected to the bottom plate 100.

[0118] For example, as shown in FIG. 2, one of the plurality of first bearing plates 240 can be a support plate 241, and the bottom side of the support plate 241 can be fixed to the bottom plate 100. The bottom side of the remaining first bearing plates 240 can be provided with a bent portion 242 facing the support plate 241, and the bent portion 242 can be connected to the support plate 241. The bottom side of the support plate 241 can be directly connected to the bottom plate 100. The remaining first bearing plates 240 can be connected to the support plate 241 through the bent portion 242 at the bottom thereof, so as to be indirectly connected to the bottom plate 100. Compared with the plurality of first bearing plates 240 being directly connected to the bottom plate 100, the connection area between the plurality of first bearing plates 240 and the bottom plate 100 can be reduced, so that more space above the bottom plate 100 can be reserved to accommodate the cargo box or other components, and the space utilization above the bottom plate 100 is improved.

[0119] The remaining first bearing plates 240 can be welded with the support plate 241, or connected through fasteners such as bolts, rivets, etc. Alternatively, the remaining first bearing plates 240 and the support plate 241 can also be an integral structure, so that the remaining first bearing plates 240 and the support plate 241 can be processed by integral molding such as casting, extrusion, etc., which reduces the processing difficulty and assembly difficulty of the first bearing structure 200, and improves the connection strength between the remaining first bearing plates 240 and the support plate 241.

[0120] As shown in FIG. 2, the bottom side of the support plate 241 can be provided with a second connecting portion 243, and the second connecting portion 243 can be fixed to the bottom plate 100. For example, the second connecting portion 243 can be a first plate-shaped structure, and the first plate-shaped structure can be parallel to the bottom plate 100. The first plate-shaped structure can be connected to the bottom plate 100 through fasteners such as bolts, rivets, etc. The first plate-shaped structure and the bottom plate 100 can have a large contact area, so as to improve the connection stability between the support plate 241 and the bottom plate 100.

[0121] The first bearing structure 200 can further include at least one first reinforcing plate 250. The first reinforcing plate 250 can connect the support plate 241, the second connecting portion 243, and / or the bottom plate 100. The first reinforcing plate 250 can improve the connection strength between the support plate 241, the second connecting portion 243, and / or the bottom plate 100, so as to improve the structural reliability of the bearing device 002.

[0122] In some possible implementations of the embodiments of the present disclosure, the first reinforcing plate 250 can also connect the bent portion 242 and the support plate 241. The first reinforcing plate 250 can improve the connection strength between the bent portion 242 and the support plate 241, and the structural strength of the bent portion 242, so as to improve the structural reliability of the bearing device 002.

[0123] The support plate 241 can also be provided with at least one first weight-reducing hole 244. By providing the first weight-reducing hole 244, the weight of the support plate 241 can be reduced, which is conducive to reducing the weight of the carrying device 002, thereby prolonging the endurance time of the carrying robot.

[0124] As shown in FIG. 2, the side of the first carrying plate 240 facing the other first carrying structure 200 can be the first limiting face 220 or the third limiting face 230. In this way, by providing the first carrying plate 240, the first carrying face 210 and the first limiting face 220 can be formed at the same time, or the first carrying face 210 and the third limiting face 230 can be formed at the same time, which simplifies the mechanical structure of the carrying device 002 and is conducive to reducing the processing difficulty and assembly difficulty of the carrying device 002.

[0125] Two second carrying structures 300 can be arranged between the two first carrying structures 200, and the two second carrying structures 300 can be arranged opposite to each other in the second direction y.

[0126] In some possible implementation manners of the embodiments of the present disclosure, the second carrying structure 300 can be a second block structure. The second block structure can be connected to the bottom plate 100. A plurality of second carrying faces 310 can be arranged on the side of the second block structure away from the bottom plate 100.

[0127] In some possible implementation manners of the embodiments of the present disclosure, the second carrying structure 300 can include a second carrying plate 330 arranged in the vertical direction. The second carrying plate 330 can be located between the two first carrying structures 200 in the first direction x and connected to the bottom plate 100. The top side of the second carrying plate 330 can be provided with at least one carrying recess 331, and the carrying recess 331 can be close to the center of the bottom plate 100. The bottom surface of the carrying recess 331 and the top surface of the second carrying plate 330 can form at least part of the second carrying face 310 of the second carrying structure 300. For example, the bottom surface of the carrying recess 331 and the top surface of the second carrying plate 330 are at least part of the second carrying face 310, and the cargo box can be carried on the bottom surface of the carrying recess 331 and the top surface of the second carrying plate 330. Compared with the second block structure, the second carrying plate 330 has a smaller weight, which is conducive to reducing the weight of the carrying device 002, thereby prolonging the endurance time of the carrying robot.

[0128] The side surface in the carrying recess 331 can be the second limiting face 320. In this way, by providing the carrying recess 331, the second carrying face 310 and the second limiting face 320 can be formed at the same time, which simplifies the mechanical structure of the carrying device 002 and is conducive to reducing the processing difficulty and assembly difficulty of the carrying device 002.

[0129] The bottom side of the second bearing plate 330 can be provided with a third connecting portion 332, which can be fixed to the bottom plate 100. Exemplarily, the third connecting portion 332 can be a second plate-shaped structure, which can be parallel to the bottom plate 100. The second plate-shaped structure can be connected to the bottom plate 100 by means of fasteners such as bolts, rivets, etc. The second plate-shaped structure can have a large contact area with the bottom plate 100, thereby improving the connection stability between the second bearing plate 330 and the bottom plate 100.

[0130] The second bearing plate 330 can be provided with at least one second weight-reducing hole 333. By providing the second weight-reducing hole 333, the weight of the second bearing plate 330 can be reduced, which is conducive to reducing the weight of the bearing device 002 and thus prolonging the endurance time of the carrying robot.

[0131] The number of the second bearing plate 330 can be one. Alternatively, the number of the second bearing plate 330 can be multiple, and the multiple second bearing plates 330 can be located between the two first bearing structures 200 in the first direction x and can be spaced apart in the first direction x. In this way, the carrying area between the bearing device 002 and the cargo box can be increased, thereby improving the carrying stability of the cargo box.

[0132] In some possible implementation manners of the embodiments of the present disclosure, the second bearing plates 330 of the two second bearing structures 300 can be spaced apart in the second direction y.

[0133] In another possible implementation manner of the embodiments of the present disclosure, the second bearing plates 330 of the two second bearing structures 300 can also be connected. Compared with being spaced apart in the second direction y, in this way, the structural strength of the two second bearing plates 330 can be improved. In addition, the second bearing plates 330 of the two second bearing structures 300 can be formed by means of the same plate-shaped structure, which simplifies the mechanical structure of the bearing device 002 and reduces the processing difficulty and assembly difficulty of the bearing device 002.

[0134] Referring to FIG. 2, the second bearing structure 300 can further include a third bearing plate 340, which can be located on the side of the second bearing plate 330 away from the center of the bottom plate 100 and can be detachably connected to the bottom plate 100. The top side of the third bearing plate 340 can be higher than the top side of the second bearing plate 330, and the top side of the third bearing plate 340 can form part of the second bearing surface 310 of the second bearing structure 300. For example, the top side of the third bearing plate 340 is part of the second bearing surface 310. Since the third bearing plate 340 is detachably connected to the bottom plate 100, the number of the second bearing surfaces 310 in the second bearing structure 300 can be flexibly adjusted by providing or removing the third bearing plate 340, thereby increasing the application range of the bearing device 002.

[0135] The side of the third bearing plate 340 facing the second bearing plate 330 can be the second limiting surface 320. By providing the third bearing plate 340, the partial second bearing surface 310 and the second limiting surface 320 can be formed at the same time, which simplifies the mechanical structure of the bearing device 002 and reduces the processing difficulty and assembly difficulty of the bearing device 002.

[0136] The bottom side of the third bearing plate 340 can be provided with a fourth connecting portion 341, and the fourth connecting portion 341 can be fixed to the bottom plate 100. For example, the fourth connecting portion 341 can be a third plate structure, and the third plate structure can be parallel to the bottom plate 100. The third plate structure can be connected to the bottom plate 100 by bolts, rivets or other fasteners. The third plate structure and the bottom plate 100 can have a large contact area, thereby improving the connection stability between the third bearing plate 340 and the bottom plate 100.

[0137] The third bearing plate 340 can be provided with at least one third weight-reducing hole 342. By providing the third weight-reducing hole 342, the weight of the third bearing plate 340 can be reduced, which is beneficial to reduce the weight of the bearing device 002, thereby prolonging the endurance time of the carrying robot.

[0138] Referring to FIG. 2, the bearing device 002 further comprises at least two first limiting members 400 connected to the bottom plate 100, and the at least two first limiting members 400 can be oppositely arranged on both sides of the two first bearing structures 200. Each first limiting member 400 can be provided with a fourth limiting surface 410 on the side facing the first bearing structure 200, which is used to limit the position of the box on the highest first bearing surface 210 in the first direction x. In this way, the sliding and deviation of the box placed on the highest first bearing surface 210 in the first direction x can be prevented as much as possible, which is beneficial to improve the position accuracy of the box during carrying and improve the success rate of taking and placing the box.

[0139] The first limiting member 400 can also be provided with a first guide surface 420, and the first guide surface 420 can be arranged on the side of the fourth limiting surface 410 away from the bottom plate 100. The first guide surface 420 can extend in a direction vertically upward and away from the fourth limiting surface 410. The first guide surface 420 can guide the box to be placed on the first bearing surface 210 smoothly.

[0140] Exemplarily, the first limiting member 400 can include a first limiting plate 430 and a first guide plate 440. The first limiting plate 430 can be perpendicular to the bottom plate 100 and parallel to the second direction y, and the bottom side of the first limiting plate 430 is connected to the bottom plate 100. The side of the first limiting plate 430 facing the center of the bottom plate 100 is the fourth limiting surface 410. The first guide plate 440 can be connected to the top side of the first limiting plate 430 and extend away from the center of the bottom plate 100 from the top side of the first limiting plate 430. The side of the first guide plate 440 facing the center of the bottom plate 100 is the first guide surface 420.

[0141] The bottom side of the first limiting plate 430 can be provided with a fifth connecting portion 431. Exemplarily, the fifth connecting portion 431 can be a fourth plate structure, which can be parallel to the bottom plate 100. The fourth plate structure can be connected to the bottom plate 100 by bolts, rivets or other fasteners. The fourth plate structure can have a large contact area with the bottom plate 100, thereby improving the connection stability between the first limiting plate 430 and the bottom plate 100.

[0142] The first limiting member 400 can further include a second reinforcing plate 450, which can be located on the side of the first limiting plate 430 and the first guide plate 440 away from the center of the bottom plate 100, and connected to the first limiting plate 430 and the second guide plate. The second reinforcing plate 450 can improve the connection strength between the first limiting plate 430 and the first guide plate 440, thereby improving the structural strength of the first limiting member 400.

[0143] The first limiting member 400 can further include a third reinforcing plate 460, which can be located on the side of the first limiting plate 430 facing the center of the bottom plate 100, and connected to the first limiting plate 430 and the fifth connecting portion 431. The third reinforcing plate 460 can improve the connection strength between the first limiting plate 430 and the fifth connecting portion 431, thereby improving the structural strength of the first limiting member 400.

[0144] Referring to FIG. 2 and FIG. 8, the carrying device 002 can further include at least two second limiting members 500 connected to the bottom plate 100, which can be arranged on both sides of the two second carrying structures 300. The side of each second limiting member 500 facing the second carrying structure 300 can be provided with a fifth limiting surface 510 for limiting the position of the container on the highest second carrying surface 310 in the second direction y. In this way, the sliding and deviation of the container placed on the highest second carrying surface 310 in the second direction y can be prevented as much as possible, which is beneficial to improve the position accuracy of the container during transportation and improve the success rate of container picking and placing.

[0145] The second limiting piece 500 can further be provided with a second guide surface 520, which can be arranged on the side of the fifth limiting surface 510 away from the bottom plate 100. The second guide surface 520 can extend in a direction vertically upward and away from the fifth limiting surface 510. The second guide surface 520 can guide the container so that the container can be smoothly placed on the second bearing surface 310.

[0146] Exemplarily, the second limiting piece 500 and the third bearing plate 340 can be an integral structure, so that the second limiting piece 500 and the third bearing plate 340 can be processed by integral molding such as casting or extrusion, thereby reducing the processing difficulty and assembly difficulty of the bearing device 002, and improving the connection strength between the second limiting piece 500 and the third bearing plate 340.

[0147] FIG. 10 is a structural schematic diagram of the bearing device 002 provided in some possible implementation manners of the embodiments of the present disclosure. Referring to FIG. 10, the first bearing structure 200 can further include a first anti-skid sleeve 260, which can be sleeved on the top side of the first bearing plate 240, and the top surface of the first anti-skid sleeve 260 is the first bearing surface 210. The top surface of the first anti-skid sleeve 260 can be used to bear the container. By arranging the first anti-skid sleeve 260, the friction between the container and the first bearing surface 210 can be improved, so as to prevent the container from sliding on the first bearing surface 210 as much as possible, thereby improving the position accuracy of the container and the success rate of taking and placing the container.

[0148] The side of the first anti-skid sleeve 260 facing another first bearing structure 200 can be the first limiting surface 220 or the third limiting surface 230. By arranging the first anti-skid sleeve 260, the first bearing surface 210 and the first limiting surface 220 can be formed at the same time, or the first bearing surface 210 and the third limiting surface 230 can be formed at the same time, thereby simplifying the mechanical structure of the bearing device 002 and facilitating the reduction of the processing difficulty and assembly difficulty of the bearing device 002.

[0149] Exemplarily, the material of the first anti-skid sleeve 260 can be rubber, silicone, polyvinyl chloride (PVC), polyurethane (PU), etc. It can be understood that the first anti-skid sleeve 260 can also be a material with anti-skid performance, and the embodiments of the present disclosure will not be repeated here.

[0150] As shown in FIG. 8, the second bearing structure 300 can further include a second anti-skid sleeve 350, which can be sleeved on the top surface of the second bearing plate 330, and the top surface of the second anti-skid sleeve 350 can be the second bearing surface 310. By arranging the second anti-skid sleeve 350, the friction between the container and the second bearing surface 310 can be improved, so as to prevent the container from sliding on the second bearing surface 310 as much as possible, and the position accuracy of the container is improved, thereby improving the success rate of taking and placing the container.

[0151] Exemplarily, the material of the second anti-skid sleeve 350 can be rubber, silica gel, polyvinyl chloride (PVC), polyurethane (PU), etc. It can be understood that the second anti-skid sleeve 350 can also be a material with anti-skid performance, and the embodiments of the present disclosure will not be repeated here.

[0152] As shown in FIG. 10, the second bearing structure 300 can further include a third anti-skid sleeve 360, which can be sleeved on the top side of the third bearing plate 340, and the top surface of the third anti-skid sleeve 360 can be the second bearing surface 310. By arranging the third anti-skid sleeve 360, the friction between the container and the second bearing surface 310 can be improved, so as to prevent the container from sliding on the second bearing surface 310 as much as possible, and the position accuracy of the container is improved, thereby improving the success rate of taking and placing the container.

[0153] Exemplarily, the material of the third anti-skid sleeve 360 can be rubber, silica gel, polyvinyl chloride (PVC), polyurethane (PU), etc. It can be understood that the third anti-skid sleeve 360 can also be a material with anti-skid performance, and the embodiments of the present disclosure will not be repeated here.

[0154] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present disclosure, and not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A load bearing device, characterized by, The application relates to a pallet (100) and two first bearing structures (200) and two second bearing structures (300) connected to the pallet (100), wherein the two second bearing structures (300) are located between the two first bearing structures (200) in a first direction (x). The two first bearing structures (200) are arranged in a spaced and opposite manner in the first direction (x), and each first bearing structure (200) is provided with a plurality of first bearing surfaces (210) for bearing a container, wherein the plurality of first bearing surfaces (210) are arranged in sequence in the first direction (x) and the height of the plurality of first bearing surfaces (210) decreases in sequence along a first step direction, wherein the first step direction is the direction in which the first bearing structure (200) where the plurality of first bearing surfaces (210) are located points to the other first bearing structure (200). The two second bearing structures (300) are arranged in a spaced and opposite manner in a second direction (y) intersecting the first direction (x), and each second bearing structure (300) is provided with a plurality of second bearing surfaces (310) for bearing a container, wherein the plurality of second bearing surfaces (310) are arranged in sequence in the second direction (y) and the height of the plurality of second bearing surfaces (310) decreases in sequence along a second step direction, wherein the second step direction is the direction in which the second bearing structure (300) where the plurality of second bearing surfaces (310) are located points to the other second bearing structure (300).

2. The load bearing device of claim 1, wherein, The first bearing structure comprises a first limiting surface (220) corresponding to the first bearing surface (210), wherein the height of the first limiting surface (220) is higher than that of the corresponding first bearing surface (210), the first limiting surface (220) is located at the rear side of the corresponding first bearing surface (210) in the first step direction, and the first limiting surface (220) is used for limiting the container on the corresponding first bearing surface (210) in the first direction (x).

3. The load bearing device of claim 1, wherein, The second bearing structure comprises a second limiting surface (320) corresponding to the second bearing surface (310), wherein the height of the second limiting surface (320) is higher than that of the corresponding second bearing surface (310), the second limiting surface (320) is located at the rear side of the corresponding second bearing surface (310) in the second step direction, and the second limiting surface (320) is used for limiting the container on the corresponding second bearing surface (310) in the second direction (y).

4. The load bearing device of claim 1, wherein, In a vertically upward direction, the serial numbers of the plurality of first bearing surfaces (210) are 1-m in sequence, and the serial numbers of the plurality of second bearing surfaces (310) are 1-n in sequence. The height of the first second bearing surface (310) is smaller than that of the first first bearing surface (210). The height of the ith second bearing surface (310) is the same as that of the (i-1)th first bearing surface (210). Wherein, m and n are both natural numbers greater than or equal to 2, and i is a natural number greater than or equal to 2 and smaller than or equal to n.

5. The load bearing device of claim 4, wherein, The first bearing structure (200) is further provided with a third limiting surface (230) located at the end of the first bearing structure (200) along the first step direction, and the third limiting surface (230) is used for limiting the case located on the first second bearing surface (310) in the first direction (x).

6. The load bearing device of any of claims 1-5, wherein, The first bearing structure (200) comprises a plurality of first bearing plates (240) arranged vertically, the bottom side of the first bearing plate (240) is connected with the bottom plate (100), and the top side of the first bearing plate (240) forms the first bearing surface (210).

7. The load bearing device of claim 6, wherein, One of the plurality of first bearing plates (240) is a support plate (241), the bottom side of the support plate (241) is fixed on the bottom plate (100); the bottom side of the remaining first bearing plates (240) is provided with a bending part (242) towards the support plate (241), and the bending part (242) is connected with the support plate (241).

8. The load bearing device of claim 7, wherein, The bottom side of the support plate (241) is provided with a second connecting part (243) fixed on the bottom plate (100); The first bearing structure (200) further comprises at least one reinforcing plate (250), and the reinforcing plate (250) is connected with the support plate (241), the second connecting part (243) and / or the bottom plate (100).

9. The load bearing device of claim 6, wherein, The side of the first bearing plate (240) towards another first bearing structure (200) is a first limiting surface (220) or a third limiting surface (230).

10. The load bearing device of claim 6, wherein, The first bearing structure (200) further comprises a first anti-skid sleeve (260), and the first anti-skid sleeve (260) is sleeved on the top side of the first bearing plate (240), and the top surface of the first anti-skid sleeve (260) is the first bearing surface (210).

11. The load bearing device of claim 10, wherein, The side of the first anti-skid sleeve (260) towards another first bearing structure (200) is a first limiting surface (220) or a third limiting surface (230).

12. The load bearing device of any of claims 1-5, wherein, The second bearing structure (300) comprises a second bearing plate (330) arranged vertically, the second bearing plate (330) is located between two first bearing structures (200) in the first direction, and is connected with the bottom plate (100), and the top side of the second bearing plate (330) is provided with at least one bearing recess (331) close to the center of the bottom plate. The bottom surface of the bearing recess (331) and the top surface of the second bearing plate (330) form at least part of the second bearing surface (310) of the second bearing structure (300).

13. The load bearing device of claim 12, wherein, The side surface in the bearing recess (331) is a second limiting surface (320).

14. The load bearing device of claim 12, wherein, The second bearing structure (300) further comprises a second anti-skid sleeve (350), and the second anti-skid sleeve (350) is sleeved on the top surface of the second bearing plate (330), and the top surface of the second anti-skid sleeve (350) is the second bearing surface (310).

15. The load bearing device of claim 12, wherein, The second bearing plate (330) is provided in a plurality of numbers, and the plurality of second bearing plates (330) are arranged between the two first bearing structures (200) in the first direction (x).

16. The load bearing device of claim 12, wherein, The second bearing plates (330) of the two second bearing structures (300) are connected or arranged in the second direction (y).

17. The load bearing device of claim 12, wherein, The second bearing structure (300) further comprises a third bearing plate (340) arranged on the side of the second bearing plate (330) away from the center of the bottom plate (100) and detachably connected with the bottom plate (100), the top side of the third bearing plate (340) is higher than the top side of the second bearing plate (330), and the top side of the third bearing plate (340) forms part of the second bearing surface (310) of the second bearing structure (300).

18. The load bearing device of claim 17, wherein, The second bearing structure (300) further comprises a third anti-skid sleeve (360) sleeved on the top side of the third bearing plate (340), and the top surface of the third anti-skid sleeve (360) is the second bearing surface (310).

19. The load bearing device of claim 17, wherein, The side of the third bearing plate (340) facing the second bearing plate (330) is a second limiting surface (320).

20. The load bearing device of any one of claims 1-5, wherein, The bearing device further comprises at least two first limiting members (400) connected to the bottom plate (100), and the at least two first limiting members (400) are arranged on the two sides of the two first bearing structures (200) in opposition. Each first limiting member (400) is provided with a fourth limiting surface (410) on the side facing the first bearing structure (200) for limiting the height of the container on the highest first bearing surface (210) in the first direction (x).

21. The load bearing device of claim 20, wherein, The first limiting member (400) is further provided with a first guide surface (420) arranged on the side of the fourth limiting surface (410) away from the bottom plate (100); and the first guide surface (420) extends in a direction vertically upward and away from the fourth limiting surface (410).

22. The load bearing device of any one of claims 1-5, wherein, The bearing device further comprises at least two second limiting members (500) connected to the bottom plate (100), and the at least two second limiting members (500) are arranged on the two sides of the two second bearing structures (300) in opposition. Each second limiting member (500) is provided with a fifth limiting surface (510) on the side facing the second bearing structure (300) for limiting the height of the container on the highest second bearing surface (310) in the second direction (y).

23. The load bearing device of claim 22, wherein, The second limiting piece (500) is further provided with a second guide surface (520) arranged on the side of the fifth limiting surface (510) away from the bottom plate (100); the second guide surface (520) extends in a direction vertically upward and away from the fifth limiting surface (510).

24. A transport robot characterized by The carrying device as claimed in any one of claims 1 to 23 is mounted on the machine body.

25. The handling robot of claim 24, wherein, The top side of the machine body is provided with a lifting mechanism. The bottom plate (100) comprises a first sub-bottom plate (110) and a second sub-bottom plate (120) arranged separately; the first sub-bottom plate (110) is connected with the lifting mechanism, and the second sub-bottom plate (120) is connected with the top side of the machine body. The two first carrying structures (200) are arranged on the first sub-bottom plate (110), the first part of the two second carrying structures (300) is arranged on the first sub-bottom plate (110), and the second part of the two second carrying structures (300) is arranged on the second sub-bottom plate (120).

26. A warehousing system characterized by The carrying robot as claimed in claim 24 or 25.

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