Goods storage and retrieval mechanism, goods storage and retrieval apparatus, and warehousing logistics system

Abstract

A goods storage and retrieval mechanism, a goods storage and retrieval apparatus, and a warehousing logistics system, which relate to the field of logistics, and are used to improve the degree of modularity of the goods storage and retrieval mechanism. The goods storage and retrieval mechanism comprises a base (1), two or more mounting assemblies (2), and a goods transfer mechanism (3); the base is configured to provide support; each mounting assembly comprises a vertical plate (21), a first driving assembly (22) and a second driving assembly (23); the vertical plate is mounted on the base and supported by the base; the first driving assembly is mounted on one side of the vertical plate, and the second driving assembly is mounted on the other side of the vertical plate; a first bearing surface of the first driving assembly and a second bearing surface of the second driving assembly are located at different heights and are parallel; the goods transfer mechanism is mounted on the second driving assembly, so as to be driven by the second driving assembly to move linearly; the goods transfer mechanism is configured to be liftable; the first driving assembly is configured to drive goods to move; and the second driving mechanism is configured to drive the goods transfer mechanism to move. The goods storage and retrieval mechanism has a high degree of integration.

Description

Cargo accessing mechanism, cargo accessing device and warehouse logistics system

[0001] Cross-reference to related applications

[0002] The present disclosure is based on and claims priority to the CN application No. 202411362146.0, filed on September 27, 2024, the disclosure of which is hereby incorporated by reference in its entirety into the present disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the field of logistics, in particular to a cargo accessing device and a warehouse logistics system. BACKGROUND

[0004] In an automated warehouse, a cargo accessing mechanism is used to take and place goods on a shelf. In order to improve storage density and reduce the width of the aisle, the goods are closely arranged on the shelf, which makes it difficult for the cargo accessing mechanism to take and place the goods.

[0005] The inventors have found that at least the following problems exist in the related art: In the related art, in order to meet the needs of taking and placing goods, the cargo accessing mechanism adopts a structure in which a hook cooperates with a conveyor belt. This type of cargo accessing mechanism has a complex structure, many components, and is difficult to control. SUMMARY

[0006] The present disclosure provides a cargo accessing mechanism, a cargo accessing device and a warehouse logistics system to reduce the manufacturing and installation difficulty of the cargo accessing mechanism.

[0007] Some embodiments of the present disclosure provide a cargo accessing mechanism, comprising:

[0008] a base configured to provide support;

[0009] two or more mounting assemblies, each of which comprises a vertical plate, a first driving assembly and a second driving assembly; the vertical plate is mounted to and supported by the base; the first driving assembly is mounted to one side of the vertical plate, and the second driving assembly is mounted to the other side of the vertical plate; a first bearing surface of the first driving assembly and a second bearing surface of the second driving assembly are located at different heights and are parallel; and

[0010] a cargo moving mechanism mounted to the second driving assembly to move linearly under the drive of the second driving assembly; the cargo moving mechanism is configured to be liftable;

[0011] The first driving assembly is configured to drive the goods to move; and the second driving assembly is configured to drive the goods moving mechanism to move, so as to move the goods from an external storage position to the first driving assembly, or push the goods on the first driving assembly into the external storage position.

[0012] In some embodiments, the first driving assembly comprises:

[0013] A first motor is installed on the vertical plate.

[0014] A first driving wheel is drivingly connected with an output shaft of the first motor, and the first driving wheel is installed on the vertical plate.

[0015] A first mounting base is fixedly connected with a housing of the first motor.

[0016] A first pulley is rotatably installed on one end of the vertical plate.

[0017] A second pulley is rotatably installed on the other end of the vertical plate.

[0018] A first tension pulley is rotatably installed on the first mounting base, and the installation position of the first tension pulley on the first mounting base is adjustable.

[0019] A first belt is engaged with the first driving wheel, and the first belt is wound outside the first driving wheel, the first pulley, the second pulley and the first tension pulley.

[0020] In some embodiments, the first mounting base is provided with a first long circular hole, and the first driving assembly further comprises:

[0021] A first fixing member is fixedly installed on the first mounting base.

[0022] At least one first connecting member is installed on the first fixing member, and the first connecting member is rotatably installed on the first fixing member.

[0023] A second mounting base is installed on the first connecting member, and the position of the second mounting base relative to the first fixing member is changed through the first connecting member.

[0024] A second connecting member passes through the first long circular hole, and the second connecting member fixedly connects the first tension pulley and the second mounting base.

[0025] In some embodiments, there is a first gap between the first mounting base and the vertical plate, the first driving wheel and the first tension pulley are located in the first gap, and the first motor is located on the side of the first mounting base away from the vertical plate.

[0026] In some embodiments, the top surface of the first belt is a first bearing surface of the first driving assembly, and the first bearing surface is higher than the upper edge of the vertical plate.

[0027] In some embodiments, the second driving assembly comprises:

[0028] a second motor mounted on the vertical plate;

[0029] a second driving wheel drivingly connected to an output shaft of the second motor;

[0030] a third pulley rotatably mounted on one end of the vertical plate;

[0031] a fourth pulley rotatably mounted on the other end of the vertical plate;

[0032] a second tension pulley rotatably mounted on the vertical plate, and the mounting position of the second tension pulley on the vertical plate is adjustable; and

[0033] a second belt engaged with the second driving wheel, and the second belt is wound outside the second driving wheel, the third pulley, the fourth pulley and the second tension pulley.

[0034] In some embodiments, the vertical plate is provided with a second long hole; and the second driving assembly further comprises:

[0035] a second fixing member fixedly mounted on the vertical plate;

[0036] at least one third connecting member mounted on the second fixing member, and the third connecting member is rotatably mounted on the second fixing member;

[0037] a third mounting base mounted on the third connecting member; wherein the position of the third mounting base relative to the second fixing member is changed by the third connecting member; and

[0038] a fourth connecting member passing through the second long hole, and the fourth connecting member fixedly connects the second tension pulley and the vertical plate and the third mounting base.

[0039] In some embodiments, the second driving wheel, the third pulley, the fourth pulley, the second tension pulley and the second belt are located between the two vertical plates.

[0040] In some embodiments, each of the mounting assemblies further comprises:

[0041] a first guide assembly mounted on the vertical plate; the cargo moving mechanism is mounted on the first guide assembly; and the first guide assembly is configured to guide the linear movement of the cargo moving mechanism relative to the vertical plate.

[0042] In some embodiments, the first guiding assembly comprises:

[0043] a first guide rail fixedly mounted on the vertical plate; the first guide rail is mounted below a first load bearing surface of the first driving assembly and above a second load bearing surface of the second driving assembly.

[0044] In some embodiments, the first guiding assembly further comprises:

[0045] a connecting assembly comprising a connecting block and an engaging block, the connecting block is freely linearly movable mounted on the first guide rail, the engaging block is engaged with the second belt of the second driving assembly to move with the second belt; the cargo moving mechanism is detachably mounted on the connecting block.

[0046] In some embodiments, the cargo moving mechanism is located between the two mounting assemblies, the cargo moving mechanism comprises:

[0047] a bottom plate assembly connected with the connecting blocks of the two mounting assemblies;

[0048] a scissor mechanism carried by and mounted on the bottom plate assembly; the scissor mechanism comprises a plurality of rotatably connected rod members; the scissor mechanism comprises a retracted state and a raised state, the scissor mechanism is switched between the retracted state and the raised state by relative rotation of the plurality of rod members;

[0049] a pallet mounted on a top of the scissor mechanism; and

[0050] a hooking assembly fixedly mounted on the pallet.

[0051] In some embodiments, when the scissor mechanism is in the retracted state, a third load bearing surface of the pallet is lower than the first load bearing surface of the first driving assembly; when the scissor mechanism is in the raised state, the third load bearing surface of the pallet is flush with or higher than the first load bearing surface.

[0052] In some embodiments, the cargo moving mechanism further comprises:

[0053] a driving mechanism mounted on the bottom plate assembly; the scissor mechanism is drivingly connected with the driving mechanism, the driving mechanism is configured to drive the scissor mechanism to switch between the retracted state and the raised state.

[0054] In some embodiments, the scissor mechanism comprises two groups of link mechanisms, each group of the link mechanisms comprises a first link and a second link, the first link and the second link are cross arranged and rotatably connected; the bottom plate assembly comprises:

[0055] a bottom plate, the bottom of the first link of each of the link mechanisms being rotatably connected to the bottom plate, and the rotatable connection positions of the two first links to the bottom plate being spaced apart;

[0056] a second guide assembly, the bottom of the second link being linearly movably mounted to the second guide assembly; the second guide assembly being configured to linearly guide the movement of the bottom of the second link; and

[0057] a third guide assembly, the bottom of the tray being fixedly mounted to the third guide assembly; the top of the first link being linearly movably mounted to the third guide assembly; the third guide assembly being configured to linearly guide the movement of the top of the first link.

[0058] In some embodiments, the second guide assembly comprises:

[0059] two second guide rails arranged in parallel, each of the second guide rails being fixedly mounted to the bottom plate; the second link of each of the link mechanisms and the second guide rails being arranged in one-to-one correspondence, and the bottom of each of the second links being linearly slidably mounted to one of the second guide rails.

[0060] In some embodiments, the third guide assembly comprises:

[0061] two third guide rails arranged in parallel, each of the third guide rails being fixedly mounted to the bottom of the tray; the first link of each of the link mechanisms and the third guide rails being arranged in one-to-one correspondence, and the bottom of each of the first links being linearly slidably mounted to one of the third guide rails.

[0062] In some embodiments, the goods accessing mechanism further comprises:

[0063] a position detecting mechanism, mounted to the goods moving mechanism; the position of the goods moving mechanism being detected by the position detecting mechanism.

[0064] In some embodiments, the bottom plate comprises a detection hole, the detection hole being located between the two link mechanisms; the position detecting mechanism comprises:

[0065] a zero point sensor, mounted to the bottom of the bottom plate and partially extending below the detection hole; and

[0066] a zero point sensing sheet, fixedly connected to the second link of the scissor mechanism;

[0067] The zero point sensing sheet moves with the linear movement of the second connecting rod, and the length of the zero point sensing sheet is configured to satisfy the following conditions: when the goods moving mechanism is just not extended from the mounting assembly, the zero point sensor detects one end of the length direction of the zero point sensing sheet; and when the goods moving mechanism is maximally extended from the mounting assembly, the zero point sensor detects the other end of the length direction of the zero point sensing sheet.

[0068] In some embodiments, the number of the hooking assemblies is four, and the four hooking assemblies are dispersedly arranged at four corners of the tray.

[0069] The hooking rod is installed at the edge of the tray and extends from the tray; and

[0070] The goods hook is installed at the end of the hooking rod away from the edge of the tray, and the end of the goods hook away from the hooking rod is bent to hook or push the goods.

[0071] Some embodiments of the present disclosure further provide a goods access device comprising the goods access mechanism provided in any of the technical solutions of the present disclosure.

[0072] In some embodiments, the goods access device further comprises:

[0073] The at least two first tracks are arranged in a spaced manner in at least one direction; and

[0074] The at least two second tracks are movably arranged along the at least two first tracks by the walking mechanism.

[0075] The goods access mechanism is movably arranged along the at least two second tracks.

[0076] Some embodiments of the present disclosure further provide a warehouse logistics system comprising:

[0077] The goods shelf; and

[0078] The goods access device provided in any of the technical solutions of the present disclosure is arranged in the goods shelf.

[0079] The goods access device provided by the above technical solution forms a modular structure with the first driving assembly and the second driving assembly, is pre-installed to form a whole, and the first driving assembly and the second driving assembly are both installed on the vertical plate. The goods access mechanism comprises a small number of components and has a high degree of integration, which facilitates batch and modular production, and when a component fails, only the corresponding module of the component needs to be replaced. BRIEF DESCRIPTION OF DRAWINGS

[0080] Fig. 1 is a perspective view of a forklift provided by some embodiments of the present disclosure, showing the scissor mechanism in the raised position and located at one end of the upright panel.

[0081] Fig. 2 is a perspective view of a forklift provided by some embodiments of the present disclosure, showing the scissor mechanism in the raised position and located at the other end of the upright panel.

[0082] Fig. 3 is a perspective view of a forklift provided by some embodiments of the present disclosure, showing the scissor mechanism in the retracted position and located at one end of the upright panel.

[0083] Fig. 4 is a perspective view of a forklift provided by some embodiments of the present disclosure, showing the scissor mechanism in the retracted position and located at the other end of the upright panel.

[0084] Fig. 5 is a perspective view of a mounting assembly of a forklift provided by some embodiments of the present disclosure.

[0085] Fig. 6 is an enlarged view of portion A of Fig. 5.

[0086] Fig. 7 is a schematic view of the positioning relationship between the forklift and the load shifting mechanism provided by some embodiments of the present disclosure.

[0087] Fig. 8 is a perspective view of the load shifting mechanism in the raised position provided by some embodiments of the present disclosure.

[0088] Fig. 9 is another perspective view of the load shifting mechanism in the raised position provided by some embodiments of the present disclosure.

[0089] Fig. 10 is a perspective view of the load shifting mechanism in the retracted position provided by some embodiments of the present disclosure.

[0090] Fig. 11 is another perspective view of the load shifting mechanism in the retracted position provided by some embodiments of the present disclosure.

[0091] Fig. 12 is a front view of the installation position of the position detection mechanism provided by some embodiments of the present disclosure.

[0092] Fig. 13 is a side view of the installation position of the position detection mechanism provided by some embodiments of the present disclosure.

[0093] Fig. 14 is a schematic view of the relative position between the load shifting mechanism and the position detection mechanism when the load shifting mechanism is just not extended from the mounting assembly provided by some embodiments of the present disclosure.

[0094] Fig. 15 is a schematic view of the relative position between the load shifting mechanism and the position detection mechanism when the load shifting mechanism is extended to the maximum from the mounting assembly provided by some embodiments of the present disclosure.

[0095] Figure 16 is a perspective view of the mounting assembly of the goods access mechanism according to some embodiments of the present disclosure.

[0096] Figure 17 is a perspective view of the goods moving mechanism of the goods access mechanism according to some embodiments of the present disclosure.

[0097] Figure 18 is a front view of the first drive assembly of the goods access mechanism according to some embodiments of the present disclosure.

[0098] Figure 19 is a front view of the second drive assembly of the goods access mechanism according to some embodiments of the present disclosure.

[0099] Figure 20 is a perspective view of the goods access mechanism with the lifting mechanism according to some embodiments of the present disclosure.

[0100] Figure 21 is another perspective view of the goods access mechanism with the lifting mechanism according to some embodiments of the present disclosure.

[0101] Figure 22 is a perspective view of the goods access mechanism mounted to the rack according to some embodiments of the present disclosure. 1, base; 2, mounting assembly; 3, goods moving mechanism; 4, position detection mechanism; 5, first track; 6, second track; 7, rack; 21, vertical plate; 22, first drive assembly; 23, second drive assembly; 24, first guide assembly; 25, weight reduction hole; 26, mounting seat; 27, end plate; 28, first pin shaft; 29, connecting plate; 211, through hole; 221, first motor; 222, first drive wheel; 223, first mounting base; 224, first pulley; 225, second pulley; 226, first tension pulley; 227, first belt; 228, first fixing member; 229, first connecting member; 2210, second mounting base; 2211, second connecting member; 223a, first oblong hole; 21a, second oblong hole; 231, second motor; 232, second drive wheel; 233, second fixing member; 234, third pulley; 235, fourth pulley; 236, second tension pulley; 237, second belt; 238, third connecting member; 239, third mounting base; 230, fourth connecting member; 241, first guide rail; 242, connecting assembly; 2421, connecting block; 2422, engaging block; 31, bottom plate assembly; 32, scissor mechanism; 33, tray; 34, hooking assembly; 35, driving mechanism; 311, bottom plate; 312, second guide assembly; 3111, detection hole; 3121, second guide rail; 321, connecting rod mechanism; 3211, first connecting rod; 3212, second connecting rod; 341, hooking rod; 342, hook; 41, zero point sensor; 42, zero point sensing sheet; 61, walking mechanism. DETAILED DESCRIPTION

[0102] The technical solutions provided by the present disclosure will be described in more detail below in conjunction with Figs. 1-22. The description of the exemplary embodiments is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses. The present disclosure can be implemented in numerous different forms, not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the relative arrangement of the components and steps set forth in these embodiments, the components of the materials, numerical expressions, and numerical values are to be interpreted as merely exemplary, and not as a limitation unless otherwise specifically stated.

[0103] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present disclosure. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0104] The "first", "second", and similar words used in the present disclosure do not represent any order, number, or importance, but are only used to distinguish different parts. The words "include" or "contain" and the like mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0105] In the present disclosure, when it is described that a particular device is located between a first device and a second device, there can be an intervening device between the particular device and the first device or the second device, or there can be no intervening device. When it is described that a particular device is connected to other devices, the particular device can be directly connected to other devices without an intervening device, or it can not be directly connected to other devices with an intervening device.

[0106] All terms used in the present disclosure, including technical terms or scientific terms, have the same meaning as understood by a person of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or excessively formalized sense, unless otherwise defined explicitly herein.

[0107] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but where appropriate, the techniques, methods, and devices are considered part of the specification.

[0108] The dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated descriptions of them are omitted where appropriate.

[0109] Figure 1 is a perspective view of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided in some embodiments of the present disclosure in the raised state and located at one end of the upright plate 21. Figure 2 is a perspective view of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided in some embodiments of the present disclosure in the raised state and located at the other end of the upright plate 21. Figure 3 is a perspective view of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided in some embodiments of the present disclosure in the retracted state and located at one end of the upright plate 21. Figure 4 is a perspective view of the scissor mechanism 32 of the cargo storage and retrieval mechanism provided in some embodiments of the present disclosure in the retracted state and located at the other end of the upright plate 21. Figure 5 is a perspective view of the mounting assembly 2 of the cargo storage and retrieval mechanism provided in some embodiments of the present disclosure. Figure 6 is a partial enlarged view of A in Figure 5.

[0110] Referring to Figures 1 to 4, some embodiments of this disclosure provide a goods storage and retrieval mechanism for retrieving goods, for example, from a shelf 7, and for placing goods onto the shelf 7. The goods storage and retrieval mechanism includes a base 1, a transfer mechanism 3, and two or more mounting components 2. The base 1 is configured to provide support. Each mounting component 2 includes a vertical plate 21, a first drive assembly 22, and a second drive assembly 23; the vertical plate 21 is mounted on and supported by the base 1; the first drive assembly 22 is mounted on one side of the vertical plate 21, and the second drive assembly 23 is mounted on the other side of the vertical plate 21; the first bearing surface of the first drive assembly 22 and the second bearing surface of the second drive assembly 23 are at different heights and are parallel. The transfer mechanism 3 is mounted on the second drive assembly 23 to move linearly under the drive of the second drive assembly 23; the transfer mechanism 3 is configured to be height-adjustable. The first drive component 22 is configured to drive the movement of goods; the second drive component 23 is configured to drive the transfer mechanism 3 to move goods from an external storage location to the first drive component 22, or to push goods located on the first drive component 22 into the external storage location. Here, "external" refers to a location outside the goods storage and retrieval mechanism.

[0111] There are two ways for goods to move: one is from the outside (e.g., in shelf 7) to the goods storage and retrieval mechanism, which is a retrieval operation. The second is from the goods storage and retrieval mechanism to the outside (e.g., in shelf 7), which is a storage operation.

[0112] In the picking operation, the goods-moving mechanism 3 is driven by the second driving assembly 23 to move to the end of the goods access mechanism, and the second driving assembly 23 is paused, waiting for the goods-moving mechanism 3 to pick up the goods in the shelf 7. After the goods are picked up, the goods are supported by the first driving assembly 22 and moved by the first driving assembly 22, and at the same time, the goods are hooked by the goods-moving mechanism 3 to improve the stability of the movement of the goods. The goods-moving mechanism 3 is driven by the second driving assembly 23 to hook the goods and move the goods to the middle area of the goods access mechanism, and then the goods-moving mechanism 3 is lowered to avoid the movement track of the goods. The goods continue to move to the set position of the goods access mechanism under the driving of the first driving assembly 22. From this, the picking operation is completed.

[0113] When the goods need to be stored in the shelf 7 from the goods access mechanism, the goods are first moved to the edge of the goods access mechanism under the driving of the first driving assembly 22. Then, the goods-moving mechanism 3 is raised after being moved to the set position by the second driving assembly 23, and the goods-moving mechanism 3 pushes the goods away from the first driving assembly 22. From this, the storage operation is completed.

[0114] The base 1 has various implementation manners, such as a plate structure, a mounting rack formed by assembling multiple rods, and the like. In some embodiments herein, the base 1 includes two profiles arranged in parallel and at intervals, the length directions of the two profiles are perpendicular to the length direction of the vertical plate 21, and the two profiles are arranged dispersedly and supported at the bottom of the two mounting assemblies 2. The two mounting assemblies 2 are detachably fixedly connected with the profiles. The profiles are light in weight and high in supporting strength. In some embodiments, each vertical plate 21 is provided with a row of lightening holes 25, as shown in FIG. 4, to reduce the weight of the mounting assembly 2.

[0115] Referring to FIGS. 1 to 4, the mounting assembly 2 further includes a mounting seat 26, which is substantially L-shaped. One face of the mounting seat 26 is detachably fixedly connected with the vertical plate 21 through a pin shaft or a bolt or the like, and the other face of the mounting seat 26 is detachably fixedly connected with the profile through a pin shaft or a bolt or the like. Since there are two profiles, the vertical plate 21 of each mounting assembly 2 is dispersedly mounted with two mounting seats 26, and each mounting seat 26 is fixedly connected with one of the profiles. Through the two profiles, the two mounting assemblies 2 can be stably and three-dimensionally framed.

[0116] The structures of the mounting seat 26 and the base 1 are very light and compact, which is conducive to reducing the self weight of the goods access mechanism. The goods access mechanism is almost always in a state of movement in the warehouse, and the light weight of the goods access mechanism can improve the carrying capacity of the goods access mechanism, reduce the energy consumed by the movement of the goods access mechanism, and achieve energy saving and emission reduction.

[0117] In some embodiments, taking the example of the goods access mechanism including two mounting assemblies 2, the two mounting assemblies 2 are symmetrically arranged relative to the center line of the width direction of the goods access mechanism (the width direction is perpendicular to the linear movement direction of the goods moving mechanism 3 relative to the upright plate 21 described later). The two mounting assemblies 2 are the same in structure, and the two mounting assemblies 2 jointly bear the goods moving mechanism 3 and the goods. Hereinafter, one of the mounting assemblies 2 will be taken as an example to describe the specific implementation mode of the mounting assembly 2 in detail.

[0118] Each mounting assembly 2 includes an upright plate 21, a first driving assembly 22, and a second driving assembly 23. The upright plate 21 is a flat plate. Such a shape of the upright plate 21 is very light, and enables the overall structure of the goods access mechanism to be greatly simplified, which is helpful to realize the light weight of the goods access mechanism.

[0119] In some embodiments, each mounting assembly 2 further includes two end plates 27, and the two end plates 27 and the two upright plates 21 jointly enclose a rectangular frame. Each end plate 27 is fixedly connected with two upright plates 21, which can be achieved by bolt connection or welding, etc. Referring to FIG. 1, in some embodiments, the end plate 27 is provided with a first screw hole, and the upright plate 21 is also provided with a second screw hole corresponding to the first screw hole. A bolt is used to pass through the first screw hole of the end plate 27 and the second screw hole of the upright plate 21 to fixedly connect the end plate 27 and the upright plate 21.

[0120] As described above, the goods access mechanism is used to realize the taking and placing of goods. In order to realize the taking and placing of goods, the goods access mechanism needs to drive the goods to move. The goods access mechanism realizes the movement of the goods through two actions: when taking the goods from the shelf 7, the goods moving mechanism 3 is first used to hook the goods from the shelf 7, and then the goods moving mechanism 3 moves with the goods to the middle position of the goods access mechanism, and then the goods moving mechanism 3 is lowered, and the goods still fall on the first bearing surface of the first driving assembly 22, and then the first driving assembly 22 is used alone to move the goods to the set position of the goods access mechanism. When pushing the goods from the goods access mechanism to the shelf 7, the first driving assembly 22 is first used to move the goods to the edge of the goods access mechanism, and then the goods moving mechanism 3 is raised and the goods moving mechanism 3 moves relative to the upright plate 21 to push the goods to the shelf 7. The whole process of the movement of the goods is borne by the first driving assembly 22. The goods moving mechanism 3 plays a role in hooking and pushing the goods.

[0121] In each mounting assembly 2 of the various embodiments herein, there are two drive assemblies: a first drive assembly 22 and a second drive assembly 23. The first drive assembly 22 can realize the movement of the goods on the goods accessing mechanism independently. The second drive assembly 23 can drive the linear reciprocating movement of the goods moving mechanism 3 relative to the upright plate 21, and can hook the goods from the goods shelf 7 and transport them to the first drive assembly 22 (corresponding to the goods taking operation), or push the goods from the first drive assembly 22 into the goods box (corresponding to the goods storing operation).

[0122] The first bearing surface of the first drive assembly 22 is relatively high in position, and the second bearing surface of the second drive assembly 23 is relatively low in position. The second bearing surface of the second drive assembly 23 is used to support the goods moving mechanism 3 to drive the movement of the goods moving mechanism 3. In the raised state, the bearing surface of the goods moving mechanism 3 is higher than the first bearing surface and also higher than the second bearing surface. In the retracted state, the bearing surface of the goods moving mechanism 3 is lower than the first bearing surface but still higher than the second bearing surface. In this way, the goods can be normally moved linearly under the drive of the first drive assembly 22.

[0123] Referring to FIGS. 5 and 18, in some embodiments, the first drive assembly 22 includes a first motor 221, a first drive wheel 222, a first mounting base 223, a first pulley 224, a second pulley 225, and a first belt 227. The first motor 221 is mounted to the upright plate 21. The first drive wheel 222 is drivingly connected to the output shaft of the first motor 221. The first mounting base 223 is fixedly connected to the housing of the first motor 221. The first pulley 224 is rotatably mounted to one end of the upright plate 21. The second pulley 225 is rotatably mounted to the other end of the upright plate 21. The first tension pulley 226 is rotatably mounted to the first mounting base 223, and the mounting position of the first tension pulley 226 on the first mounting base 223 is adjustable. The top surface of the first belt 227 is the first bearing surface of the first drive assembly 22. The first belt 227 is engaged with the first drive wheel 222, and the first belt 227 is wound outside the first drive wheel 222, the first pulley 224, the second pulley 225, and the first tension pulley 226. The first drive assembly 22 realizes the movement of the goods in a belt drive manner.

[0124] As shown in FIGS. 1 to 4, the first motor 221 is located outside the two mounting assemblies 2, and the goods moving mechanism 3 is between the two mounting assemblies 2. In order to be able to place the goods on the first bearing surface of the first drive assembly 22 after hooking the goods, the first bearing surface needs to be higher than the upper edge of the upright plate 21. Otherwise, the first bearing surface of the first drive assembly 22 will not be able to contact the goods and drive the movement of the goods under the obstruction of the upper edge of the upright plate 21.

[0125] In the above embodiments, the first driving wheel 222, the first pulley 224 and the second pulley 225 are rotatably mounted on the vertical plate 21, which makes the first belt 227 wound thereon very close to the vertical plate 21, thereby reducing the width of the goods accessing mechanism and making the goods accessing mechanism more compact.

[0126] The first mounting base 223 can be mounted on the vertical plate 21 in various ways. For example, a plurality of first pin shafts (shown in FIG. 5) 28 can be arranged between the first mounting base 223 and the vertical plate 21. The first mounting base 223 and the vertical plate 21 are both flat plates, and a first gap P is formed between the first mounting base 223 and the vertical plate 21. The first tension pulley 226 and the first driving wheel 222 are arranged in the first gap P. This arrangement makes the positions of the components very compact and the width of the goods accessing mechanism very small.

[0127] Referring to FIG. 5, the first motor 221 is located on the side of the first mounting base 223 away from the vertical plate 21. The first motor 221 is located outside the two mounting assemblies 2, and the first motor 221 does not occupy the space between the two mounting assemblies 2, thereby making the movement of the goods moving mechanism 3 smoother and less disturbed and making the arrangement of the goods moving mechanism 3 more flexible and simple.

[0128] Referring to FIG. 6, in some embodiments, the first mounting base 223 is provided with a first long circular hole 223a. The first driving assembly 22 further includes a first fixing member 228, at least one first connecting member 229, a second mounting base 2210 and a second connecting member 2211. The first fixing member 228 is fixedly mounted on the first mounting base 223 and can be welded or bolted. Each first connecting member 229 is mounted on the first fixing member 228 and rotatably mounted on the first fixing member 228 to change the position of the second mounting base 2210 relative to the first fixing member 228. The first connecting member 229 is, for example, a bolt. By rotating the first connecting member 229, the position of the second mounting base 2210 relative to the first fixing member 228 can be changed. The second mounting base 2210 is provided with the second connecting member 2211, the second connecting member 2211 passes through the first long circular hole 223a, and the second connecting member 2211 fixedly connects the first tension pulley 226, the first mounting base 223 and the second mounting base 2210. Since the second mounting base 2210 is mounted on the first connecting member 229, the position of the second mounting base 2210 relative to the first fixing member 228 is also changed, and the position of the first tension pulley 226 mounted on the second mounting base 2210 is also changed, thereby achieving adjustment of the tension of the first belt 227.

[0129] The second mounting base 2210 moves linearly with the rotation of the first connecting member 229, and the linear movement direction is the linear movement direction of the moving mechanism 3 and the length direction of the vertical plate 21. The second mounting base 2210 moves towards S1, and the first tensioning wheel 226 tightens the first belt 227. The second mounting base 2210 moves towards S2, and the first tensioning wheel 226 loosens the first belt 227. Adjusting the position of the second mounting base 2210 can adjust the tightness of the first belt 227.

[0130] Referring to FIG. 18, the first tensioning wheel 226 is located between the first tensioning wheel 226 and the second belt wheel 225. The arrangement of the first drive wheel 222, the first belt wheel 224, the second belt wheel 225, and the first tensioning wheel 226 makes the first belt 227 bend and wrap, which realizes the compact distribution of the first belt 227 in a limited space, achieves the required force for transmission or driving, and can shorten the length of the goods access mechanism, making the structure of the goods access mechanism more reasonable and compact.

[0131] Referring to FIGS. 5 and 19, in some embodiments, the second drive assembly 23 adopts a belt mechanism to realize the linear movement of the moving mechanism 3. The second drive assembly 23 includes a second motor 231, a second drive wheel 232, a third belt wheel 234, a fourth belt wheel 235, a second tensioning wheel 236, and a second belt 237. The second motor 231 is installed on the vertical plate 21. The second drive wheel 232 is drivingly connected with the output shaft of the second motor 231. The vertical plate 21 is fixedly connected with the housing of the second motor 231. The third belt wheel 234 is rotatably installed on one end of the vertical plate 21. The fourth belt wheel 235 is rotatably installed on the other end of the vertical plate 21. The second tensioning wheel 236 is rotatably installed on the vertical plate 21, and the installation position of the second tensioning wheel 236 on the vertical plate 21 is adjustable. The second belt 237 is engaged with the second drive wheel 232, and the second belt 237 is wound outside the second drive wheel 232, the third belt wheel 234, the fourth belt wheel 235, and the second tensioning wheel 236.

[0132] The second bearing surface of the second belt 237 is lower than the upper edge of the upright plate 21, and the first bearing surface of the first belt 227 is higher than the upper edge of the upright plate 21. The mounting position of the second belt 237 is located at the mounting position of the first belt 227. The first belt 227 is arranged close to the outer wall of the upright plate 21, and the second belt 237 is arranged close to the inner wall of the upright plate 21. Here, the inner and outer are referred to the goods storage and taking mechanism. The outside of the goods storage and taking mechanism is the outer, and the inside of the goods storage and taking mechanism is the inner. Here, close to does not mean no gap, but means close as much as possible under the premise of meeting the requirements of component installation. The first belt 227 and the second belt 237 are arranged in an up-down manner, which is more compact and saves space, so that the goods storage and taking mechanism is lighter and thinner, and the structure is more durable. The second belt 237 is arranged between the two mounting assemblies 2, that is, on the inner side of the goods storage and taking mechanism, so that the goods moving mechanism 3 can be closer to the shelf 7, thereby reducing the distance between the goods moving mechanism 3 and the shelf 7, and facilitating the storage and taking of goods.

[0133] The first driving assembly 22 and the second driving assembly 23 are arranged in this way, and the structure of the mounting assembly 2 is very small and compact, which is beneficial to realize the modularization, integration and light weight of the goods storage and taking mechanism. After a certain component of the goods storage and taking mechanism fails, the corresponding module needs to be replaced and repaired, which does not affect the structure of other parts.

[0134] Continuing to refer to FIG. 5, since the second motor 231 is located on the outer side of the upright plate 21, and the second belt 237 is located on the inner side of the upright plate 21, the upright plate 21 is correspondingly provided with a through hole 211, so that the output shaft of the second motor 231 can extend to the inner side of the upright plate 21 to install the second driving wheel 232.

[0135] The mounting mode of the second tensioning wheel 236 is basically the same as that of the first tensioning wheel 226. In some embodiments, the upright plate 21 is provided with a second long circular hole 21a. The second driving assembly 23 further comprises a second fixing member 233, at least one third connecting member 238, a third mounting base 239 and a fourth connecting member 230. The second fixing member 233 is fixedly installed on the upright plate 21. Each third connecting member 238 is installed on the second fixing member 233, and the third connecting member 238 is rotatably installed on the second fixing member 233 to change the position of the third mounting base 239 relative to the second fixing member 233. The third mounting base 239 is installed on the third connecting member 238. The fourth connecting member 230 passes through the second long circular hole 21a, and the fourth connecting member 230 fixedly connects the second tensioning wheel 236, the upright plate 21 and the third mounting base 239.

[0136] In some embodiments, the second driving wheel 232, the third pulley 234, the fourth pulley 235, the second tension pulley 236 and the second belt 237 are all located between the two vertical plates 21. In this way, the arrangement of the components is more compact, and the modular degree of the installation assembly 2 is high, and the structure is small and compact.

[0137] Referring to FIG. 19, the second driving wheel 232 is located between the second tension pulley 236 and the third pulley 234. The arrangement of the second driving wheel 232, the third pulley 234, the fourth pulley 235 and the second tension pulley 236 makes the second belt 237 bend and wrap, so as to achieve the compact arrangement of the second belt 237 in the limited space and achieve the required force for transmission or driving.

[0138] Continuing to refer to FIG. 5, in some embodiments, each installation assembly 2 further comprises a first guide assembly 24 installed on the vertical plate 21. The cargo moving mechanism 3 is installed on the first guide assembly 24, and the first guide assembly 24 is configured to guide the linear movement of the cargo moving mechanism 3 relative to the vertical plate 21. The first guide assembly 24 can use a sliding rail and sliding block combination to achieve guiding, or other linear guide mechanisms can be used.

[0139] The first guide assembly 24 specifically comprises a first guide rail 241. The first guide rail 241 is fixedly installed on the vertical plate 21, and can be connected by bolts or welded. The first guide rail 241 is installed lower than the first bearing surface of the first driving assembly 22 and higher than the second bearing surface of the second driving assembly 23. The length direction of the first guide rail 241 is parallel to the linear reciprocating movement direction of the cargo moving mechanism 3, and under the action of the first guide rail 241, the movement direction of the cargo moving mechanism 3 is more accurate.

[0140] Referring to FIGS. 5 and 17, the first guide assembly 24 further comprises a connecting assembly 242. The connecting assembly 242 comprises a fixedly connected connecting block 2421 and an engagement block 2422. The connecting block 2421 is freely and linearly movably installed on the first guide rail 241, the engagement block 2422 is engaged with the second belt 237 of the second driving assembly 23, the engagement block 2422 has teeth engaged with the second belt 237, and the engagement block 2422 moves with the movement of the second belt 237; the cargo moving mechanism 3 is detachably installed on the connecting block 2421. The connecting block 2421 has a downward pressing force on the engagement block 2422, so that the engagement block 2422 is stably and firmly engaged with the second belt 237. In this way, the long-distance transportation of the cargo moving mechanism 3 can be more reliably achieved, and the load platform can be sent to a farther distance.

[0141] Figure 7 is a schematic diagram of the positioning relationship of the moving mechanism 3 of the goods accessing mechanism in some embodiments of the present disclosure when the moving mechanism 3 is installed. Figure 8 is a schematic diagram of the moving mechanism 3 of the goods accessing mechanism in some embodiments of the present disclosure in a raised state. Figure 9 is another schematic diagram of the moving mechanism 3 of the goods accessing mechanism in some embodiments of the present disclosure in a raised state. Figure 10 is a schematic diagram of the moving mechanism 3 of the goods accessing mechanism in some embodiments of the present disclosure in a retracted state. Figure 11 is another schematic diagram of the moving mechanism 3 of the goods accessing mechanism in some embodiments of the present disclosure in a retracted state. In this document, the retracted state refers to the state in which the moving mechanism 3 is retracted to the limit position and cannot be retracted any further. The raised state refers to the state in which the moving mechanism 3 is expanded to the state in which it can hook and push the goods. The retracted state has only one position, while the raised state can have multiple positions depending on the position of the goods box.

[0142] Referring to Figure 7, in some embodiments, the moving mechanism 3 is configured to be liftable. The moving mechanism 3 includes a base plate assembly 31, a scissor mechanism 32, a tray 33, and a hooking assembly 34. The base plate assembly 31 is connected to the connecting block 2421 of each of the two installation assemblies 2. The scissor mechanism 32 is carried by and mounted to the base plate assembly 31. The scissor mechanism 32 includes a plurality of rotatably connected rod members. The scissor mechanism 32 includes a retracted state and a raised state, and the scissor mechanism 32 is switched between the retracted state and the raised state by relative rotation of the plurality of rod members. The tray 33 is mounted to the top of the scissor mechanism 32. The hooking assembly 34 is fixedly mounted to the tray 33.

[0143] The moving mechanism 3 is lifted and lowered by deformation of the scissor mechanism 32. In some embodiments, when the scissor mechanism 32 is in the retracted state, the third bearing surface of the tray 33 is lower than the first bearing surface of the first driving assembly 22, at which time the moving mechanism 3 can avoid the movement of the goods, so that the goods move only under the drive of the first driving assembly 22.

[0144] When the scissor mechanism 32 is in the raised state, the third bearing surface of the tray 33 is flush with or higher than the first bearing surface, preferably higher than the first bearing surface. At this time, the moving mechanism 3 takes the goods out of the goods shelf 7 and then transports them to the appropriate position of the goods accessing mechanism. In this process, the bottom surface of the goods is higher than the first bearing surface of the first driving assembly 22, so the two do not interfere.

[0145] Referring to Figs. 8 and 9, in some embodiments, the scissor mechanism 32 comprises two sets of linkage mechanisms 321 which jointly support the bottom of the tray 33 so that the movement of the tray 33 is more stable. Each set of linkage mechanisms 321 comprises a first linkage 3211 and a second linkage 3212 which are arranged in cross and rotatably connected. The bottom plate assembly 31 comprises a bottom plate 311, a second guide assembly 312 and a third guide assembly 313. The bottom of the first linkage 3211 of each set of linkage mechanisms 321 is rotatably connected to the bottom plate 311, and the rotatable connection positions of the two first linkages 3211 to the bottom plate 311 are spaced apart. The bottom of the second linkage 3212 is linearly movably mounted to the second guide assembly 312; the second guide assembly 312 is configured to linearly guide the movement of the bottom of the second linkage 3212. The third guide assembly 313 is fixedly mounted to the bottom of the tray 33. The top of the first linkage 3211 is linearly movably mounted to the third guide assembly 313; the third guide assembly 313 is configured to linearly guide the movement of the top of the first linkage 3211. The second guide assembly 312 and the third guide assembly 313 can both be realized by linear guide mechanisms, such as slide rail and slide block mechanisms, etc.

[0146] The second guide assembly 312 comprises two second guide rails 3121 which are arranged in parallel. Each second guide rail 3121 is fixedly mounted to the bottom plate 311, for example by bolting or welding. The bottom of the first linkage 3211 of each set of linkage mechanisms 321 is rotatably connected to the bottom plate 311, and the rotatable connection positions of the two first linkages 3211 to the bottom plate 311 are spaced apart. The second linkage 3212 of each set of linkage mechanisms 321 and the second guide rail 3121 are arranged in one-to-one correspondence, and the bottom of each second linkage 3212 is linearly slidably mounted to one of the second guide rails 3121.

[0147] Continuing to refer to Figs. 8 and 9, the third guide assembly 313 comprises two third guide rails 3131 which are arranged in parallel, and each third guide rail 3131 is fixedly mounted to the bottom of the tray 33, for example by bolting or welding. The first linkage 3211 of each set of linkage mechanisms 321 and the third guide rail 3131 are arranged in one-to-one correspondence, and the bottom of each first linkage 3211 is linearly slidably mounted to one of the third guide rails 3131. The top of each second guide rail 3121 is provided with one third guide rail 3131. The second guide rail 3121 and the third guide rail 3131 jointly cooperate so that the linear movement of the tray 33 is more reliable, accurate and stable.

[0148] The above technical scheme adopts the scissor mechanism 32 to realize the lifting of the tray 33, adopts the second guide assembly 312 and the third guide assembly 313 to realize the horizontal movement of the tray 33, the lifting operation is more reliable, the delivery distance is longer and more stable, and the structure is simpler.

[0149] Referring to FIGS. 8 and 9, in order to realize the state switching of the scissor mechanism 32, in some embodiments, the goods moving mechanism 3 further comprises a driving mechanism 35, such as a linear motor. The driving mechanism 35 is installed on the bottom plate assembly 31; the scissor mechanism 32 is drivingly connected with the driving mechanism 35, and the driving mechanism 35 is configured to drive the scissor mechanism 32 to switch between the retracted state and the raised state. Through the linear motion of the linear motor, the bottom of the scissor mechanism 32 is pushed to realize the state switching of the scissor mechanism 32.

[0150] One driving mechanism 35 can be used to drive the bottoms of the two second connecting rods 3212 at the same time. Specifically, a connecting plate (see FIG. 8) 29 can be used to fixedly connect the bottoms of the two second connecting rods 3212, and the driving mechanism 35 directly drives the connecting plate to move linearly, so as to realize the synchronous movement of the two second connecting rods 3212.

[0151] FIG. 10 is a perspective view of the goods moving mechanism 3 in the retracted state of the goods accessing mechanism according to some embodiments of the present disclosure; and FIG. 11 is another perspective view of the goods moving mechanism 3 in the retracted state of the goods accessing mechanism according to some embodiments of the present disclosure.

[0152] Referring to FIGS. 10 and 11, in some embodiments, the number of the hook connecting assemblies 34 is four, and the four hook connecting assemblies 34 are dispersedly arranged at the four corners of the tray 33. Each of the hook connecting assemblies 34 comprises a hook connecting rod 341 and a hook 342. The hook connecting rod 341 is installed on the edge of the tray 33 and extends out of the tray 33. The hook 342 is installed on the edge of the hook connecting rod 341 away from the tray 33; and the end of the hook 342 away from the hook connecting rod 341 is bent to hook or push the goods.

[0153] Continuing to refer to FIGS. 10 and 11, the goods moving mechanism 3 comprises two states: a raised state and a retracted state. In order to detect whether the goods moving mechanism 3 is retracted to the right position when the goods moving mechanism 3 is in the retracted state, in some embodiments, the goods accessing mechanism further comprises a position detection mechanism 4 to detect the position of the goods moving mechanism 3.

[0154] Fig. 12 is a front view of the installation position of the position detection mechanism 4 of the goods access mechanism according to some embodiments of the present disclosure. Fig. 13 is a side view of the installation position of the position detection mechanism 4 of the goods access mechanism according to some embodiments of the present disclosure. Fig. 14 is a schematic view of the relative position between the position detection mechanism 4 and the goods moving mechanism 3 when the goods moving mechanism 3 is just not extended from the installation assembly 2 according to some embodiments of the present disclosure. Fig. 15 is a schematic view of the relative position between the position detection mechanism 4 and the goods moving mechanism 3 when the goods moving mechanism 3 is maximally extended from the installation assembly 2 according to some embodiments of the present disclosure.

[0155] Referring to Figs. 12-15, the goods moving mechanism 3 can move along the length direction of the goods access mechanism (also the length direction of the vertical plate 21) to the extreme positions at both ends. For each end, the goods moving mechanism 3 is just not extended from the installation assembly 2 (Fig. 14), and the goods moving mechanism 3 is maximally extended from the installation assembly 2 are two extreme positions to be detected (Fig. 15).

[0156] Specifically, the position detection mechanism 4 includes a zero point sensor 41 and a zero point sensing sheet 42. The zero point sensor 41 is, for example, an optical sensor. The bottom plate 311 of the goods moving mechanism 3 is provided with a detection hole 3111, and the zero point sensor 41 is installed at the bottom of the bottom plate 311 and partially extends below the detection hole 3111. The zero point sensing sheet 42 is fixedly connected with the scissor mechanism 32, specifically, with the connecting plate 29 connecting the two second connecting rods 3212 as described above. The zero point sensing sheet 42 moves with the linear movement of the connecting plate 29. The length of the zero point sensing sheet 42 is configured to satisfy the following conditions: referring to Fig. 14, when the goods moving mechanism 3 is just not extended from the installation assembly 2, the zero point sensor 41 detects one end of the length direction of the zero point sensing sheet 42. Referring to Fig. 15, when the goods moving mechanism 3 is maximally extended from the installation assembly 2, the zero point sensor 41 detects the other end of the length direction of the zero point sensing sheet 42.

[0157] The position detection mechanism 4 can detect the position of the goods moving mechanism 3, verify whether the goods moving mechanism 3 is at the bottommost position of the retracted state, or find the initial position of the goods moving mechanism 3 when the system loses the position data of the goods moving mechanism 3.

[0158] The position of the cargo moving mechanism 3 when it just does not extend out of the mounting assembly 2 can be used to determine the initial position of the cargo moving mechanism 3, i.e. the position shown in Fig. 14. The position of the cargo moving mechanism 3 when it extends out of the mounting assembly 2 to the maximum extent is the limit position of the movement of the cargo moving mechanism 3 relative to the mounting assembly 2, i.e. the position shown in Fig. 15. According to the above technical solution, the limit position of the zero point sensor 41 can be determined according to whether the zero point sensor 41 has a detection signal and which end of the zero point sensing sheet 42 the zero point sensor 41 is located at. Taking the left-right direction shown in Figs. 14 and 15 as an example, if the zero point sensor 41 has a signal, it indicates that the cargo moving mechanism 3 is at the limit position of extension, i.e. the situation shown in Fig. 15. If the system loses the initial position of the cargo moving mechanism 3, in the process of searching for the initial position, the cargo moving mechanism 3 moves to the left until the position at which the signal disappears is the initial position of the cargo moving mechanism 3.

[0159] If the zero point sensor 41 does not have a signal at the beginning, it indicates that the cargo moving mechanism 3 is to the left of the zero point sensor 41. At this time, the cargo moving mechanism 3 moves to the right until the position at which the signal just appears is the initial position of the cargo moving mechanism 3.

[0160] The above technical solution sets the above two detection positions, which can achieve the following functions: for the detection position at the left end, i.e. the first limit position, this position corresponds to the cargo moving mechanism 3 just not extending out of the mounting assembly 2, preventing the cargo hook 342 from extending outwards to hit the shelf 7, the box or other cargo carrying mechanisms when the cargo moving mechanism 3 is searching for the initial position.

[0161] When at the limit position at the right end, i.e. the second limit position, the maximum stroke of the cargo moving mechanism 3 is to make the signals sensed by the load platform at the right limit position and the left limit position different.

[0162] The above technical solution uses one sensing sheet to achieve detection of two positions, which is reliable in detection and requires fewer components, which is conducive to the lightweight and integration of the cargo storage and retrieval mechanism.

[0163] Referring to Figs. 20 to 22, some embodiments of the present disclosure also provide a cargo storage and retrieval device, which comprises the cargo storage and retrieval mechanism provided by any of the technical solutions of the present disclosure.

[0164] In some embodiments, the goods accessing device further comprises at least two first tracks 5 and at least two second tracks 6. The at least two first tracks 5 are arranged in a spaced manner in at least one direction. The at least two second tracks 6 are movably arranged along the at least two first tracks 5 by a walking mechanism. The goods accessing mechanism is movably arranged along the at least two second tracks 6. The length direction of the first tracks 5 is, for example, the horizontal direction, and the length direction of the second tracks 6 is, for example, the vertical direction. The first tracks 5 are arranged in parallel, and the second tracks 6 can move left and right along the length direction of the first tracks 5. The goods accessing mechanism can move up and down along the second tracks 6.

[0165] In some embodiments, the goods accessing mechanism further comprises a bracket, and the mounting assembly 2 is mounted on the bracket. The entire goods accessing mechanism is mounted on the second tracks 6 by the bracket.

[0166] The goods accessing mechanism is in a cantilever structure on the second tracks 6. The first motor 221 and the second motor 231 are close to the second tracks 6 rather than close to the shelves 7, so that the center of gravity of the entire goods accessing mechanism is close to the second tracks 6. This arrangement can reduce the power consumption of the lifting motor, which is the motor driving the entire goods accessing mechanism to walk along the second tracks 6.

[0167] Some embodiments of the present disclosure further provide a warehouse logistics system, which comprises the shelves 7 and the goods accessing device provided by any of the technical solutions of the present disclosure. The goods accessing device is arranged on the shelves 7.

[0168] The surface of the shelves 7 is provided with the first tracks 5 extending along the surface of the shelves 7, and the goods accessing device is arranged on the second tracks 6.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure rather than limit them. Although the present disclosure has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present disclosure can be modified or some technical features can be replaced by equivalent replacements without departing from the spirit of the technical solutions of the present disclosure. All of these modifications and replacements should be included in the scope of the technical solutions of the present disclosure.

Claims

1. A goods storage and retrieval mechanism, comprising: a base (1) configured to provide support; two or more mounting assemblies (2), each of the mounting assemblies (2) comprising a vertical plate (21), a first driving assembly (22) and a second driving assembly (23); the vertical plate (21) is mounted to and supported by the base (1); the first driving assembly (22) is mounted to one side of the vertical plate (21), and the second driving assembly (23) is mounted to the other side of the vertical plate (21); a first bearing surface of the first driving assembly (22) and a second bearing surface of the second driving assembly (23) are located at different heights and are parallel to each other; and a goods moving mechanism (3) mounted to the second driving assembly (23) to move linearly under the driving of the second driving assembly (23); the goods moving mechanism (3) is configured to be liftable; wherein the first driving assembly (22) is configured to drive the movement of goods; the second driving assembly (23) is configured to drive the movement of the goods moving mechanism (3) to move the goods from an external storage position to the first driving assembly (22), or to push the goods located on the first driving assembly (22) into the external storage position.

2. The goods storage and retrieval mechanism according to claim 1, wherein the first driving assembly (22) comprises: a first motor (221) mounted to the vertical plate (21); a first driving wheel (222) drivingly connected to an output shaft of the first motor (221); the first driving wheel (222) is mounted to the vertical plate (21); a first mounting base (223) fixedly connected to a housing of the first motor (221); a first pulley (224) rotatably mounted to one end of the vertical plate (21); a second pulley (225) rotatably mounted to the other end of the vertical plate (21); a first tension pulley (226) rotatably mounted to the first mounting base (223); the mounting position of the first tension pulley (226) on the first mounting base (223) is adjustable; and a first belt (227) engaged with the first driving wheel (222), and wound around the outside of the first driving wheel (222), the first pulley (224), the second pulley (225) and the first tension pulley (226).

3. The goods storage and retrieval mechanism according to claim 2, wherein the first mounting base (223) is provided with a first oblong hole (223a); the first driving assembly (22) further comprises: a first fixing member (228) fixedly mounted to the first mounting base (223); at least one first connecting member (229) mounted to the first fixing member (228); the first connecting member (229) is rotatably mounted to the first fixing member (228). ​ A second mounting base (2210) is mounted to the first connecting member (229); wherein the position of the second mounting base (2210) relative to the first fixing member (228) is changed by the first connecting member (229); and A second connecting member (2211) passes through the first oblong hole (223a), and the second connecting member (2211) fixedly connects the first tensioning wheel (226), the second mounting base (2210) and the first mounting base (223).

4. The goods storage and retrieval mechanism according to claim 2 or 3, wherein a first gap (P) is defined between the first mounting base (223) and the upright plate (21), the first drive wheel (222) and the first tensioning wheel (226) are located in the first gap (P), and the first motor (221) is located on a side of the first mounting base (223) away from the upright plate (21).

5. The goods storage and retrieval mechanism according to claim 2 or 3, wherein a top surface of the first belt (227) is a first load bearing surface of the first drive assembly (22), and the first load bearing surface is higher than an upper edge of the upright plate (21).

6. The goods storage and retrieval mechanism according to any one of claims 1 to 3, wherein the second drive assembly (23) comprises: a second motor (231) mounted to the upright plate (21); a second drive wheel (232) drivingly connected to an output shaft of the second motor (231); a third pulley (234) rotatably mounted to one end of the upright plate (21); a fourth pulley (235) rotatably mounted to another end of the upright plate (21); a second tensioning wheel (236) rotatably mounted to the upright plate (21), and the mounting position of the second tensioning wheel (236) on the upright plate (21) is adjustable; and a second belt (237) engaged with the second drive wheel (232), and the second belt (237) is wound around the outside of the second drive wheel (232), the third pulley (234), the fourth pulley (235) and the second tensioning wheel (236).

7. The goods storage and retrieval mechanism according to claim 6, wherein the upright plate (21) is provided with a second oblong hole (21a); and the second drive assembly (23) further comprises: a second fixing member (233) fixedly mounted to the upright plate (21); at least one third connecting member (238) mounted to the second fixing member (233), and the third connecting member (238) is rotatably mounted to the second fixing member (233); a third mounting base (239) mounted to the third connecting member (238); wherein the position of the third mounting base (239) relative to the second fixing member (233) is changed by the third connecting member (238); and ​ A fourth connecting member (230) passes through the second long hole (21a), and the fourth connecting member (230) fixedly connects the second tensioning wheel (236) and the vertical plate (21) and the third mounting base (239).

8. The goods storage and retrieval mechanism according to claim 6 or 7, wherein the second driving wheel (232), the third pulley (234), the fourth pulley (235), the second tensioning wheel (236) and the second belt (237) are located between the two vertical plates (21).

9. The goods storage and retrieval mechanism according to any one of claims 1 to 3, wherein each mounting assembly (2) further comprises: a first guide assembly (24) mounted on the vertical plate (21); the goods moving mechanism (3) is mounted on the first guide assembly (24); the first guide assembly (24) is configured to guide the linear movement of the goods moving mechanism (3) relative to the vertical plate (21).

10. The goods storage and retrieval mechanism according to claim 9, wherein the first guide assembly (24) comprises: a first guide rail (241) fixedly mounted on the vertical plate (21); the first guide rail (241) is mounted below the first load bearing surface of the first driving assembly (22) and above the second load bearing surface of the second driving assembly (23).

11. The goods storage and retrieval mechanism according to claim 10, wherein the first guide assembly (24) further comprises: a connecting assembly (242) comprising a connecting block (2421) and an engaging block (2422) fixedly connected; the connecting block (2421) is freely linearly movable mounted on the first guide rail (241); the engaging block (2422) is engaged with the second belt (237) of the second driving assembly (23) to move with the movement of the second belt (237); the goods moving mechanism (3) is detachably mounted on the connecting block (2421).

12. The goods storage and retrieval mechanism according to claim 11, wherein the goods moving mechanism (3) is located between two mounting assemblies (2), and the goods moving mechanism (3) comprises: a bottom plate assembly (31) connected with the connecting blocks (2421) of the two mounting assemblies (2); a scissor mechanism (32) carried by and mounted on the bottom plate assembly (31); the scissor mechanism (32) comprises a plurality of rotatably connected rod members; the scissor mechanism (32) comprises a retracted state and a raised state, and the scissor mechanism (32) is switched between the retracted state and the raised state by relative rotation of the plurality of rod members; a tray (33) mounted on the top of the scissor mechanism (32); and a hooking assembly (34) fixedly mounted on the tray (33). ​ ​ ​ ​ ​ ​ ​ 13. The goods storage and retrieval mechanism according to claim 12, wherein when the scissor mechanism (32) is in the retracted state, the third load surface of the tray (33) is lower than the first load surface of the first drive assembly (22); when the scissor mechanism (32) is in the raised state, the third load surface of the tray (33) is flush with or higher than the first load surface.

14. The goods storage and retrieval mechanism according to claim 12 or 13, wherein the goods moving mechanism (3) further comprises: a drive mechanism (35) mounted to the base plate assembly (31); the scissor mechanism (32) is drivingly connected to the drive mechanism (35), and the drive mechanism (35) is configured to drive the scissor mechanism (32) to switch between the retracted state and the raised state.

15. The goods storage and retrieval mechanism according to claim 12 or 13, wherein the scissor mechanism (32) comprises two sets of linkage mechanisms (321), each set of linkage mechanisms (321) comprises a first linkage (3211) and a second linkage (3212), the first linkage (3211) and the second linkage (3212) are cross-arranged and rotatably connected; the base plate assembly (31) comprises: a base plate (311), the bottom of the first linkage (3211) of each set of linkage mechanisms (321) is rotatably connected to the base plate (311), and the rotatable connection positions of the two first linkages (3211) to the base plate (311) are spaced apart; a second guide assembly (312), the bottom of the second linkage (3212) is linearly movably mounted to the second guide assembly (312); the second guide assembly (312) is configured to linearly guide the movement of the bottom of the second linkage (3212); and a third guide assembly (313) fixedly mounted to the bottom of the tray (33); the top of the first linkage (3211) is linearly movably mounted to the third guide assembly (313); the third guide assembly (313) is configured to linearly guide the movement of the top of the first linkage (3211).

16. The goods storage and retrieval mechanism according to claim 15, wherein the second guide assembly (312) comprises: two parallel arranged second guide rails (3121), each of the second guide rails (3121) is fixedly mounted to the base plate (311); the second linkage (3212) of each set of linkage mechanisms (321) and the second guide rails (3121) are one-to-one arranged, and the bottom of each second linkage (3212) is linearly slidably mounted to one of the second guide rails (3121).

17. The goods storage and retrieval mechanism according to claim 15 or 16, wherein the third guide assembly (313) comprises: ​ ​ ​ ​ ​ Two third rails (3131) are arranged in parallel, each of the third rails (3131) is fixedly installed on the bottom of the tray (33); the first link (3211) of each of the link mechanisms (321) is arranged in one-to-one correspondence with the third rail (3131), and the bottom of each first link (3211) is linearly and slidably installed on one of the third rails (3131).

18. The goods storage and retrieval mechanism according to claim 12 or 13, further comprising: a position detection mechanism (4) installed on the goods moving mechanism (3); the position of the goods moving mechanism (3) is detected by the position detection mechanism (4).

19. The goods storage and retrieval mechanism according to claim 18, wherein the bottom plate (311) comprises a detection hole (3111) located between the two link mechanisms (321); the position detection mechanism (4) comprises: a zero point sensor (41) installed on the bottom of the bottom plate (311) and partially extending below the detection hole (3111); and a zero point sensing sheet (42) fixedly connected with the second link (3212) of the scissor mechanism (32); wherein the zero point sensing sheet (42) moves with the linear movement of the second link (3212), and the length of the zero point sensing sheet (42) is configured to satisfy the following conditions: when the goods moving mechanism (3) is just not extended out of the installation assembly (2), one end of the length direction of the zero point sensing sheet (42) is detected by the zero point sensor (41); when the goods moving mechanism (3) is maximally extended out of the installation assembly (2), the other end of the length direction of the zero point sensing sheet (42) is detected by the zero point sensor (41).

20. The goods storage and retrieval mechanism according to claim 12 or 13, wherein the number of the hook connecting assemblies (34) is four, and the four hook connecting assemblies (34) are dispersedly arranged at four corners of the tray (33); each of the hook connecting assemblies (34) comprises: a hook connecting rod (341) installed on the edge of the tray (33) and extended out of the tray (33); and a cargo hook (342) installed on the edge of the hook connecting rod (341) away from the tray (33); the end of the cargo hook (342) away from the hook connecting rod (341) is bent to hook or push the goods.

21. A goods storage and retrieval device, the goods storage and retrieval mechanism according to any one of claims 1 to 20.

22. The goods storage and retrieval device according to claim 21, further comprising: at least two first rails (5) arranged in at least one direction; and at least two second rails (6) movably arranged along the at least two first rails (5) by a walking mechanism (61); wherein the goods storage and retrieval mechanism is movably arranged along the at least two second rails (6).

23. A warehouse logistics system, comprising: a goods shelf (7); and the goods storage and retrieval device according to claim 21 or 22, which is arranged on the goods shelf (7). ​

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