Storage and retrieval device and storage system
Patent Information
- Application Number
- PCT/CN2026/084326
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-04-16
- Filing Date
- 2026-03-18
- Publication Date
- 2026-10-22
Smart Images
Figure CN2026084326_22102026_PF_FP_ABST
Abstract
Description
Picking and placing equipment and warehousing system
[0001] This application claims priority to Chinese patent application filed on April 16, 2025, with application number 202510481413.4 and entitled "Fetching and Dispatch Equipment and Warehousing System", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of warehousing and logistics technology, and in particular to a picking and placing equipment and warehousing system. Background Technology
[0003] With the development of artificial intelligence and automation technologies, robots are widely used in warehousing and logistics for picking, placing, transporting, and sorting goods. In logistics systems, goods are typically stored on shelves, and corresponding picking and placing robots interact with shelves or conveyor lines to retrieve or place goods or complete goods transportation tasks.
[0004] In related technologies, shelves are equipped with storage space, and picking and placing equipment uses telescopic forks to lift goods or pallets, remove goods from the shelves, or place goods into the shelves.
[0005] However, traditional picking and placing equipment struggles to handle the depth of shelves. Summary of the Invention
[0006] This application provides a picking and placing equipment and a warehousing system to solve the problem that traditional picking and placing equipment cannot handle picking and placing goods at multiple depths.
[0007] In a first aspect, this application provides a picking and placing device for picking and placing goods on a shelf; the picking and placing device includes:
[0008] Equipment body;
[0009] Telescopic assembly, which is installed on the main body of the equipment;
[0010] A picking and placing device, which is movably mounted on a telescopic assembly;
[0011] The telescopic component has at least a portion of its structure that can extend relative to the main body of the equipment and dock with the shelf to form a moving channel; the picking and placing device is configured to move through the moving channel to the storage location of the shelf and pick up or place goods at a preset position in the depth direction of the storage location.
[0012] When the picking and placing equipment provided in this application is used for picking and placing operations, the main body of the equipment and the shelf can be connected by a telescopic component to form a moving channel. The picking and placing device starts from the main body of the equipment, moves through the moving channel to the storage position of the shelf, and takes out or puts out the goods at the preset depth position, and finally returns to the main body of the equipment, realizing multi-depth picking and placing. Among them, the telescopic component can extend and retract in both directions, so that the picking and placing device can pick and place goods on both sides of the shelf, improving the handling efficiency.
[0013] As an optional implementation, the picking and placing device includes a device body and a lifting component, the lifting component being disposed on the device body; the device body is configured to move the lifting component on a telescopic component or shelf to below the goods, and the lifting component is configured to lift or lower the goods.
[0014] This design allows the main body of the device and the lifting components to adapt to goods of different specifications and shapes, improving adaptability and handling efficiency.
[0015] As an optional implementation, the main body of the device includes a bottom shell, a first drive assembly and a plurality of drive wheels. The first drive assembly is disposed on the bottom shell, and the plurality of drive wheels are rotatably connected to the bottom shell. The first drive assembly is configured to drive at least one of the plurality of drive wheels to rotate, so as to move the picking and placing device on the telescopic assembly and / or the shelf.
[0016] With this configuration, the picking and placing device can move on the telescopic components or shelves according to instructions to handle goods at different depths, thus improving the flexibility of handling.
[0017] As an optional implementation, the first drive assembly includes a first drive unit, a flexible transmission member, and at least two first transmission wheels; the at least two first transmission wheels are arranged at intervals along the length direction of the bottom shell; the flexible transmission member is wound around the at least two first transmission wheels; the output end of the first drive unit is connected to one of the at least two first transmission wheels.
[0018] At least one of the drive wheels is connected to at least one of the first transmission wheels.
[0019] With this configuration, the driving force of the first drive unit can be transmitted to the drive wheel via the transmission wheel, thereby improving transmission efficiency and accuracy.
[0020] As an optional implementation, there are two first drive components, which are respectively arranged close to both sides of the bottom shell in the width direction;
[0021] Multiple drive wheels are distributed on both sides of the bottom shell in the width direction, and the first transmission wheels of the two first drive components are respectively connected to the drive wheels on both sides of the bottom shell; the first drive units of the two first drive components are respectively located at the front end and rear end of the bottom shell in the length direction.
[0022] This configuration enhances driving force while balancing the forces on the transmission system, thus improving transmission stability and balance.
[0023] As an optional implementation, the drive wheel corresponds one-to-one with the first transmission wheel and is fixedly arranged coaxially.
[0024] With this configuration, each drive wheel can directly and effectively receive power from the first transmission wheel, reducing energy loss during transmission and improving transmission efficiency.
[0025] As an optional implementation, each first transmission wheel is provided with two drive wheels; the first transmission wheel has a first gear part coaxially connected, and each drive wheel has a second gear part coaxially arranged. The first gear part meshes with the second gear parts of the two drive wheels simultaneously, thereby driving the two drive wheels to move simultaneously.
[0026] This configuration, by increasing the number of drive wheels to enhance traction, improves the stability of the loading and unloading device.
[0027] As an optional implementation, the lifting assembly includes a second drive assembly, a lifting mechanism, and a bracket. The second drive assembly and the lifting mechanism are disposed on the main body of the device, and the bracket is connected to the lifting mechanism. The second drive assembly is connected to the bracket and is configured to drive the bracket to lift vertically.
[0028] This configuration, using the second drive component as a power source, enables the bracket to quickly and accurately complete the vertical lifting action, thereby improving lifting efficiency.
[0029] As an optional implementation, the lifting mechanism includes two support arms, which are arranged crosswise and hinged to each other; the first end of one of the support arms is rotatably connected to the main body of the device, and the second end is slidably connected to the bracket; the first end of the other of the support arms is slidably connected to the main body of the device, and the second end is rotatably connected to the bracket.
[0030] This configuration allows the crossarm structure to distribute the load evenly across the two support arms, improving load-bearing capacity.
[0031] As an optional implementation, there are at least two lifting mechanisms, which are respectively arranged on both sides of the bracket width direction.
[0032] With this configuration, the lifting mechanisms on both sides of the bracket in the width direction rise and fall synchronously, which can evenly distribute the load and maintain the stability of the lifting process.
[0033] As an optional implementation, two lifting mechanisms are provided on each side of the bracket in the width direction, and the two lifting mechanisms on each side are symmetrically arranged front and back in the length direction of the bracket.
[0034] With this configuration, there are four lifting mechanisms on both sides of the bracket in the width direction to share the load, which can significantly improve the load-bearing capacity and enhance the stability during lifting.
[0035] As an optional implementation, the second drive assembly includes a second drive unit and a rocker arm. The second drive unit is connected to the main body of the device. The first end of the rocker arm is fixedly connected to the output end of the second drive unit, and the second end of the rocker arm abuts against the bracket. The second drive unit is configured to drive the rocker arm to rotate so that the rocker arm pushes the bracket to rise vertically.
[0036] With this configuration, the swing arm can directly transmit the driving force of the second drive unit to the bracket, precisely controlling the lifting height of the bracket.
[0037] As an alternative implementation, a roller is rotatably connected to the second end of the lever, and the roller abuts against the bottom of the bracket; when the bracket is raised or lowered, the roller rolls on the bottom surface of the bracket.
[0038] This design reduces sliding friction by introducing rolling friction, thereby improving the smoothness of the lifting process.
[0039] As an optional implementation, the peripheral edge of the device body is provided with multiple guide wheels, all of which are rotatably connected to the device body.
[0040] This design reduces friction between the side of the loading / unloading device and the side of the track, thus reducing movement resistance, thanks to the guide wheels.
[0041] As an optional implementation, the main body of the device is provided with at least two detection units, which are located at the front end and rear end of the main body of the device, respectively. The detection units are configured to detect whether there are goods above the picking and placing device.
[0042] This design ensures the length of the cargo covering device, preventing cargo from falling during loading and unloading and improving safety.
[0043] As an optional implementation, the loading and unloading device also includes a pallet, which is disposed above the lifting assembly and is used to carry goods.
[0044] This setup, using pallets to support goods, ensures that the goods remain stable during handling, thus improving safety.
[0045] As an optional implementation, the telescopic assembly includes a third drive assembly, a base plate, and a sliding plate. The base plate is connected to the main body of the device, the third drive assembly is disposed on the base plate, and the sliding plate is slidably disposed with the base plate along the loading / unloading direction. The third drive assembly is configured to drive the sliding plate to extend or retract relative to the base plate.
[0046] This configuration, with the sliding plate extended and retracted via a third drive component, extends to form a moving channel when needed, enhancing the flexibility and applicability of the equipment.
[0047] As an optional implementation, the third driving assembly includes a third driving unit, a second flexible transmission member, and a plurality of second transmission wheels. The plurality of second transmission wheels are arranged at intervals along the length direction of the substrate. The second flexible transmission member is wound around the plurality of second transmission wheels and is connected to the sliding plate. The output end of the third driving unit is connected to one of the plurality of second transmission wheels and drives the second flexible transmission member to drive around the plurality of second transmission wheels to move the sliding plate.
[0048] The substrate is provided with a guide rail extending along its length, and a slider is connected to the sliding plate, with the slider slidingly engaged with the guide rail.
[0049] This configuration transmits the driving force of the third drive unit through the second transmission wheel, and ensures the sliding track through the cooperation of the guide rail and slider, thereby improving the transmission efficiency and the accuracy of the sliding plate movement.
[0050] As an alternative implementation, the sliding plate has a protrusion at its end along the picking and placing direction, and when the sliding plate extends relative to the base plate, the protrusion can overlap with the edge of the shelf location.
[0051] This design facilitates the connection between the sliding plate and the shelf, improving the stability of the picking and placing device as it moves between the sliding plate and the shelf.
[0052] As an alternative implementation, the sliding plate can extend bidirectionally from both ends in the length direction of the substrate; the sliding plate has a channel for the loading and unloading device to move, and the two ends of the channel are open.
[0053] With this configuration, the picking and placing device can move bidirectionally along the sliding plate, and can operate on both sides of the shelf along the length of the base plate as needed, thereby improving handling efficiency.
[0054] As an optional implementation, the main body of the device has support parts on both sides in the width direction, and the telescopic component is located between the support parts on both sides. The upper surface of the support part is higher than the bearing surface of the loading and unloading device when the goods are placed on the telescopic component.
[0055] This design allows the side supports to provide greater support, improving the stability of the telescopic components during movement and the safety of the loading and unloading device when loading goods.
[0056] As an alternative implementation, the main body of the equipment has a climbing mechanism configured to dock with the shelf so that the picking and placing equipment can climb and move along the height of the shelf.
[0057] This setup allows the picking and placing equipment to operate on shelves at different heights, improving handling efficiency.
[0058] As an optional implementation, the picking and placing device is communicatively connected to the main body of the equipment.
[0059] With this setup, the loading device and the main body of the equipment can work together in real time to achieve coordinated operation.
[0060] As an alternative implementation, the loading and unloading device includes a battery, and the main body of the device is used to charge the battery when the loading and unloading device is located on the telescopic assembly.
[0061] With this configuration, the picking and placing device does not require separate charging, thus improving the continuous operation capability of the picking and placing equipment.
[0062] Secondly, this application provides a warehousing system, which includes shelves and the aforementioned picking and placing equipment. The shelves include multiple storage locations, and multiple storage positions are arranged sequentially in the depth direction of the storage locations. The picking and placing device of the picking and placing equipment can move into the storage location and pick up and place goods in different storage locations.
[0063] This setup increases storage density and space utilization by providing multiple storage locations; the movement of the retrieval and placement device allows for the retrieval and placement of goods at different locations, improving handling efficiency.
[0064] As an alternative implementation, the rack has multiple storage layers arranged vertically in sequence, each storage layer has at least one storage location, and the storage location is provided with a track extending along its depth direction, with goods supported on the upper surface of the track; the picking and placing device can move along the track.
[0065] With this setup, the picking and placing device can be precisely positioned and move along the corresponding track to pick up and place target goods, improving handling efficiency.
[0066] As an optional implementation, the shelving includes beams and crossbeams, with the beams positioned at both ends in the depth direction of the storage location; the crossbeams extend along the depth direction of the storage location and are connected to the beams at both ends respectively.
[0067] The span beam includes a first support surface and a second support surface. The first support surface is higher than the second support surface. The first support surface is used to support the goods, and the second support surfaces of the two parallel span beams are used to form a track.
[0068] With this setup, the picking and placing device can move precisely along the moving track to the bottom of the target goods and support them, achieving efficient handling.
[0069] As an optional implementation, the shelf includes a shelf body and a multi-fold support frame; the multi-fold support frame includes a connecting plate, a first support plate and a second support plate, the connecting plate is connected to the outer edge of the first support plate and is connected to the shelf body; the second support plate is connected to the inner edge of the first support plate and is lower than the first support plate;
[0070] Two multi-fold supports are arranged in parallel and spaced apart to form a storage space; the upper surface of the first support plate of the two multi-fold supports is used to support goods; the upper surface of the second support plate of the two multi-fold supports is used to form a track.
[0071] With this setup, the picking and placing device can move precisely along the track to the target goods and support them, achieving efficient handling.
[0072] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the picking and placing equipment and warehousing system provided by this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description
[0073] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0074] Figure 1 is a schematic diagram of the working scenario of the goods pick-up and drop-off equipment provided in the embodiment of this application;
[0075] Figure 2 is a schematic diagram of the structure of the goods picking and placing equipment provided in an embodiment of this application;
[0076] Figure 3 is a top view of the goods picking and placing equipment provided in an embodiment of this application;
[0077] Figure 4 is a schematic diagram of the structure of the four-wheel drive loading and unloading device provided in the embodiment of this application;
[0078] Figure 5 is a schematic diagram of the structure of the eight-wheel drive loading and unloading device provided in the embodiment of this application;
[0079] Figure 6 is a side view of the goods picking and placing device provided in an embodiment of this application;
[0080] Figure 7 is a schematic diagram of the pallet of the picking and placing device provided in an embodiment of this application;
[0081] Figure 8 is a schematic diagram of the sliding plate structure of the telescopic component provided in an embodiment of this application;
[0082] Figure 9 is a schematic diagram of the substrate structure of the telescopic component provided in an embodiment of this application;
[0083] Figure 10 is a schematic diagram of the cross-beam structure provided in an embodiment of this application;
[0084] Figure 11 is a schematic diagram of the cross-beam rack structure provided in an embodiment of this application;
[0085] Figure 12 is a schematic diagram of the cantilever rack structure provided in an embodiment of this application;
[0086] Figure 13 is a schematic diagram of the picking and placing process of the picking and placing equipment provided in the embodiment of this application.
[0087] Explanation of reference numerals in the attached drawings: 10-Loading and unloading equipment; 100-Equipment body; 110-Supporting part; 120-Climbing mechanism; 130-Pattern; 200-Telescopic component; 210-Third drive component; 211-Third drive unit; 212-Second flexible transmission component; 213-Second transmission wheel; 220-Base plate; 221-Guide rail; 230-Sliding plate; 231-Slider; 232-Protrusion; 300 - Loading and unloading device; 310 - Device body; 311 - Bottom shell; 312 - First drive assembly; 3121 - First drive unit; 3122 - Flexible transmission component; 3123 - First transmission wheel; 3124 - First gear section; 313 - Drive wheel; 3131 - Second gear section; 314 - Guide wheel; 315 - Detection unit; 320 - Lifting assembly; 321 - Second drive assembly; 3211 - Second drive unit; 3212 - Swing arm; 3213 - Roller; 322 - Lifting mechanism; 3221 - Support arm; 3222 - Scissor lift guide rail; 323 - Bracket; 330 - Pallet; 340 - Battery; 400 - Shelf; 401 - Track; 410 - Beam; 420 - Crossbeam; 421 - First support surface; 422 - Second support surface; 430 - Multi-fold bracket; 431 - Connecting plate; 432 - First support plate; 433 - Second support plate. Detailed Implementation
[0088] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0089] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate. For example, without departing from the scope of this document, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.
[0090] Depending on the context, the word "if" as used here can be interpreted as "when," "when," or "in response to determination."
[0091] Furthermore, as used herein, the singular forms “a,” “one,” and “the” are intended to also include the plural forms, unless the context indicates otherwise.
[0092] Furthermore, as used in this article, “multiple” refers to “at least two” unless the context indicates otherwise.
[0093] It should be further understood that the terms “comprising” or “including” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups.
[0094] The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Therefore, “A, B, and / or C” means “any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition occur only when combinations of elements, functions, steps, or operations are inherently mutually exclusive in some way.
[0095] Robots are widely used in various fields such as industry and daily life, and play a vital role in industries such as transportation and logistics. In warehousing and logistics systems, goods are typically stored on shelves. Robots interact with shelves or conveyor lines to pick up and place goods, and can also transport them. In related technologies, shelves are equipped with storage space, and picking and placing equipment uses telescopic forks to lift goods or pallets, removing goods from the shelves or placing goods into the shelves. Currently, to increase space utilization, some shelves use multi-depth storage methods to increase storage density; however, traditional picking and placing equipment struggles to handle goods in deeper locations.
[0096] To address the aforementioned issues, this application provides a picking and placing device and a warehousing system. By setting up a movable picking and placing device, the device can move on the picking and placing equipment and shelves to pick up and place target goods, thereby completing the handling of goods and improving handling efficiency.
[0097] To facilitate understanding, the application scenarios of the picking and placing equipment and warehousing system provided in the embodiments of this application will be described first.
[0098] The picking and placing equipment provided in this application can be a robot used for picking up, placing, and transporting goods. This equipment can be applied to warehousing or logistics systems. Specifically, it can be applied to logistics distribution in industrial production lines, inbound and outbound inventory in manufacturing, inbound and outbound product warehousing in the retail industry, and inbound and outbound express delivery in e-commerce logistics, among other fields. The products or goods involved in transportation can be industrial parts, electronic components or products, pharmaceuticals, clothing and accessories, food, books, etc. The robot can directly transfer goods or transfer containers containing goods; this application does not specifically limit this, and the term "goods" will be used below to refer to the objects handled by the robot, without further specific examples.
[0099] Figure 1 is a schematic diagram of the working scene of the picking and placing equipment provided in the embodiment of this application; Figure 2 is a schematic diagram of the structure of the picking and placing equipment provided in the embodiment of this application; Figure 3 is a top view of the picking and placing equipment provided in the embodiment of this application; Figure 4 is a schematic diagram of the structure of the four-wheel drive picking and placing device provided in the embodiment of this application; Figure 5 is a schematic diagram of the structure of the eight-wheel drive picking and placing device provided in the embodiment of this application. Figure 6 is a side view of the picking and placing device provided in the embodiment of this application; Figure 7 is a schematic diagram of the pallet of the picking and placing device provided in the embodiment of this application; Figure 8 is a schematic diagram of the structure of the sliding plate of the telescopic component provided in the embodiment of this application; Figure 9 is a schematic diagram of the structure of the base plate of the telescopic component provided in the embodiment of this application; Figure 10 is a schematic diagram of the span beam structure provided in the embodiment of this application; Figure 11 is a schematic diagram of the span beam rack structure provided in the embodiment of this application; Figure 12 is a schematic diagram of the cantilever rack structure provided in the embodiment of this application; Figure 13 is a schematic diagram of the picking and placing process of the picking and placing equipment provided in the embodiment of this application.
[0100] As shown in Figures 1 to 3, the picking and placing equipment 10 provided in this application is used to pick and place goods on a shelf 400. The picking and placing equipment 10 includes a main body 100, a telescopic component 200, and a picking and placing device 300. The telescopic component 200 is disposed on the main body 100. The picking and placing device 300 is movably disposed on the telescopic component 200. At least a portion of the structure of the telescopic component 200 can extend relative to the main body 100 and dock with the shelf 400 to form a moving channel. The picking and placing device 300 is configured to move through the moving channel to the storage location of the shelf 400 and pick and place goods at a preset position in the depth direction of the storage location, wherein the depth direction of the storage location is the X direction in Figure 1.
[0101] It is understood that the main body 100 is the basic structure of the entire picking and placing equipment 10, used to support and fix other components; the telescopic component 200 is set on the main body 100, and its main function is to provide the picking and placing equipment 10 with the ability to extend and retract in the horizontal direction. At least a part of the structure of the telescopic component 200 can extend relative to the main body 100 and dock with the shelf 400 to form a moving channel, so that the picking and placing device 300 can move between the picking and placing equipment 10 and the shelf 400. The telescopic component 200 can be driven by hydraulic, pneumatic or electric means, and the specific implementation method can be as follows. The selection can be made according to actual needs; the picking and placing device 300 is movably set on the telescopic component 200. Its main function is to pick and place goods inside the storage position of the shelf 400. After receiving the instruction from the control center, which can be the control center of the picking and placing device 10 or the control center of the warehouse system, the picking and placing device 300 moves to the storage position of the shelf 400 through the moving channel and picks and places goods at a preset position in the depth direction of the storage position. The picking and placing device 300 can realize the handling of goods through suction cup mechanism, lifting mechanism or other suitable picking and placing mechanism.
[0102] As shown in Figures 4 to 7, in one optional implementation, the picking and placing device 300 includes a device body 310 and a lifting component 320, with the lifting component 320 disposed on the device body 310; the device body 310 is configured to drive the lifting component 320 to move on the telescopic component 200 or the shelf 400 to below the goods, and the lifting component 320 is configured to lift or lower the goods.
[0103] It is understood that the main body 310 is the basic part of the picking and placing device 300, used to support and fix the lifting component 320, and to drive the lifting component 320 to move on the telescopic component 200 or the shelf 400; the lifting component 320 is set on the main body 310 and is used to lift or put down goods, and to take goods out of the storage location or place them in the storage location.
[0104] For example, when the picking and placing equipment 10 receives a goods handling instruction, the picking and placing device 300, driven by electricity, moves on the telescopic component 200 or the shelf 400 via the device body 310 to the area below the predetermined goods. After the lifting component 320 lifts and supports the goods, the picking and placing device 300 moves back to the picking and placing equipment 10, and the lifting component 320 descends, completing one goods handling operation.
[0105] As an optional implementation, the device body 310 includes a bottom shell 311, a first drive assembly 312 and a plurality of drive wheels 313. The first drive assembly 312 is disposed on the bottom shell 311, and the plurality of drive wheels 313 are rotatably connected to the bottom shell 311. The first drive assembly 312 is configured to drive at least one of the plurality of drive wheels 313 to rotate, so that the picking and placing device 300 moves on the telescopic assembly 200 and / or the shelf 400.
[0106] Understandably, the base shell 311 is the basic structure of the main body 310 of the device, used to support and fix other components. It can be made of high-strength, lightweight materials to ensure the stability and durability of the device. The first drive component 312 can be electrically driven and connected to the control system. According to the preset program or sensor feedback, it precisely controls the rotation direction and speed of the drive wheels 313 to control the movement direction and speed of the picking and placing device 300 on the telescopic component 200 or the shelf 400. At least one of the multiple drive wheels 313 is driven by the first drive component 312. The other drive wheels 313 can be driven wheels. The drive wheels 313 are usually made of wear-resistant and non-slip materials and are reasonably distributed in various positions of the base shell 311 to ensure the stability and safety of movement.
[0107] As an optional implementation, the first drive assembly 312 includes a first drive unit 3121, a flexible transmission member 3122, and at least two first transmission wheels 3123; the at least two first transmission wheels 3123 are arranged at intervals along the length direction of the bottom shell 311; the flexible transmission member 3122 is wound around the at least two first transmission wheels 3123; the output end of the first drive unit 3121 is connected to one of the at least two first transmission wheels 3123.
[0108] At least one of the drive wheels 313 is connected to at least one of the first transmission wheels 3123.
[0109] It is understood that the first drive unit 3121 is the power source of the first drive assembly 312. The first drive unit 3121 can be a motor and a reducer. The motor provides power, and the reducer is used to stop the movement of the main body 310 of the device. The motor and at least one of the two first transmission wheels 3123 can be driven by gear meshing. The first transmission wheels 3123 are driven by a flexible transmission member 3122. The flexible transmission member 3122 can be a belt, chain, etc. At least one of the drive wheels 313 is connected to at least one of the first transmission wheels 3123 to ensure that when the first drive unit 3121 is working, at least one drive wheel 313 can be driven to drive the picking and placing device 300 to move.
[0110] As an optional implementation, there are two first drive components 312, which are respectively arranged on both sides of the bottom shell 311 in the width direction.
[0111] Multiple drive wheels 313 are distributed on both sides of the bottom shell 311 in the width direction. The first transmission wheels 3123 of the two first drive components 312 are respectively connected to the drive wheels 313 on both sides of the bottom shell 311. The first drive units 3121 of the two first drive components 312 are respectively located at the front end and rear end of the bottom shell 311 in the length direction.
[0112] It is understandable that each first drive component 312 independently drives the drive wheel 313 on one side, ensuring that the power distribution of the main body 310 is even during movement, which can avoid uneven load or slippage. The first drive units 3121 of the two first drive components 312 are respectively set at the front and rear ends of the bottom shell 311 in the length direction, which can make reasonable use of space and balance the weight distribution of the main body 310.
[0113] As an optional implementation, the drive wheel 313 corresponds one-to-one with the first transmission wheel 3123 and is fixedly arranged coaxially.
[0114] It is understandable that the first drive unit 3121 drives each first transmission wheel 3123 to rotate through the flexible transmission component 3122. Since the first transmission wheel 3123 is coaxially fixed with the drive wheel 313, the power is directly transmitted to the drive wheel 313, reducing the transmission links, reducing energy loss, and improving transmission efficiency.
[0115] The drive wheel 313 and the first transmission wheel 3123 can be coaxially fixed by means of key connection, welding, interference fit or bolt fixation.
[0116] For example, each first drive component 312 drives two first transmission wheels 3123. The two first transmission wheels 3123 driven by the same first drive component 312 are located at the front end and rear end of the bottom shell 311 in the length direction, respectively. The drive wheel 313 corresponds one-to-one with the first transmission wheel 3123, with a total of four drive wheels 313, which can realize the smooth movement of the device body 310.
[0117] As an optional implementation, each first transmission wheel 3123 is provided with two drive wheels 313; the first transmission wheel 3123 has a first gear portion 3124 coaxially connected, and each drive wheel 313 has a second gear portion 3131 coaxially arranged. The first gear portion 3124 meshes with the second gear portion 3131 of the two drive wheels 313 at the same time, thereby driving the two drive wheels 313 to move simultaneously.
[0118] It is understood that the first gear part 3124 can be located in the middle of the two second gear parts 3131. The two sides of the first gear part 3124 mesh with the two second gear parts 3131. When the first gear part 3124 rotates, the two second gear parts 3131 rotate in the same direction, so that the corresponding two drive wheels 313 rotate in the same direction.
[0119] For example, each first drive component 312 drives two first transmission wheels 3123. The two first transmission wheels 3123 driven by the same first drive component 312 are located at the front end and rear end of the bottom shell 311 in the length direction, respectively. Each first transmission wheel 3123 is provided with two drive wheels 313, for a total of eight drive wheels 313, which makes the device body 310 more adaptable when moving and less prone to slipping.
[0120] As an optional implementation, the lifting assembly 320 includes a second drive assembly 321, a lifting mechanism 322, and a bracket 323. The second drive assembly 321 and the lifting mechanism 322 are disposed on the main body 310 of the device, and the bracket 323 is connected to the lifting mechanism 322. The second drive assembly 321 is connected to the bracket 323 and is configured to drive the bracket 323 to lift vertically.
[0121] Understandably, the second drive assembly 321 is the power source for the lifting assembly 320, and can be a motor and a reducer. The motor provides power, and the reducer is used to stop the lifting or lowering action of the lifting assembly 320. The lifting mechanism 322 is used to provide balance when the lifting assembly is raised or lowered, and to prevent the bracket 323 from tilting. The lifting mechanism 322 can be a screw and nut mechanism, a scissor lift mechanism, a chain or belt transmission mechanism, etc., which can be selected according to the specific scenario. The top of the bracket 323 has a fixing structure that can fix the pallet 330 supporting the goods.
[0122] As an optional implementation, the lifting mechanism 322 includes two support arms 3221, which are arranged crosswise and hinged to each other; the first end of one of the two support arms 3221 is rotatably connected to the device body 310, and the second end is slidably connected to the bracket 323; the first end of the other of the two support arms 3221 is slidably connected to the device body 310, and the second end is rotatably connected to the bracket 323.
[0123] Understandably, the two support arms 3221 are arranged crosswise and connected to each other through a hinge point to form a scissor structure. In the initial state, the two support arms 3221 are in a folded state, and the bracket 323 is in the lowest position. During the lifting process, after the second drive component 321 is activated, it causes the sliding end of the support arm 3221 to move. The two support arms 3221 unfold around the hinge point, and the bracket 323 is lifted vertically. During the lowering process, the second drive component 321 moves in the opposite direction, the two support arms 3221 fold around the hinge point, and the bracket 323 is lowered vertically.
[0124] The bottom of the bracket 323 and the bottom of the device body 310 can be provided with scissor rails 3222 to facilitate the sliding of the sliding ends of the support arms 3221. When the lifting mechanism 322 descends, the sliding direction of the sliding ends of the two support arms 3221 can be from the end of the device body 310 to the middle. When the lifting mechanism 322 rises, the sliding direction of the sliding ends of the two support arms 3221 can be from the middle of the device body 310 to the end.
[0125] As an optional implementation, there are at least two lifting mechanisms 322, which are respectively arranged on both sides of the bracket 323 in the width direction.
[0126] It is understandable that the two lifting mechanisms 322 are symmetrically arranged to ensure that the bracket 323 is subjected to uniform force during the lifting process, avoiding uneven loading or tilting. The two lifting mechanisms 322 can be set at the middle position in the length direction of the bracket 323 to prevent the bracket 323 from tilting forward and backward during the lifting process.
[0127] As an optional implementation, two lifting mechanisms 322 are provided on each side of the bracket 323 in the width direction, and the two lifting mechanisms 322 on each side are symmetrically arranged in the length direction of the bracket 323.
[0128] It is understandable that two lifting mechanisms 322 are provided on each side of the width direction of the bracket 323, for a total of four lifting mechanisms 322. The two lifting mechanisms 322 on each side are symmetrically arranged front and back in the length direction of the bracket 323. The four lifting mechanisms 322 operate synchronously when the lifting component 320 is raised and lowered, ensuring that the bracket 323 is raised and lowered smoothly.
[0129] As an optional implementation, the second drive assembly 321 includes a second drive unit 3211 and a rocker arm 3212. The second drive unit 3211 is connected to the device body 310. The first end of the rocker arm 3212 is fixedly connected to the output end of the second drive unit 3211, and the second end of the rocker arm 3212 abuts against the bracket 323. The second drive unit 3211 is configured to drive the rocker arm 3212 to rotate so that the rocker arm 3212 pushes the bracket 323 to rise vertically.
[0130] Understandably, the second drive unit 3211 is the power source of the lifting assembly 320, used to provide driving force. The swing arm 3212 is a rigid rod, which needs to have sufficient strength and rigidity to bear the load. The first end of the swing arm 3212 is fixedly connected to the output end of the second drive unit 3211 to receive the driving force. The second end of the swing arm 3212 moves along an arc trajectory, and pushes the bracket 323 to move vertically by rotating.
[0131] As an optional implementation, a roller 3213 is rotatably connected to the second end of the rocker arm 3212, and the roller 3213 abuts against the bottom of the bracket 323; when the bracket 323 is raised or lowered, the roller 3213 rolls on the bottom surface of the bracket 323.
[0132] It is understandable that the roller 3213 is rotatably connected to the second end of the rocker arm 3212 via a bearing, ensuring that the roller 3213 can rotate freely. The roller 3213 can reduce the friction between the rocker arm 3212 and the bracket 323, making the bracket 323 more stable during lifting and lowering. The roller 3213 can be made of wear-resistant materials such as nylon, polyurethane or rubber to reduce wear and noise. The rolling trajectory of the roller 3213 at the bottom of the bracket 323 can be perpendicular to the length direction of the bracket 323 or perpendicular to the width direction of the bracket 323.
[0133] As an optional implementation, the peripheral edge of the device body 310 is provided with a plurality of guide wheels 314, all of which are rotatably connected to the device body 310.
[0134] The shelf 400 has a track 401, which is horizontally set along the depth of the storage location. When the picking and placing device 300 moves on the bottom surface of the track 401, the guide wheel 314 abuts against the side of the track 401 and rolls along the track 401.
[0135] For example, the track 401 has a bottom surface, and the drive wheel 313 of the picking and placing device can roll on the bottom surface of the track 401 to drive the picking and placing device 300 to move on the shelf 400. The track 401 also has a side surface, and when the picking and placing device 300 moves on the shelf 400, the guide wheel 314 abuts against the side surface of the track 401 and rolls along the side surface of the track 401.
[0136] Understandably, the guide wheels 314 are used to guide the movement of the picking and placing device 300 on the shelf 400, while reducing the friction between the picking and placing device 300 and the side wall of the track 401. Multiple guide wheels 314 can be set and evenly distributed along the periphery of the device body 310. They can be set at the four corners or both sides of the device body 310. The guide wheels 314 can be made of wear-resistant materials such as nylon, polyurethane or rubber to reduce wear and noise.
[0137] As an optional implementation, the device body 310 is provided with at least two detection units 315, which are located at the front end and rear end of the device body 310 in the length direction, respectively. The detection units 315 are configured to detect whether there are goods above the picking and placing device 300.
[0138] Optionally, there may be two or more detection units 315, which are evenly arranged at the front and rear ends of the main body 310 along its length. The detection units 315 may be photoelectric sensors, ultrasonic sensors, infrared sensors, etc., used to detect whether there is an object within a predetermined range or the distance to the object.
[0139] For example, the picking and placing device 300 receives an instruction and moves to a predetermined area. When the detection units 315 at both the front and rear ends of the device body 310 detect an object above, a signal is emitted to activate the second drive component 321, and the lifting component 320 lifts and supports the goods to begin the handling operation. When only one end of the detection unit 315 detects an object above, the picking and placing device 300 moves toward the end of the detection unit 315 that detected the object until both the front and rear ends of the device body 310 detect an object above.
[0140] As an optional implementation, the loading and unloading device 300 also includes a pallet 330, which is disposed above the lifting assembly 320 and is used to carry goods.
[0141] Understandably, pallet 330 is fixed to bracket 323 for supporting goods. Pallet 330 can be flat, frame, or other structures suitable for carrying goods.
[0142] As shown in Figures 8 and 9, in one optional embodiment, the telescopic assembly 200 includes a third drive assembly 210, a base plate 220, and a sliding plate 230. The base plate 220 is connected to the device body 100, the third drive assembly 210 is disposed on the base plate 220, and the sliding plate 230 is slidably disposed with respect to the base plate 220 along the loading / unloading direction. The third drive assembly 210 is configured to drive the sliding plate 230 to extend or retract relative to the base plate 220. The loading / unloading direction is the direction in which the loading / unloading device 300 enters and exits the telescopic assembly 200.
[0143] Understandably, the third drive assembly 210 is the power source of the telescopic assembly 200, used to drive the sliding plate 230 to extend or retract relative to the base plate 220; the base plate 220 is the basic structure of the telescopic assembly 200, used to support and fix the third drive assembly 210 and the sliding plate 230, and the base plate 220 is fixedly connected to the equipment body 100, which can be achieved by bolts, welding or other connection methods; the sliding plate 230 is the movable part of the telescopic assembly 200, used to carry the loading and unloading device 300 and move along the loading and unloading direction, and the sliding plate 230 can be made of lightweight and high-strength materials such as aluminum alloy or engineering plastics to reduce weight and improve movement efficiency.
[0144] As an optional implementation, the third driving assembly 210 includes a third driving unit 211, a second flexible transmission member 212, and a plurality of second transmission wheels 213. The plurality of second transmission wheels 213 are arranged at intervals along the length direction of the substrate 220. The second flexible transmission member 212 is wound around the plurality of second transmission wheels 213 and is connected to the sliding plate 230. The output end of the third driving unit 211 is connected to one of the plurality of second transmission wheels 213 and drives the second flexible transmission member 212 to drive the sliding plate 230 to move.
[0145] The substrate 220 is provided with a guide rail 221 extending along its length direction, and the sliding plate 230 is connected to a slider 231, which slides in cooperation with the guide rail 221.
[0146] It is understood that the third drive unit 211 is the power source of the third drive assembly 210, and can be a motor and a reducer; there are multiple second transmission wheels 213, and the second transmission wheels 213 connected to the output end of the third drive unit 211 can transmit power to the flexible transmission component 3122 and other second transmission wheels 213; during the rotation of the flexible transmission component 3122, it drives the slider 231 to move, and the sliding plate 230 moves smoothly along the length direction of the substrate 220 through the sliding cooperation between the slider 231 and the guide rail 221.
[0147] Among them, the flexible transmission component 3122 can be a belt, chain, etc. In some embodiments, a synchronous belt can be selected. The synchronous belt meshes with the gear of the second transmission wheel 213 through the toothed surface of its inner surface, thereby transmitting power. The guide rail 221 and the slider 231 can be made of high-strength, wear-resistant materials such as steel or aluminum alloy to ensure load-bearing capacity and durability.
[0148] As an optional implementation, the sliding plate 230 has a protrusion 232 at its end along the picking and placing direction. When the sliding plate 230 extends relative to the base plate 220, the protrusion 232 can overlap with the storage edge of the shelf 400.
[0149] Understandably, when the protrusion 232 is located on the moving channel and overlaps with the storage edge of the shelf 400, the sliding plate 230 can dock with the shelf 400 more accurately and reliably. The drive wheel 313 of the picking and placing device 300 can pass through the protrusion 232. The overlap between the protrusion 232 and the edge of the shelf 400 can share part of the load and reduce the stress on the sliding plate 230 and the base plate 220.
[0150] As an alternative implementation, the sliding plate 230 can extend bidirectionally from both ends of the substrate 220 along its length; the sliding plate 230 has a channel for the loading and unloading device 300 to move, and the two ends of the channel are open.
[0151] It is understandable that the shelves 400 in the warehousing system can be placed at intervals with aisles in between. When the picking and placing equipment 10 is working, it can climb on one side of the shelf 400 to pick up and place goods on that side of the shelf 400. When the sliding plate 230 can extend in both directions at both ends of the base plate 220, the picking and placing equipment 10 can extend and overlap on the other side of the shelf 400 to form a moving aisle without moving the shelf 400. The picking and placing device 300 can move to the other side of the shelf 400 through the moving aisle to perform operations.
[0152] As an optional implementation, the main body 100 has support portions 110 on both sides in the width direction, and the telescopic component 200 is located between the support portions 110 on both sides; when the loading and unloading device 300 is on the telescopic component 200, the upper surface of the support portion 110 is higher than the bearing surface of the loading and unloading device 300 when the goods are placed down.
[0153] Understandably, the support part 110 has a corresponding width and height, which can provide more stable support. When the loading and unloading device 300 is on the telescopic component 200 and is loaded with goods, the support part 110 can limit the goods to ensure that the goods can be placed stably during the loading and unloading process, and prevent tilting or shaking due to uneven load.
[0154] As an alternative implementation, the main body of the equipment 100 has a climbing mechanism 120, which is configured to dock with the shelf 400 so that the picking and placing equipment 10 can climb and move along the height direction of the shelf 400.
[0155] For example, the climbing mechanism 120 can climb along the vertical guide rail of the shelf 400 by means of a motor-driven gear, toothed synchronous belt, friction wheel or similar structure. The vertical guide rail is provided with a corresponding docking structure. The climbing mechanism 120 can also be equipped with grippers to ensure that the climbing mechanism 120 can fit on the shelf 400. The climbing mechanism 120 can be equipped with corresponding safety devices such as anti-fall devices or limit switches to ensure the safety of the equipment during the climbing process.
[0156] In some embodiments, the picking and placing device 300 is communicatively connected to the device body 100. For example, specific communication methods between the picking and placing device 300 and the device body 100 include, but are not limited to, short-range wireless communication methods such as Bluetooth, Wi-Fi (Wireless Fidelity), and infrared communication.
[0157] In some embodiments, the loading and unloading device 300 includes a battery 340, and the device body 100 is used to charge the battery 340 when the loading and unloading device 300 is located on the telescopic assembly 200.
[0158] For example, the main body of the device 100 can charge the battery 340 of the picking and placing device 300 wirelessly, or the main body of the device 100 and the picking and placing device 300 are respectively provided with interoperable charging connectors. When the picking and placing device 300 moves onto the main body of the device 100, the charging connectors of the two are connected to achieve charging of the battery 340.
[0159] As shown in Figure 1, this application also provides a warehousing system, which includes a shelf 400 and the aforementioned picking and placing equipment 10. The shelf 400 includes multiple storage locations, and multiple storage positions are arranged sequentially in the depth direction of the storage locations. The picking and placing device 300 of the picking and placing equipment 10 can move into the storage location and pick up and place goods in different storage locations.
[0160] Understandably, setting multiple storage locations in the depth direction of the shelving 400 can increase storage density and significantly improve space utilization. At the same time, the picking and placing device 300 can move to the depth of the storage location to pick and place goods in different storage locations, which significantly improves the efficiency of picking and placing goods.
[0161] As an optional implementation, the shelf 400 has multiple storage layers arranged in a vertical direction, each storage layer having at least one storage location, and the storage location is provided with a track 401 extending along its depth direction, with goods carried on top of the track 401; the picking and placing device 300 can move along the track 401.
[0162] It is understandable that the corresponding goods can be located by the storage layer and the corresponding storage location. During the picking and placing operation, the picking and placing equipment 10 first climbs to the corresponding storage layer, and then the picking and placing device 300 can move to the preset area through the track 401. Since the goods are carried on the track 401, the picking and placing device 300 is below the goods after arriving at the preset area, and the goods can be lifted by the lifting mechanism 322 for handling.
[0163] As shown in Figure 10, in one optional implementation, the shelf 400 includes a crossbeam 410 and a span beam 420. The crossbeam 410 is located at both ends in the depth direction of the storage location; the span beam 420 extends along the depth direction of the storage location and is connected to the crossbeam 410 at both ends.
[0164] The span beam 420 includes a first support surface 421 and a second support surface 422. The first support surface 421 is higher than the second support surface 422. The first support surface 421 is used to support goods. The second support surfaces 422 of the two parallel span beams 420 are used to form the track 401.
[0165] Understandably, the crossbeam 410 is fixed at both ends in the depth direction of the storage location to support the crossbeam 420; the crossbeam 420 is used to form the track 401 and provide a support surface higher than the track 401 to support the goods.
[0166] Wherein, the cross beam 410 and the span beam 420 can be made of high-strength materials such as steel or aluminum alloy to ensure load-bearing capacity and durability. The span beam 420 can adopt a Z-shaped beam as shown in Figure 11, the top surface of the Z-shaped beam is used to support goods, and the bottom surface or the bottom surface together with the side surface forms the rail 401.
[0167] As an optional embodiment, the shelf 400 includes a shelf main body and a multi-fold bracket 430. The multi-fold bracket 430 includes a connecting plate 431, a first support plate 432 and a second support plate 433. The connecting plate 431 is connected to the outer edge of the first support plate 432, and the connecting plate 431 is connected to the shelf main body; the second support plate 433 is connected to the inner edge of the first support plate 432 through a side plate, and is lower than the first support plate 432.
[0168] Two multi-fold brackets 430 are arranged in parallel and spaced apart to form a storage location. The upper surfaces of the first support plates 432 of the two multi-fold brackets 430 are used to support goods; the upper surfaces of the second support plates 433 of the two multi-fold brackets 430 are used alone or together with the side plates to form the rail 401.
[0169] It can be understood that the multi-fold bracket 430 is connected with the shelf main body to form a stable support structure, and the multi-fold bracket 430 can carry goods of different specifications with high flexibility.
[0170] Wherein, the multi-fold bracket 430 can also adopt corbel brackets, "几"-shaped brackets, "C"-shaped brackets, etc., and the corresponding bracket can be selected according to different goods.
[0171] The specific steps of the goods picking and placing device 10 for picking and placing goods are introduced below in conjunction with Figure 13 through specific embodiments.
[0172] In step one, the control center issues a goods picking instruction and provides the coordinate position of the goods. After receiving the instruction, the goods picking and placing device 10 climbs along the shelf 400 to the storage layer at the corresponding height.
[0173] It should be noted that the control center may be the control center of the storage system.
[0174] In step two, the third drive unit 211 is activated to drive the sliding plate 230 to extend along the telescopic direction until the protruding part 232 of the drive plate is lapped on the span beam 420 of the shelf 400 to form a moving passage, then the first drive unit 3121 of the goods picking and placing device 300 is activated to drive the goods picking and placing device 300 to drive into the storage location of the shelf 400 along the moving passage.
[0175] In step three, the goods picking and placing device 300 travels along the rail 401 to a predetermined depth, and when the detection unit 315 detects that the goods picking and placing device 300 is located below the goods, it stops moving forward.
[0176] Step four: The second drive unit 3211 is activated, driving the lifting mechanism 322 to lift and support the goods.
[0177] Step 5: The picking and placing device 300 lifts the goods and moves them toward the main body of the picking and placing device 10, and travels onto the sliding plate 230.
[0178] Step six, the lifting mechanism 322 descends, and the goods are received by the pallet 130 of the loading and unloading equipment 10.
[0179] At this point, the picking and placing equipment 10 has completed the transfer of goods. The placing process is similar, and is the reverse of the picking process.
[0180] This solution is also applicable to scenarios where there are shelves 400 on both the front and back sides of the picking and placing equipment 10.
[0181] This application provides a picking and placing device 10 and a warehousing system. The picking and placing device 10 is used to pick and place goods on a shelf 400. The picking and placing device 10 includes a main body 100, a telescopic component 200, and a picking and placing device 300. The telescopic component 200 is disposed on the main body 100. The picking and placing device 300 is movably disposed on the telescopic component 200. At least a portion of the telescopic component 200 can extend relative to the main body 100 and connect with the shelf 400 to form a moving channel. The picking and placing device 300 is configured to move through the moving channel to the storage location of the shelf 400 and pick and place goods at a preset position in the depth direction of the storage location. The picking and placing device 10 provided by this application is not affected by the specifications of the goods or the depth of the shelf 400, and can improve handling efficiency.
[0182] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A picking and placing device, characterized in that, Used for picking up and placing goods on the shelf (400); The picking and placing equipment (10) includes: Equipment body (100); Telescopic assembly (200), the telescopic assembly (200) being disposed on the device body (100); A picking and placing device (300) is movably mounted on the telescopic assembly (200); At least a portion of the telescopic component (200) can extend relative to the main body (100) and dock with the shelf (400) to form a moving channel; the picking and placing device (300) is configured to move through the moving channel to the storage location of the shelf (400) and pick up and place goods at a preset position in the depth direction of the storage location.
2. The picking and placing equipment according to claim 1, characterized in that, The picking and placing device (300) includes a device body (310) and a lifting component (320), wherein the lifting component (320) is disposed on the device body (310); the device body (310) is configured to drive the lifting component (320) to move on the telescopic component (200) or the shelf (400) to below the goods, and the lifting component (320) is configured to lift or lower the goods.
3. The picking and placing equipment according to claim 2, characterized in that, The main body (310) of the device includes a bottom shell (311), a first drive assembly (312) and a plurality of drive wheels (313). The first drive assembly (312) is disposed on the bottom shell (311), and the plurality of drive wheels (313) are rotatably connected to the bottom shell (311). The first drive assembly (312) is configured to drive at least one of the plurality of drive wheels (313) to rotate so that the picking and placing device (300) moves on the telescopic assembly (200) and / or the shelf (400).
4. The picking and placing equipment according to claim 3, characterized in that, The first drive assembly (312) includes a first drive unit (3121), a flexible transmission member (3122), and at least two first transmission wheels (3123); the at least two first transmission wheels (3123) are arranged at intervals along the length direction of the bottom shell (311); the flexible transmission member (3122) is wound around the at least two first transmission wheels (3123); the output end of the first drive unit (3121) is connected to one of the at least two first transmission wheels (3123); At least one of the drive wheels (313) is connected to at least one of the first transmission wheels (3123).
5. The picking and placing equipment according to claim 4, characterized in that, There are two first drive components (312), and the two first drive components (312) are respectively arranged close to both sides of the bottom shell (311) in the width direction; Multiple drive wheels (313) are respectively distributed on both sides of the bottom shell (311) in the width direction, and the first transmission wheels (3123) of the two first drive components (312) are respectively connected to the drive wheels (313) on both sides of the bottom shell (311); the first drive units (3121) of the two first drive components (312) are respectively disposed at the front end and rear end of the bottom shell (311) in the length direction.
6. The picking and placing equipment according to claim 4, characterized in that, The drive wheel (313) corresponds one-to-one with the first transmission wheel (3123) and is fixedly arranged coaxially.
7. The picking and placing equipment according to claim 4, characterized in that, Each of the first transmission wheel (3123) is provided with two driving wheels (313); the first transmission wheel (3123) has a first gear part (3124) coaxially connected, and each of the driving wheels (313) has a second gear part (3131) coaxially arranged. The first gear part (3124) meshes with the second gear part (3131) of the two driving wheels (313) at the same time, thereby driving the two driving wheels (313) to move simultaneously.
8. The picking and placing equipment according to claim 2, characterized in that, The lifting assembly (320) includes a second drive assembly (321), a lifting mechanism (322), and a bracket (323). The second drive assembly (321) and the lifting mechanism (322) are disposed on the main body (310) of the device. The bracket (323) is connected to the lifting mechanism (322). The second drive assembly (321) is connected to the bracket (323) and is configured to drive the bracket (323) to lift vertically.
9. The picking and placing equipment according to claim 8, characterized in that, The lifting mechanism (322) includes two support arms (3221), which are arranged crosswise and hinged to each other; the first end of one of the two support arms (3221) is rotatably connected to the main body of the device (310), and the second end is slidably connected to the bracket (323); the first end of the other of the two support arms (3221) is slidably connected to the main body of the device (310), and the second end is rotatably connected to the bracket (323).
10. The picking and placing equipment according to claim 9, characterized in that, There are at least two lifting mechanisms (322), which are respectively located on both sides of the bracket (323) in the width direction.
11. The picking and placing equipment according to claim 10, characterized in that, Two lifting mechanisms (322) are provided on each side of the bracket (323) in the width direction, and the two lifting mechanisms (322) on each side are symmetrically arranged in the front and back directions in the length direction of the bracket (323).
12. The picking and placing equipment according to claim 8, characterized in that, The second drive assembly (321) includes a second drive unit (3211) and a swing arm (3212). The second drive unit (3211) is connected to the main body (310) of the device. The first end of the swing arm (3212) is fixedly connected to the output end of the second drive unit (3211), and the second end of the swing arm (3212) abuts against the bracket (323). The second drive unit (3211) is configured to drive the swing arm (3212) to rotate so that the swing arm (3212) pushes the bracket (323) to rise vertically.
13. The picking and placing equipment according to claim 12, characterized in that, The second end of the swing arm (3212) is rotatably connected to a roller (3213), which abuts against the bottom of the bracket (323); when the bracket (323) is raised or lowered, the roller (3213) rolls on the bottom surface of the bracket (323).
14. The picking and placing equipment according to any one of claims 2-13, characterized in that, The peripheral edge of the device body (310) is provided with a plurality of guide wheels (314), and the guide wheels (314) are rotatably connected to the device body (310).
15. The picking and placing equipment according to any one of claims 2-13, characterized in that, At least two detection units (315) are provided on the main body (310) of the device. The at least two detection units (315) are located at the front end and the rear end of the main body (310) in the length direction of the device, respectively. The detection units (315) are configured to detect whether there are goods above the picking and placing device (300).
16. The picking and placing equipment according to any one of claims 2-13, characterized in that, The loading and unloading device (300) also includes a pallet (330), which is disposed above the lifting assembly (320) and is used to carry goods.
17. The picking and placing equipment according to any one of claims 1-13, characterized in that, The telescopic assembly (200) includes a third drive assembly (210), a base plate (220), and a sliding plate (230). The base plate (220) is connected to the device body (100). The third drive assembly (210) is disposed on the base plate (220). The sliding plate (230) is slidably disposed with respect to the base plate (220) along the loading / unloading direction. The third drive assembly (210) is configured to drive the sliding plate (230) to extend or retract relative to the base plate (220).
18. The picking and placing equipment according to claim 17, characterized in that, The third driving assembly (210) includes a third driving unit (211), a second flexible transmission member (212), and a plurality of second transmission wheels (213). The plurality of second transmission wheels (213) are arranged at intervals along the length direction of the substrate (220). The second flexible transmission member (212) is wound around the plurality of second transmission wheels (213) and is connected to the sliding plate (230). The output end of the third driving unit (211) is connected to one of the plurality of second transmission wheels (213) and drives the second flexible transmission member (212) to drive around the plurality of second transmission wheels (213) to move the sliding plate (230). The substrate (220) is provided with a guide rail (221) extending along its length direction, and the sliding plate (230) is connected to a slider (231), the slider (231) slidingly engaging with the guide rail (221).
19. The picking and placing equipment according to claim 17, characterized in that, The sliding plate (230) has a protrusion (232) at its end along the picking and placing direction. When the sliding plate (230) extends relative to the base plate (220), the protrusion (232) can overlap with the storage edge of the shelf (400).
20. The picking and placing equipment according to claim 17, characterized in that, The sliding plate (230) can extend bidirectionally from both ends of the base plate (220) along its length; the sliding plate (230) has a channel for the loading and unloading device (300) to move, and the two ends of the channel are open.
21. The picking and placing equipment according to any one of claims 1-13, characterized in that, The main body (100) of the equipment has support portions (110) on both sides in the width direction. The telescopic component (200) is located between the support portions (110) on both sides. The upper surface of the support portion (110) is higher than the bearing surface of the loading and unloading device (300) when the goods are placed on the telescopic component (200).
22. The picking and placing equipment according to any one of claims 1-13, characterized in that, The main body of the equipment (100) has a climbing mechanism (120) configured to dock with the shelf (400) so that the picking and placing equipment (10) can climb and move along the height direction of the shelf (400).
23. The picking and placing equipment according to any one of claims 1-13, characterized in that, The picking and placing device (300) is communicatively connected to the main body of the equipment (100).
24. The picking and placing equipment according to any one of claims 1-13, characterized in that, The loading and unloading device (300) includes a battery (340), and when the loading and unloading device (300) is located on the telescopic assembly (200), the main body of the device (100) is used to charge the battery (340).
25. A warehousing system, characterized in that, Includes a shelf (400) and a picking and placing device (10) as described in any one of claims 1-24, wherein the shelf (400) includes multiple storage locations, and multiple storage positions are arranged sequentially in the depth direction of the storage locations, and the picking and placing device (300) of the picking and placing device (10) can move into the storage location and pick and place goods in different storage locations.
26. The warehousing system according to claim 25, characterized in that, The shelf (400) has multiple storage layers arranged in a vertical direction, each storage layer has at least one storage location, the storage location is provided with a track (401) extending along its depth direction, and goods are carried on the upper surface of the track (401); the picking and placing device (300) can move along the track (401).
27. The warehousing system according to claim 26, characterized in that, The shelf (400) includes a crossbeam (410) and a span beam (420), the crossbeam (410) being disposed at both ends in the depth direction of the storage location; the span beam (420) extending along the depth direction of the storage location, and both ends being connected to the crossbeam (410); The span beam (420) includes a first support surface (421) and a second support surface (422), the first support surface (421) being higher than the second support surface (422), the first support surface (421) being used to support goods, and the second support surface (422) of the two parallel span beams (420) being used to form the track (401).
28. The warehousing system according to claim 26, characterized in that, The shelf (400) includes a shelf body and a multi-fold support (430); the multi-fold support (430) includes a connecting plate (431), a first support plate (432) and a second support plate (433), the connecting plate (431) is connected to the outer edge of the first support plate (432) and the connecting plate (431) is connected to the shelf body; the second support plate (433) is connected to the inner edge of the first support plate (432) and is lower than the first support plate (432); Two of the multi-fold brackets (430) are arranged in parallel and spaced apart to form the storage location; the upper surface of the first support plate (432) of the two multi-fold brackets (430) is used to support goods; the upper surface of the second support plate (433) of the two multi-fold brackets (430) is used to form the track (401).