Patent Publication Number: US-2023150765-A1

Title: Goods taking mechanism and carrying device

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of International Patent Application No. PCT/CN2021/107893 filed on Jul. 22, 2021, which claims priority to Chinese Patent Application No. 202021550076.9, filed on Jul. 30, 2020, which are incorporated herein by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     The present disclosure relates to the field of smart warehousing technologies, and in particular, to a goods taking mechanism and a carrying device. 
     BACKGROUND 
     With the continuous development of science and technology, as industrial carrying devices that can perform automatic carrying works, the carrying devices are widely applied to the fields such as a smart warehousing system, a smart logistics system, and a smart sorting system. 
     The carrying work performed by the carrying device is that a workpiece is hold by one device and is moved from one processing position to another processing position. Different tail executors may be mounted on the carrying device to complete carrying works of workpieces of different shapes and states, and the carrying device can replace manpower to carry goods and plays an important role in the many fields. Currently, in the smart warehousing system, there is a distance between adjacent goods boxes, when the carrying device carries goods, clamping arms of a goods taking mechanism of the carrying device extend into the distance and are clamped on the two opposing sides of the goods to take and store the goods. 
     However, the goods taking mechanism of the existing carrying device can clamp only the goods boxes of the fixed sizes, which not only has a relatively small application scope but also causes the distance between the adjacent goods boxes to be relatively large. 
     SUMMARY 
     The present disclosure provides a goods taking mechanism and a carrying device, which clamp to-be-moved objects of different sizes, and helps reduce a distance between adjacent to-be-moved objects. 
     According to a first aspect, the present disclosure provides a goods taking mechanism, including a fixed member, a first clamping plate, a second clamping plate, and a driving assembly, where the first clamping plate and the second clamping plate are oppositely mounted on the fixed member and are connected to the driving assembly, and the first clamping plate and the second clamping plate are movable relative to the fixed member under the action of the driving assembly, to act on two opposing sides of a to-be-moved object. 
     According to the goods taking mechanism described above, optionally, the first clamping plate and the second clamping plate are movable towards reverse directions relative to the fixed member. 
     According to the goods taking mechanism described above, optionally, the first clamping plate and the second clamping plate are movable horizontally relative to the fixed member. 
     According to the goods taking mechanism described above, optionally, the first clamping plate and the second clamping plate are clamped on the two opposing sides of the to-be-moved object; or 
     the first clamping plate and the second clamping plate are engaged with the to-be-moved object. 
     According to the goods taking mechanism described above, optionally, both the first clamping plate and the second clamping plate are slidably connected to the fixed member. 
     According to the goods taking mechanism described above, optionally, the first clamping plate includes a clamping portion and an assembly portion, the clamping portion is mounted on the fixed member through the assembly portion and acts on a side wall of the to-be-moved object, and a structure of the second clamping plate is the same as a structure of the first clamping plate. 
     According to the goods taking mechanism described above, optionally, the clamping portion is perpendicular to the assembly portion. 
     According to the goods taking mechanism described above, optionally, the goods taking mechanism further includes a first connection member, where both the assembly portions of the first clamping plate and the second clamping plate are hinged to the first connecting member, hinge portions are provided between the assembly portions and the first connecting member, and the first clamping plate and the second clamping plate are rotatable around the hinge portions towards the to-be-moved object, to be clamped on the two opposing sides of the to-be-moved object. 
     According to the goods taking mechanism described above, optionally, the assembly portions are slidably connected to the fixed member by the first connection member. 
     According to the goods taking mechanism described above, optionally, the goods taking mechanism further includes a limiting assembly, and the limiting assembly is configured to limit movement of the first clamping plate and the second clamping plate. 
     According to the goods taking mechanism described above, optionally, the limiting assembly includes a second connection member, a third connection member, and a sliding member fixed on the fixed member; the second connection member is provided with a first sliding groove and is connected to the first clamping plate; and the third connection member is provided with a second sliding groove and is connected to the second clamping plate, and the sliding member passes through the first sliding groove and the second sliding groove. 
     According to the goods taking mechanism described above, optionally, the limiting assembly further includes a fixed frame mounted on the fixed member, the fixed frame is provided with two third sliding grooves that are mounted opposite to each other, a part of the second connection member and a part of the third connection member are mounted in the fixed frame through penetration, and the sliding member passes through the first sliding groove, the second sliding groove, and the third sliding grooves and is fixed in the fixed frame. 
     According to the goods taking mechanism described above, optionally, the limiting assembly further includes a limiting shaft, and the sliding member is fixed in the fixed frame through the limiting shaft. 
     According to the goods taking mechanism described above, optionally, the first sliding groove and the second sliding groove are parallel and overlap each other, and the third sliding grooves are perpendicular to the first sliding groove and the second sliding groove. 
     According to the goods taking mechanism described above, optionally, the second connection member is connected to the first clamping plate by the first connection member, and the third connection member is connected to the second clamping plate by the first connection member. 
     According to the goods taking mechanism described above, optionally, the first clamping plate further includes an engagement portion, and the engagement portion is mounted on one end of the clamping portion away from the assembly portion and faces a surface of the to-be-moved object, to be engaged with the side wall of the to-be-moved object. 
     According to the goods taking mechanism described above, optionally, a recess portion matching the engagement portion is respectively mounted on the two opposing sides of the to-be-moved object. 
     According to the goods taking mechanism described above, optionally, the engagement portion is a hook, and the recess portion is a slot. 
     According to the goods taking mechanism described above, optionally, the goods taking mechanism further includes a sliding assembly, where both the first clamping plate and the second clamping plate are slidably connected to the fixed member by the sliding assembly. 
     According to the goods taking mechanism described above, optionally, the sliding assembly includes a slide rail and a sliding block matching the slide rail, one of the slide rail and the sliding block is located on the fixed member, and the other of the slide rail and the sliding block is located on surfaces of the first clamping plate and the second clamping plate facing the fixed member. 
     According to the goods taking mechanism described above, optionally, the driving assembly includes a driving motor and a transmission set, the driving motor is separately connected to the first clamping plate and the second clamping plate by the transmission set, and the transmission set is configured to cause the first clamping plate and the second clamping plate to be movable relative to the fixed member under the driving of the driving motor. 
     According to the goods taking mechanism described above, optionally, the transmission set includes a gear and two racks, and the gear is connected to an output shaft of the driving motor; the two racks are respectively connected to the first clamping plate and the second clamping plate and mesh with two opposing sides of the gear; and under the rotation of the gear, the two racks can drive the first clamping plate and the second clamping plate to move close to or away from each other on the fixed member. 
     According to the goods taking mechanism described above, optionally, the transmission set further includes a reducer, one end of the reducer is connected to the output shaft of the driving motor, and an other end of the reducer is connected to the gear. 
     According to the goods taking mechanism described above, optionally, the transmission set further includes a fourth connection member, both the first clamping plate and the second clamping plate are connected to the racks by the fourth connection member, and the transmission set is located on one side of the fixed member opposite to the first clamping plate and the second clamping plate. 
     According to the goods taking mechanism described above, optionally, the transmission set includes a transmission member and two opposing connection arms, and the transmission member is connected to the output shaft of the driving motor and is rotatable around the output shaft; the two connection arms are located on two opposing sides of the transmission member, to respectively correspond to the first clamping plate and the second clamping plate; and a first end of each of the connection arms is connected to the transmission member, there is a distance between a connection point of the connection arm on the transmission member and the output shaft, and a second end of each of the connection arms is connected to the first clamping plate or the second clamping plate. 
     According to the goods taking mechanism described above, optionally, the connection arm is an arc-shaped arm. 
     According to a second aspect, the present disclosure provides a carrying device, including a body and the goods taking mechanism according to any one of the foregoing descriptions mounted on the body. 
     According to the goods taking mechanism and the carrying device provided in the present disclosure, under the action of the driving assembly, the first clamping plate and the second clamping plate are movable relative to the fixed member, to adjust the distance between the first clamping plate and the second clamping plate, so that the first clamping plate and the second clamping plate act on two opposing sides of the to-be-moved object. In this way, on one hand, to-be-moved objects of more sizes can be met, and the application scope of the goods taking mechanism is wider, and on the other hand, it can help reduce the distance between adjacent to-be-moved objects. In addition, the first clamping plate and the second clamping plate are plate structures and have smaller thicknesses than clamping arms of an existing goods taking mechanism, so that the to-be-moved object is moved and the distance between the adjacent to-be-moved objects can further be reduced. Therefore, the goods taking mechanism and the carrying device provided in the present disclosure can clamp the to-be-moved objects of different sizes, which helps reduce the distance between the adjacent to-be-moved objects. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To describe the technical solutions in the embodiments of the present application or in the prior art more clearly, the following briefly introduces the accompanying drawings required for describing the embodiments or the prior art. Apparently, the accompanying drawings in the following description show some embodiments of the present application, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without creative efforts. 
         FIG.  1    is a schematic structural diagram of a carrying device according to an embodiment of the present disclosure. 
         FIG.  2    is a schematic diagram of a moving state of a carrying device according to an embodiment of the present disclosure. 
         FIG.  3    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 1 of the present disclosure. 
         FIG.  4    is a schematic enlarged view of a part A in  FIG.  3    according to an embodiment of the present disclosure. 
         FIG.  5    is a top view of local assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 1 of the present disclosure. 
         FIG.  6    is a schematic structural diagram of a goods taking mechanism according to Embodiment 1 of the present disclosure. 
         FIG.  7    is a schematic structural diagram of a goods taking mechanism from another angle according to Embodiment 1 of the present disclosure. 
         FIG.  8    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 2 of the present disclosure. 
         FIG.  9    is a schematic enlarged view of a part B in  FIG.  8    according to Embodiment 2 of the present disclosure. 
         FIG.  10    is a top view of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 2 of the present disclosure. 
         FIG.  11    is a schematic enlarged diagram of a part C in  FIG.  10   . 
         FIG.  12    is a schematic stress diagram of a first clamping plate at a part D in  FIG.  11   . 
         FIG.  13    is a schematic structural diagram of a goods taking mechanism according to Embodiment 2 of the present disclosure. 
         FIG.  14    is a schematic structural diagram of a goods taking mechanism from another angle according to Embodiment 2 of the present disclosure. 
         FIG.  15    is a schematic structural diagram of a goods taking mechanism from still another angle according to Embodiment 2 of the present disclosure. 
         FIG.  16    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 3 of the present disclosure. 
         FIG.  17    is a schematic structural diagram of a goods taking mechanism according to Embodiment 3 of the present disclosure. 
         FIG.  18    is a schematic structural diagram of a to-be-moved object according to Embodiment 3 of the present disclosure. 
     
    
    
     DESCRIPTION OF REFERENCE NUMERALS 
       100 —carrying device;  10 —goods taking mechanism;  11 —fixed member;  111 —through hole;  12 —first clamping plate;  121 —clamping portion;  122 —assembly portion;  123 —engagement portion;  13 —second clamping plate; 
       14 —driving assembly;  141 —driving motor;  142 —transmission set;  143 —gear;  144 —rack;  145 —reducer;  146 —transmission member;  147 —connection arm;  148 —fourth connection member;  149 —fixed strip;  15 —sliding assembly;  151 —slide rail;  152 —sliding block; 
       16 —limiting assembly;  161 —second connection member;  162 —third connection member;  163 —sliding member;  164 —fixed frame  1 ;  165 —limiting shaft;  167 —first sliding groove;  168 —second sliding groove;  169 —third sliding groove;  17 —first connection member;  18 —hinge portion;  19 —support; 
       20 —fork assembly;  21 —tray;  22 —fixed base;  221 —track; 
       30 —transmission assembly;  31 —first movable wheel;  32 —second movable wheel;  33 —third movable wheel;  34 —first fixed wheel;  35 —second fixed wheel;  36 —conveyor belt; 
       200 —to-be-moved object; and  210 —recess portion. 
     DETAILED DESCRIPTION 
     In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, it is a part of the embodiments of the present invention, but not all the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. 
     Currently, application scenarios of carrying devices may include, but not limited to, a smart warehousing system, a smart logistics system, a smart sorting system, or other application scenarios that require the carrying devices. The smart warehousing system is used as an example. A distance is reserved between two adjacent goods boxes, so that the carrying device takes and stores the goods boxes. The carrying device mainly includes a goods taking mechanism. In this way, when the carrying device carries the goods box, clamping arms of the goods taking mechanism may extend into the distance and are clamped on two opposing sides of the goods box, to take or store the goods box. 
     However, the distance between the two clamping arms of the existing goods taking mechanism is a fixed value and cannot be adjusted, thus the two clamping arms can clamp only goods boxes of fixed sizes. In addition, the clamping arms are relatively thick, thus when the clamping arms are clamped on the two sides of the goods box, the distance between the adjacent goods boxes becomes relatively large. For goods boxes of relatively small sizes, because the distance between the two clamping arms of the existing goods taking mechanism is fixed, even if the goods taking mechanism can take the goods boxes of the small sizes, the distance between the goods boxes of the small sizes is larger than the distance between goods boxes of normal sizes (most sizes of the goods boxes in the smart warehousing system or in other fields). Therefore, the goods taking mechanism of the existing carrying device not only has a relatively small application scope, but also causes the distance between the adjacent goods boxes to be larger. 
     Therefore, the embodiments of the present disclosure provide a goods taking mechanism and a carrying device, which clamp goods boxes of different sizes, and helps reduce the distance between adjacent goods boxes. 
     The following further describes the goods taking mechanism and the carrying device in this embodiment by using the application scenario of the smart warehousing system as an example. 
       FIG.  1    is a schematic structural diagram of a carrying device according to an embodiment of the present disclosure.  FIG.  2    is a schematic diagram of a moving state of a carrying device according to an embodiment of the present disclosure. 
     As shown in  FIG.  1    and  FIG.  2   , this embodiment of the present disclosure provides an entire structure of a carrying device  100 . It can be learned from  FIG.  1    and  FIG.  2    that the carrying device  100  may include a body and a goods taking mechanism  10  mounted on the body. The body may be understood as a structure except for the goods taking mechanism  10  on the carrying device  100 . As shown in  FIG.  1    and  FIG.  2   , the body may include a base assembly  20 , and the base assembly  20  may include a tray  21 , a fixed base  22 , and two transmission assemblies  30 . The tray  21  is mounted on the fixed base  22  and is slidably connected to the fixed base  22 . The transmission assemblies  30  may be mounted on the fixed base  22 , located on two opposing sides of the tray  21 , and connected to the tray  21 , so that the tray  21  may perform a reciprocating movement towards or away from a to-be-moved object  200 , to move the to-be-moved object  200 . The goods taking mechanism  10  may be located on one end of the base assembly  20 , is clamped on two opposing sides of the to-be-moved object  200  such as a goods box, and is configured to move the to-be-moved object  200  to the tray  21  and then place the to-be-moved object  200  at a specified position (that is, a specified height) of a shelving unit in a smart warehousing system or carry the to-be-moved object  200  from a shelving unit to a specified placement platform, to take or store the to-be-moved object  200 . 
     The tray  21  may be slidably connected to rails  221  on the fixed base  22  by sliding blocks (not shown in the figure) at the bottom. In this way, when the goods taking mechanism  10  moves the to-be-moved object  200 , the tray  21  may slide relative to the fixed base  22 , to extend out of the fixed base  22  and in contact with the bottom of the to-be-moved object  200 , so that the goods taking mechanism  10  moves the to-be-moved object  200  to the tray  21 , or moves the to-be-moved object  200  on the tray  21  to the placement platform and can also prevent the to-be-moved object  200  from falling during taking and storing. 
     Alternatively, in a possible implementation, when the to-be-moved object  200  is located close to the inside of the shelving unit (that is, the to-be-moved object  200  is closer to the middle of the shelving unit than the edge of the shelving unit), the tray  21  may move to close to or in contact with the edge of the shelving unit, and the goods taking mechanism  10  continues to extend towards the to-be-moved object  200  relative to the shelving unit, to move the to-be-moved object  200 . In this way, when the to-be-moved object  200  is moved, the to-be-moved object  200  can also be prevented from falling during taking or storing. 
     Each of the transmission assemblies  30  may include a motor (not shown in the figure), a movable wheel set, a fixed wheel set, and a conveyor belt  36 . The movable wheel set is connected to an output shaft of the motor, one end of the conveyor belt  36  is fixedly connected to the movable wheel set, and the other end of the conveyor belt  36  is wound around the fixed wheel set and is fixedly connected to the tray  21 . In this way, when the motor rotates, the fixed wheel set starts rotating, and under the driving of the conveyor belt  36 , a direction of the conveyor belt  36  is changed through the fixed wheel set, and then the tray  21  is driven by the conveyor belt  36  to move relative to the fixed base  22 , thereby providing power for the movement of the tray  21  relative to the fixed base  22 . 
     For example, the movable wheel set may include a first movable wheel  31 , a second movable wheel  32 , and a third movable wheel  33 . The first movable wheel  31 , the second movable wheel  32 , and the third movable wheel  33  are arranged on the side wall of the fixed base  22  in a triangle shown in  FIG.  1   , and the first movable wheel  31  is connected to the output shaft of the motor. The fixed wheel set may include a first fixed wheel  34  and a second fixed wheel  35 . Both the first fixed wheel  34  and the second fixed wheel  35  are located on the bottom wall of the fixed base  22 ; and the second fixed wheel  35  is close to one end of the tray  21  facing the goods taking mechanism  10  (that is, the tail end of the tray  21 ), and the first fixed wheel  34  is close to one end of the tray  21  away from the goods taking mechanism  10  (that is, the front end of the tray  21 ). The conveyor belt  36  is fixed on the first movable wheel  31 , and is wound on the second movable wheel  32 , the third movable wheel  33 , the first fixed wheel  34 , and the second fixed wheel  35  in sequence and then fixed on the tail end of the tray  21 . In this way, the movable wheel set may be driven by the motor, and further a conveying direction of the conveyor belt  36  is driven, to provide power for the movement of the tray  21  relative to the fixed base  22  or drive the tray  21  to reset. Specifically, the transmission assembly  30  may refer to a transmission assembly  30  of a carrying device  100  in the prior art. In this embodiment, the transmission assembly  30  is not further described. 
     When the conveyor belt  36  is an elastic body, for example, an elastic conveyor belt, the elastic conveyor belt may further drive the tray  21  that moves relative to the fixed base  22  to reset. 
     It may be understood that the schematic structure in this embodiment constitutes no specific limitation on the structure of the carrying device  100 . In some other embodiments of the present disclosure, the carrying device  100  may include more or fewer components than those shown in the figure, or some components may be combined, or some components may be split, or components are arranged in different manners. 
     The following further describes the goods taking mechanism  10  of the carrying device  100  in this embodiment. 
     Embodiment 1 
       FIG.  3    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 1 of the present disclosure.  FIG.  4    is a schematic enlarged view of a part A in  FIG.  3    according to an embodiment of the present disclosure.  FIG.  5    is a top view of local assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 1 of the present disclosure.  FIG.  6    is a schematic structural diagram of a goods taking mechanism according to Embodiment 1 of the present disclosure.  FIG.  7    is a schematic structural diagram of a goods taking mechanism from another angle according to Embodiment 1 of the present disclosure. 
     As shown in  FIG.  3    to  FIG.  7   , this embodiment provides the entire structure of the goods taking mechanism  10 . The goods taking mechanism  10  may include a fixed member  11 , a first clamping plate  12 , a second clamping plate  13 , and a driving assembly  14 . The first clamping plate  12  and the second clamping plate  13  are mounted opposite to each other on the fixed member  11 , so that the first clamping plate  12  and the third clamping plate  13  may be bilaterally and symmetrically mounted on the fixed member  11 , to act on the two opposing sides of the to-be-moved object  200 , so as to take or store the to-be-moved object  200 . 
     Referring to  FIG.  3    to  FIG.  7   , the first clamping plate  12  and the second clamping plate  13  may be connected to the driving assembly  14 , and the first clamping plate  12  and the second clamping plate  13  may move relative to the fixed member  11  under the action of the driving assembly  14 , to act on the two opposing sides of the to-be-moved object  200 . In this way, when the goods taking mechanism  10  needs to adapt to to-be-moved objects  200  of different sizes such as goods boxes, the first clamping plate  12  and the second clamping plate  13  may move relative to the fixed member  11  under the driving of the driving assembly  14 , to act on the two opposing sides of the to-be-moved object  200 , so as to move the to-be-moved object  200 . 
     It should be understood that the movements of the first clamping plate  12  and the second clamping plate  13  relative to the fixed member  11  may be understood as that the first clamping plate  12  and the second clamping plate  13  move close to (directions indicated by arrows in  FIG.  5    to  FIG.  7   ) or away from each other on the fixed member  11 , so that the distance between the first clamping plate  12  and the second clamping plate  13  can be changed, to meet the to-be-moved objects  200  of more sizes and extend the application scope of the goods taking mechanism  10 . 
     Because the first clamping plate  12  and the second clamping plate  13  may move relative to the fixed member  11 , the distance between the first clamping plate  12  and the second clamping plate  13  may be adjusted according to the size of the to-be-moved object  200 , to meet the to-be-moved objects  200  of more sizes and achieve the wider application scope of the goods taking mechanism  10 . In addition, compared with the goods taking mechanism  10  in the prior art, when the goods taking mechanism moves the to-be-moved objects  200  of the relatively small sizes, the distance between the to-be-moved objects  200  of the relatively small sizes may be less than the distance between the to-be-moved objects  200  of the normal sizes, which can help reduce the distance between the adjacent to-be-moved objects  200 . 
     In addition, the first clamping plate  12  and the second clamping plate  13  are plate structures with relatively small thicknesses, and the first clamping plate  12  and the second clamping plate  13  have smaller thicknesses than the clamping arms of the existing goods taking mechanism  10 . Therefore, when the to-be-moved object  200  is moved, the distance between the adjacent to-be-moved objects can also be reduced, so as to achieve more reasonable use of the storage space of the smart warehousing system. Therefore, the goods taking mechanism  10  provided in the present disclosure can clamp to-be-moved objects  200  of different sizes, which helps reduce the distance between the adjacent to-be-moved objects  200 . 
     In a possible implementation, the first clamping plate  12  and the second clamping plate  13  may move towards reverse directions (for example, the directions indicated by the arrows shown in  FIG.  5    to  FIG.  7   ) relative to the fixed member  11 . Alternatively, one of the first clamping plate  12  and the second clamping plate  13  may move relative to the fixed member  11  under the driving of the driving assembly  14 , and the other keeps relatively fixed. In this embodiment, the distance between the first clamping plate  12  and the second clamping plate  13  may be adjusted, to adapt to the to-be-moved objects  200  of different sizes and reduce the distance between the adjacent to-be-moved objects  200 . 
     Specifically, the first clamping plate  12  and the second clamping plate  13  may move horizontally relative to the fixed member  11 . In this way, the first clamping plate  12  and the second clamping plate  13  may move horizontally on the fixed member  11  under the driving of the driving assembly  14 , to adjust the distance between the first clamping plate  12  and the second clamping plate  13 . 
     The first clamping plate  12  and the second clamping plate  13  may be clamped on the two opposing sides of the to-be-moved object  200 , to move the to-be-moved object  200 . Alternatively, the first clamping plate  12  and the second clamping plate  13  may be engaged with the to-be-moved object  200  and move the to-be-moved object  200  through dragging or in another manner. In this way, the structures of the first clamping plate  12  and the second clamping plate  13  can be more diversified. 
     The following further describes the goods taking mechanism  10  in this embodiment by using an example in which the first clamping plate  12  and the second clamping plate  13  are clamped on the to-be-moved object  200 . 
     Specifically, to facilitate the movements of the first clamping plate  12  and the second clamping plate  13  relative to the fixed member  11 , both the first clamping plate  12  and the second clamping plate  13  are slidably connected to the fixed member  11 . In this way, under the driving of the driving assembly  14 , the first clamping plate  12  and the second clamping plate  13  can move relative to the fixed member  11  more conveniently. 
     Referring to  FIG.  4    to  FIG.  6   , the first clamping plate  12  may include a clamping portion  121  and an assembly portion  122 . The clamping portion  121  may be mounted on the fixed member  11  through the assembly portion  122  and act on the side wall of the to-be-moved object  200 . The second clamping plate  13  has the same structure as the first clamping plate  12 . That is, the assembly portion  122  of the second clamping plate  13  also acts on the side wall of the to-be-moved object  200 , so that the first clamping portion  121  and the second clamping portion  121  act on the two opposing sides of the to-be-moved object  200 , to move and carry the to-be-moved object  200 . 
     Specifically, the first clamping plate  12  and the second clamping plate  13  may be an integrated structure or may be a split structure. The assembly portion  122  may be detachably connected to the fixed member  11  through sliding or in another manner, which can facilitate mounting and removal of the goods taking mechanism  10  while facilitating the movements of the first clamping plate  12  and the second clamping plate  13  relative to the fixed member  11 . 
     For example, referring to  FIG.  4    to  FIG.  6   , the clamping portion  121  may be perpendicular to the assembly portion  122 . That is, the clamping portion  121  is perpendicular to the assembly portion  122 . In this way, the first clamping plate  12  and the second clamping plate  13  may be considered as an L-shaped plate structure, to achieve a higher degree of fitting with the side wall of the to-be-moved object  200  such as the goods box, thereby improving the clamping effect of the to-be-moved object  200 . 
     Specifically, as shown in  FIG.  4    and  FIG.  7   , the goods taking mechanism  10  may include a sliding assembly  15 . Both the first clamping plate  12  and the second clamping plate  13  may be slidably connected to the fixed member  11  by the sliding assembly  15 , so that the first clamping plate  12  and the second clamping plate  13  move relative to the fixed member  11 . 
     The sliding assembly  15  may include a slide rail  151  and a sliding block  152  matching the slide rail  151 . One of the slide rail  151  and the sliding block  152  may be located on the fixed member  11 , and the other may be located on the surfaces of the first clamping plate  12  and the second clamping plate  13  facing the fixed member  11 . In this way, it is ensured that the first clamping plate  12  and the second clamping plate  13  are slidably connected to the fixed member  11 , and the setting manner of the sliding assembly  15  can be more diversified. 
     For example, as shown in  FIG.  4    and  FIG.  7   , the slide rail  151  may be fixed on the fixed member  11  through threads, clamping, or in another manner, and correspondingly, the sliding blocks  152  may be fixed on the first clamping plate  12  and the second clamping plate  13 . In this embodiment, the sliding blocks  152  are respectively mounted on the assembly portions  122  of the first clamping plate  12  and the second clamping plate  13  and are slidably connected to the slide rail  151  on the fixed member  11 . 
     When the slide rail  151  is located on the fixed member  11 , the slide rail  151  may be a continuous structure (as shown in  FIG.  3   ,  FIG.  4   , and  FIG.  7   ), or the slide rail  151  may be a segmented structure (a multi-segment structure). In this way, it is ensured that the first clamping plate  12  and the second clamping plate  13  are slidably connected to the fixed member  11  and can move relative to the fixed member  11 , and the structure of the slide rail  151  can be more diversified. 
     It should be noted that, when the slide rail  151  is the segmented structure, the length of the slide rail  151  should meet a maximum sliding stoke of the first clamping plate  12  and the second clamping plate  13 . 
     In a possible implementation, the sliding assembly  15  may be mounted adjacent to the driving assembly  14  (as shown in  FIG.  3   ,  FIG.  4   , and  FIG.  7   ). That is, the sliding assembly  15  may be mounted on the fixed member  11  close to the driving assembly  14 . Alternatively, the sliding assembly  15  and the driving assembly  14  may be located on different heights of the fixed member  11 . That is, there is a distance between the sliding assembly  15  and the driving assembly  14  on the fixed member  11 , so that the set position of the sliding assembly  15  can be more diversified. 
     Specifically, referring to  FIG.  3    to  FIG.  7   , the driving assembly  14  may include a driving motor  141  and a transmission set  142 . The driving motor  141  may be separately connected to the first clamping plate  12  and the second clamping plate  13  by the transmission set  142 , and the transmission set  142  is configured to cause the first clamping plate  12  and the second clamping plate  13  to be movable relative to the fixed member  11  under the driving of the driving motor  141 . In this way, the first clamping plate  12  and the second clamping plate  13  may move relative to the fixed member  11 , to adjust the distance between the first clamping plate  12  and the second clamping plate  13 , so as to adapt to the to-be-moved objects  200  of different sizes, thereby improving the applicability of the goods taking mechanism  10  and reducing the distance between the adjacent to-be-moved objects  200 . 
     In a possible implementation, as shown in  FIG.  4    to  FIG.  7   , the transmission set  142  may include a gear  143  and two racks  144 . The gear  143  is connected to an output shaft of the driving motor  141 ; the two racks  144  are respectively connected to the first clamping plate  12  and the second clamping plate  13  and mesh with the two opposing sides of the gear  143 ; and under the rotation of the gear  143 , the two racks  144  may perform relative movement relative to the gear  143 , to drive the first clamping plate  12  and the second clamping plate  13  to move close to or away from each other on the fixed member  11 . 
     For example, when the driving motor  141  drives the gear  143  to clockwise rotate, because the two racks  144  mesh with the two sides of the gear  143 , under the rotation of the gear  143 , the two racks  144  move close to each other relative to the gear  143 , to drive the first clamping plate  12  and the second clamping plate  13  to move close to each other on the fixed member  11 , so as to reduce the distance between the first clamping plate  12  and the second clamping plate  13 , thereby adapting to the to-be-moved object  200  with the relatively small size. 
     Oppositely, when the driving motor  141  drives the gear  143  to counterclockwise rotate, because the two racks  144  mesh with the two sides of the gear  143 , under the rotation of the gear  143 , the two racks  144  move away from each other relative to the gear  143 , to drive the first clamping plate  12  and the second clamping plate  13  to move away from each other on the fixed member  11 , so as to increase the distance between the first clamping plate  12  and the second clamping plate  13 , thereby adapting to the to-be-moved object  200  with the relatively large size. 
     Further, the transmission set  142  may further include a reducer  145 . One end of the reducer  145  is connected to the output shaft of the driving motor  141 , and the other end of the reducer  145  is connected to the gear  143 ; and the driving motor  141  is connected to the gear  143  by the reducer  145 . In this way, because the reducer  145  has a self-locking function, when the driving assembly  14  drives the first clamping plate  12  and the second clamping plate  13  to be clamped on the two opposing sides of the to-be-moved object  200  for taking goods, the to-be-moved object  200  has friction forces with the first clamping plate  12  and the second clamping plate  13 , and the goods taking mechanism  10  moves the to-be-moved object  200  to the tray  21  through the friction forces. 
     For example, the driving motor  141  may be a servo motor. The reducer  145  may be a worm wheel and worm reducer, a planetary gear reducer, or another reduction apparatus with the self-locking function. In this embodiment, the type of the reducer  145  is not specifically limited. 
     It should be noted that, when the goods taking mechanism  10  needs to place the to-be-moved object  200  at a specified position of a shelving unit or on another placement platform, the goods taking mechanism  10  may directly push the to-be-moved object  200  to the specified position of the shelving unit or the another placement platform, to store the to-be-moved object  200 . 
     Further, referring to  FIG.  4   ,  FIG.  6   , and  FIG.  7   , the transmission set  142  may further include a fourth connection member  148 . Both the first clamping plate  12  and the second clamping plate  13  may be fixedly connected to the racks  144  by the fourth connection member  148 , so that when moving, the racks  144  may drive the first clamping plate  12  and the second clamping plate  13  to move relative to the fixed member  11  by using the fourth connection member  148 . 
     Specifically, the transmission set  142  may be located on one side of the fixed member  11  facing the first clamping plate  12  and the second clamping plate  13 . That is, the transmission set  142  and the first clamping plate  12  and the second clamping plate  13  may be located on the two opposing sides of the fixed member  11 . In this way, when driving the first clamping plate  12  and the second clamping plate  13 , the driving assembly  14  can also be prevented from interfering with the clamping of the to-be-moved object  200 . 
     The fixed member  11  is provided with a through hole  111 . The fourth connection member  148  may be mounted on the first clamping plate  12  and the second clamping plate  13  and extend out of the through hole  111  and is fixedly connected to the racks  144 . In this way, the transmission set  142  and the first clamping plate  12  and the second clamping plate  13  can be located on the two opposing sides of the fixed member  11 . 
     For example, in this embodiment, the fixed member  11  may be a plate structure. The fourth connection member  148  may be an L-shaped bent plate, to facilitate fixing of the fourth connection member  148  with the first clamping plate  12 , the second clamping plate  13 , and the racks  144 . The through hole  111  may be a strip-shaped hole on the fixed member  11  for the fourth connection member  148  to extend out. 
     It should be noted that, in this embodiment, the transmission set  142  may further be another structure. The another structure of the transmission set  142  is described below with reference to the goods taking mechanism  10 . 
     According to the goods taking mechanism provided in the present disclosure, the first clamping plate and the second clamping plate are oppositely mounted on the fixed member and are connected to the driving assembly. Under the driving of the driving assembly, the first clamping plate and the second clamping plate may move relative to the fixed member, to act on the two opposing sides of the to-be-moved object and clamp the to-be-moved objects of different sizes, so that the application scope of the goods taking mechanism is wider and the distance between the adjacent to-be-moved objects is reduced. 
     Embodiment 2 
       FIG.  8    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 2 of the present disclosure.  FIG.  9    is a schematic enlarged view of a part B in  FIG.  8    according to Embodiment 2 of the present disclosure.  FIG.  10    is a top view of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 2 of the present disclosure.  FIG.  11    is a schematic enlarged diagram of a part C in  FIG.  10   .  FIG.  12    is a schematic stress diagram of a first clamping plate at a part D in  FIG.  11   .  FIG.  13    is a schematic structural diagram of a goods taking mechanism according to Embodiment 2 of the present disclosure.  FIG.  14    is a schematic structural diagram of a goods taking mechanism from another angle according to Embodiment 2 of the present disclosure.  FIG.  15    is a schematic structural diagram of a goods taking mechanism from still another angle according to Embodiment 2 of the present disclosure. 
     As shown in  FIG.  8    to  FIG.  10   , this embodiment provides another goods taking mechanism  10 . Based on Embodiment 1, in this embodiment, the goods taking mechanism  10  may further include a first connection member  17 . Both the assembly portions  122  of the first clamping plate  12  and the second clamping plate  13  are hinged to the first connection member  17  (as shown in  FIG.  13   ), and hinge portions  18  are provided between the assembly portions  122  and the first connection member  17 . Because both the assembly portions  122  of the first clamping plate  12  and the second clamping plate  13  are hinged to the first connection member  17 , when the goods taking mechanism  10  moves the to-be-moved object  200  for taking goods, under the action of the friction forces between the first clamping plate  12  and the second clamping plate  13  and the to-be-moved object  200 , the first clamping plate  12  and the second clamping plate  13  may further rotate around the hinge portions  18  towards the to-be-moved object  200  (rotation directions indicated by arrows in  FIG.  10    to  FIG.  12   ), to be clamped on the two opposing sides of the to-be-moved object  200 , so as to clamp the to-be-moved object  200  more tightly based on Embodiment 1. 
     Referring to  FIG.  11    and  FIG.  12   , when the first clamping plate  12  and the second clamping plate  13  are clamped on the two opposing sides of the to-be-moved object  200  and move towards a direction X shown in  FIG.  11   , the to-be-moved object  200  tends to move towards a direction Y relative to the first clamping plate  12  and the second clamping plate  13 . For example, the first clamping plate  12  is analyzed. The to-be-moved object  200  has positive pressure Fn and a friction force f on the first clamping plate  12 , Fn is generated by the driving motor  141  through the transmission set  142 , f is generated by the movement tendency of the to-be-moved object  200 , and f=μ*Fn, where μ is a friction factor between the clamping plate and the to-be-moved object  200 . 
     As shown in  FIG.  12   , the first clamping plate  12  and the first connection member  17  are relatively fixed on the hinge portion  18 . Therefore, under the action of f, f can drive the first clamping plate  12  to rotate in a direction w through a force arm a. Correspondingly, under the action of Fn, Fn can drive the first clamping plate  12  to rotate in a direction opposite to w through a force arm b. As described in Embodiment 1, because the goods taking mechanism  10  moves the to-be-moved object  200  to the tray  21  through the friction forces, f*a=μ*Fn*a&gt;Feb, that is, μ*a&gt;b. Therefore, the first clamping plate  12  finally rotates around the hinge portion in the direction w, to clamp the to-be-moved object  200  more tightly. Correspondingly, for the force of the second clamping plate  13 , reference may be made to the force analysis of the first clamping plate  12 . 
     In this embodiment, referring to  FIG.  13   , the assembly portion  122  may be slidably connected to the fixed member  11  by the first connection member  17 . The sliding blocks  152  of the first clamping plate  12  and the second clamping plate  13  may be mounted on the first connection members  17  and are movably connected to the slide rail  151  on the fixed member  11 . 
     Further, referring to  FIG.  13    to  FIG.  15   , the goods taking mechanism  10  may further include a limiting assembly  16 . The limiting assembly  16  is configured to limit the movements of the first clamping plate  12  and the second clamping plate  13 , so that the first clamping plate  12  and the second clamping plate  13  move relative to the fixed member  11  more stably. 
     Specifically, referring to  FIG.  14    and  FIG.  15   , the limiting assembly  16  may include a second connection member  161 , a third connection member  162 , and a sliding member  163  fixed on the fixed member  11 . The second connection member  161  is provided with a first sliding groove  167  and is connected to the first clamping plate  12 ; and the third connection member  162  is provided with a second sliding groove  168  and is connected to the second clamping plate  13 , and the sliding member  163  passes through the first sliding groove  167  and the second sliding groove  168 . In this way, the first clamping plate  12  and the second clamping plate  13  are slidably connected to the fixed member  11 , and based on the driving assembly  14 , the horizontal movements of the first clamping plate  12  and the second clamping plate  13  relative to the fixed member  11  can be limited through the limiting assembly  16 , so that the first clamping plate  12  and the second clamping plate  13  may move according to a preset track. In addition, because the sliding member  163  is fixed on the fixed member  11 , the sliding member  163  may be considered as a fulcrum or a fixed point when the first clamping plate  12  and the second clamping plate  13  rotate relative to the to-be-moved object  200 , so that the first clamping plate  12  and the second clamping plate  13  can rotate around the hinge portions  18  by consistent rotation angles. 
     It should be noted that, both a part of the second connection member  161  and a part of the third connection member  162  extend out of the fixed member  11 . The first sliding groove  167  and the second sliding groove  168  are located on one side of the fixed member  11  facing the first clamping plate  12  and the second clamping plate  13 . 
     Further, referring to  FIG.  14    and  FIG.  15   , the limiting assembly  16  may further include a fixed frame  164  mounted on the fixed member  11 . The fixed frame  164  is provided with two third sliding grooves  169  that are provided opposite to each other, the part of the second connection member  161  and the part of the third connection member  162  are mounted the fixed frame  164  through penetration, and the sliding member  163  passes through the first sliding groove  167 , the second sliding groove  168 , and the third sliding grooves  169  and is fixed in the fixed frame  164 . In this way, the sliding member  163  may be mounted the first sliding groove  167  and the second sliding groove  168  through penetration and may also be fixed on the fixed member  11  through the fixed frame  164 . 
     For example, the limiting assembly  16  may further include a limiting shaft  165 , and the sliding member  163  is fixed in the fixed frame  164  through the limiting shaft  165 , so that the sliding member  163  is fixedly mounted on the fixed member  11 . 
     The first sliding groove  167  and the second sliding groove  168  are parallel and overlap each other, and the third sliding grooves  169  are perpendicular to the first sliding groove  167  and the second sliding groove  168 . In this way, when the movements of the first clamping plate  12  and the second clamping plate  13  are limited, it may be ensured that the first clamping plate  12  and the second clamping plate  13  horizontally move relative to the fixed member  11  under the driving of the driving assembly  14 . 
     Specifically, the second connection member  161  may be connected to the first clamping plate  12  by the first connection member  17 , and the third connection member  162  is connected to the second clamping plate  13  by the first connection member  17 . In this way, the first connection member  161  and the third connection member  162  may be fixed. 
     According to the goods taking mechanism provided in the present disclosure, when being hinged to the first connection member, the first clamping plate and the second clamping plate can clamp the to-be-moved objects of different sizes and reduce the distance between the adjacent to-be-moved objects and has a better clamping effect on the to-be-moved objects. 
     Embodiment 3 
       FIG.  16    is a schematic diagram of assembly of a goods taking mechanism and a to-be-moved object according to Embodiment 3 of the present disclosure.  FIG.  17    is a schematic structural diagram of a goods taking mechanism according to Embodiment 3 of the present disclosure.  FIG.  18    is a schematic structural diagram of a to-be-moved object according to Embodiment 3 of the present disclosure. 
     Based on the foregoing embodiments, as shown in  FIG.  16    and  FIG.  17   , this embodiment provides another goods taking mechanism  10 . A difference from the goods taking mechanism  10  in the foregoing embodiments lies in that in this embodiment, the first clamping plate  12  and the second clamping plate  13  of the goods taking mechanism  10  may be engaged with the to-be-moved object  200 . 
     Further, referring to  FIG.  16    and  FIG.  17   , the first clamping plate  12  may further include an engagement portion  123 . The engagement portion  123  may be mounted on one end of the clamping portion  121  away from the assembly portion  122  (that is, a front end of the clamping portion  121  shown in  FIG.  16    and  FIG.  17   ) and faces a surface of the to-be-moved object  200 , to be engaged with the side wall of the to-be-moved object  200 . Because the second clamping plate  13  has the same structure as the first clamping plate  12 , the position on the second clamping plate  13  corresponding to the first clamping plate  12  is also provided with the engagement portion  123 . In this way, the first clamping plate  12  and the second clamping plate  13  may be engaged with the to-be-moved object  200  through the engagement portions  123  (as shown in  FIG.  16   ) and take the to-be-moved object  200  through dragging. 
     Correspondingly, referring to  FIG.  18   , a recess portion  210  matching the structures of the engagement portion  123  is respectively mounted on the two opposing sides of the to-be-moved object  200 , so that the engagement portions  123  of the first clamping plate  12  and the second clamping plate  13  may be engaged with the recess portions  210  on the two sides of the to-be-moved object  200 , to implement engagement with the to-be-moved object  200 . 
     For example, the engagement portion  123  may be an inverted hook shown in  FIG.  16    and  FIG.  17   . Correspondingly, the recess portion  210  may be a slot matching the structure of the inverted hook. In this way, the engagement portion  123  may be engaged with the slot, to take the to-be-moved object  200  through dragging. 
     In this embodiment, the slide rail  151  on the fixed member  11  may be a segmented or multi-segment structure (as shown in  FIG.  17   ). The sliding assembly  15  and the driving assembly  14  may be located on different heights of the fixed member  11 . In this way, the first clamping plate  12  and the second clamping plate  13  can be mounted on the fixed member  11  more stably. 
     It should be noted that, because the first clamping plate  12  and the second clamping plate  13  are engaged with the side walls of the to-be-moved object  200  through the engagement portions  123 , in this embodiment, the goods taking mechanism  10  has a relatively small requirement on clamping forces of the first clamping plate  12  and the second clamping plate  13  and has a relatively high requirement on accuracy of adjustment on the distance between the first clamping plate  12  and the second clamping plate  13 . Therefore, in this embodiment, the driving assembly  14  in the foregoing embodiments may be used. 
     In another possible implementation, referring to  FIG.  16    and  FIG.  17   , the transmission set  142  may include a transmission member  146  and two oppositely mounted connection arms  147 . The transmission member  146  is connected to the output shaft of the driving motor  141  and may rotate around the output shaft. The two connection arms  147  may be located on the two opposing sides of the transmission member  146 , to respectively correspond to the first clamping plate  12  and the second clamping plate  13 . A first end of each of the connection arms  147  may be connected to the transmission member  146 , and there is a distance between a connection point of the connection arm  147  on the transmission member  146  and the output shaft. That is, the connection point of the connection arm  147  on the transmission member  146  and the output shaft of the driving motor  141  are eccentrically mounted. A second end of each of the connection arms  147  may be connected to the first clamping plate  12  or the second clamping plate  13 . In this way, under the driving of the driving motor  141 , the transmission member  146  may drive the two connection arms  147  to rotate together, to drive the first clamping plate  12  and the second clamping plate  13  to move close to or away from each other relative to the fixed member  11 , so as to adjust the distance between the first clamping plate  12  and the second clamping plate  13 , thereby adapting to the to-be-moved objects  200  of different sizes and reducing the distance between the adjacent to-be-moved objects  200 . 
     For example, same as the driving manner described in Embodiment 1, as shown in  FIG.  17   , when the driving motor  141  drives the transmission member  146  to clockwise rotate, under the driving of the transmission member  146 , the two connection arms  147  move close to each other relative to the transmission member  146 , to drive the first clamping plate  12  and the second clamping plate  13  to move close to each other on the fixed member  11 . 
     Oppositely, when the driving motor  141  drives the transmission member  146  to counterclockwise rotate, under the driving of the transmission member  146 , the two connection arms  147  move away from each other relative to the transmission member  146 , to drive the first clamping plate  12  and the second clamping plate  13  to move away from each other on the fixed member  11 . 
     Specifically, the second end of each of the connection arms  147  may be connected to the first clamping plate  12  or the second clamping plate  13  by a fixed strip  149 . One end of the fixed strip  149  may be hinged to the second end of the connection arm  147 , a second end of the fixed strip  149  may be fixedly connected to the first clamping plate  12  or the second clamping plate  13 , so that the first clamping plate  12  and the second clamping plate  13  may be driven to move relative to the fixed member  11  through the connection arms  147 . 
     For example, the connection arms  147  may be arc-shaped arms or connection structures in another shape. 
     To fix the driving motor  141 , the driving motor  141  may further be fixed on the fixed member  11  through a support  19 . In this embodiment, the structure of the support  19  is not specifically limited. 
     According to the goods taking mechanism provided in the present disclosure, through mounting of the engagement portions, the first clamping plate and the second clamping plate can clamp to-be-moved objects of different sizes and reduce the distance between the adjacent to-be-moved objects and make the structure of the goods taking mechanism more diversified. 
     In descriptions of the present disclosure, it should be understood that direction or position relationships indicated by terms such as “center”, “length”, “width”, “thickness”, “above”, “below”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, and “outer” are direction or position relationships based on the accompanying drawings, and are used only for conveniently describing the present disclosure and simplifying descriptions, instead of indicating or suggesting that a represented apparatus or element needs to have a particular direction or is constructed and operated in a particular direction, and therefore shall not be understood as limiting the present disclosure. 
     In the descriptions of the present disclosure, it should be understood that the terms “comprise”, “contain” and any other variants used in the specification mean to cover the non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a list of steps or units is not necessarily limited to those steps or units, but may comprise other steps or units not expressly listed or inherent to such a process, method, system, product, or device. 
     Unless explicitly specified or limited otherwise, the terms “mounted”, “connected”, “connection”, and “fixed” should be understood broadly, for example, which may be fixed connections, detachable connections or integral connections; a direct connection, an indirect connection through an intermediate, or internal communication between two elements or an interaction relationship between two elements. A person of ordinary skill in the art can understand specific meanings of the foregoing terms in the present invention according to a specific situation. In addition, the terms “first” and “second” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 
     Finally, it should be noted that the foregoing embodiments are merely used for describing the technical solutions of the disclosure, but are not intended to limit the disclosure. Although the disclosure is described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art is to understand that, modifications may still be made to the technical solutions in the foregoing embodiments, or equivalent replacements may be made to some or all of the technical features; and these modifications or replacements will not cause the essence of corresponding technical solutions to depart from the scope of the technical solutions in the embodiments of the disclosure.