Inventory and replenishment device

Abstract

The invention discloses an inventory device and a replenishment device. The inventory checking device is used for checking the number of goods stored in the storage goods channel, the storage goods channel is provided with a goods channel inlet, the inventory checking device comprises an extending structure and an inventory checking structure, the extending structure is movably arranged, and the inventory checking structure is arranged at the end of the extending structure; the checking structure can enter the storage goods channel through the goods channel inlet so as to check goods in the storage goods channel. According to the inventory checking device, the inventory checking structure capable of extending into the goods storage channel is arranged, the inventory checking of goods in the goods storage channel can be achieved, the inventory checking of the goods is efficient and accurate, and accurate goods replenishment can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic replenishment, and in particular to an inventory counter and a replenishment device. Background Art

[0002] The automatic picking system is a system that directly picks up goods from its storage shelves according to order information and packs all the target goods directly out of the warehouse after the order is completed. It mainly includes storage shelves and picking mechanisms. The automatic picking system needs to regularly replenish the storage shelves to meet future order needs. If the replenishment is not timely, the order production will be delayed. Before replenishing the storage shelves, it is necessary to first count the inventory in the corresponding aisle of the storage shelves.

[0003] In the prior art, all goods can be counted manually after leaving the warehouse, but this inventory counting method is inefficient. In the prior art, laser inventory counting can also be used, that is, laser probes are directly used to emit lasers at the entrance of the aisle of the storage shelf to measure the distance and thus realize inventory counting. However, since the installation of the aisle is inaccurate, the aisle will be deformed due to its own weight and the load-bearing capacity of the goods. If the aisle bends and deforms downward, the goods detected by the laser may not be the first goods. If the aisle bends and deforms upward, the laser may hit the bottom plate of the aisle. Both situations will cause inventory errors. Moreover, the aisles are generally long, with a length of up to one meter or even longer, and the volume of the goods may be very small and the thickness may be very thin. Under the influence of many factors, the existing laser inventory counting method has a high error rate.

[0004] How to propose a counter that can realize efficient and accurate inventory counting is a technical problem that urgently needs to be solved. Summary of the invention

[0005] The first object of the present invention is to provide an inventory counter that can efficiently and accurately count the goods in the storage shelves.

[0006] A second object of the present invention is to provide a replenishment device that can efficiently and accurately inventory goods in advance before replenishing storage shelves.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] An inventory counter is used to count the number of goods stored in a storage aisle, the storage aisle having an aisle entrance, and the inventory counter comprises: an extension structure, which is movably arranged; and an inventory structure, which is arranged at the end of the extension structure; wherein the inventory structure can enter the storage aisle through the aisle entrance to inventory the goods located in the storage aisle.

[0009] Preferably, the inventory counting device further comprises a movable moving member, and an end of the extending structure away from the inventory counting structure is rotatably connected to the moving member.

[0010] Preferably, the inventory counting device further comprises a telescopic driving member, which comprises a telescopic motor and a synchronous belt structure, wherein the motor shaft of the telescopic motor is transmission-connected to a driving wheel of the synchronous belt structure, and the moving member is connected to a synchronous belt of the synchronous belt structure.

[0011] Preferably, the inventory counting device also includes a track member for supporting the extending structure, the track member includes a first mounting plate, the telescopic motor is fixedly connected to the first mounting plate, and the driving wheel and the driven wheel of the synchronous belt structure are both rotatably connected to the first mounting plate.

[0012] Preferably, the inventory counter also includes a fixed limit member, one of the limit member and the extending structure is provided with a limit groove, and the other is provided with a limit protrusion, and the limit protrusion is slidably limited in the limit groove, so that the limit member can guide and limit the movement of the extending structure.

[0013] Preferably, the inventory counting device further comprises a track member, the extending structure is movably disposed on the track member, and the extending structure has an extending state extending out of the track member and a retracted state retracted to overlap with the track member.

[0014] Preferably, the inventory counting device further comprises a first supporting wheel, the track member comprises a track plate, the first supporting wheel is rotatably connected to the protruding structure, and the first supporting wheel is rollingly supported on the track plate.

[0015] Preferably, the inventory counting device further comprises a second supporting wheel, the track member comprises a track plate, the second supporting wheel is rotatably connected to the inventory counting structure, and the second supporting wheel is rollingly supported on the track plate.

[0016] Preferably, the inventory structure is one of a laser ranging sensor, an infrared ranging sensor, a micro switch and a pressure sensor.

[0017] A replenishment device comprises a replenisher and the above-mentioned inventory counter, wherein the replenisher is used to replenish the goods in the storage aisle, and the inventory counter is arranged on the replenisher.

[0018] Beneficial effects of the present invention:

[0019] The inventory counter provided by the present invention is used to count the quantity of goods stored in a storage aisle. The storage aisle has an aisle entrance. The inventory counter includes an extension structure and an inventory structure. The extension structure is movably arranged. The inventory structure is arranged at the end of the extension structure. The inventory structure can enter the storage aisle through the aisle entrance to count the goods in the storage aisle. The inventory counter is provided with an inventory structure that can extend into the storage aisle, so that it can not only realize the inventory of the goods in the storage aisle, but also the inventory of the goods is efficient and accurate, which is conducive to realizing accurate replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of an automated warehouse provided by the present invention;

[0021] Figure 2 is a schematic diagram of a replenishment device provided by the present invention;

[0022] Figure 3 is a schematic diagram of a cache station provided by the present invention at a certain viewing angle;

[0023] Figure 4 is a side view of a cache station provided by the present invention;

[0024] Figure 5 is a schematic diagram of a cache station provided by the present invention from another perspective;

[0025] Figure 6 is a schematic diagram of an upper door panel of a door assembly provided by the present invention being in a closed position;

[0026] Figure 7 is a schematic diagram of an upper door panel of a door assembly provided by the present invention being in an open position;

[0027] Figure 8 is a schematic diagram of a door assembly provided by the present invention at a certain viewing angle;

[0028] Fig. 9 is a schematic diagram of the door assembly provided by the present invention at another viewing angle;

[0029] Fig.10 It is a schematic diagram of a cache bottom plate and a cache side plate provided by the present invention;

[0030] Fig.11 is a schematic diagram of a door assembly provided by the present invention having two upper door panels capable of being opened and closed simultaneously at a certain viewing angle;

[0031] Fig.12 is a schematic diagram of a door assembly provided by the present invention having two upper door panels capable of being opened and closed simultaneously, from another viewing angle;

[0032] Fig.13The replenishment device provided by the present invention has two replenishers, and the two replenishment aisles are a schematic diagram of one wide and one narrow;

[0033] Fig.14 yes Fig.13 A schematic diagram of the structure shown in another viewing angle;

[0034] Fig.15 It is a schematic diagram of a replenishment device provided by the present invention having two replenishers, and both replenishment aisles are wide aisles;

[0035] Fig.16 yes Fig.15 A schematic diagram of the structure shown in another viewing angle;

[0036] Fig.17 is a schematic diagram of the replenisher provided by the present invention at a certain viewing angle;

[0037] Fig.18 is a schematic diagram of the replenisher provided by the present invention from another viewing angle;

[0038] Fig.19 is a schematic diagram of the replenisher provided by the present invention from another viewing angle;

[0039] Fig. 20 is a schematic diagram of a partial structure of a replenisher provided by the present invention;

[0040] Fig.21 is a schematic diagram of a drive assembly and a lower door panel provided by the present invention;

[0041] Fig. 22 yes Fig.21 a top view of the structure shown;

[0042] Fig.23 It is a schematic diagram of an upper door panel in an open position provided by the present invention overlapped on a cargo aisle bottom plate of a replenishment cargo aisle;

[0043] Fig.24 It is a schematic diagram of the protrusion of the upper door panel provided by the present invention covering the in-place detection member;

[0044] Fig.25 Schematic diagram of the lower door panel provided by the present invention when it is adapted to a narrow cargo aisle and a wide cargo aisle respectively;

[0045] Fig.26 It is a schematic diagram of the cargo detection member provided by the present invention facing the storage aisle and detecting the cargo in the storage aisle;

[0046] Fig. 27 It is a schematic diagram of the inventory counting device provided by the present invention counting the goods in the storage aisle;

[0047] Fig.28is a schematic diagram of the inventory counting device provided by the present invention;

[0048] Fig.29 yes Fig.28 A magnified view of part A;

[0049] Fig.30 yes Fig.28 A magnified view of part B;

[0050] Fig.31 is a schematic diagram of the inventory counting device provided by the present invention when the extending structure is not extended;

[0051] Fig.32 Schematic diagram of the track member provided by the present invention.

[0052] In the figure:

[0053] 100, cache station; 110, cache shelf; 111, cache aisle; 112, replenishment port; 113, receiving port; 114, front crossbeam; 115, cache bottom plate; 116, cache side plate; 120, door assembly; 121, upper door panel; 1211, shielding part; 12111, protruding part; 1212, abutting part; 122, flip part; 1221, push plate; 1222, connecting rod; 1223, rotating wheel; 123, resetting elastic member; 124, hinge; 125, rotating shaft; 130, supporting frame;

[0054] 200, replenisher; 210, replenisher body; 211, replenishment channel; 212, receiving port; 213, discharge port; 214, channel bottom plate; 215, channel side plate; 220, door pusher assembly; 221, door pusher driver; 222, pusher; 230, in-position detection member; 240, variable pitch driver; 241, variable pitch motor; 242, lead screw; 243, nut block; 244, conveyor belt mechanism; 2441, driving pulley; 2442, driven pulley; 2443 , conveyor belt; 245, connecting push plate; 250, variable pitch mounting frame; 251, cross beam; 252, side beam; 260, side plate detection member; 270, lower door panel; 271, first part; 272, second part; 280, drive assembly; 281, drive component; 282, push-pull member; 2821, convex ball; 2822, reset elastic body; 2823, fixing plate; 283, mounting abutment member; 291, shipment detection member; 292, cargo detection member; 293, limit block;

[0055] 300, cargo platform;

[0056] 400, guiding structure;

[0057] 500, inventory device; 510, extension structure; 511, limit slot; 520, inventory structure; 530, moving part; 540, telescopic driving part; 541, telescopic motor; 542, synchronous belt structure; 5421, driving wheel; 5422, synchronous belt; 5423, driven wheel; 550, track part; 551, first mounting plate; 552, track plate; 553, third mounting plate; 554, first side plate; 555, second side plate; 560, first supporting wheel; 570, second supporting wheel; 581, first hinge seat; 582, second hinge seat; 583, limit part; 584, second mounting plate;

[0058] 10. Automatic picking system; 11. Storage aisle; 12. Goods; 101. Aisle entrance; 102. Aisle exit; 20. Automatic replenishment system. DETAILED DESCRIPTION

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0060] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0062] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0063] like Figure 1 As shown, the present invention discloses an automated warehouse, which includes an automatic picking system 10 and an automatic replenishment system 20. The automatic replenishment system 20 can replenish the automatic picking system 10 to ensure that there are enough goods 12 in the automatic picking system 10 to be packaged according to the order information.

[0064] The automatic picking system 10 includes a storage shelf and a pickup mechanism. The storage shelf is a three-dimensional shelf for storing goods 12 in the automatic picking system 10. The storage shelf is provided with a storage aisle 11. The storage aisle 11 is inclined relative to the horizontal direction. The storage aisle 11 includes a high-positioned aisle entrance 101 and a low-positioned aisle exit 102. The goods 12 are put into the storage aisle 11 from the aisle entrance 101 and can move along the storage aisle 11 to the aisle exit 102. The goods 12 wait for the pickup mechanism of the automatic picking system 10 to pick them up at the aisle exit 102. As for the structure of the pickup mechanism, it is a prior art and will not be described in detail here.

[0065] It should be noted that in order to increase the inventory volume, multiple storage aisles 11 are arranged side by side in the height direction of the storage shelves. The same or different goods 12 can be stored in each storage aisle 11. The picking mechanism can move in the vertical direction to take away goods 12 from different storage aisles 11, so that the automatic picking system 10 can complete the order efficiently.

[0066] Continue to refer to Figure 1 and Figure 2 As shown, the automatic replenishment system 20 includes a cache station 100 and a replenishment device. The cache station 100 is set next to the storage shelf, which is a small storage mechanism that can temporarily store a portion of the goods 12. The replenishment device can move to the cache station 100 and dock with the cache station 100, pick up the goods 12 from the cache station 100, and then move to the storage shelf, and put the goods 12 into the storage aisle 11 of the storage shelf from the aisle entrance 101 of the storage shelf.

[0067] It should be noted that the height of the cache station 100 is relatively low, and the replenishment staff can arrange the goods 12 in the cache station 100 by standing on the ground. Not only is the operation simple, but the staff only needs to replenish the cache station 100 in stages to meet the replenishment needs of the automatic picking system 10. During the replenishment process, there is no need to contact the replenishment device that needs to be moved, which has high safety, high replenishment efficiency and good reliability.

[0068] like Figures 3 to 9 As shown, the cache station 100 includes a cache shelf 110 and a door assembly 120. The cache shelf 110 is provided with a cache aisle 111 at an angle. The cache aisle 111 includes a replenishment port 112 located at a high position and a receiving port 113 located at a low position. The door assembly 120 includes an upper door panel 121 rotatably connected to the receiving port 113. The upper door panel 121 has an open position for opening the receiving port 113 and a closed position for closing the receiving port 113.

[0069] The staff puts the goods 12 into the cache shelf 110 from the high replenishment port 112, and the goods 12 move along the cache passage 111 inclined in the height direction to the low pick-up port 113, and are finally blocked by the door assembly 120 in the closed position, and the goods 12 are delivered to the replenishment port 112 repeatedly until the cache passage 111 is full of goods 12. When the replenishment device moves to the pick-up port 113, the door assembly 120 can be controlled to switch from the closed position to the open position of opening the pick-up port 113, and the replenishment device can pick up the goods 12 from the pick-up port 113 in the open state. In the process of the goods 12 at the lowest position being taken away by the replenishment device, the goods 12 at a higher position in the cache passage 111 slide down under the action of gravity and pass through the opened pick-up port 113 in turn, so that the goods 12 in the cache passage 111 can be taken away one by one by the replenishment device. When the inventory of the goods 12 in the cache station 100 is insufficient, the staff can continue to replenish the goods in the cache station 100.

[0070] Since the cache station 100 is provided with an inclined cache aisle 111, as long as the receiving port 113 is opened, the goods 12 can slide down along the inclined cache aisle 111 and pass through the opened receiving port 113 under the action of their own gravity. This arrangement makes the entire receiving process continuous and efficient, which not only improves the receiving efficiency, but also the movement of the goods 12 does not require human intervention and is highly safe.

[0071] Optionally, there are multiple cache passages 111, and each cache passage 111 has a door assembly 120 at its receiving port 113. Optionally, multiple cache passages 111 are arranged in rows and columns, and each cache passage 111 can store the same or different goods 12.

[0072] In some embodiments, Fig.10 As shown, the cache shelf 110 includes a cache bottom plate 115 forming the bottom surface of the cache aisle 111, and the angle between the wide side of the cache bottom plate 115 and the horizontal line is an acute angle. Such a configuration allows the goods 12 to tilt to one side in the width direction of the cache bottom plate 115 during the process of sliding from top to bottom on the cache bottom plate 115, so that the goods 12 can be neatly arranged when moving in the cache aisle 111, which is convenient for the subsequent replenishment device to accurately pick up the goods.

[0073] Furthermore, the cache shelf 110 further includes a cache side panel 116 disposed on the side of the cache bottom panel 115. The cache side panel 116 is disposed vertically, and the goods 12 can slide downward on the cache side panel 116. Optionally, two cache side panels 116 are provided, and in the width direction of the cache bottom panel 115, the two cache side panels 116 are disposed on both sides of the cache bottom panel 115. The cache bottom panel 115 and the two cache side panels 116 are surrounded to form a U-shaped cache cargo channel 111 with an open top.

[0074] Continue to refer to Figures 3 to 5 As shown, the cache shelf 110 also includes a support frame 130, which is used to support the cache bottom plate 115 and the cache side plate 116. In one embodiment, the support frame 130 includes a crossbar and a vertical bar, and a plurality of crossbars and a plurality of vertical bars are spliced ​​to form a cubic frame structure; in one embodiment, the support frame 130 also includes a plurality of cargo aisle plates, and the plurality of cargo aisle plates are cross-connected to form a grid, and a group of cache bottom plates 115 and cache side plates 116 are installed in each grid. In one embodiment, the support frame 130 also includes ground nails, which can stably fix the support frame 130 on the ground to prevent the cache station 100 from tipping over.

[0075] In some embodiments, continue to refer to Figure 6 As shown, the upper door panel 121 is generally L-shaped, and includes a shielding portion 1211 and an abutting portion 1212 connected at an angle, the shielding portion 1211 is used to shield the receiving port 113, and the abutting portion 1212 is used to bear the supporting force so that the upper door panel 121 can be maintained in the closed position. When the supporting force disappears, the upper door panel 121 loses support and directly switches from the closed position to the open position. It should be noted that the external force that causes the upper door panel 121 to lose support here can come from the replenishment device or from other power parts.

[0076] In one embodiment, the upper door panel 121 is rotatably connected to the receiving port 113, and the door assembly 120 further includes a hinge 124, one end of the hinge 124 is fixedly connected to the abutment portion 1212, and the other end is fixedly connected to the cache shelf 110. Optionally, the cache shelf 110 includes a front crossbeam 114 provided at the receiving port 113, and the other end of the hinge 124 is fixed to the front crossbeam 114. Of course, in other embodiments, the upper door panel 121 can also be provided at the receiving port 113 in a movable manner, and the switch between the closed position and the open position is realized by moving.

[0077] Continue to refer to Figures 6 to 9 As shown, the door assembly 120 further includes a flip member 122, which is used to support the upper door panel 121 and withstand an external force that changes the supporting state of the upper door panel 121, so as to realize the rotation and opening of the upper door panel 121. Optionally, the flip member 122 is rotatably connected to the cache shelf 110, and the flip member 122 abuts against the abutment portion 1212.

[0078] In some embodiments, the flip member 122 includes a push plate 1221, which is rotatably connected to the cache shelf 110. Optionally, a rotation shaft seat is provided on the front crossbeam 114, and the push plate 1221 is rotatably connected to the rotation shaft seat through the rotation shaft 125. By applying force to the push plate 1221, the push plate 1221 can be rotated around the rotation shaft 125, so that the upper door panel 121 is switched from the closed position to the open position. It should be noted that the force application direction is as follows: Figure 6 Indicated by the arrow.

[0079] Continue to refer to Figure 6 As shown, the rotating shaft 125 is arranged at a lower middle position of the push plate 1221, and the top of the push plate 1221 can support the abutting portion 1212 of the upper door panel 121. Figure 6 When a force is applied in the direction indicated by the middle arrow, the top of the push plate 1221 moves toward the direction close to the front cross beam 114, so that the abutting portion 1212 loses support. Under the action of gravity, the upper door panel 121 rotates in the counterclockwise direction and is rotated by Figure 6 The displayed status switches to Figure 7 The state shown completes the switch from the closed position to the open position.

[0080] After the replenishment device completes picking up the goods from the receiving port 113, in order to enable the upper door panel 121 to automatically return to the closed position, so as to achieve that the upper door panel 121 is maintained in the closed position without external force, continue to refer to Figures 6 to 9 As shown, the door assembly 120 further includes a reset elastic member 123, which is disposed between the flip member 122 and the cache shelf 110, and the reset elastic member 123 has a tendency to reset the upper door panel 121 to the closed position. Figure 6 During the process of the middle arrow applying force to the push plate 1221, the reset elastic member 123 is compressed and accumulates elastic potential energy. After the force applied to the push plate 1221 is cancelled, the upper door panel 121 is moved by the reset elastic member 123. Figure 7 The status shown is reset to Figure 6 The state shown completes the switch from the open position to the closed position.

[0081] In order to reduce the friction generated on the upper door panel 121 during the movement of the push plate 1221, thereby reducing the wear on the upper door panel 121, the flip member 122 also includes a connecting rod 1222 and a rotating wheel 1223, the connecting rod 1222 is connected to the push plate 1221, the rotating wheel 1223 is rotatably connected to the connecting rod 1222, and the rotating wheel 1223 rolls and abuts against the abutment part 1212.

[0082] In one embodiment, the reset elastic member 123 includes a coil spring, one end of which is fixed to the push plate 1221, and the other end is fixed to the front cross beam 114. Of course, in addition to the coil spring, the reset elastic member 123 can also be other elastic bodies, such as a spring sheet.

[0083] Since the cache shelf 110 is provided with multiple cache aisles 111, each cache aisle 111 has an upper door panel 121 at the receiving port 113. During a replenishment process of the replenishment device, there is a need to open multiple receiving ports 113 to receive goods. Therefore, the multiple upper door panels 121 or the multiple flip members 122 can be connected by a connecting member to meet the needs of synchronous opening and synchronous closing of the multiple receiving ports 113.

[0084] In some embodiments, there is a need to pick up goods from two adjacent picking ports 113. In order to improve the picking efficiency, Fig.11 and Fig.12 As shown, one end of the flip member 122 can be simultaneously abutted against the abutment portions 1212 of two adjacent upper door panels 121 , so that during one flipping process of the flip member 122 , the two receiving ports 113 can be opened simultaneously.

[0085] In a specific embodiment, two rotating wheels 1223 are provided, and the two rotating wheels 1223 are respectively in rolling contact with the contact portions 1212 of the two adjacent upper door panels 121. It should be noted that the number of connecting rods 1222 can be set to one or two according to the needs. If it is set to one, the length of the connecting rod 1222 is longer, and the two ends of the connecting rod 1222 are respectively protruding from the push plate 1221, and the two rotating wheels 1223 are rotatably connected to the two ends of the connecting rod 1222; if it is set to two, the length of each connecting rod 1222 is shorter, and the two connecting rods 1222 are respectively protruding from the push plate 1221, and the two rotating wheels 1223 are rotatably connected to the two connecting rods 1222 in a one-to-one correspondence.

[0086] like Figure 2 , Figures 13 to 16 As shown, the replenishment device includes a traveling mechanism, a cargo platform 300 and a liftable replenisher 200. The replenishment device can move between the cache station 100 and the storage shelf through the traveling mechanism. The specific structure of the traveling mechanism is not described in detail here. It can be a combination of a traveling body, a power component and a track component. The power component drives the traveling body to move on the track component, so that the cargo platform 300 and the replenisher 200 located on the traveling body can move synchronously; in addition, the traveling mechanism can also be other structures that can output linear motion, such as a mobile platform composed of a motor and a belt transmission structure.

[0087] Continue to refer to Figure 2 As shown, the walking mechanism includes a vertically arranged guide structure 400. Optionally, the guide structure 400 is a vertically arranged guide rail. The cargo platform 300 is arranged on the guide structure 400 so as to be liftable. The replenisher 200 is arranged on the cargo platform 300 and is synchronously lifted and lowered with the cargo platform 300. The lifting drive structure for driving the cargo platform 300 to be lifted and lowered along the guide rail is not described in detail here. It can be any mechanism capable of outputting linear motion, such as a linear motor, a combination of a motor and a gear rack, a cylinder, etc.

[0088] The replenisher 200 is the main structure of the replenishment device to achieve docking with the cache station 100 and the storage shelf, and it has the functions of both receiving and replenishing goods. Figures 17 to 26 As shown, the replenisher 200 includes a replenisher body 210, on which a replenishment channel 211 is obliquely arranged, and the replenishment channel 211 includes a receiving port 212 located at a high position and a discharging port 213 located at a low position, the receiving port 212 is used to receive the goods 12, and the discharging port 213 is used to release the goods 12. Driven by the cargo platform 300, the replenisher 200 can move to a replenishment position where the receiving port 212 is directly opposite to the receiving port 113 of the cache station 100.

[0089] Specifically, the replenisher body 210 includes an aisle bottom plate 214 and two aisle side plates 215 forming a replenishment aisle 211. In the width direction of the aisle bottom plate 214, the two aisle side plates 215 are arranged on both sides of the aisle bottom plate 214. The aisle bottom plate 214 and the two aisle side plates 215 surround the replenishment aisle 211 with an open top and a U shape, which can achieve stable protection of the goods 12 and prevent the goods 12 from flying out of the replenishment aisle 211.

[0090] Optionally, the inclination degree of the replenishment aisle 211 can be the same as or different from the inclination degree of the cache aisle 111 of the cache station 100, and can be flexibly set according to needs, as long as it is ensured that the goods 12 can smoothly enter the replenishment aisle 211 from the cache aisle 111.

[0091] In order to realize the docking process between the replenisher 200 and the cache station 100, the receiving port 113 can be opened synchronously to improve the receiving efficiency, such as Fig.18 As shown, the replenisher 200 further includes a door pusher assembly 220, which can drive the upper door panel 121 to switch from a closed position to an open position, and make the receiving port 212 and the receiving port 113 connected to each other. Figure 6 The external force indicated by the middle arrow causes the flip member 122 to rotate, and the flip member 122 rotates to release the support for the upper door panel 121, so that the upper door panel 121 is folded counterclockwise.

[0092] In some embodiments, the door push assembly 220 includes a door push driver 221 and a push member 222. The door push driver 221 is disposed on a side of the replenisher body 210 close to the cache station 100. Optionally, the door push driver 221 is disposed on the replenisher body 210. The door push driver 221 is in transmission connection with the push member 222 and is used to drive the push member 222 to perform linear motion. The push member 222 is used to apply force to the flip member 122. Optionally, the door push driver 221 is a linear motor; the push member 222 is a push rod, and a cylindrical push block (not shown in the figure) is provided at the end of the push rod for applying force to the push plate 1221.

[0093] During the material picking stage of the replenisher 200, the door pusher 221 drives the pusher 222 to move in the direction close to the flip member 122, so that the pusher 222 contacts the push plate 1221 of the flip member 122. The push plate 1221 rotates around its rotation axis 125 under the push of the pusher 222 to open the upper door panel 121. The goods 12 in the cache channel 111 enter the replenishment channel 211 after passing through the receiving port 113 and the receiving port 212 under the gravity process, and the subsequent goods 12 are replenished in sequence. After that, when the goods 12 in the replenishment channel 211 are replenished, the force on the push plate 1221 is stopped, and the upper door panel 121 is reset to the closed position under the action of the reset elastic member 123, and waits for the next opening.

[0094] In order to improve the smoothness of the goods 12 from the cache aisle 111 to the replenishment aisle 211, as shown in FIG. Fig.23 As shown, the upper door panel 121 in the open position overlaps the aisle bottom plate 214 of the replenishment aisle 211 .

[0095] Further, continue to refer to Fig.18As shown, the replenisher 200 further includes an in-place detection member 230, which is disposed at the end of the cargo lane bottom plate 214 and is used to detect the upper door panel 121. Optionally, the in-place detection member 230 is an in-place sensor, which can be a proximity switch. When the upper door panel 121 is overlapped on the cargo lane bottom plate 214 of the replenishment cargo lane 211, the in-place detection member 230 can send a confirmation signal that the upper door panel 121 is opened and in place.

[0096] Alternatively, if Fig.24 As shown, the upper door panel 121 includes a protrusion 12111, which is used in conjunction with the in-place detection member 230. When the upper door panel 121 is in the open position, the protrusion 12111 just covers the in-place detection member 230. Further optionally, a groove is provided at the end of the cargo channel bottom plate 214, and the in-place detection member 230 is arranged in the groove. After the protrusion 12111 is overlapped in the groove, the protrusion 12111 will not protrude from the cargo channel bottom plate 214, so as to avoid affecting the smoothness of the movement of the goods 12.

[0097] Since there are many types of goods 12 and different widths, in order to adjust the width of the replenishment aisle 211 so that the replenishment aisle 211 can accommodate goods 12 of different widths, continue to refer to Fig.13 , Fig.14 , Fig.17 and Fig.18 As shown, at least one of the two aisle side panels 215 included in the replenisher body 210 is movable to adjust the width of the replenishment aisle 211 .

[0098] That is to say, in some embodiments, one of the two aisle side panels 215 is fixed and the other is movably arranged, and the movably arranged aisle side panel 215 can move closer to or farther away from the fixedly arranged aisle side panel 215 to change the width of the replenishment aisle 211 formed by the two aisle side panels 215 and the portion of the aisle bottom plate 214 located between the two aisle side panels 215; in some parallel embodiments, both aisle side panels 215 can move, that is, the two aisle side panels 215 can move closer to or farther away from each other, thereby changing the width of the replenishment aisle 211 formed by the two aisle side panels 215 and the portion of the aisle bottom plate 214 located between the two aisle side panels 215.

[0099] In order to realize the movement of the cargo lane side plate 215, continue to refer to Fig.18 and Fig.19As shown, the replenisher 200 further includes a variable pitch drive member 240, which is used to drive the cargo lane side plate 215 to move. Optionally, the variable pitch drive member 240 includes a variable pitch motor 241, a lead screw 242, and a nut block 243. The motor shaft of the variable pitch motor 241 is drivingly connected to one end of the lead screw 242. The nut block 243 is threadedly connected to the lead screw 242 to form a lead screw nut pair. The nut block 243 is connected to the movable cargo lane side plate 215. Optionally, the nut block 243 is connected to the movable cargo lane side plate 215 through a connecting push plate 245.

[0100] When the variable pitch motor 241 is working, the lead screw 242 can rotate around its central axis, and the nut block 243 can move along the axial direction of the lead screw 242, thereby driving the cargo lane side plate 215 to move. It should be noted that when only one cargo lane side plate 215 needs to be driven to move, the lead screw 242 is a single-rotation screw, and the number of nut blocks 243 is one; when two cargo lane side plates 215 need to be driven to move, the lead screw 242 can choose to use a double-headed screw with two sections of threaded segments with different rotation directions, and the number of nut blocks 243 is two. The two nut blocks 243 are respectively threadedly connected to the threaded segments with different rotation directions, and the two nut blocks 243 are connected to the two cargo lane side plates 215 in a one-to-one correspondence.

[0101] Furthermore, the variable pitch drive component 240 also includes a conveyor belt mechanism 244, and the variable pitch motor 241 is connected to the lead screw 242 through the conveyor belt mechanism 244. Specifically, the conveyor belt mechanism 244 includes a driving pulley 2441, a driven pulley 2442 and a conveyor belt 2443. The motor shaft of the variable pitch motor 241 is connected to the driving pulley 2441, the driving pulley 2441 and the driven pulley 2442 are spaced apart, the driven pulley 2442 is sleeved on the lead screw 242, and the conveyor belt 2443 is sleeved on the driving pulley 2441 and the driven pulley 2442.

[0102] Continue to refer to Fig.18 As shown, the replenisher 200 further includes a variable pitch mounting frame 250, and part of the structure of the variable pitch driving member 240 is mounted on the variable pitch mounting frame 250. Optionally, the variable pitch mounting frame 250 is an inverted U-shaped structure, which includes a cross beam 251 and two side beams 252 respectively connected to both ends of the cross beam 251, the cross beam 251 is located above the two cargo lane side plates 215 and spans the cargo lane bottom plate 214, and the bottom ends of the two side beams 252 are respectively connected to both sides of the cargo lane bottom plate 214 in the width direction.

[0103] In one embodiment, the variable pitch motor 241 is fixed below the cargo lane bottom plate 214, the conveyor belt mechanism 244 is installed on the fixed cargo lane side plate 215, and the lead screw 242 is located below the cross beam 251 and is rotatably connected to the two side beams 252. Of course, if the cargo lane side plates 215 are all movable, the structure or position of the variable pitch mounting frame 250 can also be adjusted so that the installation of the variable pitch drive member 240 does not affect the movement of the cargo lane side plates 215 and the movement of the goods 12 in the replenishment cargo lane 211.

[0104] Of course, in addition to the combination of the motor and the lead screw nut, the variable pitch drive 240 can also be configured as other mechanisms capable of outputting linear motion according to demand, such as a combination of a motor and a gear rack, a linear motor, a cylinder, etc.

[0105] By setting the width of the replenishment aisle 211 to be adjustable, the replenishment device can not only adapt to goods 12 with various widths, but also can regularize the goods 12 entering the replenishment aisle 211 by moving the aisle side panels 215, so as to improve the orderliness of the movement of the goods 12 and reduce the accuracy of the subsequent replenishment of the storage aisle 11. It should be noted that after the receiving port 113 of the cache station 100 is opened, the goods 12 in the cache aisle 111 quickly enter the replenishment aisle 211. During this process, the goods 12 in the replenishment aisle 211 may be uneven. By moving the movable aisle side panels 215, the aisle side panels 215 can clamp the goods 12 to achieve the effect of regularizing the goods 12. After the goods 12 are regularized, the movable aisle side panels 215 are moved in the opposite direction by a small distance, so that the width of the replenishment aisle 211 is sufficient and will not affect the subsequent entry of the goods 12.

[0106] Further, continue to refer to Fig.17 As shown, the replenisher 200 further includes a side panel detection member 260, which is disposed on the replenisher body 210 and is used to detect the aisle side panel 215 that has been reset to its initial position. Optionally, the side panel detection member 260 may be a proximity switch or a photoelectric sensor. The movable aisle side panel 215 has a zero position, i.e., its initial position, and the side panel detection member 260 is a zero position detection mechanism that can detect whether the aisle side panel 215 is at the zero position.

[0107] In order to achieve the docking of the replenisher 200 and the storage shelf, continue to refer to Fig.17As shown, the replenisher 200 further includes a lower door panel 270, which is movably disposed at the discharge port 213 and has an open position for opening the discharge port 213 and a closed position for closing the discharge port 213. When the lower door panel 270 is in the closed position, the goods 12 are limited in the replenishment aisle 211 by the lower door panel 270. When the lower door panel 270 is in the open position, the replenishment aisle 211 can communicate with the storage aisle 11 of the storage shelf, and the goods 12 in the replenishment aisle 211 can be moved into the storage aisle 11.

[0108] Since the widths of the storage aisles 11 of the storage shelves are inconsistent, the widths of the storage aisles 11 can be of multiple types, such as two, three or more. For the convenience of description, the storage aisles 11 are divided into narrow aisles and wide aisles. The narrow aisles here are the narrowest storage aisles 11 among all the storage aisles 11, and the wide aisles are storage aisles 11 whose widths are greater than the narrow aisles.

[0109] In order to be able to dock with storage aisles 11 of different widths, in the direction of the width of the replenishment aisle 211, the lower door panel 270 includes a first portion 271 and a second portion 272 connected to each other, and in the length direction of the replenishment aisle 211, the end of the first portion 271 away from the replenisher body 210 protrudes from the end of the second portion 272 away from the replenisher body 210. That is, the lower door panel 270 is divided into two sections in its width direction. Since the lengths of the two sections are different, a notch structure and a flange structure are formed. The flange structure is the part where the first portion 271 protrudes from the second portion 272, and the width of the flange structure (i.e., the width of the first portion 271) is set to be less than or equal to the width of the storage aisle 11 with the smallest width (i.e., the width of the narrow aisle). Such a setting allows the flange structure to extend into any storage aisle 11 to complete docking, that is, normal replenishment can be guaranteed regardless of whether it is a narrow aisle or a wide aisle.

[0110] like Fig.25As shown, before the replenisher 200 docks with the storage aisle 11 of the storage shelf, it is necessary to first adjust the position of the movable aisle side panel 215 so that the replenishment aisle 211 is arranged opposite to the first part 271 (this step is generally completed synchronously when the replenisher 200 picks up goods from the cache station 100, for example, it is completed synchronously when the goods 12 in the replenishment aisle 211 are arranged), so that the goods 12 are arranged opposite to the first part 271; then, if the replenisher 200 docks with a narrow aisle, the flange structure of the first part 271 is extended into the narrow aisle to dock with the narrow aisle, and the goods 12 with a smaller width pass directly through the first part 271. One part 271 enters the narrow aisle; if the replenisher 200 needs to connect to the wide aisle of the storage aisle 11, the first part 271 can also be connected to the wide aisle. When the wider goods 12 pass through the lower door panel 270, part of them pass through the first part 271, and the remaining part passes through the second part 272. Since a notch structure is formed on the front side of the second part 272, there is a situation where the goods 12 need to cross the notch structure to enter the wide aisle. However, since there is a flange structure overlapped in the wide aisle, the width of the notch formed at the notch structure is generally small, and a temporary lack of support will not affect the normal sliding of the goods 12.

[0111] It should be noted that, due to reasons such as materials and manual installation, the inlet end of the storage aisle 11 is not necessarily aligned horizontally, which results in the lower door panel 270 of the replenisher 200 not being in an ideal docking state with a small distance when docking with the storage aisle 11. The reason why the front end of the lower door panel 270 is designed to have a notch structure and a flange structure is to be able to dock with storage aisles 11 of different widths. The flange structure of the lower door panel 270 is designed according to the minimum aisle width to ensure stable replenishment when docking with narrow aisles, and normal docking when facing wide aisles. The temporary lack of support at the notch structure does not affect the normal sliding of the goods 12. If this design is not adopted, and a flange structure of a single width is set, if the width of the flange structure is designed according to the width of the narrow aisle, the cargo 12 will fall due to the excessive gap when docking with the wide aisle; if the width of the flange structure is designed according to the width of the wide aisle, when docking with the narrow aisle, the lower door panel 270 will not be able to be fully opened due to the obstruction of the aisle side panel 215, affecting the normal movement of the cargo 12.

[0112] In some embodiments, an ejection limiting mechanism is provided on the cargo channel bottom plate 214, and the ejection limiting mechanism includes a movable limiting block 293. An ejection port is provided at the end of the cargo channel bottom plate 214 near the cargo discharge port 213, and the limiting block 293 is movably arranged in the ejection port, and the limiting block 293 has a limiting position protruding outside the cargo channel bottom plate 214 and an avoidance position hidden inside the cargo channel bottom plate 214. The limiting block 293 in the limiting position can limit the movement of the goods 12 along the inclined replenishment cargo channel 211, and the limiting block 293 in the avoidance position can release the restriction on the goods 12. During the replenishment process, the limiting block 293 of the ejection limiting mechanism circulates, so that the goods 12 are replenished into the storage cargo channel 11 one by one.

[0113] It should be noted that the power for driving the limit block 293 to switch between the limit position and the avoidance position can come from a power part that can output linear motion, such as a micro cylinder, etc., or a linkage structure can be set between the lower door panel 270 and the limit block 293. The linkage structure includes but is not limited to a connecting rod structure. When the lower door panel 270 is opened, the lower door panel 270 drives the limit block 293 to move from the limit position to the avoidance position through the linkage structure. When the lower door panel 270 is closed, the lower door panel 270 drives the limit block 293 to move from the avoidance position to the limit position through the linkage structure.

[0114] Continue to refer to Figure 20 to Figure 22 As shown, in order to realize the driving of the lower door panel 270, the replenisher 200 further includes a driving assembly 280, which includes a driving component 281, a push-pull component 282, and a mounting abutment component 283. The driving component 281 has a telescopic end that can be extended and retracted. The telescopic end of the driving component 281 is connected to the push-pull component 282 and can drive the push-pull component 282 to perform linear motion. The mounting abutment component 283 is arranged on the lower door panel 270. When the telescopic end of the driving component 281 is extended, the push-pull component 282 pushes the mounting abutment component 283 to switch the lower door panel 270 from the door opening position to the door closing position; when the telescopic end of the driving component 281 is retracted, the push-pull component 282 pulls the mounting abutment component 283 to switch the lower door panel 270 from the door closing position to the door opening position.

[0115] It should be noted that one end of the lower door panel 270 is rotatably connected to the end of the cargo channel bottom plate 214 near the cargo discharge port 213 through a hinge, and the lower door panel 270 is switched between the open position and the closed position by rotating. The driving component 281 drives the push-pull member 282 to perform linear motion to push and pull the abutment member 283, so that the lower door panel 270 can switch between the open position and the closed position. This linear driving method makes the driving component 280 compact and occupies less space.

[0116] The driving component 281 can be a mechanism that can directly output linear motion, such as a cylinder, a linear motor, etc., or it can be a combination of a power component that can output rotational motion and a transmission component that can convert rotational motion into linear motion, such as a combination of a motor and a gear rack, or a combination of a motor and a screw nut, etc.

[0117] Continue to refer to Fig.21 and Fig. 22 As shown, the push-pull member 282 includes a convex ball 2821, which is fixed to the telescopic end of the driving member 281, and the convex ball 2821 abuts against the mounting abutment member 283. When the telescopic end of the driving member 281 is extended, the convex ball 2821 moves linearly. It should be noted that the convex ball 2821 is only used to push the mounting abutment member 283 to provide power for the lower door panel 270 to flip upward from the door opening position and switch to the door closing position. When the telescopic end of the driving member 281 retracts, the convex ball 2821 retracts accordingly, and the convex ball 2821 is separated from the mounting abutment member 283. Therefore, during the retraction process of the convex ball 2821, no pulling force is provided to the mounting abutment member 283, and the lower door panel 270 cannot be driven to rotate to the door opening position.

[0118] In order to enable the lower door panel 270 to rotate to the door opening position, continue to refer to Fig.21 and Fig. 22 As shown, the push-pull member 282 also includes a reset elastic body 2822 and a fixed plate 2823. The fixed plate 2823 is fixed to the telescopic end of the driving component 281. The reset elastic body 2822 is connected between the mounting abutment member 283 and the fixed plate 2823, and pushes or pulls back the mounting abutment member 283.

[0119] It should be noted that the resetting elastic body 2822 plays a role in the process of pushing the lower door panel 270 to the door closing position or pulling the lower door panel 270 back to the door opening position. Fig.21 When the door is in the open position shown in FIG. , the reset elastic body 2822 has a preload force, and when the lower door panel 270 is Fig.21 In the process of switching from the open door position to the closed door position, the preload force will first decrease and then increase. The setting of the reset elastic body 2822 enables the lower door panel 270 to be driven to open or close the door more gently. In the process of driving the lower door panel 270 to flip upward to close the door and flip downward to open the door, it will not cause significant mechanical damage to the hinge that realizes the rotational connection between the lower door panel 270 and the cargo channel bottom plate 214, which is beneficial to increase the service life of the hinge and reduce costs. This method of driving the lower door panel 270 by the drive assembly 280 has good flexibility, high accuracy, and low possibility of docking failure.

[0120] Optionally, the reset elastic body 2822 is a tension spring, a first tension spring hole is provided on the fixed plate 2823, a second tension spring hole is provided on the mounting abutment 283, and two ends of the tension spring are hooked on the first tension spring hole and the second tension spring hole, respectively. When the lower door panel 270 is closed, the reset elastic body 2822 can pull the mounting abutment 283 to drive the lower door panel 270 to flip downward to open the door, thereby increasing the speed of opening and closing and improving the accuracy of opening the door.

[0121] Furthermore, in order to prevent the lower door panel 270 from being over-opened, a limiting structure is provided at the lower end of the cargo channel bottom plate 214. Fig. 20 In the state shown, the limiting structure can abut against the lower door panel 270, thereby preventing the lower door panel 270 from further turning downward. Optionally, the limiting structure can be a block structure, a columnar structure, etc. with a limiting function, and its specific structure is not limited.

[0122] Continue to refer to Fig.19 and Fig.26 As shown, the replenisher 200 also includes a cargo detection component 292, which is disposed on the lower door panel 270. The lower door panel 270 in the closed position makes the cargo detection component 292 face the storage aisle 11, and is used to detect the inventory of cargo 12 in the storage aisle 11 to determine whether the storage aisle 11 has a replenishment demand.

[0123] Optionally, the cargo detection member 292 is a distance measuring sensor, which is mounted on the mounting abutment 283 , and can emit a detection light parallel to the direction of the storage aisle 11 when the lower door panel 270 is in the closed position, and the detection light penetrates deep into the storage aisle 11 .

[0124] It should be noted that after the replenisher 200 arrives at the storage aisle 11 on the storage shelf that needs replenishment, it is necessary to first use the distance measuring sensor to detect the situation of the goods 12 in the storage aisle 11. The specific method of detection is to measure whether there are goods 12 within a certain distance range through the distance measuring sensor. If there are no goods 12, it can be verified that the storage aisle 11 needs replenishment. At this time, the lower door panel 270 is directly controlled to open to form a docking slide, and then replenishment is started directly. This not only ensures the accuracy of replenishment and reduces the probability of wrong replenishment, but also has a clever design and does not require unnecessary movement and positioning. If the detected distance is incorrect, for example, the detected distance is very small, it means that the storage aisle 11 is full of goods 12, and the information that this storage aisle 11 needs replenishment is incorrect.

[0125] Continue to refer to Fig.17As shown, the replenisher 200 also includes a shipment detection component 291, which is arranged on the lower door panel 270. Optionally, the detection light emitted by the shipment detection component 291 is perpendicular to the moving direction of the goods 12. The shipment detection component 291 is used to detect whether there are any goods 12 retained at the lower door panel 270.

[0126] Optionally, the shipment detection member 291 is arranged on the inner side of the lower door panel 270. When the lower door panel 270 is in the closed position, the shipment detection member 291 is hidden in the inner side of the lower door panel 270. When the lower door panel 270 is in the open position, the shipment detection member 291 is exposed. Optionally, the shipment detection member 291 is a photoelectric sensor. In addition, the shipment detection member 291 can also be used to count the goods 12 passing through the lower door panel 270, so that the replenisher 200 can stop replenishing after the replenishment quantity of a certain storage aisle 11 reaches the expected value, and then the replenisher 200 can move to the next replenishment position to replenish another storage aisle 11, or the replenisher 200 returns to the cache station 100 to pick up the goods.

[0127] Continue to refer to Figures 13 to 16 As shown, at least two replenishers 200 are arranged side by side, and the replenishment channel 211 of each replenisher 200 can accommodate the goods 12. By providing at least two replenishers 200, at least two replenishment channels 211 can be provided, which is conducive to improving the cargo capacity and replenishment efficiency. It should be noted that the number of replenishers 200 can be as follows: Figures 13 to 16 The setting shown in the figure is two, and it can also be set to three, four or more as required.

[0128] Before the replenisher 200 replenishes a storage aisle 11 of the storage shelf, it is necessary to first count the inventory of the goods 12 in the storage aisle 11 to determine the replenishment quantity. Fig.13 , Fig.14 , Figures 27 to 32 As shown, the replenishment device further includes an inventory counter 500, which includes a protruding structure 510 and an inventory counter structure 520. The protruding structure 510 is movably arranged relative to the replenisher 200. Optionally, the protruding structure 510 is movably arranged on the replenisher body 210 or movably arranged on the cargo platform 300, and the inventory counter structure 520 is arranged at the end of the protruding structure 510. With the movement of the protruding structure 510, the inventory counter structure 520 can enter the storage aisle 11 through the aisle entrance 101 to inventory the goods 12 located in the storage aisle 11.

[0129] Compared to the laser inventory method in the prior art that uses a laser probe to emit a laser at the entrance of the cargo aisle to count the goods in the storage cargo aisle, the inventory structure 520 of the inventory counter 500 provided by the present invention can extend into the storage cargo aisle 11 through the cargo aisle entrance 101, and perform detection at a relatively closer distance, which can reduce the impact of deformation of the storage cargo aisle 11 due to various reasons on the detection, that is, in the case of close-range detection, it can effectively ensure the correctness of the detection of the target goods 12, thereby improving the accuracy of the inventory and significantly reducing the misjudgment rate. Compared with the manual inventory method, the inventory structure 520 of the inventory counter 500 provided by the present invention that extends into the storage cargo aisle 11 through the cargo aisle entrance 101 can more efficiently and accurately detect the goods 12 and obtain inventory data.

[0130] It should be noted that in order to obtain the inventory number n of goods 12, the following parameters are known: 1. The length L of the storage aisle 11; 2. The extension stroke L1 of the extension structure 510 when the inventory structure 520 detects the goods 12; 3. The length L2 of the goods 12 in the storage aisle 11; 4. The distance L3 between the inventory structure 520 and the goods 12 when it is able to detect the goods 12; 5. The distance L4 between the inventory structure 520 and the aisle entrance 101 when the extension structure 510 is not extended or retracted, wherein n = (L-L1+L4-L3) / L2, and the number of goods 12 that need to be replenished in the aisle is N = L / L2-n.

[0131] In one embodiment, the protruding structure 510 is an elongated rod.

[0132] In one embodiment, the counting structure 520 is one of a laser distance sensor, an infrared distance sensor, a micro switch and a pressure sensor. It should be noted that the counting structure 520 can also be set as other sensors according to needs, as long as it can detect signals within a short distance.

[0133] In order to drive the extension structure 510 to move, the inventory counter 500 also includes a telescopic drive member 540, which is transmission-connected to the extension structure 510 and is used to drive the extension structure 510 to move in a direction substantially parallel to the extension direction of the storage aisle 11.

[0134] In some embodiments, the telescopic drive member 540 includes a telescopic motor 541 and a synchronous belt structure 542, the synchronous belt structure 542 includes a driving wheel 5421, a driven wheel 5423 and a synchronous belt 5422, the driving wheel 5421 and the driven wheel 5423 are arranged at intervals and can rotate, the synchronous belt 5422 is sleeved on the driving wheel 5421 and the driven wheel 5423, the motor shaft of the telescopic motor 541 is connected to the driving wheel 5421, and the extension structure 510 is connected to the synchronous belt 5422 of the synchronous belt structure 542. Of course, in other embodiments, the telescopic drive member 540 can also be other structures that can output linear motion, such as a cylinder, a linear motor, a combination of a motor and a gear rack, etc.

[0135] In order to achieve the fixing of the telescopic drive member 540, continue to refer to Fig.28 As shown, the inventory counter 500 also includes a track member 550 for supporting the extension structure 510 and installing the telescopic motor 541 and the synchronous belt structure 542. The extension structure 510 is movably arranged on the track member 550. The extension structure 510 has an extended state extending outside the track member 550 and a recovered state retracted to overlap with the track member 550.

[0136] Optionally, the track member 550 is fixed to the side of the replenisher body 210 through a plurality of L-shaped second mounting plates 584 .

[0137] Optionally, the track member 550 is substantially in the shape of a cube, such as Fig.32 As shown, the track member 550 includes a first side plate 554, a first mounting plate 551, a second side plate 555 and a track plate 552 which are connected in sequence. The first side plate 554 and the second side plate 555 are arranged opposite to each other, the first mounting plate 551 and the track plate 552 are arranged opposite to each other, and the height of the first side plate 554 is less than the height of the second side plate 555, so that an opening is formed between the first side plate 554 and the track plate 552, so as to facilitate the installation of the synchronous belt structure 542 in the space inside the track member 550. Specifically, the telescopic motor 541 is fixed below the first mounting plate 551, the driving wheel 5421 and the driven wheel 5423 are both rotatably connected to the first mounting plate 551, and the extension structure 510 is movably arranged on the upper surface of the track plate 552.

[0138] In order to improve the moving accuracy of the extending structure 510, as Fig.31 As shown, the inventory counter 500 further includes a stopper 583, which is fixed relative to the replenisher 200. One of the stopper 583 and the extension structure 510 is provided with a stopper groove 511, and the other is provided with a stopper protrusion. The stopper protrusion is slidably limited in the stopper groove 511, thereby guiding the extension structure 510 and preventing the extension structure 510 from swinging left and right during movement. Fig.32As shown, the track member 550 further includes a third mounting plate 553, which is disposed above the track plate 552, and the stopper 583 is mounted on the third mounting plate 553. Further optionally, the third mounting plate 553 is L-shaped. Optionally, the track member 550 is an integrally formed member, which is formed by cutting and bending as shown in FIG. Fig.32 Shape shown.

[0139] In order to make the extension structure 510 better adapt to the possible deformation of the storage channel 11, continue to refer to Fig.28 As shown, the inventory counting device 500 further includes a moving member 530 that can move relative to the replenisher 200, and an end of the extension structure 510 that is away from the inventory counting structure 520 is rotatably connected to the moving member 530. Fig.29 As shown, one end of the moving member 530 is fixedly connected to the synchronous belt 5422, and a first hinge seat 581 is formed on the other end. The end of the extension structure 510 is provided with a second hinge seat 582, and the first hinge seat 581 and the second hinge seat 582 are hinged by a hinge shaft. In one embodiment, one end of the moving member 530 is fixed to the synchronous belt 5422 through a synchronous belt pressure plate.

[0140] Such an arrangement enables the extending structure 510 to swing up and down at a certain angle after penetrating into the storage aisle 11 as the storage aisle 11 may deform, thereby being able to better adapt to the deformation of the storage aisle 11 and ensuring that the detection direction of the inventory structure 520 is always parallel to the tangent direction of the bottom surface of the storage aisle 11, thereby being able to better ensure the correctness of the detection target.

[0141] Continue to refer to Fig.30 As shown, the inventory counting device 500 further includes a first support wheel 560, which is rotatably connected to the extension structure 510, and the first support wheel 560 is rollingly supported on the track plate 552 of the track member 550. The extension structure 510 is supported by the first support wheel 560, so that the stability of the movement of the extension structure 510 can be improved. Optionally, a plurality of first support wheels 560 are provided, and are symmetrically arranged on both sides of the extension structure 510.

[0142] Continue to refer to Fig.30 As shown, the inventory counting device 500 further includes a second support wheel 570, which is rotatably connected to the inventory counting structure 520, and the second support wheel 570 is rollingly supported on the track plate 552 of the track member 550. The inventory counting structure 520 is supported by the second support wheel 570, so that the inventory counting structure 520 can be supported at a height suitable for detection. The first support wheel 560 and the second support wheel 570 cooperate to ensure that the extended structure 510 remains straight and does not sag before the inventory counting structure 520 enters the storage aisle 11.

[0143] It should be noted that the automated warehouse also includes a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single single-chip microcomputer or a distributed plurality of single-chip microcomputers. The control program can be run in the single-chip microcomputer to control the automatic picking system 10 and the automatic replenishment system 20 to realize their functions respectively.

[0144] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An inventory counting device, characterized in that: Used to count the quantity of goods (12) stored in a storage passage (11), wherein the storage passage (11) has a passage entrance (101), and the counting device comprises: An extension structure (510), wherein the extension structure (510) is movably arranged; An inventory structure (520), wherein the inventory structure (520) is disposed at an end of the extending structure (510); The inventory structure (520) is capable of entering the storage aisle (11) through the aisle entrance (101) to inventory the goods (12) located in the storage aisle (11).

2. The inventory counting device according to claim 1, characterized in that: The inventory counting device further comprises a movable moving member (530), and one end of the extending structure (510) away from the inventory counting structure (520) is rotatably connected to the moving member (530).

3. The inventory counting device according to claim 2, characterized in that: The inventory counting device further comprises a telescopic driving member (540), wherein the telescopic driving member (540) comprises a telescopic motor (541) and a synchronous belt structure (542), wherein the motor shaft of the telescopic motor (541) is drivingly connected to a driving wheel (5421) of the synchronous belt structure (542), and the moving member (530) is connected to a synchronous belt (5422) of the synchronous belt structure (542).

4. The inventory counting device according to claim 3, characterized in that: The inventory counting device further comprises a track member (550) for supporting the extending structure (510), the track member (550) comprising a first mounting plate (551), the telescopic motor (541) being fixedly connected to the first mounting plate (551), and the driving wheel (5421) and the driven wheel (5423) of the synchronous belt structure (542) being rotatably connected to the first mounting plate (551).

5. The inventory counting device according to claim 1, characterized in that: The inventory counting device further comprises a fixedly arranged limiting member (583), wherein one of the limiting member (583) and the extending structure (510) is provided with a limiting groove (511), and the other is provided with a limiting protrusion, wherein the limiting protrusion is slidably limited in the limiting groove (511), so that the limiting member (583) can guide and limit the movement of the extending structure (510).

6. The inventory counting device according to claim 1, characterized in that: The inventory counting device further comprises a track member (550), the extending structure (510) being movably arranged on the track member (550), and the extending structure (510) having an extending state extending out of the track member (550) and a retracting state retracting to overlap with the track member (550).

7. The inventory counting device according to claim 6, characterized in that: The inventory counting device further comprises a first supporting wheel (560), the track member (550) comprises a track plate (552), the first supporting wheel (560) is rotatably connected to the extending structure (510), and the first supporting wheel (560) is rollingly supported on the track plate (552).

8. The inventory counting device according to claim 6, characterized in that: The inventory counting device further comprises a second supporting wheel (570), the track member (550) comprises a track plate (552), the second supporting wheel (570) is rotatably connected to the inventory counting structure (520), and the second supporting wheel (570) is rollingly supported on the track plate (552).

9. The inventory counting device according to claim 1, characterized in that: The inventory structure (520) is one of a laser distance sensor, an infrared distance sensor, a micro switch and a pressure sensor.

10. A replenishment device, characterized in that: It comprises a replenisher (200) and an inventory counter as described in any one of claims 1 to 9, wherein the replenisher (200) is used to replenish the goods (12) to the storage aisle (11), and the inventory counter is arranged on the replenisher (200).

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