Inventory and replenishment device

Abstract

The application discloses a kind of inventory taker and replenishment device. Inventory taker is used to the quantity of goods stored in storage channel is inventoried, storage channel has channel entrance, inventory taker includes extension structure and inventory structure, extension structure is movably arranged, and inventory structure is arranged at the end of extension structure;Wherein, inventory structure can enter storage channel by channel entrance, to the goods in storage channel is inventoried. The inventory taker is arranged to be able to extend into the inventory structure of storage channel, not only can realize the inventory of goods stock in storage channel, and the inventory of goods is efficient, accurate, and it is beneficial to realize accurate replenishment.

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] An automated picking system retrieves goods directly from storage shelves according to order information and packs and ships all retrieved goods immediately after the order is completed. It primarily consists of storage shelves and a picking mechanism. The automated picking system needs to regularly replenish shelves to meet future order demand. Failure to do so can delay order production. Before replenishing shelves, an inventory count must be performed on the corresponding aisle.

[0003] The existing technology can adopt the method of manual inventory of all goods leaving the warehouse, but this inventory method is inefficient; the existing technology can also adopt the laser inventory method, that is, directly using a laser probe to emit laser at the entrance of the aisle of the storage shelf to measure the distance to achieve inventory, but 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; and the aisles are generally long, the length of the aisles can reach 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 method has the problem of a high error rate.

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

[0005] A first object of the present invention is to provide an inventory counter that can efficiently and accurately count goods in 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] A counter is provided for taking inventory of the quantity of goods stored in a storage aisle, wherein the storage aisle has an aisle entrance, and the 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 take inventory of the goods located in the storage aisle.

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

[0010] Preferably, the inventory counter also includes a telescopic drive component, which includes a telescopic motor and a synchronous belt structure. The motor shaft of the telescopic motor is connected to the driving wheel of the synchronous belt structure, and the moving component is connected to the synchronous belt of the synchronous belt structure.

[0011] Preferably, the inventory counter 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 limiting member, one of the limiting member and the protruding structure is provided with a limiting groove, and the other is provided with a limiting protrusion, and the limiting protrusion is slidably limited in the limiting groove, so that the limiting member can guide and limit the movement of the protruding structure.

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

[0014] Preferably, the inventory counter further comprises a first support wheel, the track member comprises a track plate, the first support wheel is rotatably connected to the protruding structure, and the first support 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 includes 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 inventory 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, and 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 inventory the goods located in the storage aisle. By providing the inventory structure that can extend into the storage aisle, the inventory counter not only can inventory the inventory of goods in the storage aisle, but also can perform inventory counting efficiently and accurately, which is conducive to accurate replenishment. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0022] Figure 3 is a schematic diagram of a cache station provided by the present invention from a certain perspective;

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

[0024] Figure 5 is a schematic diagram of the 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 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 in an open position;

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

[0028] Figure 9 is a schematic diagram of the door assembly provided by the present invention from another perspective;

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

[0030] Figure 11 is a schematic diagram of a door assembly provided by the present invention having two upper door panels capable of opening and closing simultaneously, viewed from a certain perspective;

[0031] Figure 12 is a schematic diagram of a door assembly provided by the present invention having two upper door panels capable of opening and closing simultaneously, viewed from another perspective;

[0032] Figure 13This is a schematic diagram of a replenishment device provided by the present invention having two replenishers and two replenishment aisles, one wide and one narrow;

[0033] Figure 14 yes Figure 13 a schematic diagram of the structure shown at another viewing angle;

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

[0035] Figure 16 yes Figure 15 a schematic diagram of the structure shown at another viewing angle;

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

[0037] Figure 18 is a schematic diagram of the replenisher provided by the present invention from another perspective;

[0038] Figure 19 is a schematic diagram of the replenisher provided by the present invention from another perspective;

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

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

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

[0042] Figure 23 is a schematic diagram of an upper door panel provided by the present invention in an open position overlapped on a cargo aisle floor of a replenishment aisle;

[0043] Figure 24 This is a schematic diagram of the protruding portion of the upper door panel provided by the present invention covering the in-place detection member;

[0044] Figure 25 Schematic diagrams 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] Figure 26 This is a schematic diagram of the cargo detection member provided by the present invention facing the storage aisle and detecting cargo in the storage aisle;

[0046] Figure 27 This is a schematic diagram of the inventory counting device provided by the present invention performing inventory counting on goods in a storage aisle;

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

[0048] Figure 29 yes Figure 28 Enlarged view of part A;

[0049] Figure 30 yes Figure 28 Enlarged view of part B;

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

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

[0052] In the picture:

[0053] 100. Cache station; 110. Cache shelf; 111. Cache aisle; 112. Restocking port; 113. Receiving port; 114. Front crossbeam; 115. Cache bottom plate; 116. Cache side panels; 120. Door assembly; 121. Upper door panel; 1211. Shielding portion; 12111. Protruding portion; 1212. Abutting portion; 122. Flipping member; 1221. Push plate; 1222. Connecting rod; 1223. Rotating wheel; 123. Resetting elastic member; 124. Hinge; 125. Rotating shaft; 130. Support frame;

[0054] 200, replenisher; 210, replenisher body; 211, replenishment aisle; 212, receiving port; 213, discharge port; 214, aisle floor; 215, aisle side panels; 220, door pusher assembly; 221, door pusher driver; 222, pusher; 230, in-position detector; 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 panel 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, guide structure;

[0057] 500, inventory device; 510, extension structure; 511, limiting slot; 520, inventory structure; 530, moving part; 540, telescopic driving part; 541, telescopic motor; 542, synchronous belt structure; 5421, driving pulley; 5422, synchronous belt; 5423, driven pulley; 550, track member; 551, first mounting plate; 552, track plate; 553, third mounting plate; 554, first side plate; 555, second side plate; 560, first support wheel; 570, second support wheel; 581, first hinge seat; 582, second hinge seat; 583, limiting member; 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 with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0060] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

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

[0062] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[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 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, which is tilted relative to the horizontal direction. The storage aisle 11 includes a high-positioned aisle entrance 101 and a low-positioned aisle exit 102. 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. At the aisle exit 102, the goods 12 wait for the pickup mechanism of the automatic picking system 10 to pick them up. As for the structure of the pickup mechanism, it is 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. Each storage aisle 11 can store the same or different goods 12. 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 orders 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 located next to the storage shelf and is a small storage device that can temporarily store a portion of goods 12. The replenishment device can move to the cache station 100 and dock with the cache station 100, pick up goods 12 from the cache station 100, and then move to the storage shelf to deposit the goods 12 into the storage aisle 11 of the storage shelf through 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. It 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. A cache aisle 111 is arranged obliquely on the cache shelf 110. 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 buffer shelf 110 from the high replenishment port 112. The goods 12 move along the buffer aisle 111 inclined in the height direction to the low-positioned receiving port 113 and are eventually blocked by the closed door assembly 120. The goods 12 are delivered to the replenishment port 112 repeatedly until the buffer aisle 111 is full of goods 12. When the replenishment device moves to the receiving port 113, the door assembly 120 can be controlled to switch from the closed position to the open position of the receiving port 113. At this time, the replenishment device can receive the goods 12 from the open receiving port 113. When the goods 12 at the lowest position are taken away by the replenishment device, the goods 12 at a higher position in the buffer aisle 111 slide down under the action of gravity and pass through the open receiving port 113 in turn, so that the goods 12 in the buffer aisle 111 can be taken away one by one by the replenishment device. When the inventory of 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 cargo channel 111, as long as the receiving port 113 is opened, the goods 12 can slide down along the inclined cache cargo channel 111 and pass through the opened receiving port 113 under the action of its 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 participation and is highly safe.

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

[0072] In some embodiments, as Figure 10 As shown, the cache shelf 110 includes a cache floor 115 that forms the bottom surface of the cache aisle 111. The angle between the wide side of the cache floor 115 and the horizontal line is acute. This arrangement allows the goods 12 to tilt to one side along the width of the cache floor 115 as they slide from top to bottom. This allows the goods 12 to be neatly arranged as they move within the cache aisle 111, facilitating accurate retrieval by subsequent replenishment devices.

[0073] Furthermore, the cache shelf 110 also includes cache side panels 116 disposed on the sides of the cache bottom plate 115. The cache side panels 116 are arranged vertically, and the goods 12 can slide downwardly against the cache side panels 116. Optionally, two cache side panels 116 are provided, and the two cache side panels 116 are disposed on both sides of the cache bottom plate 115 in the width direction. The cache bottom plate 115 and the two cache side panels 116 enclose a U-shaped cache aisle 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 plates 116. In one embodiment, the support frame 130 includes cross bars and vertical bars, and multiple cross bars and multiple vertical bars are spliced ​​to form a cubic frame structure; in one embodiment, the support frame 130 also includes multiple cargo aisle plates, and the multiple cargo aisle plates are cross-connected to form a grid, and each grid is installed with a set of cache bottom plates 115 and cache side plates 116. In one embodiment, the support frame 130 also includes ground nails, which can be used to stably fix the support frame 130 to 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 withstand the supporting force to enable the upper door panel 121 to maintain the closed position. When the supporting force disappears, the upper door panel 121 loses its support and switches directly 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 its support can come from the replenishment device or other power components.

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

[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 external forces that change the support state of the upper door panel 121, so as to achieve the rotational 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 shaft seat is provided on the front crossbeam 114, and the push plate 1221 is rotatably connected to the shaft seat via a shaft 125. By applying force to the push plate 1221, the push plate 1221 can be rotated around the shaft 125, thereby switching the upper door panel 121 from the closed position to the open position. It should be noted that the direction of the force applied 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 position slightly lower than the middle 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 the 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 crossbeam 114, so that the abutment portion 1212 loses its 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 the picking of goods from the receiving port 113, in order to enable the upper door panel 121 to automatically return to the closed position, thereby achieving the upper door panel 121 to maintain 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 canceled, the upper door panel 121 is reset under the action of 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 crossbeam 114. Of course, in addition to the coil spring, the reset elastic member 123 can also be other elastic bodies, such as a spring leaf.

[0083] Since there are multiple cache aisles 111 on the cache shelf 110, 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 parts 122 can be connected by connecting parts to meet the needs of synchronous opening and synchronous closing of 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, Figure 11 and Figure 12 As shown, one end of the flip member 122 can be simultaneously abutted against the abutting 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 respectively roll and abut against the abutment portions 1212 of 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 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 protruded 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 protruded 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 traveling mechanism enables the replenishment device to move between the cache station 100 and the storage shelves. The specific structure of the traveling mechanism is not described in detail here, but 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, thereby enabling the cargo platform 300 and the replenisher 200 located on the traveling body to move synchronously. Alternatively, the traveling mechanism can be another structure capable of outputting linear motion, such as a mobile platform composed of a motor and a belt drive structure.

[0087] Continue to refer to Figure 2 As shown, the traveling 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 traversable. The replenisher 200 is disposed on the cargo platform 300 and rises and falls synchronously with the cargo platform 300. The lifting drive structure that drives the cargo platform 300 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 motor and rack and pinion combination, or a pneumatic cylinder.

[0088] The replenisher 200 is the main structure for the replenishment device to connect with the cache station 100 and the storage shelf, and it has the functions of receiving and replenishing goods. Figures 17 to 26 As shown, the replenisher 200 includes a main body 210 with a replenishment lane 211 arranged at an angle. The replenishment lane 211 includes a high-positioned receiving port 212 and a low-positioned discharge port 213. The receiving port 212 is used to receive goods 12, and the discharge port 213 is used to release goods 12. Driven by the loading platform 300, the replenisher 200 can move to a replenishment position where the receiving port 212 is aligned with the receiving port 113 of the cache station 100.

[0089] Specifically, the replenisher body 210 includes an aisle base 214 and two aisle side panels 215 that form a replenishment aisle 211. The two aisle side panels 215 are disposed on either side of the aisle base 214 in the width direction. The aisle base 214 and the two aisle side panels 215 enclose the U-shaped replenishment aisle 211, which is open at the top. This provides stable protection for the goods 12 and prevents them from flying out of the replenishment aisle 211.

[0090] Optionally, the inclination of the replenishment aisle 211 can be the same as or different from the inclination 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 process of docking the replenisher 200 with the cache station 100, the receiving port 113 can be opened synchronously to improve the efficiency of receiving goods, such as Figure 18 As shown, the replenisher 200 further includes a door push assembly 220, which can drive the upper door panel 121 to switch from the closed position to the open position, and make the receiving port 212 and the receiving port 113 connected. 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 located on a side of the replenisher body 210 near the cache station 100. Optionally, the door push driver 221 is located on the replenisher body 210 and is in transmission connection with the push member 222, and is configured to drive the push member 222 to move linearly. The push member 222 is configured to apply force to the flip member 122. Optionally, the door push driver 221 is a linear motor, and the push member 222 is a push rod, the end of which is provided with a cylindrical push block (not shown) for applying force to the push plate 1221.

[0093] During the receiving phase of the replenisher 200, the push-door driver 221 drives the pusher 222 toward the flip member 122, causing the pusher 222 to contact the push plate 1221 of the flip member 122. Driven by the pusher 222, the push plate 1221 rotates about its rotation axis 125, opening the upper door panel 121. The goods 12 in the buffer aisle 111 pass through the receiving port 113 and the receiving port 212 under gravity and enter the replenishment aisle 211. Subsequent goods 12 are then replenished in sequence. After the replenishment aisle 211 is fully replenished, the pusher 1221 is disengaged, and the upper door panel 121 returns to its closed position under the action of the return spring 123, awaiting its next opening.

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

[0095] Further, continue to refer to Figure 18As shown, the replenisher 200 further includes a position detection member 230, which is disposed at the end of the aisle floor 214 and is used to detect the position of the upper door panel 121. Optionally, the position detection member 230 is a position sensor, such as a proximity switch. When the upper door panel 121 is attached to the aisle floor 214 of the replenishment aisle 211, the position detection member 230 can generate a confirmation signal that the upper door panel 121 is open and in place.

[0096] Alternatively, as Figure 24 As shown, the upper door panel 121 includes a protrusion 12111, which cooperates 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, the end of the cargo aisle bottom plate 214 is provided with a groove, and the in-place detection member 230 is disposed in the groove. After the protrusion 12111 is overlapped in the groove, the protrusion 12111 does not protrude from the cargo aisle bottom plate 214, thereby avoiding affecting the smooth movement of the goods 12.

[0097] Since the goods 12 have many categories and different widths, in order to adjust the width of the replenishment channel 211 so that the replenishment channel 211 can adapt to goods 12 of different widths, continue to refer to Figure 13 、 Figure 14 、 Figure 17 and Figure 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 set, and the movably set aisle side panel 215 can move closer to or farther away from the fixed 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 Figure 18 and Figure 19As shown, the replenisher 200 also includes a variable pitch drive 240 for driving the aisle side panels 215 to move. Optionally, the variable pitch drive 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 and nut pair. The nut block 243 is connected to the movable aisle side panels 215. Optionally, the nut block 243 is connected to the movable aisle side panels 215 via a connecting push plate 245.

[0100] When the variable pitch motor 241 is operating, the lead screw 242 can rotate about 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 panel 215 to move. It should be noted that when only one cargo lane side panel 215 needs to be driven to move, the lead screw 242 is a single-rotation screw, and the number of nut block 243 is one; when two cargo lane side panels 215 need to be driven to move, the lead screw 242 can choose to use a double-headed screw with two threaded sections of different rotation directions, and the number of nut blocks 243 is two. The two nut blocks 243 are respectively threadedly connected to the threaded sections of different rotation directions, and the two nut blocks 243 are connected to the two cargo lane side panels 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 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 screw 242, and the conveyor belt 2443 is sleeved on the driving pulley 2441 and the driven pulley 2442.

[0102] Continue to refer to Figure 18 As shown, the replenisher 200 also includes a variable-pitch mounting frame 250, on which a portion of the variable-pitch drive member 240 is mounted. Optionally, the variable-pitch mounting frame 250 is an inverted U-shaped structure, including a crossbeam 251 and two side beams 252 connected to each end of the crossbeam 251. The crossbeam 251 is positioned above the two aisle side panels 215 and spans the aisle floor 214. The bottom ends of the two side beams 252 are connected to opposite sides of the aisle floor 214 in the width direction.

[0103] In one embodiment, the variable pitch motor 241 is fixed below the aisle floor 214, the conveyor belt mechanism 244 is mounted on the fixed aisle side panels 215, and the lead screw 242 is located below the cross member 251 and is rotatably connected to the two side members 252. Of course, if the aisle side panels 215 are movable, the structure or position of the variable pitch mounting bracket 250 can also be adjusted so that the installation of the variable pitch drive member 240 does not affect the movement of the aisle side panels 215 and the movement of the goods 12 within the replenishment aisle 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 set as other mechanisms that can output linear motion according to needs, such as a combination of a motor and a gear rack, a linear motor, a cylinder, etc.

[0105] By making the width of the replenishment aisle 211 adjustable, the replenishment device can not only adapt to goods 12 of various widths, but also can organize the goods 12 entering the replenishment aisle 211 by moving the aisle side panels 215, thereby improving the orderliness of the movement of the goods 12 and reducing the accuracy of 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 may be unevenly arranged in the replenishment aisle 211. By moving the movable aisle side panels 215, the aisle side panels 215 can be used to clamp the goods 12 to achieve the effect of organizing the goods 12. After the goods 12 are organized, the movable aisle side panels 215 are moved in the opposite direction a short distance to make the width of the replenishment aisle 211 sufficient so as not to affect the entry of subsequent goods 12.

[0106] Further, continue to refer to Figure 17 As shown, the replenisher 200 also includes a side panel detector 260, which is disposed on the replenisher body 210 and is used to detect when the aisle side panel 215 has returned to its initial position. Optionally, the side panel detector 260 can be a proximity switch or a photoelectric sensor. The movable aisle side panel 215 has a zero position, i.e., its initial position. The side panel detector 260 is a zero position detection mechanism that detects whether the aisle side panel 215 is in the zero position.

[0107] In order to achieve the docking of the replenisher 200 and the storage shelf, continue to refer to Figure 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, which opens the discharge port 213, and a closed position, which closes the discharge port 213. When the lower door panel 270 is in the closed position, the goods 12 are restrained by the lower door panel 270 within the replenishment aisle 211. 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 rack, and the goods 12 in the replenishment aisle 211 can be moved into the storage aisle 11.

[0108] Since there are inconsistencies in the width of the storage aisles 11 of the storage shelves, the width of the storage aisles 11 can be multiple, 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 with a width greater than the narrow aisles.

[0109] To accommodate storage aisles 11 of varying widths, the lower door panel 270 includes a first portion 271 and a second portion 272 connected to each other along the width of the replenishment aisle 211. Along the length of the replenishment aisle 211, the first portion 271 protrudes from the end of the second portion 272 distal to the replenishment device body 210. In other words, the lower door panel 270 is divided into two sections along its width. The different lengths of the two sections create a notch and a flange. The flange is the portion where the first portion 271 protrudes from the second portion 272. The width of the flange (i.e., the width of the first portion 271) is set to be less than or equal to the width of the smallest storage aisle 11 (i.e., the width of the narrow aisle). This arrangement allows the flange to extend into any storage aisle 11 for docking, ensuring proper replenishment of both narrow and wide aisles.

[0110] like Figure 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 directly opposite the first portion 271 (this step is generally completed when the replenisher 200 picks up goods from the cache station 100, for example, it is completed simultaneously when the goods 12 in the replenishment aisle 211 are arranged in an orderly manner), so that the goods 12 are directly opposite the first portion 271; then, if the replenisher 200 docks with a narrow aisle, the flange structure of the first portion 271 is extended into the narrow aisle to dock with the narrow aisle, and the goods 12 with smaller width pass directly through the first portion 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 it passes over the first part 271, and the remaining part passes over 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 factors such as materials and manual installation, the inlet ends of the storage aisles 11 are not necessarily aligned horizontally. This results in the lower door panel 270 of the replenisher 200 not being in the ideal docking position with a small distance when docking with the storage aisles 11. The front end of the lower door panel 270 is designed with a notch and a flange structure to enable docking with storage aisles 11 of varying widths. Designing the flange structure of the lower door panel 270 according to the minimum aisle width ensures stable replenishment when docking with narrow aisles, while also ensuring normal docking with 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 cargo aisle, the cargo 12 will fall due to the excessive gap when docking with the wide cargo aisle; if the width of the flange structure is designed according to the width of the wide cargo aisle, when docking with the narrow cargo aisle, the lower door panel 270 will not be able to be fully opened due to the obstruction of the cargo aisle side panel 215, affecting the normal movement of the cargo 12.

[0112] In some embodiments, an ejection-limiting mechanism is provided on the aisle floor 214. The ejection-limiting mechanism includes a movable stopper 293. An ejection port is provided at the end of the aisle floor 214 near the discharge port 213. The stopper 293 is movably positioned within the ejection port. The stopper 293 has a limit position, protruding from the aisle floor 214, and a back-up position, concealed within the aisle floor 214. In the limit position, the stopper 293 restricts the movement of goods 12 along the inclined replenishment aisle 211. In the back-up position, the stopper 293 releases the restriction on the goods 12. During the replenishment process, the stopper 293 of the ejection-limiting mechanism circulates, thereby replenishing the goods 12 into the storage aisle 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 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 from the avoidance position to the limit position through the linkage structure.

[0114] Continue to refer to Figures 20 to 22 As shown, to drive the lower door panel 270, the replenisher 200 further includes a drive assembly 280, which includes a drive component 281, a push-pull component 282, and a mounting abutment component 283. The drive component 281 has a telescopic end that can extend and retract. The telescopic end of the drive 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 provided on the lower door panel 270. When the telescopic end of the drive component 281 extends, the push-pull component 282 pushes the mounting abutment component 283, causing the lower door panel 270 to switch from an open position to a closed position. When the telescopic end of the drive component 281 retracts, the push-pull component 282 pulls the mounting abutment component 283, causing the lower door panel 270 to switch from a closed position to an open position.

[0115] It should be noted that one end of the lower door panel 270 is pivotally connected to the end of the cargo aisle floor 214 near the cargo discharge port 213 via a hinge. The lower door panel 270 is able to switch between an open and closed position by rotating. A drive component 281 drives a push-pull member 282 to linearly move, thereby pushing and pulling the abutment member 283, allowing the lower door panel 270 to switch between the open and closed positions. This linear drive makes the drive assembly 280 compact and space-saving.

[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 Figure 21 and Figure 22 As shown, the push-pull member 282 includes a protruding ball 2821, which is fixed to the telescopic end of the driving member 281 and abuts against the mounting abutment 283. When the telescopic end of the driving member 281 extends, the protruding ball 2821 moves linearly. It should be noted that the protruding ball 2821 is only used to push the mounting abutment 283 to provide power for the lower door panel 270 to flip upward from the door-open position and switch to the door-closed position. When the telescopic end of the driving member 281 retracts, the protruding ball 2821 also retracts, and the protruding ball 2821 separates from the mounting abutment 283. Therefore, during the retraction process of the protruding ball 2821, no pulling force is provided to the mounting abutment 283, and the lower door panel 270 cannot be driven to rotate to the door-open position.

[0118] In order to enable the lower door panel 270 to rotate to the door opening position, continue to refer to Figure 21 and Figure 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 reset 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. Figure 21 When the door is in the open position shown in FIG, the reset elastic body 2822 has a pre-tightening force, and when the lower door panel 270 is Figure 21 During the process of switching from the open door position to the closed door position, the preload force will first decrease and then increase. The reset elastic body 2822 allows for a relatively gentle actuation of the lower door panel 270 to open or close the door. During the process of driving the lower door panel 270 upward to close the door or downward to open the door, no significant mechanical damage is caused to the hinge that pivotally connects the lower door panel 270 to the cargo path floor 214, thereby increasing the hinge's service life and reducing costs. This method of driving the lower door panel 270 with the drive assembly 280 offers greater flexibility, high accuracy, and a low probability of docking failure.

[0120] Optionally, the return spring 2822 is a tension spring, with a first tension spring hole provided on the fixing plate 2823 and a second tension spring hole provided on the mounting abutment 283. The ends of the tension spring are hooked onto the first and second tension spring holes, respectively. When the lower door panel 270 is closed, the return spring 2822 pulls the mounting abutment 283, causing the lower door panel 270 to flip downward and open the door, thereby increasing the speed and accuracy of the door opening.

[0121] Furthermore, in order to prevent the lower door panel 270 from being excessively opened, a limiting structure is provided at the lower end of the cargo channel bottom plate 214. Figure 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 Figure 19 and Figure 26 As shown, the replenisher 200 also includes a cargo detection component 292, which is provided on the lower door panel 270. When the lower door panel 270 is in the closed position, the cargo detection component 292 faces 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 installed 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 a distance measuring sensor to detect the situation of the goods 12 in the storage aisle 11. The specific detection method is to use the distance measuring sensor to measure whether there are goods 12 within a certain distance range. 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 incorrect 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 Figure 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 is any goods 12 retained at the lower door panel 270.

[0126] Optionally, the delivery detection member 291 is disposed on the inner side of the lower door panel 270. When the lower door panel 270 is in the closed position, the delivery detection member 291 is hidden inside the lower door panel 270. When the lower door panel 270 is in the open position, the delivery detection member 291 is exposed. Optionally, the delivery detection member 291 is a photoelectric sensor. In addition, the delivery 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 a certain storage aisle 11 after the expected replenishment quantity is reached. The replenisher 200 can then move to the next replenishment position to replenish another storage aisle 11, or the replenisher 200 can return 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 goods 12. By setting 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 needed.

[0128] Before the replenisher 200 replenishes a certain storage aisle 11 of the storage shelf, it is necessary to first take inventory of the goods 12 in the storage aisle 11 to determine the replenishment quantity. Figure 13 、 Figure 14 、 Figures 27 to 32 As shown, the replenishment device further includes an inventory counter 500, which includes an extension structure 510 and an inventory counting structure 520. The extension structure 510 is movably disposed relative to the replenisher 200. Optionally, the extension structure 510 is movably disposed on the replenisher body 210 or on the cargo platform 300. The inventory counting structure 520 is disposed at an end of the extension structure 510. As the extension structure 510 moves, the inventory counting 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, which uses a laser probe to emit a laser at the aisle entrance to count the goods in the storage aisle, the inventory structure 520 of the inventory counter 500 provided by the present invention can extend into the storage aisle 11 through the aisle entrance 101, performing detection at a relatively closer distance. This can reduce the impact of deformation of the storage aisle 11 due to various reasons on 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 method provided by the present invention, in which the inventory structure 520 of the inventory counter 500 extends into the storage aisle 11 through the aisle entrance 101, can more efficiently and accurately detect 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, where 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 configured as other sensors as needed, 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 pulley 5421, a driven pulley 5423, and a synchronous belt 5422. The driving pulley 5421 and the driven pulley 5423 are spaced apart and rotatable. The synchronous belt 5422 is sleeved on the driving pulley 5421 and the driven pulley 5423. The motor shaft of the telescopic motor 541 is in driving connection with the driving pulley 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 capable of outputting 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 fixation of the telescopic drive member 540, continue to refer to Figure 28 As shown, the inventory counter 500 also includes a track member 550 for supporting the extending structure 510 and installing the telescopic motor 541 and the synchronous belt structure 542. The extending structure 510 is movably set on the track member 550. The extending 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 via a plurality of L-shaped second mounting plates 584 .

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

[0138] In order to improve the movement accuracy of the extension structure 510, as Figure 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. Figure 32As shown, the track member 550 further includes a third mounting plate 553, which is arranged above the track plate 552, and the limiting member 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 part, which is formed by cutting and bending as shown in FIG. Figure 32 The 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 Figure 28 As shown, the inventory counting device 500 further includes a moving member 530 that can move relative to the replenisher 200, and the end of the extended structure 510 away from the inventory counting structure 520 is rotatably connected to the moving member 530. In one embodiment, continue to refer to Figure 29 As shown, one end of the moving member 530 is fixedly connected to the synchronous belt 5422, and the other end is formed with a first hinge seat 581. The end of the extension structure 510 is provided with a second hinge seat 582. The first hinge seat 581 and the second hinge seat 582 are articulated via an articulation axis. In one embodiment, one end of the moving member 530 is fixed to the synchronous belt 5422 via a synchronous belt pressure plate.

[0140] This arrangement allows the protruding 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 better adapting 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 better ensuring the correctness of the detection target.

[0141] Continue to refer to Figure 30 As shown, the inventory counter 500 further includes a first support wheel 560, which is rotatably connected to the extension structure 510 and rollingly supported on the track plate 552 of the track member 550. The first support wheel 560 supports the extension structure 510, thereby improving the stability of the movement of the extension structure 510. Optionally, multiple first support wheels 560 are provided and symmetrically arranged on both sides of the extension structure 510.

[0142] Continue to refer to Figure 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 rollingly supported on the track plate 552 of the track member 550. The second support wheel 570 supports the inventory counting structure 520, thereby maintaining it at a suitable height for inspection. The first support wheel 560 and the second support wheel 570 cooperate to ensure that the extended structure 510 remains straight and does not sway 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 the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An inventory counting device, characterized in that: Used for taking inventory of the quantity of goods (12) stored in a storage passage (11), wherein the storage passage (11) has a passage entrance (101), and the inventory counting device comprises: An extension structure (510), wherein the extension structure (510) is movably arranged; an inventory structure (520), the inventory structure (520) being provided 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); The quantity N of the goods (12) that needs to be replenished in the storage channel (11) is L / L2-n; Wherein, n=(L-L1+L4-L3) / L2, L is the length L of the storage aisle (11), L1 is the extension stroke of the extension structure (510) when the inventory structure (520) detects the goods (12), L2 is the length of the goods (12) in the storage aisle (11), L3 is the distance between the inventory structure (520) and the goods (12) when it can detect the goods (12), and L4 is the distance between the inventory structure (520) and the aisle entrance (101) when the extension structure (510) is not extended or retracted; The storage channel (11) is arranged to be inclined relative to the horizontal direction; The inventory counter further comprises a telescopic driving member (540), the telescopic driving member (540) being in transmission connection with the extending structure (510) and being used to drive the extending structure (510) to move in a direction substantially parallel to the extending direction of 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 an 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 telescopic driving member (540) comprises a telescopic motor (541) and a synchronous belt structure (542); the motor shaft of the telescopic motor (541) is transmission-connected to a driving wheel (5421) of the synchronous belt structure (542); and the moving member (530) is connected to the 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 extension 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 retracted state retracted 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 protruding 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: The invention comprises a replenisher (200) and an inventory counter according to 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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