Goods storing and taking mechanism, goods storing and taking robot, system, method, device and medium

Abstract

The invention discloses a cargo storing and taking mechanism, a cargo storing and taking robot, a system, a method, a device and a medium, relates to the field of automatic cargo storing and taking, and aims to meet the storing and taking requirements of various cargoes in different shapes. The goods storing and taking mechanism comprises a supporting base, a clamping mechanism and a blocking mechanism. The supporting seat comprises a supporting piece; the clamping mechanism comprises a sliding assembly and clamping parts arranged in pairs, the sliding assembly is slidably installed on the supporting piece in the first direction, and the clamping parts are movably installed on the sliding assembly in the second direction. The blocking mechanism comprises a second blocking piece and a first blocking piece, the second blocking piece is installed on the supporting piece, and the first blocking piece is movably installed on the sliding assembly in the third direction; wherein the first direction and the second direction are located in the horizontal plane and intersect, and the third direction is different from the first direction and the second direction. The goods storing and taking mechanism can be suitable for goods in regular shapes and goods in irregular shapes, the working modes are multiple, and the functions are richer.

Description

Technical Field

[0001] The present invention relates to the field of automatic storage and retrieval of goods, and in particular to a goods storage and retrieval mechanism, a goods storage and retrieval robot, a system, a method, a device and a medium. Background Art

[0002] Boxed medicines and bottled medicines are common types of medicines. These medicines have relatively neat and regular shapes. In the related technology, medicine dispensing machines can use a clamping method to take out the goods.

[0003] The inventors have found that the prior art has at least the following problems: currently, the types of medicines are becoming more and more diverse, and some medicines are not in the shape of conventional rectangular blocks, and medicine dispensing machines cannot take out special-shaped medicines. Summary of the invention

[0004] The present invention provides a cargo storage and retrieval mechanism, a cargo storage and retrieval robot, a system, a method, a device and a medium to meet the storage and retrieval requirements of cargoes of various shapes.

[0005] An embodiment of the present invention provides a cargo storage and retrieval mechanism, comprising:

[0006] A support seat, including a support member;

[0007] A clamping mechanism, comprising a sliding assembly and clamping parts arranged in pairs, wherein the sliding assembly is slidably mounted on the support member along a first direction, and the clamping parts are movably mounted on the sliding assembly along a second direction; and

[0008] A blocking mechanism, comprising a second blocking member and a first blocking member, wherein the second blocking member is mounted on the supporting member, and the first blocking member is movably mounted on the sliding assembly along a third direction;

[0009] The first direction and the second direction are located in a horizontal plane and intersect each other, and the third direction is different from the first direction and the second direction.

[0010] In some embodiments, the sliding assembly comprises:

[0011] A frame, comprising a first column, a second column and a connecting column; the first column and the second column are dispersedly arranged, one end of the connecting column is fixedly connected to the first column, and the other end of the connecting column is fixedly connected to the second column; the first column can slidably clamp one end of the support member in the second direction, and the second column can slidably clamp the other end of the support member in the second direction; and

[0012] A first driving unit, mounted on one of the first column, the second column and the connecting column;

[0013] a first transmission mechanism; and

[0014] The first connecting members are arranged in pairs; each of the first connecting members is drivingly connected to the first driving mechanism through the first transmission mechanism so as to move along the second direction under the drive of the first driving unit.

[0015] In some embodiments, the first transmission mechanism comprises:

[0016] A first gear, fixedly connected to the output shaft of the first driving part;

[0017] a first rack meshing with the first gear; and

[0018] a second rack meshing with the first gear and arranged parallel to the first rack;

[0019] One of the first connecting members is fixedly connected to the first rack, and the other of the first connecting members is fixedly connected to the second rack.

[0020] In some embodiments, the first transmission mechanism further comprises:

[0021] First guide parts arranged in pairs are fixedly mounted on the connecting column, each of the first guide parts is arranged side by side along the moving direction of the first rack, and the first gear is located between a pair of the first guide parts;

[0022] Among them, one of the first connecting members can be slidably installed on one of the first guide parts, and another of the first connecting members can be slidably installed on another of the first guide parts; one of the clamping parts is fixedly connected to one of the first connecting members, and another of the clamping parts is fixedly connected to another of the first connecting members.

[0023] In some embodiments, the blocking mechanism further comprises:

[0024] A second driving unit, mounted on the first column, the second column or the connecting column; and

[0025] a second transmission mechanism, drivingly connected to the second driving part, so as to rotate under the driving of the second driving part;

[0026] The first blocking member is mounted on the second transmission mechanism to rotate in a third direction along with the second transmission mechanism.

[0027] In some embodiments, the second transmission mechanism comprises:

[0028] An output shaft gear, fixedly connected to the power output shaft of the second driving unit;

[0029] Second gears arranged in pairs, one of the second gears meshing with the output shaft gear;

[0030] half gears arranged in pairs, the half gears corresponding to and meshing with the second gears one by one to rotate under the drive of the second gears; and

[0031] A connecting shaft, for fixedly connecting the half gears arranged in pairs or for fixedly connecting two of the second gears;

[0032] One end of the first blocking member is fixedly connected to one of the half gears, and the other end of the first blocking member is fixedly connected to the other half gear.

[0033] In some embodiments, the second transmission mechanism further comprises:

[0034] The third connecting members arranged in pairs correspond to the half gears one by one and are fixedly connected; one end of the first blocking member along the second direction is fixedly connected to one of the third connecting members, and the other end of the first blocking member along the second direction is fixedly connected to the other third connecting member.

[0035] In some embodiments, the first blocking member includes a first extreme position and a second extreme position;

[0036] When the first blocking member is at the first extreme position, along the second direction, the first blocking member is in contact with the support member, and the first blocking member is located between the clamping parts arranged in pairs; the first blocking member is configured to push the goods out of the support member as the sliding assembly moves along the first direction; or, the first blocking member is configured to block the goods to prevent the goods from falling from the end of the support member where the first blocking member is arranged;

[0037] When the first blocking member is at the second limit position, the first blocking member is located outside the movement trajectory of each of the clamping parts along the second direction, and the clamping parts are movable in the second direction.

[0038] In some embodiments, the clamping mechanism further comprises:

[0039] a third driving unit, mounted on the bottom of the supporting member; and

[0040] The third transmission mechanism is drivingly connected to the third driving part and fixedly connected to the sliding assembly; the sliding assembly is configured to move linearly along the first direction along with the third transmission mechanism under the drive of the third driving part.

[0041] In some embodiments, the third transmission mechanism includes:

[0042] A first guide rail, fixedly mounted on the support seat;

[0043] A second guide portion is slidably mounted on the first guide rail; the sliding assembly is fixedly mounted on the second guide portion;

[0044] A pulley fixedly connected to the output shaft of the third driving unit;

[0045] The first belt is installed at the bottom of the support seat; the first belt is meshed with the pulley; and the sliding component is fixedly connected to the first belt.

[0046] In some embodiments, the blocking mechanism further comprises:

[0047] a fourth driving unit, mounted on the supporting member; and

[0048] a fourth transmission mechanism, drivingly connected to the fourth driving part;

[0049] The second blocking member is rotatably mounted on one end portion of the support member along the first direction, and the fourth driving portion is drivingly connected to the second blocking member so that the second blocking member switches between the following positions: an upright state and a flat state.

[0050] In some embodiments, the fourth transmission mechanism comprises:

[0051] a crank, one end of which is fixedly connected to the power output shaft of the fourth driving unit; and

[0052] a connecting rod, one end of which is rotatably connected to the other end of the crank, and the other end of which is rotatably connected to the second blocking member;

[0053] Wherein, the fourth driving part is located at the bottom of the support member, and the crank and the connecting rod are also located at the bottom of the support member.

[0054] In some embodiments, the cargo storage and retrieval mechanism further comprises:

[0055] The limiting member is installed on the supporting member and is located at an end of the supporting member away from the second blocking member.

[0056] In some embodiments, the first blocking member is provided with a receiving groove, and the receiving groove is configured to avoid the limiting member; wherein, when the first blocking member is in the first extreme position, the limiting member is located in the receiving groove.

[0057] In some embodiments, the cargo storage and retrieval mechanism is configured to include the following special-shaped cargo retrieval states:

[0058] Along the first direction, the limiting member is located between the first blocking member in the first limit position and the second blocking member in the erected state;

[0059] Along the second direction, the first blocking member is located between the pair of clamping portions;

[0060] Wherein, the first blocking member, the second blocking member and the pair of clamping parts together form a storage frame with an open top.

[0061] In some embodiments, the cargo storage and retrieval mechanism is configured to include the following special-shaped cargo unloading states:

[0062] Along the first direction, the first blocking member at the first extreme position is located between the limiting member and the second blocking member in a flat state, or the first blocking member at the first extreme position accommodates the limiting member through its own accommodating groove; along the second direction, the first blocking member is located between the pair of clamping portions;

[0063] The first blocking member moves along the first direction along with the sliding assembly to push the goods on the supporting member out of the supporting member.

[0064] In some embodiments, the cargo storage and retrieval mechanism includes a regular cargo retrieval state:

[0065] The first blocking member is in the second extreme position; and along the first direction, the first blocking member is located on the side of each clamping portion away from the second blocking member; in the second direction, the first blocking member is located outside the movement trajectory of the clamping portion; the second blocking member is in a flat state, the clamping portion moves along the first direction with the sliding assembly to extend out of the support seat, and the clamping portion is retracted in the second direction to clamp the goods outside the support member.

[0066] In some embodiments, the cargo storage and retrieval mechanism includes a regular cargo unloading state:

[0067] The first blocking member is in the second extreme position; and along the first direction, the first blocking member is located on the side of each clamping portion away from the second blocking member; in the second direction, the first blocking member is located outside the movement trajectory of the clamping portion; the second blocking member is in a flat state; the clamping portion is retracted in the second direction to clamp the goods on the support member; the clamping portion moves along the first direction with the sliding assembly to extend out of the support seat to send the clamped goods out of the support member.

[0068] In some embodiments, the cargo storage and retrieval mechanism includes a regular cargo unloading state:

[0069] The first blocking member is in a first limit position; along the first direction, the first blocking member is located between the limiting member and the second blocking member in a flat state, and the first blocking member is located between a pair of the clamping portions;

[0070] The first blocking member moves along the first direction along with the sliding assembly to push the goods on the supporting member out of the supporting member.

[0071] In some embodiments, the cargo storage and retrieval mechanism is configured to cooperate with a baler, and the baler is located downstream of the cargo storage and retrieval mechanism. The baler is configured to receive the cargo sent out from the support member and pack the cargo.

[0072] An embodiment of the present invention further provides a cargo storage and retrieval robot, comprising:

[0073] Corbels; and

[0074] The cargo storage and retrieval mechanism provided by any technical solution of the present invention is rotatably mounted on the supporting arm.

[0075] In some embodiments, the cargo access robot further comprises:

[0076] a fifth driving unit, mounted on the supporting arm; and

[0077] The fifth transmission mechanism is drivingly connected to the fifth driving part, and the fifth transmission mechanism is fixedly connected to the cargo storage and retrieval mechanism, so that the cargo storage and retrieval mechanism rotates under the drive of the fifth driving part.

[0078] In some embodiments, the fifth transmission mechanism comprises:

[0079] A third gear is fixedly connected to the power output shaft of the fifth driving unit; the third gear is mounted on the bracket arm; and

[0080] The fourth gear is installed at the bottom of the support seat and meshes with the third gear.

[0081] In some embodiments, the cargo access robot further comprises:

[0082] Support columns;

[0083] a sixth driving unit, mounted on the supporting column; and

[0084] The sixth transmission mechanism is drivingly connected to the sixth driving part, and the sixth transmission mechanism is fixedly connected to the supporting arm, so that the cargo storage and retrieval mechanism moves along the supporting column under the drive of the sixth driving part.

[0085] In some embodiments, the sixth transmission mechanism comprises:

[0086] A first synchronous wheel is installed at one end of the support column; the first synchronous wheel is fixedly connected to the power output shaft of the sixth driving part;

[0087] A second synchronous wheel is mounted on the other end of the support column;

[0088] A synchronous belt is tensioned by the first synchronous wheel and the second synchronous wheel; the cargo storage and retrieval mechanism is installed on the synchronous belt to rise and fall with the rotation of the synchronous belt;

[0089] A second guide rail mounted on the support column; and

[0090] The third guide portion is slidably mounted on the second guide rail, and the cargo storage and retrieval mechanism is fixedly mounted on the third guide portion.

[0091] In some embodiments, the cargo access robot further comprises:

[0092] A walking mechanism is installed on the support column to enable the support column to move in the medicine storage cabinet.

[0093] An embodiment of the present invention further provides a cargo storage and retrieval system, comprising a cargo storage and retrieval robot provided by any technical solution of the present invention.

[0094] In some embodiments, the cargo access system further comprises:

[0095] The medicine storage cabinet includes a first storage area and a second storage area. The first storage area is configured to use the cargo retrieval robot to clamp and store cargo; the second storage area is configured to deliver cargo to the cargo retrieval robot.

[0096] In some embodiments, the cargo access system further comprises:

[0097] A packing machine is located downstream of the medicine storage cabinet to pack the goods taken out from the medicine storage cabinet by the goods retrieval robot.

[0098] In some embodiments, the cargo access system further comprises:

[0099] The express cabinet is located downstream of the packing machine to store the goods packed by the packing machine.

[0100] The embodiment of the present invention also provides a method for picking up and unloading goods, comprising the following steps:

[0101] Determine whether the cargo storage and retrieval system provided by any technical solution of the present invention is to pick up or unload cargo;

[0102] If the cargo storage and retrieval system is to pick up cargo, it is determined whether the shape of the cargo to be picked up is a regular shape;

[0103] If the shape of the goods is a regular shape, adjusting the goods storage and retrieval mechanism to a regular goods retrieval state;

[0104] Extend the gripping mechanism of the cargo storage and retrieval system to grip the cargo.

[0105] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0106] If the shape of the cargo is irregular, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a state for picking up irregular-shaped cargo;

[0107] The goods are placed into a cargo storage frame formed by the cargo storage and retrieval mechanism of the cargo storage and retrieval system.

[0108] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0109] If the cargo storage and retrieval system is to unload cargo, it is determined whether the shape of the cargo to be retrieved is a regular shape;

[0110] If the shape of the cargo is a regular shape, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a regular cargo unloading state;

[0111] Push the cargo out of the supporting member of the cargo storage and retrieval mechanism or clamp the cargo out of the supporting member.

[0112] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0113] If the shape of the cargo is irregular, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a state for unloading the irregular-shaped cargo;

[0114] The cargo is pushed out from the support member of the cargo storage and retrieval mechanism.

[0115] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0116] The packing machine packs the goods sent out from the supporting member of the goods storage and retrieval mechanism.

[0117] The embodiment of the present invention further provides a cargo storage and retrieval device, comprising:

[0118] Memory; and

[0119] A processor coupled to the memory, the processor being configured to execute a method for picking up and unloading goods as provided by any technical solution of the present invention based on instructions stored in the memory.

[0120] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for picking up and unloading goods as provided by any technical solution of the present invention.

[0121] The cargo storage and retrieval mechanism provided by the above technical solution has multiple working states and is mainly suitable for storing and retrieving medicines and cargo of similar sizes. For cargo with regular shapes, a clamping part is used for clamping; for cargo with irregular shapes, a storage frame with an open top is formed, and the irregular cargo is directly pushed into the storage frame to achieve retrieval. And because there are obstructions on all sides of the storage frame, irregular cargo can also be firmly placed on the support, irregular cargo is not easy to fall, and the retrieval operation is reliable. When storing goods, the clamping part can also be used to clamp regular cargo to achieve retrieval. It can be seen that the above cargo storage and retrieval mechanism can be applied to regular-shaped cargo and irregular-shaped cargo, with multiple working modes and richer functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0123] Figure 1 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0124] Figure 2 Another three-dimensional structural schematic diagram of the cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0125] Figure 3 A schematic diagram of another three-dimensional structure of the cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0126] Figure 4 A schematic diagram of the three-dimensional structure of the sliding assembly of the cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0127] Figure 5 A schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0128] Figure 6 Another schematic diagram of the cargo storage and retrieval mechanism provided in an embodiment of the present invention.

[0129] Figure 7 A schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention clamping a cargo.

[0130] Figure 8 A schematic diagram of a cargo storage and retrieval mechanism clamping multiple cargoes provided by an embodiment of the present invention.

[0131] Fig. 9 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval robot provided in an embodiment of the present invention.

[0132] Fig.10 Another three-dimensional structural schematic diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention.

[0133] Fig.11 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval system provided in an embodiment of the present invention.

[0134] Fig.12 Another three-dimensional structural schematic diagram of the cargo storage and retrieval system provided by an embodiment of the present invention.

[0135] Fig.13 A schematic diagram of another three-dimensional structure of the cargo storage and retrieval system provided in an embodiment of the present invention.

[0136] Fig.14 A schematic diagram of the structure of the second storage area of ​​the cargo storage and retrieval system provided in an embodiment of the present invention.

[0137] Fig.15 A schematic diagram of a method for picking up and unloading goods provided in an embodiment of the present invention.

[0138] Reference numerals:

[0139] 100, medicine storage cabinet; 200, packaging machine; 300, express cabinet; 400, goods; 500, goods storage and retrieval robot;

[0140] 1. Support seat; 2. Clamping mechanism; 3. Blocking mechanism; 4. Limiting member; 5. Support arm; 6. Fifth driving part; 7. Fifth transmission mechanism; 8. Support column; 9. Sixth driving part; 10. Sixth transmission mechanism; 12. Traveling mechanism;

[0141] 11. Supporting parts;

[0142] 21. Sliding assembly; 22. Clamping portion; 23. Third driving portion; 24. Third transmission mechanism;

[0143] 211, frame; 2121, first driving part; 2122, first transmission mechanism; 2123, first connecting member;

[0144] 2111, first column; 2112, second column; 2113, connecting column;

[0145] 2122a, a first gear; 2122b, a first rack; 2122c, a second rack; 2122d, a first guide portion;

[0146] 240, first guide rail; 241, second guide portion; 242, pulley; 243, first belt;

[0147] 31. first blocking member; 32. second blocking member; 33. second driving unit; 34. second transmission mechanism; 35. fourth driving unit; 36. fourth transmission mechanism; 311. receiving groove;

[0148] 341, second gear; 342, half gear; 343, connecting shaft; 344, third connecting member;

[0149] 360, connecting rod; 361, crank;

[0150] 71, third gear; 72, fourth gear;

[0151] 101, first synchronous wheel; 102, second synchronous wheel; 103, synchronous belt; 104, third guide part;

[0152] 1001, first storage area; 1002, second storage area; 1003, crawler cargo lane; 1003a, conveyor belt; 1003b, partition. DETAILED DESCRIPTION

[0153] Combine the following Figure 1 to Figure 15 The technical solution provided by the present invention is described in more detail. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​described in these embodiments should be interpreted as being merely exemplary and not limiting.

[0154] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0155] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0156] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0157] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment are considered part of the specification.

[0158] The dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In the drawings, the same reference numerals are attached to common structural elements or structural elements of the same type, and their repeated descriptions are appropriately omitted.

[0159] In the description of the specific embodiments below, for the convenience of explanation, see Figure 1 , the length direction of the support member 11 is defined as the first direction X, the second direction of the support member 11 is defined as the second direction Y, and the moving direction of the first blocking member 31 is defined as the third direction W. The vertical direction perpendicular to the first direction X and the second direction Y is defined as the fourth direction Z. The moving mode of the first blocking member 31 can be linear movement or rotation. In the embodiment of this article, the moving mode of the first blocking member 31 is rotation as an example for description.

[0160] The cargo storage and retrieval mechanism provided in the embodiment of the present invention can be used to store and retrieve cargo 400 or similar items of various shapes, such as bagged medicine, rectangular cargo 400, and irregular cargo 400. In various embodiments herein, the storage and retrieval object is cargo 400 as an example. Regularly shaped cargo 400 herein refers to cargo 400 of regular shapes such as rectangular and cylindrical shapes. Irregularly shaped cargo 400 refers to cargo 400 of shapes such as bagged medicine and toothpaste.

[0161] Figure 1 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 2 Another three-dimensional structural schematic diagram of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 3 A schematic diagram of another three-dimensional structure of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 4 A schematic diagram of the three-dimensional structure of the sliding assembly of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 5 A schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 6 Another schematic diagram of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 7A schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention clamping a cargo 400. Figure 8 A schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention clamping a plurality of cargoes 400.

[0162] See also Figures 1 to 3 , an embodiment of the present invention provides a cargo storage and retrieval mechanism, comprising a support seat 1, a clamping mechanism 2 and a blocking mechanism 3. The support seat 1 comprises a support member 11. The clamping mechanism 2 comprises a sliding assembly 21 and clamping portions 22 arranged in pairs, the sliding assembly 21 is slidably mounted on the support member 11 along a first direction, and the clamping portion 22 is movably mounted on the sliding assembly 21 along a second direction. The blocking mechanism 3 comprises a second blocking member 32 and a first blocking member 31, the second blocking member 32 is mounted on the support member 11, and the first blocking member 31 is movably mounted on the sliding assembly 21 along a third direction. The first direction and the second direction are located in a horizontal plane and intersect, and the third direction is different from the first direction and the second direction. The first direction is specifically the X direction, and the second direction is specifically the Y direction.

[0163] The support seat 1 is specifically a flat plate, and the plate-shaped support member 11 is light in weight, has a good load-bearing effect, and has a large supporting area for the goods 400. In addition, the edge of the support seat 1 is connected to the sliding assembly 21, and the sliding assembly and the clamping portion 22 installed on the sliding assembly can move linearly in the first direction relative to the support seat 1 as a whole. The moving distance of the sliding assembly is slightly shorter than the length of the support seat 1.

[0164] The clamping mechanism 2 has two directions of movement: the first movement is a linear movement along the X direction, which can change the position of the clamping assembly relative to the support base 1 so that the clamping portion 22 of the clamping mechanism 2 can extend outside the support base 1, such as Figure 5 The second movement is the movement of the pair of clamping parts 22 in the Y direction to change the distance between the pair of clamping parts 22 in the Y direction, so that the cargo 400 located outside the support base 1 can be clamped, as shown in FIG. Figure 5 The positions of the two clamping parts 22 are shown in FIG.

[0165] The blocking mechanism 3 plays a blocking role, and the blocking mechanism 3 includes a first blocking member 31 and a second blocking member 32 .

[0166] The first blocking member 31 includes two extreme positions: the first extreme position and the second extreme position. When the first blocking member 31 is in the first extreme position, the first blocking member 31 and the top surface of the support member 11 are in contact with each other or substantially in contact with each other (in this article, contact and substantially in contact are both considered to be the contact between the first blocking member 31 and the top surface of the support member 11), and the first blocking member 31 can play a blocking role, and the goods 400 placed on the support member 11 fall from the side where the first blocking member 31 is located. At the same time, when the first blocking member 31 is in the first extreme position, in the second direction, the first blocking member 31 is located between the clamping parts 22 arranged in pairs, and there may be a gap between the first blocking member 31 and the two clamping parts 22. Since the two clamping parts 22 will be blocked by the first blocking member 31 when they are folded, when the first blocking member 31 is in the first extreme position, the two clamping parts 22 do not perform a folding movement along the second direction.

[0167] When the first blocking member 31 is in the second extreme position, the first blocking member 31 is lifted, and there are multiple ways of lifting: it can be lifted by linear motion or by rotation. In some embodiments of this document, rotation lifting is taken as an example. After being lifted, the first blocking member 31 is away from the motion trajectory of each clamping part 22, and each clamping part 22 can move in the second direction along its own motion trajectory. When the two clamping parts 22 approach each other, the distance between the two clamping parts 22 becomes smaller, and the cargo 400 can be clamped. When the two clamping parts 22 move away from each other, the distance between the two clamping parts 22 becomes larger, and the cargo 400 can be released. Figure 5 The double-headed arrow S in the figure indicates the moving direction of the two clamping parts 22. The double-headed arrow S is parallel to the second direction, that is, the Y direction.

[0168] The second blocking member 32 also has two states: an erected state and a flat state. When the second blocking member 32 is in the erected state, the second blocking member 32 can prevent the cargo 400 placed on the support member 11 from falling from the position where the second blocking member 32 is located. When the second blocking member 32 is in the flat state, the cargo 400 can be moved from the second blocking member 32 to the support member 11, or can be pushed from the second blocking member 32 to the support member 11 by the first blocking member 31.

[0169] Continue to see Figures 1 to 4 , especially Figure 3 and Figure 4In some embodiments, the sliding assembly 21 includes a frame 211, a first driving portion 2121, a first transmission mechanism 2122, and first connecting members 2123 arranged in pairs. The frame 211 includes a first column 2111, a second column 2112, and a connecting column 2113. The first column 2111 and the second column 2112 are dispersedly arranged, one end of the connecting column 2113 is fixedly connected to the first column 2111, and the other end of the connecting column 2113 is fixedly connected to the second column 2112; the first column 2111 can slidably clamp one end of the support member 11 in the second direction, and the second column 2112 can slidably clamp the other end of the support member 11 in the second direction.

[0170] See also Figure 3 The frame 211 is generally U-shaped, also known as a door-shaped frame. The first column 2111 and the second column 2112 of the door-shaped frame are arranged in parallel, and the first column 2111, the second column 2112 and the connecting column 2113 can be integrated, or can be welded or bolted.

[0171] See also Figures 2 to 4 The first driving unit 2121 is specifically a motor. The first driving unit 2121 is installed on one of the first column 2111, the second column 2112 and the connecting column 2113. In various embodiments of this document, the first driving unit 2121 is installed on the connecting column 2113 as an example. The first driving unit 2121 is set in the middle position of the length direction of the connecting column 2113, such as Figure 4 The first transmission mechanism 2122 is fixedly connected to the power output shaft of the first driving part 2121, and converts the rotation of the first driving part 2121 into the linear movement of the first connecting member 2123. Each first connecting member 2123 is drivingly connected to the first driving mechanism 212 through the first transmission mechanism 2122, so as to move linearly along the second direction under the drive of the first driving part 2121.

[0172] Continue to see Figure 3 and Figure 4 The first transmission mechanism 2122 specifically includes a first gear 2122a, a first rack 2122b and a second rack 2122c. The first gear 2122a is fixedly connected to the output shaft of the first driving unit 2121; the first rack 2122b is meshed with the first gear 2122a; the second rack 2122c is meshed with the first gear 2122a and arranged parallel to the first rack 2122b. One of the first connecting members 2123 is fixedly connected to the first rack 2122b, and the other second connecting member is fixedly connected to the second rack 2122c.

[0173] When the first gear 2122a rotates in one direction, the first rack 2122b and the second rack 2122c move toward each other, the two first connecting members 2123 approach each other, and the two clamping portions 22 approach each other. When the first gear 2122a rotates in the opposite direction, the first rack 2122b and the second rack 2122c move away from each other, the two first connecting members 2123 move away from each other, and the two clamping portions 22 move away from each other. The first connecting member 2123 can be specifically a vertical plate. The top of the first connecting member 2123 is fixedly connected to the first rack 2122b and the second rack 2122c, and the bottom of the first connecting member 2123 is fixedly connected to the clamping portion 22. The clamping portion 22 and the first connecting member 2123 move linearly synchronously.

[0174] One of the first rack 2122b and the second rack 2122c is located above the first gear 2122a, and the other is located below the first gear 2122a. Through the first gear 2122a, both the first rack 2122b and the second rack 2122c can be driven to move, and the structure is very compact and the synchronization is good.

[0175] Continue to see Figure 3 and Figure 4 In order to make the linear movement of the two clamping parts 22 more accurate and less prone to shaking, in some embodiments, the first transmission mechanism 2122 also includes a pair of first guide parts 2122d, which are fixedly installed on the connecting column 2113, and each first guide part 2122d is arranged side by side along the moving direction of the first rack 2122b, and the first gear 2122a is located between a pair of first guide parts 2122d. Figure 4 Taking the direction shown as an example, one of the first guide parts 2122d is located on the left side of the first gear 2122a, and the other first guide part 2122d is located on the right side of the first gear 2122a. Among them, one of the first connecting members 2123 is slidably mounted on one of the first guide parts 2122d, and the other first connecting member 2123 is slidably mounted on the other first guide part 2122d. The top of the first connecting member 2123 can be specifically provided with a groove, and the first guide part 2122d is correspondingly provided with a protrusion, and the groove cooperates with the protrusion to guide the linear motion of the first connecting member 2123.

[0176] Since the movement of the clamping part 22 and the movement of the first connecting member 2123 are synchronized, the first connecting member 2123 can precisely move in a straight line along the Y direction, which can also make the movement of the clamping part 22 along the Y direction more stable and less prone to shaking, and the clamping of the cargo 400 is more stable and reliable.

[0177] The following describes how the clamping mechanism 2 realizes linear movement, and how the second blocking member 32 and the first blocking member 31 realize state switching.

[0178] The first blocking member 31 uses the second driving part 33 and the second transmission mechanism 34 to achieve rotation to achieve position switching. The clamping mechanism 2 uses the third driving part 23 and the third transmission mechanism 24 to achieve linear movement. The second blocking member 32 uses the fourth driving part 35 and the fourth transmission mechanism 36 to achieve position switching.

[0179] See also Figures 1 to 3 , Figure 5 Since the state switching of the first blocking member 31 is related to whether the clamping parts 22 can be close to each other, the state switching method of the first blocking member 31 is first introduced here.

[0180] In some embodiments, the blocking mechanism 3 further includes a second driving portion 33 and a second transmission mechanism 34. The second driving portion 33 is mounted on the first column 2111, the second column 2112 or the connecting column 2113. In some embodiments, the second driving portion 33 is mounted on the connecting column 2113 as an example. The second transmission mechanism 34 is drivingly connected to the second driving portion 33 to rotate under the drive of the second driving portion 33. The first blocking member 31 is mounted on the second transmission mechanism 34 to rotate in the third direction with the second transmission mechanism 34.

[0181] Figure 3 The rotation direction W of the first blocking member 31 is illustrated. Figure 3 The illustrated state is that the first blocking member 31 is located between a pair of clamping portions 22 . In this state, the distance between the two clamping portions 22 is the largest, and due to the obstruction of the first blocking member 31 , the two clamping portions 22 cannot approach each other.

[0182] Figure 5 The illustrated state is that the first blocking member 31 rotates to the outside of the movement track of the two clamping parts 22 along the Y direction. First, lift the first blocking member 31, and then reduce the distance between the two clamping parts 22, and you will get Figure 5 The state of the two clamping parts 22 is shown. It should be noted that the movement of the entire clamping mechanism 2 along the X direction is achieved by the third driving part 23 and the third transmission mechanism 24, which will be described in detail later. The focus here is on describing the action of the two clamping parts 22 approaching each other and the state of the first blocking member 31 being lifted.

[0183] See also Figure 1 , Figure 3 and Figure 5In some embodiments, the second driving part 33 is specifically a motor, and the second driving part 33 is fixed to the connecting column 2113. The second transmission mechanism 34 includes an output shaft gear 340, a second gear 341 arranged in pairs, a half gear 342 arranged in pairs, and a connecting shaft 343. The output shaft gear 340 is fixedly connected to the power output shaft of the second driving part 33, and the two second gears 341 are dispersedly arranged, and the two second gears 341 are respectively fixedly connected to the first column 2111 and the second column 2112; or the two second gears 341 are fixedly installed at different positions of the connecting column 2113. One of the second gears 341 is meshed with the output shaft gear 340. The second gear 341 rotates with the power output shaft of the second driving part 33 through the output shaft gear 340. The connecting shaft 343 fixedly connects the half gears 342 arranged in pairs, or the connecting shaft 343 fixedly connects the two second gears 341. One of the half gears 342 is meshed with the second gear 341 to rotate under the drive of the second gear 341. One end of the first blocking member 31 is fixedly connected to one of the half gears 342 , and the other end of the first blocking member 31 is fixedly connected to the other half gear 342 .

[0184] Since the first blocking member 31 (such as Figure 3 The first blocking member 31 does not need to rotate, it only needs to move to fit with the support member 11 and away from the movement track of the two clamping parts 22 in the Y direction, so the half gear 342 can meet the rotation requirement of the first blocking member 31. When the first blocking member 31 fits with the support member 11, the first blocking member 31 is located between the two clamping parts 22, and the distance between the two clamping parts 22 along the Y direction is the largest.

[0185] See also Figure 3 In order to more conveniently connect the half gear 342 to the first blocking member 31, in some embodiments, the second transmission mechanism 34 further includes third connecting members 344 arranged in pairs, and the third connecting members 344 correspond to and are fixedly connected to the half gears 342 one by one. Each half gear 342 is fixedly connected to a third connecting member 344, which can be specifically connected by bolts. The third connecting member 344 is specifically, for example, an L-shaped plate. The end face of each half gear 342 is provided with a first screw hole, and the third connecting member 344 is correspondingly provided with a second screw hole. The half gear 342 and the third connecting member 344 are fixedly connected by passing the bolt through the first screw hole and the second screw hole. One end of the first blocking member 31 along the second direction is fixedly connected to one of the third connecting members 344, and the other end of the first blocking member 31 along the second direction is fixedly connected to another third connecting member 344. When the first blocking member 31 rotates, it rotates around the central axis of the half gear 342. Both ends of the first blocking member 31 have fixed positions, and the rotation is more reliable.

[0186] Continue to see Figures 1 to 5, the following describes how to achieve linear movement of the clamping mechanism 2 relative to the support member 11 along the X direction.

[0187] In some embodiments, the clamping mechanism 2 further includes a third driving unit 23 and a third transmission mechanism 24. The third driving unit 23 is specifically, for example, a motor. Figure 2 As shown, the third driving part 23 is fixedly mounted on the bottom of the support member 11 and is located at the end of the support member 11 where the second blocking member 32 is not provided. The third transmission mechanism 24 is drivingly connected to the third driving part 23 and is fixedly connected to the sliding assembly. The sliding assembly is configured to move linearly along the first direction along with the third transmission mechanism 24 under the drive of the third driving part 23.

[0188] The third transmission mechanism 24 can be implemented in various forms, such as using a linear guide mechanism, a belt, a chain, etc. to convert the rotation of the third driving part 23 into the linear motion of the sliding component.

[0189] The above technical solution arranges the third driving part 23 and the third transmission mechanism 24 at the bottom of the support member 11, which will not occupy the supporting area at the top of the support member 11, so that the cargo storage and retrieval mechanism can take and put more cargo 400, and the structure is more reasonable.

[0190] Continue to see Figure 2 In order to make the movement of the clamping mechanism 2 relative to the support member 11 more accurate, stable and non-shaky, in some embodiments, the third transmission mechanism 24 includes a first guide rail 240, a second guide portion 241, a pulley 242 and a first belt 243. The first guide rail 240 is fixedly installed on the support seat 1, and there can be two first guide rails 240, and the two first guide rails 240 are dispersedly arranged on both sides of the support seat 1. The second guide portion 241 corresponds to the first guide rail 240 one by one, and the second guide portion 241 is slidably installed on the first guide rail 240; the sliding assembly 21 is fixedly installed on the second guide portion 241. The second guide portion 241 is specifically a slider, and the second guide portion 241 moves along the length direction of the first guide rail 240 (along the X direction). The pulley 242 is fixedly connected to the output shaft of the third driving portion 23. The first belt 243 is installed at the bottom of the support seat 1; the first belt 243 is engaged with the pulley 242; the sliding assembly 21 is fixedly connected to the first belt 243.

[0191] The rotation of the third driving part 23 will drive the pulley 242 to rotate synchronously, and the first belt 243 meshed with the pulley 242 will rotate accordingly. Since the sliding assembly 21 is fixedly connected to the first belt 243, the sliding assembly 21 will move linearly with the rotation of the first belt 243. Since the sliding assembly 21 is also connected to the second guide part 241, under the guidance of the second guide part 241 and the first guide rail 240, the sliding assembly 21 moves linearly along the first guide rail 240, that is, moves linearly along the X direction, so that the sliding assembly 21 can be extended and retracted relative to the support member 11.

[0192] See also Figures 1 to 6 , the following describes how the second blocking member 32 realizes position switching.

[0193] In some embodiments, the blocking mechanism 3 further includes a fourth driving part 35 and a fourth transmission mechanism 36. The fourth driving part 35 is mounted on the support member 11; the fourth transmission mechanism 36 is drivingly connected to the fourth driving part 35. The second blocking member 32 is rotatably mounted on one end of the support member 11 along the first direction, and the fourth driving part 35 is drivingly connected to the second blocking member 32, so that the second blocking member 32 switches between the following positions: an upright state and a flat state.

[0194] Figures 1 to 3 FIG. 1 is a schematic diagram showing the second blocking member 32 in a flat state. Figure 6 The schematic diagram of the second blocking member 32 in the erected state is shown. The erected state may also be referred to as a lifted state.

[0195] The fourth driving part 35 may be a motor. The fourth transmission mechanism 36 converts the rotation of the fourth driving part 35 into the rotation of the second blocking member 32. The fourth transmission mechanism 36 may be implemented in a variety of ways, such as using a gear drive, a crank connecting rod mechanism, and the like.

[0196] See also Figures 1 to 3 , especially Figure 2 In some embodiments, the fourth transmission mechanism 36 includes a connecting rod 360 and a crank 361, one end of the crank 361 is fixedly connected to the power output shaft of the fourth driving part 35, and the other end of the crank 361 is rotatably connected to one end of the connecting rod 360. The other end of the connecting rod 360 is rotatably connected to the second blocking member 32. The fourth driving part 35 is located at the bottom of the support member 11, and the crank 361 and the connecting rod 360 are also located at the bottom of the support member 11.

[0197] When the fourth driving part 35 rotates, the other end of the crank 361 is lifted, and the second blocking member 32 rotatably connected to the other end of the crank 361 rotates around the rotatable connection between the second blocking member 32 and the support member 11, and the second blocking member 32 is lifted. Figure 6After the second blocking member 32 is lifted, the second blocking member 32 can play a blocking role, and the goods 400 located on the supporting member 11 are not easy to fall off.

[0198] Continue to see Figure 3 In some embodiments, the cargo storage and retrieval mechanism further includes a stopper 4, which is a block-shaped structure. The stopper 4 is mounted on the top surface of the support 11, and the stopper 4 is located at one end of the support 11 away from the second blocking member 32.

[0199] Continue to see Figure 3 In some embodiments, the first blocking member 31 is provided with a receiving groove 311, and the receiving groove 311 is configured to avoid the limiting member 4. When the first blocking member 31 is in the first extreme position, the limiting member 4 is located in the receiving groove 311, that is, Figure 3 The situation indicated.

[0200] The above describes two extreme positions of the first blocking member 31: the first extreme position and the second extreme position. The second blocking member 32 includes two states: an upright state and a flat state. With the stopper 4 mentioned here, the entire cargo storage and retrieval mechanism can achieve multiple working states.

[0201] According to whether the goods 400 are moved onto the goods storage and retrieval mechanism (i.e., the goods 400 are being removed from the goods storage and retrieval mechanism, there are two states: a pickup state and an unloading state. In combination with whether the goods 400 are regular goods or irregular goods (also called irregular goods), the goods storage and retrieval mechanism has four states: a regular goods pickup state, a regular goods unloading state, an irregular goods pickup state, and an irregular goods unloading state.

[0202] The regular cargo picking state refers to moving the regular-shaped cargo 400 from outside the cargo storage and retrieval mechanism to the cargo storage and retrieval mechanism. In the regular cargo picking state, the first blocking member 31 does not need to play a role, the first blocking member 31 is in the second extreme position, and the first blocking member 31 is lifted to avoid the clamping portion 22, so that the clamping portion 22 can clamp the cargo 400 when it is folded along the second direction. Along the first direction, the first blocking member 31 is located on the side of each clamping portion 22 away from the second blocking member 32. In the second direction, the first blocking member 31 is located outside the movement trajectory of the clamping portion 22, and the clamping portion 22 can be freely folded and closed in the second direction. The second blocking member 32 is in a flat state, and the clamping portion 22 moves along the first direction with the sliding assembly 21 to extend out of the support seat 1, and the clamping portion 22 is folded in the second direction to clamp the cargo 400 located outside the support 11.

[0203] In the state of picking up regular goods, the action process is as follows: the clamping part 22 moves along the first direction with the sliding assembly 21 to extend out of the support 11; then, the clamping part 22 is retracted along the second direction to clamp the target goods 400. Subsequently, the clamping part 22 retracts along the first direction to the support 11 with the sliding assembly 21, so that the goods 400 are brought to the support 11. Then, the clamping part 22 opens along the second direction to release the goods 400, and the goods 400 are left on the support 11. Repeat the above actions to pick up the next goods 400. When the next goods 400 retracts along the first direction with the clamping part 22, if it hits the previous goods 400, it will push the previous goods 400 to move back further along the first direction. That is to say, each time the goods 400 are picked up, the picked goods 400 do not need to be placed on the innermost side of the support 11, and the next goods 400 will automatically push the previous goods 400 to move back automatically.

[0204] The regular cargo unloading state refers to moving the regular-shaped cargo 400 from the cargo storage and retrieval mechanism to the outside of the cargo storage and retrieval mechanism. In this state, if there is only one cargo 400, the cargo can be unloaded by clamping or pushing by the first blocking member 31. If there are multiple cargos 400, the first blocking member 31 can be used to push all the cargos 400 out of the support member 11 at one time.

[0205] In the case of unloading by clamping: the first blocking member 31 is in the second extreme position, that is, the first blocking member 31 is lifted. In addition, along the first direction, the first blocking member 31 is located on the side of each clamping portion 22 away from the second blocking member 32; in the second direction, the first blocking member 31 is located outside the movement track of the clamping portion 22; the second blocking member 32 is in a flat state; the clamping portion 22 is folded in the second direction to clamp the goods 400 located on the support member 11; the clamping portion 22 moves along the first direction with the sliding assembly 21 to extend out of the support seat 1 to send the clamped goods 400 outside the support member 11.

[0206] In the case of unloading by clamping, the specific action process is as follows: the first blocking member 31 is not needed, the clamping part 22 is folded along the second direction to clamp the goods 400 on the support member 11, and then the clamping part 22 moves along the first direction with the sliding assembly 21 to bring the goods 400 out of the support member 11. The unloaded goods 400 can be transported to the packaging machine 200 for packaging, or stored in the target storage position of the first storage area 1001 of the medicine storage cabinet 100.

[0207] In the case of unloading by pushing out: the first blocking member 31 is in the first limit position. Along the first direction, the first blocking member 31 in the first limit position is located between the stop member 4 and the second blocking member 32 in the flat state, and the first blocking member 31 is located between a pair of clamping parts 22; wherein, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 located on the support member 11 out of the support member 11. In this mode, the clamping part 22 does not need to move in the second direction, and the entire unloading operation mainly relies on the movement of the first blocking member 31 along the first direction to push out the goods 400.

[0208] In the case of unloading by pushing out, the specific action process is as follows: the clamping part 22 does not need to move in the second direction, and the first blocking member 31 is adjusted to the first limit position and avoids the limit member 4. Then, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support member 11 out of the support member 11. The above operation can push out all the goods 400 on the support member 11 at one time. It is also possible to push out only part of the goods 400 on the support member 11 as needed, depending on when the first blocking member 31 is adjusted to the first limit position.

[0209] The picking state of irregular goods refers to that the irregular-shaped goods 400 are moved from the outside of the goods storage and retrieval mechanism to the goods storage and retrieval mechanism. In this state, the first blocking member 31 is in the first limit position, and the second blocking member 32 is in the standing state. From the first direction, the limit member 4 is located between the first blocking member 31 in the first limit position and the second blocking member 32 in the standing state. From the second direction, the first blocking member 31 is between a pair of clamping parts 22. In this way, a storage frame 1000 with an open top is surrounded between the first blocking member 31, the second blocking member 32 and the pair of clamping parts 22. The irregular-shaped goods 400 stored in the second storage area 1002 of the medicine storage cabinet 100 are transported to the end by the crawler cargo channel 1003 described later, and then the goods 400 fall into the storage frame 1000 with an open top under the action of their own gravity, so that the picking operation of the irregular-shaped goods 400 is realized.

[0210] When picking up special-shaped goods, the action process is as follows: adjust the first blocking member 31 to the first limit position, and adjust the second blocking member 32 to the upright state. After the first blocking member 31, the second blocking member 32 and the pair of clamping parts 22 form a storage frame 1000 with an open top, move the cargo storage and retrieval mechanism as a whole to the position corresponding to the crawler cargo lane 1003 for placing goods. The crawler cargo lane 1003 is used to transport the goods 400 to the end edge of the crawler cargo lane 1003, and the goods 400 fall into the storage frame 1000 under the action of inertia and self-gravity. Of course, the cargo storage and retrieval mechanism can also be moved as a whole to the position corresponding to the crawler cargo lane 1003 for placing goods, and then adjusted to form the storage frame 1000.

[0211] The unloading state of irregular-shaped goods refers to the unloading of irregular-shaped goods 400 from the cargo storage and retrieval mechanism to the outside of the cargo storage and retrieval mechanism. The unloading state of irregular-shaped goods is the same as the unloading operation of regular goods in a pushing manner. In the unloading state of irregular-shaped goods, the first blocking member 31 is in the first extreme position; along the first direction, the first blocking member 31 is located between the limiting member 4 and the second blocking member 32 in a flat state. Alternatively, the first blocking member 31 in the first extreme position accommodates the limiting member 4 through its own accommodating groove 311, and the first blocking member 31 and the limiting member 4 are docked, that is, Figure 3 The situation indicated.

[0212] In the unloading state of the irregular cargo, in the second direction, the first blocking member 31 is located between the pair of clamping portions 22. The first blocking member 31 moves along the first direction with the sliding assembly 21 to push the cargo 400 on the support member 11 out of the support member 11.

[0213] In the unloading state of the irregular cargo, the operation process is as follows: the clamping part 22 does not need to move in the second direction, and the first blocking member 31 is adjusted to the first limit position and avoids the limit member 4. Then, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the cargo 400 on the support member 11 out of the support member 11. The above operation can push out all the cargo 400 on the support member 11 at one time. It is also possible to push out only part of the cargo 400 on the support member 11 as needed.

[0214] For the unloading status of regular goods and special-shaped goods, the unloaded goods 400 can be subsequently transported to the packing machine 200 for packing, and then transported to the express cabinet 300 for storage.

[0215] The cargo storage and retrieval mechanism provided by the above technical solution has multiple working states. For the picking operation of the cargo 400 with regular shape, the clamping part 22 can be used to clamp; for the unloading operation of the regular single cargo 400, the clamping part 22 can also be used to clamp; for the regular multiple cargoes 400, the first blocking member 31 can be used to push all the cargoes 400 out, and the unloading efficiency is high. For the cargo 400 with irregular shape, the cargo storage and retrieval mechanism forms a storage frame 1000 with an opening at the top, and directly uses external force (specifically, a crawler cargo path 1003) to move the irregular cargo 400 into the storage frame 1000 to achieve the picking. And because there are obstructions on all sides of the storage frame 1000, the irregular cargo 400 can also be firmly placed on the support member 11, and the cargo 400 of any shape is not easy to fall, which is very reliable. It can be seen that the above-mentioned cargo storage and retrieval mechanism can be applicable to cargo 400 of regular shape and irregular shape, and both picking up and unloading operations can be realized. The cargo storage and retrieval mechanism has multiple working modes and richer functions.

[0216] See also Figure 7 and Figure 8 When the clamping part 22 clamps the next cargo 400, the previous cargo 400 is pushed to the end of the support 11 away from the second blocking member 32 under the push of the next clamped cargo 400. When there are enough cargoes 400 on the support 11, without the blocking effect of the limiting member 4, the cargo 400 may be pushed down from the other end of the support 11. On the other hand, since the first blocking member 31 is in a swinging motion, if the cargo 400 is located on the swinging path of the first blocking member 31, the first blocking member 31 will not be able to swing normally and the position switching cannot be achieved normally. Therefore, the setting of the limiting member 4 can avoid the occurrence of the above situation. A plurality of limiting members 4 can be provided, and the plurality of limiting members 4 are dispersedly arranged along the Y direction to better limit the extreme position of the cargo 400 moving on the support 11.

[0217] Fig. 9 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval robot provided in an embodiment of the present invention. Fig.10 Another three-dimensional structural schematic diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention.

[0218] See also Figure 1 , Figure 2 , Fig. 9 and Fig.10 The embodiment of the present invention further provides a cargo storage and retrieval robot 500, which includes a supporting arm 5 and a cargo storage and retrieval mechanism provided by any technical solution of the present invention, and the cargo storage and retrieval mechanism is rotatably mounted on the supporting arm 5.

[0219] The supporting arm 5 is used to install a cargo storage and retrieval mechanism, and the cargo storage and retrieval mechanism can rotate relative to the supporting arm 5 to achieve storage and retrieval of cargo 400 from different directions.

[0220] See also Figure 2 , Fig. 9 and Fig.10 In some embodiments, the cargo storage and retrieval robot further includes a fifth driving unit 6 and a fifth transmission mechanism 7. The fifth driving unit 6 is mounted on the supporting arm 5; the fifth transmission mechanism 7 is drivingly connected to the fifth driving unit 6, and the fifth transmission mechanism 7 is fixedly connected to the cargo storage and retrieval mechanism, so that the cargo storage and retrieval mechanism rotates under the drive of the fifth driving unit 6.

[0221] The fifth driving part 6 is, for example, a motor, and the fifth transmission mechanism 7 converts the rotation of the motor into the rotation of the cargo storage and retrieval mechanism. The fifth transmission mechanism 7 can be implemented in a variety of ways, such as using a gear mechanism, a swivel seat, and the like.

[0222] Continue to see Figure 2 , Fig. 9 and Fig.10 In some embodiments, the fifth transmission mechanism 7 includes a third gear 71 and a fourth gear 72. The third gear 71 is fixedly connected to the power output shaft of the fifth driving unit 6; the third gear 71 is installed on the supporting arm 5; the fourth gear 72 is installed on the bottom of the supporting seat 1 and meshes with the third gear 71.

[0223] The fifth transmission mechanism 7 of the above implementation is located at the bottom of the support member 11 and does not occupy the space at the top of the support member 11. The fifth transmission mechanism 7 uses gear meshing to achieve rotation, and can accurately control the rotation angle and rotation timing.

[0224] Continue to see Fig. 9 and Fig.10 In some embodiments, the cargo storage and retrieval robot further includes a support column 8, a sixth driving unit 9 and a sixth transmission mechanism 10. The sixth driving unit is mounted on the support column 8. The sixth transmission mechanism 10 is drivingly connected to the sixth driving unit 9, and the sixth transmission mechanism 10 is fixedly connected to the supporting arm 5, so that the cargo storage and retrieval mechanism moves along the support column 8 under the drive of the sixth driving unit 9.

[0225] The support column 8 is, for example, a vertical track, and the cargo storage and retrieval mechanism moves along the support column 8 to achieve the lifting and lowering of the cargo storage and retrieval mechanism.

[0226] In some embodiments, the sixth transmission mechanism 10 includes a first synchronous wheel 101, a second synchronous wheel 102, a synchronous belt (not shown), a second guide rail 104 and a third guide portion (not shown). The first synchronous wheel 101 is mounted on one end of the support column 8; the first synchronous wheel 101 is fixedly connected to the power output shaft of the sixth driving unit 9; the second synchronous wheel 102 is mounted on the other end of the support column 8. The synchronous belt is tensioned by the first synchronous wheel 101 and the second synchronous wheel 102; the cargo storage and retrieval mechanism is fixedly mounted on the synchronous belt to rise and fall with the rotation of the synchronous belt; the second guide rail 104 is mounted on the support column 8, the third guide portion (specifically, a slider) is slidably mounted on the second guide rail, and the cargo storage and retrieval mechanism is fixedly mounted on the third guide portion.

[0227] The lifting and lowering movement of the cargo storage and retrieval mechanism is realized by the first synchronous wheel 101, the second synchronous wheel 102 and the synchronous belt, and the lifting and lowering movement of the cargo storage and retrieval mechanism is made more stable by the second guide rail 104 and the third guide part.

[0228] See also Fig. 9 and Fig.10 In some embodiments, the cargo retrieval robot further includes a walking mechanism 12 , and the walking mechanism 12 is installed on the support column 8 to enable the support column 8 to move inside the medicine storage cabinet 100 .

[0229] The cargo access robot is installed in the medicine storage cabinet 100, and a walking track is provided in the medicine storage cabinet 100, and the cargo access robot can walk along the walking track as a whole. The walking track is, for example, a horizontal track.

[0230] Fig.11 A schematic diagram of the three-dimensional structure of a cargo storage and retrieval system provided in an embodiment of the present invention. Fig.12 Another three-dimensional structural schematic diagram of the cargo storage and retrieval system provided by an embodiment of the present invention. Fig.13 A schematic diagram of another three-dimensional structure of the cargo storage and retrieval system provided in an embodiment of the present invention.

[0231] See also Figures 11 to 14 An embodiment of the present invention further provides a cargo storage and retrieval system, comprising a cargo storage and retrieval robot provided by any technical solution of the present invention.

[0232] In some embodiments, the cargo storage and retrieval system also includes a medicine storage cabinet 100, which includes a first storage area 1001 and a second storage area 1002. The first storage area 1001 is configured to use a cargo retrieval robot to clamp cargo 400 to achieve storage and retrieval; the second storage area 1002 is configured to deliver cargo 400 to the cargo retrieval robot.

[0233] The first storage area 1001 is used to store regular-shaped goods 400, and the second storage area 1002 is used to store irregular-shaped goods 400. The first storage area 1001 adopts a layered storage structure. The second storage area 1002 uses active cargo lanes, crawler cargo lanes, etc. to realize the transportation of goods 400. The goods are directly stored on the active cargo lanes and crawler cargo lanes in the second storage area 1002. After the goods 400 are placed in the second storage area 1002, they can be automatically moved out of the second storage area 1002 under the transportation of the active cargo lanes and crawler cargo lanes.

[0234] Fig.14 The structure diagram of the crawler cargo lane is shown in FIG. The crawler cargo lane 1003 includes one or more groups of conveyor belts 1003a, and each group of conveyor belts 1003a includes one or more conveyor belts. The conveyor belts 1003a are arranged in parallel. Each group of conveyor belts 1003a is driven independently, does not interfere with each other, and works independently of each other. Two adjacent groups of conveyor belts 1003a are separated by a partition 1003b to facilitate the storage of special-shaped goods 400. When it is necessary to replenish goods on the crawler cargo lane 1003, the special-shaped goods 400 are placed on the conveyor belt 1003a manually. When the cargo storage and retrieval robot needs to pick up goods from the second storage area 1002, the conveyor belt 1003a where the goods to be picked up is started, and the conveyor belt 1003a transports the special-shaped goods 400 to the end of the conveyor belt 1003a, and the special-shaped goods 400 fall into the storage frame 1000 surrounded by the storage and retrieval robot. Since the cargo storage frame 1000 is blocked on all sides, the irregular-shaped cargo 400 can stay firmly in the cargo storage frame 1000 and is not easy to fall out of the cargo storage frame 1000.

[0235] The cargo storage and retrieval robot can store cargo 400 in the first storage area 1001, can also take cargo 400 from the first storage area 1001, and can also receive cargo 400 delivered from the second storage area 1002. The cargo storage and retrieval robot has a wide variety of working modes.

[0236] Continue to see Figures 11 to 13 In some embodiments, the cargo retrieval system further includes a packer 200 , which is located downstream of the medicine storage cabinet 100 to pack the cargo 400 taken out from the medicine storage cabinet 100 by the cargo retrieval robot.

[0237] The above technical solution realizes automatic picking and packing, and the cargo storage and retrieval system has a high degree of intelligence and high work efficiency.

[0238] In some embodiments, the cargo storage and retrieval system further includes a delivery cabinet 300 , which is located downstream of the packing machine 200 to store the cargo 400 packaged by the packing machine 200 .

[0239] Specifically, in combination with the four states of the cargo storage and retrieval mechanism mentioned above (regular cargo pickup state, regular cargo unloading state, special-shaped cargo pickup state, special-shaped cargo unloading state), according to the coordination relationship between the cargo storage and retrieval mechanism and the medicine storage cabinet 100, the cargo storage and retrieval mechanism is taken as the main description object, then:

[0240] The regular cargo retrieval state means that the cargo 400 is taken from the first storage area 1001 by the cargo retrieval mechanism to the support member 11 of the cargo retrieval mechanism.

[0241] The regular cargo unloading state means that the cargo 400 is pushed out of the support member 11 or clamped out of the support member 11 by the cargo storage and retrieval mechanism. The delivered cargo 400 can be delivered to the downstream packaging machine 200 to realize automatic packaging.

[0242] The picking state of the special-shaped goods means that the goods 400 are actively transported out from the second storage area 1002 and fall into the storage frame 1000 formed by the goods storage and retrieval mechanism.

[0243] The unloading state of the irregular cargo means that the cargo 400 is pushed out of the support member 11 by the cargo storage and retrieval mechanism. The delivered cargo 400 can be delivered to the downstream packaging machine 200 to realize automatic packaging.

[0244] Taking the medicine storage cabinet 100 as the main description object, the cargo storage and retrieval system has the following functions:

[0245] The first method is to store regular goods 400 in the first storage area 1001 of the medicine storage cabinet 100. Specifically, the cargo access robot takes out the goods 400 from the medicine dispensing machine, and the clamping part 22 of the cargo access mechanism clamps the goods 400 from the medicine dispensing machine, and the clamped goods 400 are placed on the support 11 of the cargo access mechanism. Then the cargo access robot moves the cargo access mechanism to the target storage position of the first storage area 1001 of the medicine storage cabinet 100. The clamping part 22 of the cargo access mechanism clamps the goods 400 on the support 11 of the cargo access mechanism and places it in the target storage position of the first storage area 1001.

[0246] The second method is to take out the regular goods 400 from the first storage area 1001 of the medicine storage cabinet 100. First, adjust the first blocking member 31 of the goods storage and access mechanism to the second extreme position, extend the clamping part 22 to the target storage position of the first storage area 1001 of the medicine storage cabinet 100, and close the clamping part 22 to take out the goods 400 from the target storage position of the first storage area 1001. The taken-out goods 400 are transported to the support member 11 of the goods storage and access mechanism as the clamping part 22 moves along the first direction. The goods 400 taken out from the medicine storage cabinet 100 are subsequently sent to the packing machine 200 described later, and the packing machine 200 packs the goods 400 and then transports them to the express cabinet 300 described later.

[0247] The third method is to store the irregular goods 400 in the second storage area 1002 of the medicine storage cabinet 100. Specifically, the irregular goods 400 are placed in the second storage area 1002 of the medicine storage cabinet 100 manually.

[0248] The fourth method is to take out the irregular cargo 400 from the second storage area 1002 of the medicine storage cabinet 100. First, the cargo storage and access mechanism is adjusted to the state of picking up irregular cargo, and then the crawler cargo track corresponding to the target cargo in the second storage area 1002 is started. The crawler cargo track transports the cargo 400 out of the second storage area 1002 of the medicine storage cabinet 100, and then the cargo 400 falls into the storage frame 1000 of the cargo storage and access mechanism under its own gravity. The taken out cargo 400 is then transported to the packing machine 200 along with the cargo storage and access mechanism, and then the cargo storage and access mechanism is switched to the state of unloading irregular cargo, and the first blocking member 31 pushes the irregular cargo 400 into the packing machine 200. The packaged cargo 400 is transported to the express cabinet 300 for storage.

[0249] The above technical solution realizes automatic storage of the goods 400 in the express cabinet 300 after packaging. The goods storage and retrieval system has a high degree of intelligence and high working efficiency.

[0250] See also Fig.15 The embodiment of the present invention further provides a method for picking up and unloading goods, which can be implemented by using the goods storage and retrieval system provided by any of the above technical solutions. The method for picking up and unloading goods includes the following steps:

[0251] Step S100, determining whether the cargo storage and retrieval system is to pick up cargo or unload cargo.

[0252] The cargo storage and retrieval robot of the cargo storage and retrieval system determines whether a picking operation or a storage operation is required based on the received instructions.

[0253] Step S200, if the cargo storage and retrieval system is to retrieve cargo, it is determined whether the shape of the cargo 400 to be retrieved is a regular shape.

[0254] The goods 400 of regular shapes are stored in the first storage area 1001, and the goods 400 of irregular shapes are stored in the second storage area 1002. The picking operations corresponding to the goods 400 of different shapes are different.

[0255] Step S300: If the shape of the goods 400 is a regular shape, the goods storage and retrieval mechanism is adjusted to a regular goods retrieval state.

[0256] When the cargo storage and retrieval mechanism is in the regular cargo retrieval state, the first blocking member 31 is in the second extreme position, and the first blocking member 31 is lifted to avoid the clamping portion 22, so that the clamping portion 22 can clamp the cargo 400 when it is folded along the second direction. Along the first direction, the first blocking member 31 is located on the side of each clamping portion 22 away from the second blocking member 32. In the second direction, the first blocking member 31 is located outside the movement track of the clamping portion 22, and the clamping portion 22 can be freely folded and closed in the second direction. The second blocking member 32 is in a flat state, and the clamping portion 22 moves along the first direction with the sliding assembly 21 to extend out of the support seat 1, and the clamping portion 22 is folded in the second direction to clamp the cargo 400 located outside the support member 11.

[0257] Boxed or bottled medicines are all regular-shaped goods. The cargo storage and retrieval mechanism runs to the cargo storage position of the target layer plate, based on the actual distance of the medicine closest to the medicine dispensing machine detected at the target storage position. According to the width of the medicine recorded in the system, the cargo storage and retrieval mechanism adjusts the width of the clamping part to a width that can be extended into the gap between the storage positions, and then extends it to the target medicine according to the actual distance detected, and then adjusts the width of the two clamping parts to a distance that can clamp the goods, retracts the clamping parts, and takes the goods onto the support 11. The cargo storage and retrieval mechanism can take only one medicine at a time, or it can take multiple identical medicines from the same column of storage positions at a time. The goods that are clamped first are pushed inward by the goods that are clamped later. For goods of different sizes, they are clamped in order from small to large in width to avoid the medicines first cached on the support 11 affecting the width adjustment of the clamping part 22.

[0258] Step S400, extending the clamping mechanism 2 of the cargo storage and retrieval system to clamp the cargo 400. The clamping mechanism 2 clamping the cargo 400 is moved along the first direction, so that the cargo 400 is taken onto the support 11.

[0259] In the above step S400, specifically, the clamping part 22 moves along the first direction with the sliding assembly 21 to extend out of the support 11; then, the clamping part 22 is retracted along the second direction to clamp the target cargo 400. Subsequently, the clamping part 22 retracts along the first direction with the sliding assembly 21 to the support 11, so that the cargo 400 is brought to the support 11. Then, the clamping part 22 opens along the second direction to release the cargo 400, and the cargo 400 is left on the support 11. Repeating the above actions, the next cargo 400 can be taken. When the next cargo 400 is retracted along the first direction with the clamping part 22, if it hits the previous cargo 400, it will push the previous cargo 400 to move back further along the first direction. That is to say, each time the cargo 400 is taken, the taken cargo 400 does not need to be placed on the innermost side of the support 11, and the next cargo 400 will automatically push the previous cargo 400 to move back automatically.

[0260] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0261] Step S500: If the shape of the cargo 400 is irregular, the cargo storage and retrieval mechanism of the cargo storage and retrieval system is adjusted to a state for picking up irregular-shaped cargo.

[0262] When the cargo storage and retrieval mechanism is in the state of picking up special-shaped cargo, see Figure 6 , corresponding to the picking operation of irregular goods 400. In this state, the first blocking member 31 is in the first limit position, and the second blocking member 32 is in the upright state. Viewed from the first direction, the limiting member 4 is located between the first blocking member 31 in the first limit position and the second blocking member 32 in the upright state. Viewed from the second direction, the first blocking member 31 is between the pair of clamping parts 22. In this way, a storage frame 1000 with a top opening is formed between the first blocking member 31, the second blocking member 32 and the pair of clamping parts 22.

[0263] Step S600, placing the goods 400 into the goods storage frame 1000 formed by the goods storage and retrieval mechanism.

[0264] In the above-mentioned step S600, the irregular-shaped cargo 400 stored in the second storage area 1002 of the medicine storage cabinet 100 is transported to the end by the tracked cargo channel 1003, and then the cargo 400 falls into the storage frame 1000 with the top opening under the action of its own gravity, thereby realizing the picking operation of the irregular-shaped cargo 400.

[0265] In some embodiments, the method for picking up and unloading goods further comprises the following steps:

[0266] Step S700: If the cargo storage and retrieval system is to unload cargo, it is determined whether the shape of the cargo 400 to be retrieved is a regular shape.

[0267] Step S800: If the shape of the cargo 400 is a regular shape, the cargo storage and retrieval mechanism of the cargo storage and retrieval system is adjusted to a regular cargo unloading state.

[0268] As described above, the regular cargo unloading state refers to moving the regular-shaped cargo 400 from the cargo storage and retrieval mechanism to the outside of the cargo storage and retrieval mechanism. In this state, if there is only one cargo 400, the cargo can be unloaded by clamping or pushing by the first blocking member 31. If there are multiple cargos 400, the first blocking member 31 can be used to push all the cargos 400 out of the support member 11 at one time.

[0269] Step S900 , pushing the cargo 400 out of the support member 11 of the cargo storage and retrieval mechanism or clamping the cargo 400 out of the support member 11 .

[0270] In the case of unloading by clamping: the first blocking member 31 is in the second extreme position, that is, the first blocking member 31 is lifted. In addition, along the first direction, the first blocking member 31 is located on the side of each clamping portion 22 away from the second blocking member 32; in the second direction, the first blocking member 31 is located outside the movement track of the clamping portion 22; the second blocking member 32 is in a flat state; the clamping portion 22 is folded in the second direction to clamp the goods 400 located on the support member 11; the clamping portion 22 moves along the first direction with the sliding assembly 21 to extend out of the support seat 1 to send the clamped goods 400 outside the support member 11.

[0271] In the case of unloading by clamping, the specific action process is as follows: the first blocking member 31 is not needed, the clamping part 22 is folded along the second direction to clamp the goods 400 on the support member 11, and then the clamping part 22 moves along the first direction with the sliding assembly 21 to bring the goods 400 out of the support member 11. The unloaded goods 400 can be transported to the packaging machine 200 for packaging, or stored in the target storage position of the first storage area 1001 of the medicine storage cabinet 100.

[0272] In the case of unloading by pushing out: the first blocking member 31 is in the first limit position. Along the first direction, the first blocking member 31 in the first limit position is located between the stop member 4 and the second blocking member 32 in the flat state, and the first blocking member 31 is located between a pair of clamping parts 22; wherein, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 located on the support member 11 out of the support member 11. In this mode, the clamping part 22 does not need to move in the second direction, and the entire unloading operation mainly relies on the movement of the first blocking member 31 along the first direction to push out the goods 400.

[0273] In the case of unloading by pushing out, the specific action process is as follows: the clamping part 22 does not need to move in the second direction, and the first blocking member 31 is adjusted to the first limit position and avoids the limit member 4. Then, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support member 11 out of the support member 11. The above operation can push out all the goods 400 on the support member 11 at one time. It is also possible to push out only part of the goods 400 on the support member 11 as needed, depending on when the first blocking member 31 is adjusted to the first limit position.

[0274] In the above step S900, the goods 400 pushed out from the support member 11 can be put into the downstream packing machine 200 for packing. The clamped goods 400 can be put into two destinations according to different needs: first, put into the downstream packing machine 200 for packing; second, put the goods 400 into the target storage position of the first storage area 1001 of the medicine storage cabinet 100.

[0275] For irregular cargo 400, the following unloading operation is adopted.

[0276] Specifically, the method for picking up and unloading goods also includes the following steps:

[0277] Step S1000: If the shape of the cargo 400 is irregular, the cargo storage and retrieval mechanism of the cargo storage and retrieval system is adjusted to a state for unloading irregular-shaped cargo.

[0278] The unloading state of the irregular goods is the same as the unloading operation of the regular goods in a push manner. In the unloading state of the irregular goods, the first blocking member 31 is in the first limit position; along the first direction, the first blocking member 31 is located between the limit member 4 and the second blocking member 32 in the flat state, and the first blocking member 31 is located between the pair of clamping parts 22. The first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 located on the support member 11 out of the support member 11.

[0279] Step S1100, pushing the cargo 400 out of the supporting member 11 of the cargo storage and retrieval mechanism. Specifically, the first blocking member 31 is moved along the first direction to push the cargo 400 out.

[0280] In the above step S1100, in the unloading state of the irregular goods, the clamping part 22 does not need to move in the second direction, and the first blocking member 31 is adjusted to the first limit position and avoids the limit member 4. Then, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support member 11 out of the support member 11. The above operation can push out all the goods 400 on the support member 11 at one time. It is also possible to push out only part of the goods 400 on the support member 11 as needed, depending on when the first blocking member 31 is adjusted to the first limit position.

[0281] After step S1100 , the pushed out goods 400 are transported to the packing machine 200 for packing, and the packaged goods 400 are transported to the express cabinet 300 for storage.

[0282] An embodiment of the present invention provides a cargo storage and retrieval device, comprising a memory and a processor coupled to the memory, wherein the processor is configured to execute the cargo picking and unloading method in any one of the aforementioned embodiments based on instructions stored in the memory.

[0283] The memory may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0284] Some embodiments of the present disclosure further provide a computer-readable storage medium on which a computer program is stored, wherein when the program is executed by a processor, the method for picking up and unloading goods in any of the above embodiments is implemented.

[0285] The processor described herein may include a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination thereof designed to perform the functions described herein to implement or execute. A general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0286] Storage media can be any available media that can be accessed by a computer. As an example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage devices, or any other media that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. As used herein, disks (disk) and discs (disc) include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and blue-ray discs, wherein disks (disk) often reproduce data magnetically, and discs (disc) reproduce data optically with lasers. The above combination should also be included in the scope of computer-readable media.

[0287] Those skilled in the art will appreciate that the method embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0288] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0289] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0290] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0291] In the description of the present invention, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the protection content of the present invention. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0292] In the description of the present invention, each technical feature may be combined with other technical features where feasible.

[0293] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cargo storage and retrieval mechanism, characterized in that: include: A support base (1) comprising a support member (11); A clamping mechanism (2), comprising a sliding assembly (21) and clamping portions (22) arranged in pairs, wherein the sliding assembly (21) is slidably mounted on the support member (11) along a first direction, and the clamping portion (22) is movably mounted on the sliding assembly (21) along a second direction; as well as A blocking mechanism (3), comprising a first blocking member (31) and a second blocking member (32), wherein the first blocking member (31) is movably mounted on the sliding assembly (21) along a third direction, and the second blocking member (32) is mounted on the supporting member (11); The first direction and the second direction are located in a horizontal plane and intersect each other, and the third direction is different from the first direction and the second direction.

2. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The sliding assembly (21) comprises: The frame (211) comprises a first column (2111), a second column (2112) and a connecting column (2113); the first column (2111) and the second column (2112) are dispersedly arranged, one end of the connecting column (2113) is fixedly connected to the first column (2111), and the other end of the connecting column (2113) is fixedly connected to the second column (2112); the first column (2111) can slidably clamp one end of the support member (11) in the second direction, and the second column (2112) can slidably clamp the other end of the support member (11) in the second direction; A first driving unit (2121) is installed on one of the first column (2111), the second column (2112) and the connecting column (2113); A first transmission mechanism (2122); and The first connecting members (2123) are arranged in pairs; each of the first connecting members (2123) is drivingly connected to the first driving mechanism (212) via the first transmission mechanism (2122) so as to move along the second direction under the drive of the first driving part (2121).

3. The cargo storage and retrieval mechanism according to claim 2, characterized in that: The first transmission mechanism (2122) comprises: A first gear (2122a) fixedly connected to an output shaft of the first driving part (2121); a first rack (2122b) meshing with the first gear (2122a); and a second rack (2122c), meshing with the first gear (2122a) and arranged in parallel with the first rack (2122b); One of the first connecting members (2123) is fixedly connected to the first rack (2122b), and the other of the first connecting members (2123) is fixedly connected to the second rack (2122c).

4. The cargo storage and retrieval mechanism according to claim 3, characterized in that: The first transmission mechanism (2122) further comprises: First guide portions (2122d) arranged in pairs are fixedly mounted on the connecting column (2113), each of the first guide portions (2122d) being arranged side by side along the moving direction of the first rack (2122b), and the first gear (2122a) being located between a pair of the first guide portions (2122d); Among them, one of the first connecting members (2123) can be slidably installed on one of the first guide parts (2122d), and another of the first connecting members (2123) can be slidably installed on another of the first guide parts (2122d); one of the clamping parts (22) is fixedly connected to one of the first connecting members (2123), and another of the clamping parts (22) is fixedly connected to another of the first connecting members (2123).

5. The cargo storage and retrieval mechanism according to claim 2, characterized in that: The blocking mechanism (3) further comprises: A second driving unit (33) is installed on the first column (2111), the second column (2112) or the connecting column (2113); and A second transmission mechanism (34) is drivingly connected to the second driving part (33) so as to rotate under the drive of the second driving part (33); The first blocking member (31) is mounted on the second transmission mechanism (34) so ​​as to rotate in a third direction along with the second transmission mechanism (34).

6. The cargo storage and retrieval mechanism according to claim 5, characterized in that: The second transmission mechanism (34) comprises: An output shaft gear (340) fixedly connected to the power output shaft of the second driving unit (33); Second gears (341) arranged in pairs, wherein one of the second gears (341) is meshed with the output shaft gear (340); Half gears (342) arranged in pairs, the half gears (342) corresponding to and meshing with the second gears (341) one by one, so as to rotate under the drive of the second gears (341); and A connecting shaft (343) for fixedly connecting the half gears (342) arranged in pairs or for fixedly connecting the two second gears (341); One end of the first blocking member (31) is fixedly connected to one of the half gears (342), and the other end of the first blocking member (31) is fixedly connected to the other half gear (342).

7. The cargo storage and retrieval mechanism according to claim 6, characterized in that: The second transmission mechanism (34) further comprises: The third connecting members (344) are arranged in pairs, corresponding to the half gears (342) one by one and fixedly connected; one end of the first blocking member (31) along the second direction is fixedly connected to one of the third connecting members (344), and the other end of the first blocking member (31) along the second direction is fixedly connected to the other third connecting member (344).

8. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The first blocking member (31) comprises a first limit position and a second limit position; When the first blocking member (31) is in the first extreme position, along the second direction, the first blocking member (31) is located between the clamping portions (22) arranged in pairs; the first blocking member (31) is configured to push the cargo (400) out of the support member (11) as the sliding assembly (21) moves along the first direction; or, the first blocking member (31) is configured to block the cargo (400) to prevent the cargo (400) from falling from the end of the support member (11) where the first blocking member (31) is provided; When the first blocking member (31) is in the second extreme position, the first blocking member (31) is located outside the movement trajectory of each clamping portion (22) along the second direction, and the clamping portion (22) is movable in the second direction.

9. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The clamping mechanism (2) further comprises: A third driving part (23) is installed at the bottom of the supporting member (11); and The third transmission mechanism (24) is drivingly connected to the third driving portion (23) and fixedly connected to the sliding assembly; the sliding assembly is configured to move linearly along the first direction along with the third transmission mechanism (24) under the drive of the third driving portion (23).

10. The cargo storage and retrieval mechanism according to claim 9, characterized in that: The third transmission mechanism (24) comprises: A first guide rail (240) is fixedly mounted on the support seat (1); A second guide portion (241) is slidably mounted on the first guide rail (240); the sliding assembly (21) is fixedly mounted on the second guide portion (241); A pulley (242) fixedly connected to the output shaft of the third driving unit (23); A first belt (243) is installed at the bottom of the support seat (1); the first belt (243) is meshed with the pulley (242); and the sliding assembly (21) is fixedly connected to the first belt (243).

11. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The blocking mechanism (3) further comprises: a fourth driving unit (35) mounted on the supporting member (11); and a fourth transmission mechanism (36) drivingly connected to the fourth driving part (35); The second blocking member (32) is rotatably mounted on one end portion of the support member (11) along the first direction, and the fourth driving portion (35) is drivingly connected to the second blocking member (32) so that the second blocking member (32) can be switched between the following positions: an upright state and a flat state.

12. The cargo storage and retrieval mechanism according to claim 11, characterized in that: The fourth transmission mechanism (36) comprises: a crank (361), one end of which is fixedly connected to the power output shaft of the fourth driving part (35); and a connecting rod (360), one end of the connecting rod (360) being rotatably connected to the other end of the crank (361), and the other end of the connecting rod (360) being rotatably connected to the second blocking member (32); Wherein, the fourth driving part (35) is located at the bottom of the support member (11), and the crank (361) and the connecting rod (360) are also located at the bottom of the support member (11).

13. The cargo storage and retrieval mechanism according to claim 1, characterized in that: Also includes: The limiting member (4) is mounted on the supporting member (11) and is located at an end of the supporting member (11) away from the second blocking member (32).

14. The cargo storage and retrieval mechanism according to claim 13, characterized in that: The first blocking member (31) is provided with a receiving groove (311), and the receiving groove (311) is configured to avoid the limiting member (4); wherein, when the first blocking member (31) is in a first extreme position, the limiting member (4) is located in the receiving groove (311).

15. The cargo storage and retrieval mechanism according to claim 13, characterized in that: The cargo storage and retrieval mechanism is configured to include the following special-shaped cargo retrieval states: Along the first direction, the limiting member (4) is located between the first blocking member (31) in the first limit position and the second blocking member (32) in the erected state; Along the second direction, the first blocking member (31) is located between the pair of clamping portions (22); The first blocking member (31), the second blocking member (32) and the pair of clamping portions (22) together form a storage frame (1000) with an opening at the top.

16. The cargo storage and retrieval mechanism according to claim 13, characterized in that: The cargo storage and retrieval mechanism is configured to include the following special-shaped cargo unloading states: Along the first direction, the first blocking member (31) in the first extreme position is located between the limiting member (4) and the second blocking member (32) in a flat state, or the first blocking member (31) in the first extreme position accommodates the limiting member (4) through its own accommodating groove (311); along the second direction, the first blocking member (31) is located between the pair of clamping portions (22); The first blocking member (31) moves along the first direction along with the sliding assembly (21) to push the cargo (400) located on the supporting member (11) out of the supporting member (11).

17. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The cargo storage and retrieval mechanism includes regular cargo retrieval status: The first blocking member (31) is in a second extreme position; and along the first direction, the first blocking member (31) is located on a side of each clamping portion (22) away from the second blocking member (32); in the second direction, the first blocking member (31) is located outside the movement track of the clamping portion (22); The second blocking member (32) is in a flat state, the clamping portion (22) moves along the first direction with the sliding assembly (21) to extend out of the support seat (1), and the clamping portion (22) is retracted in the second direction to clamp the goods (400) located outside the support member (11).

18. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The cargo storage and retrieval mechanism includes regular cargo unloading status: The first blocking member (31) is in a second extreme position; and along the first direction, the first blocking member (31) is located on a side of each clamping portion (22) away from the second blocking member (32); in the second direction, the first blocking member (31) is located outside the movement track of the clamping portion (22); The second blocking member (32) is in a flat state; the clamping portion (22) is folded in the second direction to clamp the goods (400) located on the support member (11); the clamping portion (22) moves along the first direction with the sliding component (21) to extend out of the support seat (1) to send the clamped goods (400) out of the support member (11).

19. The cargo storage and retrieval mechanism according to claim 1, characterized in that: The cargo storage and retrieval mechanism includes regular cargo unloading status: The first blocking member (31) is in a first extreme position; along the first direction, the first blocking member (31) is located between the limiting member (4) and the second blocking member (32) in a flat state, and the first blocking member (31) is located between a pair of the clamping portions (22); The first blocking member (31) moves along the first direction along with the sliding assembly (21) to push the cargo (400) located on the supporting member (11) out of the supporting member (11).

20. The cargo storage and retrieval mechanism according to claim 16, 18 or 19, characterized in that: The cargo storage and retrieval mechanism is configured to cooperate with a packing machine (200), the packing machine (200) is located downstream of the cargo storage and retrieval mechanism, and the packing machine (200) is configured to receive the cargo (400) delivered from the support member (11) and pack the cargo (400).

21. A cargo storage and retrieval robot, characterized in that: include: Support arm (5); as well as The cargo storage and retrieval mechanism according to any one of claims 1 to 20 is rotatably mounted on the supporting arm (5).

22. The cargo storage and retrieval robot according to claim 21, characterized in that: Also includes: a fifth driving unit (6), mounted on the supporting arm (5); and The fifth transmission mechanism (7) is drivingly connected to the fifth driving part (6), and the fifth transmission mechanism (7) is fixedly connected to the cargo storage and retrieval mechanism, so that the cargo storage and retrieval mechanism rotates under the drive of the fifth driving part (6).

23. The cargo storage and retrieval robot according to claim 22, characterized in that: The fifth transmission mechanism (7) comprises: A third gear (71) is fixedly connected to the power output shaft of the fifth driving unit (6); the third gear (71) is mounted on the supporting arm (5); and The fourth gear (72) is mounted on the bottom of the support seat (1) and meshes with the third gear (71).

24. The cargo storage and retrieval robot according to claim 21, characterized in that: Also includes: Support column (8); a sixth driving unit (9), mounted on the supporting column (8); and The sixth transmission mechanism (10) is drivingly connected to the sixth driving part (9), and the sixth transmission mechanism (10) is fixedly connected to the supporting arm (5), so that the cargo storage and retrieval mechanism moves along the supporting column (8) under the drive of the sixth driving part (9).

25. The cargo storage and retrieval robot according to claim 24, characterized in that: The sixth transmission mechanism (10) comprises: A first synchronous wheel (101) is mounted on one end of the support column (8); the first synchronous wheel (101) is fixedly connected to the power output shaft of the sixth driving part (9); A second synchronous wheel (102) is mounted on the other end of the support column (8); A synchronous belt is tensioned by the first synchronous wheel (101) and the second synchronous wheel (102); the cargo storage and retrieval mechanism is installed on the synchronous belt so as to rise and fall with the rotation of the synchronous belt; A second guide rail (104) mounted on the support column (8); and The third guide portion is slidably mounted on the second guide rail, and the cargo storage and retrieval mechanism is fixedly mounted on the third guide portion.

26. The cargo storage and retrieval robot according to claim 24, characterized in that: Also includes: A walking mechanism (12) is installed on the support column (8) to enable the support column (8) to move inside the medicine storage cabinet (100).

27. A cargo storage and retrieval system, characterized in that: Including the cargo storage and retrieval robot described in any one of claims 21 to 26.

28. The cargo storage and retrieval system according to claim 27, characterized in that: Also includes: The medicine storage cabinet (100) comprises a first storage area (1001) and a second storage area (1002), wherein the first storage area (1001) is configured to use the cargo storage and retrieval robot to grip and store cargo; and the second storage area (1002) is configured to deliver cargo (400) to the cargo storage and retrieval robot.

29. The cargo storage and retrieval system according to claim 28, characterized in that: Also includes: A packing machine (200) is located downstream of the medicine storage cabinet (100) to pack the goods (400) taken out from the medicine storage cabinet (100) by the goods retrieval robot.

30. The cargo storage and retrieval system according to claim 29, characterized in that: Also includes: The express cabinet (300) is located downstream of the packing machine (200) to store the goods (400) packed by the packing machine (200).

31. A method for picking up and unloading goods, characterized in that: The following steps are involved: Determine whether the cargo storage and retrieval system according to any one of claims 27 to 30 is to pick up cargo or unload cargo; If the cargo storage and retrieval system is to retrieve cargo, it is determined whether the shape of the cargo (400) to be retrieved is a regular shape; If the shape of the cargo (400) is a regular shape, adjusting the cargo storage and retrieval mechanism to a regular cargo retrieval state; The clamping mechanism (2) of the cargo storage and retrieval system is extended to clamp the cargo (400).

32. The method for picking up and unloading goods according to claim 31, characterized in that: The following steps are also included: If the shape of the cargo (400) is irregular, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a state for picking up irregular-shaped cargo; The goods (400) are placed into a goods storage frame (1000) formed by a goods storage and retrieval mechanism of the goods storage and retrieval system.

33. The method for picking up and unloading goods according to claim 31, characterized in that: The following steps are also included: If the cargo storage and retrieval system is to unload cargo, it is determined whether the shape of the cargo (400) to be retrieved is a regular shape; If the shape of the cargo (400) is a regular shape, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a regular cargo unloading state; The cargo (400) is pushed out of the support member (11) of the cargo storage and retrieval mechanism or the cargo (400) is clamped out of the support member (11).

34. The method for picking up and unloading goods according to claim 31, characterized in that: The following steps are also included: If the shape of the cargo (400) is irregular, adjusting the cargo storage and retrieval mechanism of the cargo storage and retrieval system to a state for unloading the irregular-shaped cargo; The cargo (400) is pushed out from the support member (11) of the cargo storage and retrieval mechanism.

35. The method for picking up and unloading goods according to claim 33 or 34, characterized in that: The following steps are also included: The packing machine (200) packs the goods (400) delivered from the supporting member (11) of the goods storage and retrieval mechanism.

36. A cargo storage and retrieval device, characterized in that: include: Memory; and A processor coupled to the memory, wherein the processor is configured to execute the method for picking up and unloading goods according to any one of claims 31 to 35 based on instructions stored in the memory.

37. A computer-readable storage medium, characterized in that: A computer program is stored thereon, which, when executed by a processor, implements the method for picking up and unloading goods as described in any one of claims 31 to 35.

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