Cargo access mechanism, cargo access robot, system, method, device, and medium

Abstract

The application discloses a kind of goods storage and taking mechanism, goods storage and taking robot, system, method, device and medium, it is related to automatic storage and taking goods field, to meet the storage and taking demand of a variety of different shape goods.Goods storage and taking mechanism includes support seat, clamping mechanism and blocking mechanism.Support seat includes support piece;Clamping mechanism includes sliding assembly and the clamping part of pair arrangement, sliding assembly is slidably installed in support piece along first direction, and clamping part is movably installed in sliding assembly along second direction.Blocking mechanism includes second blocking piece and first blocking piece, second blocking piece is installed in support piece, and first blocking piece is movably installed in sliding assembly along third direction;Wherein, first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction.The above-mentioned goods storage and taking mechanism can be suitable for regular shape goods and irregular shape goods, mode is more, and function is more rich.

Description

Technical Field

[0001] This invention relates to the field of automated cargo storage and retrieval, and more specifically to a cargo storage and retrieval mechanism, cargo storage and retrieval robot, system, method, apparatus, and medium. Background Technology

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

[0003] The inventors discovered that the existing technology has at least the following problems: the variety of medicines is becoming increasingly diverse, and some medicines are not in the conventional rectangular shape, so the dispensing machine cannot dispense irregularly shaped medicines. Summary of the Invention

[0004] This invention proposes a cargo storage and retrieval mechanism, cargo storage and retrieval robot, system, method, apparatus, and medium to meet the storage and retrieval needs of various cargoes of different shapes.

[0005] This invention provides a cargo storage and retrieval mechanism, comprising:

[0006] Support base, including support components;

[0007] A clamping mechanism includes a sliding assembly and a pair of clamping portions arranged together. The sliding assembly is slidably mounted on the support member along a first direction, and the clamping portions are movably mounted on the sliding assembly along a second direction.

[0008] A blocking mechanism includes a second blocking member and a first blocking member, the second blocking member being mounted on the support member, and the first blocking member being movably mounted on the sliding assembly along a third direction;

[0009] 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.

[0010] In some embodiments, the sliding component includes:

[0011] The frame includes a first column, a second column, and a connecting column; the first column and the second column are distributed separately, 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 slidably holds one end of the support member in a second direction, and the second column slidably holds the other end of the support member in the second direction; and

[0012] The first drive unit is installed in one of the first column, the second column, and the connecting column;

[0013] First transmission mechanism; and

[0014] The first connecting members are arranged in pairs; each of the first connecting members is driven to the first driving unit via 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 includes:

[0016] The first gear is fixedly connected to the output shaft of the first drive unit;

[0017] A first rack meshes with the first gear; and

[0018] The second rack meshes with the first gear and is 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 includes:

[0021] A pair of first guide portions are fixedly installed on the connecting column, and each of the first guide portions is arranged side by side along the moving direction of the first rack, with the first gear located between a pair of first guide portions;

[0022] In this configuration, one of the first connectors is slidably mounted on one of the first guide portions, and the other first connector is slidably mounted on the other first guide portion; one of the clamping portions is fixedly connected to one of the first connectors, and the other clamping portion is fixedly connected to the other first connector.

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

[0024] A second drive unit is installed on the first column, the second column, or the connecting column; and

[0025] The second transmission mechanism is drivenly connected to the second drive unit to rotate under the drive of the second drive unit;

[0026] The first blocking member is mounted on the second transmission mechanism so that it rotates upward as the second transmission mechanism rotates in a third direction.

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

[0028] The output shaft gear is fixedly connected to the power output shaft of the second drive unit;

[0029] A pair of second gears, one of which meshes with the output shaft gear;

[0030] A pair of half-gears, each half-gear corresponding to and meshing with the second gear, to rotate under the drive of the second gear; and

[0031] A connecting shaft is used to fix the paired half gears together or to fix the two second gears together.

[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 includes:

[0034] The third connecting members are arranged in pairs and are fixedly connected to each of the half gears; 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 in 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 paired clamping portions; 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 located.

[0037] When the first blocking member is in 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 includes:

[0039] The third drive unit is installed at the bottom of the support member; and

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

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

[0042] The first guide rail is fixedly installed on the support base;

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

[0044] The pulley is fixedly connected to the output shaft of the third drive unit;

[0045] A first belt is installed at the bottom of the support base; the first belt meshes with the pulley; the sliding assembly is fixedly connected to the first belt.

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

[0047] A fourth drive unit is mounted on the support member; and

[0048] The fourth transmission mechanism is driven and connected to the fourth drive unit;

[0049] The second blocking member is rotatably mounted on one end of the support member along the first direction, and the fourth driving part is drivenly connected to the second blocking member so that the second blocking member can switch between the following positions: upright state and flat state.

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

[0051] A crank, one end of which is fixedly connected to the power output shaft of the fourth drive 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] The fourth drive unit 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 includes:

[0055] A limiting member is installed on the support member and is located at the end of the support member away from the second blocking member.

[0056] In some embodiments, the first blocking member is provided with a receiving groove, the receiving groove being configured to avoid the limiting member; wherein, when the first blocking member is in a 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 irregular cargo retrieval states:

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

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

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

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

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

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

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

[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 of the clamping portions 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, and the clamping portion retracts in the second direction to clamp the goods located outside the support.

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

[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 of the clamping portions 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 retracts in the second direction to clamp the goods located on the support member; the clamping portion moves along the first direction with the sliding assembly to extend out of the support to deliver the clamped goods outside the support member.

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

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

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

[0071] In some embodiments, the cargo storage and retrieval mechanism is configured to cooperate with a packing machine located downstream of the cargo storage and retrieval mechanism, the packing machine being configured to receive cargo delivered from the support and pack the cargo.

[0072] This invention also provides a cargo storage and retrieval robot, comprising:

[0073] Support arm; and

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

[0075] In some embodiments, the cargo storage robot further includes:

[0076] The fifth drive unit is mounted on the support arm; and

[0077] The fifth transmission mechanism is driven and connected to the fifth drive unit, 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 drive unit.

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

[0079] The third gear is fixedly connected to the power output shaft of the fifth drive unit; the third gear is mounted on the support arm; and

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

[0081] In some embodiments, the cargo storage robot further includes:

[0082] Support column;

[0083] The sixth drive unit is mounted on the support column; and

[0084] A sixth transmission mechanism is driven and connected to the sixth drive unit, and the sixth transmission mechanism is fixedly connected to the support arm, so that the cargo storage and retrieval mechanism moves along the support column under the drive of the sixth drive unit.

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

[0086] The first synchronous pulley is installed at one end of the support column; the first synchronous pulley is fixedly connected to the power output shaft of the sixth drive unit;

[0087] The second synchronous pulley is installed at the other end of the support column;

[0088] A synchronous belt is tensioned by the first synchronous pulley and the second synchronous pulley; the cargo storage and retrieval mechanism is mounted on the synchronous belt to rise and fall as the synchronous belt rotates;

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

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

[0091] In some embodiments, the cargo storage robot further includes:

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

[0093] This invention also provides a cargo storage and retrieval system, including a cargo storage and retrieval robot provided by any of the technical solutions of this invention.

[0094] In some embodiments, the goods storage and retrieval system further includes:

[0095] The medicine storage cabinet includes a first storage area and a second storage area. The first storage area is configured to use the goods storage and retrieval robot to pick up and store goods. The second storage area is configured to deliver goods to the goods storage and retrieval robot.

[0096] In some embodiments, the goods storage and retrieval system further includes:

[0097] A packing machine, located downstream of the medicine storage cabinet, is used to pack the goods retrieved from the medicine storage cabinet by the goods storage robot.

[0098] In some embodiments, the goods storage and retrieval system further includes:

[0099] A parcel locker is located downstream of the packing machine to store goods packed by the packing machine.

[0100] This 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 needs to retrieve or unload cargo;

[0102] If the goods storage and retrieval system needs to retrieve goods, it determines whether the shape of the goods to be retrieved is a regular shape;

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

[0104] The clamping mechanism of the cargo storage and retrieval system extends to clamp the cargo.

[0105] In some embodiments, the picking and unloading method further includes the following steps:

[0106] If the goods are irregularly shaped, the goods storage and retrieval mechanism of the goods storage and retrieval system shall be adjusted to the irregularly shaped goods retrieval state.

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

[0108] In some embodiments, the picking and unloading method further includes the following steps:

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

[0110] If the goods are of a regular shape, the goods storage and retrieval mechanism of the goods storage and retrieval system shall be adjusted to the regular goods unloading state.

[0111] The goods are pushed out of the support of the goods storage and retrieval mechanism or clamped out of the support.

[0112] In some embodiments, the picking and unloading method further includes the following steps:

[0113] If the goods are irregularly shaped, the goods storage and retrieval mechanism of the goods storage and retrieval system shall be adjusted to the unloading state of irregularly shaped goods.

[0114] The goods are pushed out from the support of the goods storage and retrieval mechanism.

[0115] In some embodiments, the picking and unloading method further includes the following steps:

[0116] The packing machine packs the goods delivered from the support of the goods storage and retrieval mechanism.

[0117] This invention also provides a cargo storage and retrieval device, comprising:

[0118] Memory; and

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

[0120] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the picking and unloading method provided by any of the technical solutions of this 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 pharmaceuticals and goods of similar size. For regularly shaped goods, a clamping part is used to grip them; for irregularly shaped goods, a storage frame with an open top is formed, allowing the irregularly shaped goods to be directly pushed into the storage frame for retrieval. Furthermore, because the storage frame is surrounded by barriers, irregularly shaped goods can be securely placed on the support, preventing them from falling and ensuring reliable retrieval operations. Similarly, when storing goods, the clamping part can be used to grip regularly shaped goods for retrieval. Therefore, the above cargo storage and retrieval mechanism is applicable to both regularly shaped and irregularly shaped goods, offering multiple working modes and richer functionality. Attached Figure Description

[0122] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

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

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

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

[0126] Figure 4 This is a three-dimensional structural diagram of the sliding component of the cargo storage and retrieval mechanism provided in an embodiment of the present invention.

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

[0129] Figure 7 This is a schematic diagram of a cargo storage and retrieval mechanism according to an embodiment of the present invention gripping a cargo.

[0130] Figure 8 This is a schematic diagram of a cargo storage and retrieval mechanism for gripping multiple goods, as provided in an embodiment of the present invention.

[0131] Figure 9 This is a three-dimensional structural diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention.

[0132] Figure 10 This is another three-dimensional structural diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention.

[0133] Figure 11 This is a three-dimensional structural diagram of a cargo storage and retrieval system provided in an embodiment of the present invention.

[0134] Figure 12 This is another three-dimensional structural diagram of the cargo storage and retrieval system provided in an embodiment of the present invention.

[0135] Figure 13 This is another three-dimensional structural diagram of the cargo storage and retrieval system provided in an embodiment of the present invention.

[0136] Figure 14 This is 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] Figure 15 This is a schematic diagram of the picking and unloading method provided in an embodiment of the present invention.

[0138] Figure label:

[0139] 100. Medicine storage cabinets; 200. Packaging machines; 300. Express delivery lockers; 400. Goods; 500. Goods storage and retrieval robots;

[0140] 1. Support base; 2. Clamping mechanism; 3. Blocking mechanism; 4. Limiting component; 5. Support arm; 6. Fifth drive unit; 7. Fifth transmission mechanism; 8. Support column; 9. Sixth drive unit; 10. Sixth transmission mechanism; 12. Traveling mechanism;

[0141] 11. Support components;

[0142] 21. Sliding assembly; 22. Clamping part; 23. Third drive part; 24. Third transmission mechanism;

[0143] 211. Frame; 2121. First drive unit; 2122. First transmission mechanism; 2123. First connecting member;

[0144] 2111, First column; 2112, Second column; 2113, Connecting column;

[0145] 2122a, First gear; 2122b, First rack; 2122c, Second rack; 2122d, First guide section;

[0146] 240. First guide rail; 241. Second guide section; 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 piece;

[0149] 360. Connecting rod; 361. Crank;

[0150] 71. The third gear; 72. The fourth gear;

[0151] 101. First synchronous pulley; 102. Second synchronous pulley; 103. Synchronous belt; 104. Third guide section;

[0152] 1001, First storage area; 1002, Second storage area; 1003, Tracked cargo channel; 1003a, Conveyor belt; 1003b, Partition. Detailed Implementation

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

[0154] The terms “first,” “second,” and similar words used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. Words such as “including” or “contains” mean that the element preceding the word covers the element listed after the word, and do not exclude the possibility of covering other elements as well.

[0155] In this disclosure, when a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or 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 intermediary device, or it may be not directly connected to the other devices but have an intermediary device.

[0156] All terms used in this disclosure, including technical or scientific terms, have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0157] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment shall be considered part of the specification.

[0158] The dimensions of the various parts shown in the accompanying drawings are not drawn to actual scale. Common structural elements or elements of the same kind are given the same reference numerals in the various drawings, and repeated descriptions of them are omitted where appropriate.

[0159] For ease of explanation, please refer to the following description of specific embodiments. 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 movement 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 first blocking member 31 can move linearly or rotate. In this embodiment, the rotation of the first blocking member 31 is described as an example.

[0160] The cargo storage and retrieval mechanism provided in this embodiment of the invention can be used to store and retrieve cargo 400 or similar items of various shapes, such as: bagged medicine, rectangular cargo 400, irregularly shaped cargo 400, etc. In the various embodiments described herein, cargo 400 is used as the storage and retrieval object. In this document, regularly shaped cargo 400 refers to regularly shaped cargo 400 such as rectangular prisms or cylinders. Irregularly shaped cargo 400 refers to cargo 400 in the shape of bagged medicine, toothpaste tubes, etc.

[0161] Figure 1 This is a three-dimensional structural diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 2 This is a three-dimensional structural diagram of another cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 3 This is another three-dimensional structural schematic diagram of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 4 This is a three-dimensional structural diagram of the sliding component of the cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 6 Another schematic diagram of a cargo storage and retrieval mechanism provided in an embodiment of the present invention. Figure 7This is a schematic diagram of a cargo storage and retrieval mechanism for a specific embodiment of the present invention, which grips a cargo 400. Figure 8 This is a schematic diagram of a cargo storage and retrieval mechanism for gripping multiple goods 400, as provided in an embodiment of the present invention.

[0162] See Figures 1 to 3 This invention provides a cargo storage and retrieval mechanism, including a support base 1, a clamping mechanism 2, and a blocking mechanism 3. The support base 1 includes a support member 11. The clamping mechanism 2 includes a sliding assembly 21 and paired clamping portions 22. The sliding assembly 21 is slidably mounted on the support member 11 along a first direction, and the clamping portions 22 are movably mounted on the sliding assembly 21 along a second direction. The blocking mechanism 3 includes 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 and second directions are located in a horizontal plane and intersect, while the third direction is different from both the first and second directions. Specifically, the first direction is the X-direction, and the second direction is the Y-direction.

[0163] The support base 1 is specifically a flat plate. The plate-shaped support member 11 is lightweight, has good load-bearing capacity, and provides a large support area for the cargo 400. Furthermore, the edge of the support base 1 is connected to the sliding assembly 21. The sliding assembly 21 and the clamping part 22 mounted on the sliding assembly 21 can move linearly relative to the support base 1 in a first direction. The moving distance of the sliding assembly 21 is slightly shorter than the length of the support base 1.

[0164] The clamping mechanism 2 has two directions of movement: the first movement is a linear movement along the X direction, which changes the position of the clamping assembly relative to the support base 1, allowing the clamping part 22 of the clamping mechanism 2 to extend outside the support base 1, such as... Figure 5 The positions of the sliding assembly 21 and the clamping part 22 are shown in the diagram. 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 goods 400 located outside the support base 1 can be clamped, such as... Figure 5 The positions of the two clamping parts 22 are shown in the diagram.

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

[0166] The first blocking member 31 has two extreme positions: a first extreme position and a second extreme position. When the first blocking member 31 is in the first extreme position, it abuts against or substantially adheres to the top surface of the support member 11 (in this document, adherence and substantial adherence are both considered as the first blocking member 31 adhering to the top surface of the support member 11). The first blocking member 31 can act as a blockage, preventing the goods 400 placed on the support member 11 from falling off from the side where the first blocking member 31 is located. Simultaneously, 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 paired clamping portions 22, and there can be a gap between the first blocking member 31 and the two clamping portions 22. Since the closing of the two clamping portions 22 is blocked by the first blocking member 31, when the first blocking member 31 is in the first extreme position, the two clamping portions 22 do not perform a closing movement along the second direction.

[0167] When the first blocking member 31 is in the second extreme position, it is lifted. The lifting can occur in several ways: it can be a linear lifting motion or a rotational lifting motion. Some embodiments in this paper use rotational lifting as an example. After being lifted, the first blocking member 31 moves away from the movement trajectory of each clamping part 22, and each clamping part 22 can move along its respective movement trajectory in the second direction. When two clamping parts 22 approach each other, the distance between them decreases, allowing the goods 400 to be clamped. When two clamping parts 22 move away from each other, the distance between them increases, allowing the goods 400 to be released. Figure 5 The double-headed arrow S in the diagram indicates the direction of movement of the two clamping parts 22. The double-headed arrow S is parallel to the second direction, namely the Y direction.

[0168] The second blocking member 32 also has two states: an upright state and a flat state. When the second blocking member 32 is in the upright state, it prevents the goods 400 placed on the support member 11 from falling off the position of the second blocking member 32. When the second blocking member 32 is in the flat state, the goods 400 can be moved from the second blocking member 32 to the support member 11, or it can be pushed out of the support member 11 by the first blocking member 31 from the second blocking member 32.

[0169] See also Figures 1 to 4 Especially Figure 3 and Figure 4In some embodiments, the sliding assembly 21 includes a frame 211, a first driving part 2121, a first transmission mechanism 2122, and a pair of first connecting members 2123. 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 distributed separately, 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 slidably holds one end of the support member 11 in a second direction, and the second column 2112 slidably holds the other end of the support member 11 in a second direction.

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

[0171] See Figures 2 to 4 The first drive unit 2121 is, for example, a motor. The first drive unit 2121 is installed on one of the first column 2111, the second column 2112, and the connecting column 2113. In the embodiments described herein, the first drive unit 2121 is installed on the connecting column 2113 as an example. The first drive unit 2121 is located at the middle position along the length of the connecting column 2113, such as... Figure 4 As shown. The first transmission mechanism 2122 is fixedly connected to the power output shaft of the first drive unit 2121, converting the rotation of the first drive unit 2121 into linear movement of the first connecting member 2123. Each first connecting member 2123 is drivenly connected to the first drive unit 2121 through the first transmission mechanism 2122, so as to move linearly along the second direction under the drive of the first drive unit 2121.

[0172] See also 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 drive unit 2121; the first rack 2122b meshes with the first gear 2122a; the second rack 2122c meshes with the first gear 2122a and is 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 of the second connecting members 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 towards each other, the two first connecting parts 2123 move closer to each other, and the two clamping parts 22 move closer to 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 parts 2123 move away from each other, and the two clamping parts 22 move away from each other. The first connecting part 2123 can specifically be a vertical plate. The top of the first connecting part 2123 is fixedly connected to the first rack 2122b and the second rack 2122c, and the bottom of the first connecting part 2123 is fixedly connected to the clamping part 22. The clamping part 22 and the first connecting part 2123 move synchronously in a linear motion.

[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. The first gear 2122a can drive both the first rack 2122b and the second rack 2122c to move, resulting in a very compact structure and good synchronization.

[0175] See also Figure 3 and Figure 4 To ensure more precise and stable linear movement of the two clamping parts 22, in some embodiments, the first transmission mechanism 2122 further includes a pair of first guide parts 2122d. The first guide parts 2122d are fixedly mounted 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. The first gear 2122a is located between the pair of first guide parts 2122d. Figure 4 Taking the indicated direction as an example, one first guide portion 2122d is located to the left of the first gear 2122a, and the other first guide portion 2122d is located to the right of the first gear 2122a. One first connector 2123 is slidably mounted on one of the first guide portions 2122d, and the other first connector 2123 is slidably mounted on the other first guide portion 2122d. Specifically, the top of the first connector 2123 may be provided with a groove, and the first guide portion 2122d is correspondingly provided with a protrusion. The groove and the protrusion cooperate to guide the linear movement of the first connector 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 moves precisely in a straight line along the Y direction, which also makes the movement of the clamping part 22 along the Y direction more stable and less prone to shaking, and makes the clamping of the goods 400 more stable and reliable.

[0177] The following describes how the clamping mechanism 2 achieves linear movement and how the second blocking member 32 and the first blocking member 31 each achieve state switching.

[0178] The first blocking member 31 is rotated using the second driving unit 33 and the second transmission mechanism 34 to achieve position switching. The clamping mechanism 2 is linearly moved using the third driving unit 23 and the third transmission mechanism 24. The second blocking member 32 is position switched using the fourth driving unit 35 and the fourth transmission mechanism 36.

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

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

[0181] Figure 3 The direction of rotation W of the first blocking member 31 is shown. Figure 3 The schematic state is that the first blocking member 31 is located between a pair of clamping parts 22. In this state, the distance between the two clamping parts 22 is the largest, and the two clamping parts 22 cannot get close due to the obstruction of the first blocking member 31.

[0182] Figure 5 The schematic diagram shows the first blocking member 31 rotating outside the movement trajectory of the two clamping parts 22 along the Y direction. First, lift the first blocking member 31, then reduce the distance between the two clamping parts 22 to achieve the desired result. 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 through the third drive unit 23 and the third transmission mechanism 24, which will be described in detail later. The focus here is on describing the movement of the two clamping parts 22 approaching each other and the state of the first blocking member 31 being raised.

[0183] See Figure 1 , Figure 3 and Figure 5In some embodiments, the second drive unit 33 is specifically, for example, a motor, and is fixed to the connecting column 2113. The second transmission mechanism 34 includes an output shaft gear 340, a pair of second gears 341, a pair of half gears 342, and a connecting shaft 343. The output shaft gear 340 is fixedly connected to the power output shaft of the second drive unit 33. The two second gears 341 are distributed and each of the two second gears 341 is fixedly connected to the first column 2111 and the second column 2112, respectively; or the two second gears 341 are fixedly installed at different positions on the connecting column 2113. One of the second gears 341 meshes with the output shaft gear 340. The second gear 341 rotates with the power output shaft of the second drive unit 33 via the output shaft gear 340. The connecting shaft 343 fixes the pairs of half gears 342, or the connecting shaft 343 fixes the two second gears 341. One of the half gears 342 meshes 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] Due to the first blocking element 31 (such as Figure 3 As shown, the first blocking member 31 does not need to rotate; it only needs to move to be in contact with the support member 11 and away from the movement trajectory of the two clamping parts 22 in the Y direction. Therefore, the rotation requirement of the first blocking member 31 can be met by using a half gear 342. When the first blocking member 31 is in contact 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 Figure 3 To facilitate the connection between the half gear 342 and the first blocking member 31, in some embodiments, the second transmission mechanism 34 further includes paired third connecting members 344, which correspond one-to-one with and are fixedly connected to the half gears 342. Each half gear 342 is fixedly connected to one third connecting member 344, specifically by bolt connection. The third connecting member 344 is, for example, an L-shaped plate. Each half gear 342 has a first screw hole on its end face, and the third connecting member 344 has a corresponding second screw hole. The fixed connection between the half gear 342 and the third connecting member 344 is achieved by passing bolts through the first and second screw holes. 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. When rotating, the first blocking member 31 rotates around the central axis of the half gear 342. Both ends of the first blocking member 31 have fixed positions, making the rotation more reliable.

[0186] See also Figures 1 to 5The 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 drive unit 23 and a third transmission mechanism 24. The third drive unit 23 is, for example, a motor. Figure 2 As shown, the third drive unit 23 is fixedly mounted on the bottom of the support member 11 and located at the end of the support member 11 where the second blocking member 32 is not provided. The third transmission mechanism 24 is drivenly connected to the third drive unit 23 and fixedly connected to the sliding assembly 21. The sliding assembly 21 is configured to move linearly along a first direction under the drive of the third drive unit 23 and the third transmission mechanism 24.

[0188] The third transmission mechanism 24 can be implemented in various ways, such as by using a linear guide mechanism, belt, chain, etc., to convert the rotation of the third drive unit 23 into the linear motion of the sliding component 21.

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

[0190] See also Figure 2 To ensure more precise, stable, and wobbly movement of the clamping mechanism 2 relative to the support member 11, 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 base 1. There can be two first guide rails 240, distributed on both sides of the support base 1. The second guide portion 241 corresponds one-to-one with the first guide rail 240 and is slidably installed on the first guide rail 240. A sliding component 21 is fixedly installed on the second guide portion 241. The second guide portion 241 is specifically a slider, moving along the length direction (along the X direction) of the first guide rail 240. The pulley 242 is fixedly connected to the output shaft of the third drive unit 23. The first belt 243 is installed at the bottom of the support base 1; the first belt 243 meshes with the pulley 242; the sliding component 21 is fixedly connected to the first belt 243.

[0191] When the third drive unit 23 rotates, it drives the pulley 242 to rotate synchronously, and the first belt 243, which meshes with the pulley 242, rotates accordingly. Since the sliding component 21 is fixedly connected to the first belt 243, the sliding component 21 moves linearly as the first belt 243 rotates. Because the sliding component 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 component 21 moves linearly along the first guide rail 240, that is, it moves linearly in the X direction. This realizes the extension and retraction of the sliding component 21 relative to the support member 11.

[0192] See Figures 1 to 6 The following describes how the second blocking element 32 achieves position switching.

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

[0194] Figures 1 to 3 This diagram illustrates the second blocking member 32 in a flat position. Figure 6 This diagram illustrates the second blocking member 32 in an upright position. The upright position can also be referred to as the raised position.

[0195] The fourth drive unit 35 can specifically be a motor. The fourth transmission mechanism 36 converts the rotation of the fourth drive unit 35 into the rotation of the second blocking member 32. The fourth transmission mechanism 36 can be implemented in various ways, such as using gear drive, crank-connecting rod mechanism, etc.

[0196] See 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 drive unit 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 drive unit 35 is located at the bottom of the support member 11, and the crank 361 and connecting rod 360 are also located at the bottom of the support member 11.

[0197] When the fourth drive unit 35 rotates, the other end of the crank 361 is lifted, and the second blocking member 32, which is 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. The second blocking member 32 is lifted, and the lifted second blocking member 32 is as follows: Figure 6As shown. After the second blocking member 32 is raised, the second blocking member 32 can play a blocking role, and the goods 400 located on the support member 11 are not easy to fall off.

[0198] See also Figure 3 In some embodiments, the cargo storage and retrieval mechanism further includes a limiting member 4, which is specifically, for example, a block structure. The limiting member 4 is installed on the top surface of the support member 11, and the limiting member 4 is located at the end of the support member 11 away from the second blocking member 32.

[0199] See also Figure 3 In some embodiments, the first blocking member 31 is provided with a receiving groove 311, which is configured to avoid the limiting member 4. Specifically, when the first blocking member 31 is in the first extreme position, the limiting member 4 is located in the receiving groove 311, i.e. Figure 3 The situation as indicated.

[0200] The previous section described the two extreme positions of the first blocking member 31: the first extreme position and the second extreme position. The second blocking member 32 has two states: an upright state and a flat state. Together with the limiting member 4 mentioned here, the entire cargo storage and retrieval mechanism can achieve multiple working states.

[0201] Depending on whether cargo 400 is moving onto the cargo storage and retrieval mechanism (i.e., a retrieval operation) or being moved out of the mechanism, the cargo storage and retrieval mechanism can be categorized into two states: retrieval status and unloading status. Depending on whether cargo 400 is regular cargo or irregularly shaped cargo (also known as irregular cargo), the cargo storage and retrieval mechanism has four states: regular cargo retrieval status, regular cargo unloading status, irregularly shaped cargo retrieval status, and irregularly shaped cargo unloading status.

[0202] The regular cargo retrieval state refers to the transfer of regularly shaped cargo 400 from outside the cargo storage and retrieval mechanism onto the mechanism. In this state, the first blocking member 31 is not functional; it is in its second extreme position, raised to avoid the clamping part 22, allowing it to clamp the cargo 400 when retracted along the second direction. Along the first direction, the first blocking member 31 is located on the side of each clamping part 22 away from the second blocking member 32. In the second direction, the first blocking member 31 is outside the movement trajectory of the clamping part 22, allowing it to freely retract and close. With the second blocking member 32 in a flat position, the clamping part 22 moves along the first direction with the sliding assembly 21 to extend from the support base 1, and then retracts in the second direction to clamp the cargo 400 located outside the support member 11.

[0203] In the regular goods retrieval state, the operation process is as follows: The clamping part 22 moves along the sliding component 21 in the first direction to extend the support member 11; then, the clamping part 22 retracts along the second direction to clamp the target goods 400. Subsequently, the clamping part 22 retracts along the sliding component 21 along the first direction to the support member 11, thus bringing the goods 400 onto the support member 11. Next, the clamping part 22 opens along the second direction to release the goods 400, which remains on the support member 11. Repeating the above actions allows the retrieval of the next goods 400. As the next goods 400 retracts along the first direction with the clamping part 22, if it encounters the previous goods 400, it will push the previous goods 400 further back along the first direction. That is to say, after each goods 400 is retrieved, the retrieved goods 400 does not need to be placed at the innermost side of the support member 11; the next goods 400 will automatically push the previous goods 400 back.

[0204] The regular cargo unloading state refers to the movement of regularly shaped cargo 400 from above the cargo storage and retrieval mechanism to outside the mechanism. In this state, if there is only one cargo 400, it can be unloaded by clamping or pushing with the first blocking member 31. If there are multiple cargoes 400, all cargoes 400 can be pushed out of the support member 11 at once using the first blocking member 31.

[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. And along the first direction, the first blocking member 31 is located on the side of each clamping part 22 away from the second blocking member 32; in the second direction, the first blocking member 31 is outside the movement trajectory of the clamping part 22; the second blocking member 32 is in a flat state; the clamping part 22 retracts in the second direction to clamp the goods 400 located on the support member 11; the clamping part 22 moves along the first direction with the sliding assembly 21 to extend out of the support base 1, so as to deliver the clamped goods 400 outside the support member 11.

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

[0207] In the case where unloading is achieved by pushing out: the first blocking member 31 is in the first extreme position. 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 the flattened 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 parts 22 do 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] For unloading via a push-out method, the specific operation is as follows: The clamping part 22 does not need to move in the second direction. The first blocking member 31 is adjusted to its first extreme position, avoiding the limiting 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. This operation can push out all the goods 400 on the support member 11 at once. Alternatively, only a portion of the goods 400 on the support member 11 can be pushed out as needed, depending on when the first blocking member 31 is adjusted to its first extreme position.

[0209] The irregularly shaped cargo retrieval state refers to the movement of irregularly shaped cargo 400 from outside the cargo storage and retrieval mechanism onto the mechanism. In this state, the first blocking member 31 is in its first extreme position, and the second blocking member 32 is in an upright position. Viewed along the first direction, the limiting member 4 is located between the first blocking member 31 in its first extreme position and the second blocking member 32 in its upright position. Viewed from the second direction, the first blocking member 31 is positioned between a pair of clamping parts 22. This forms a top-opening storage frame 1000 between the first blocking member 31, the second blocking member 32, and the pair of clamping parts 22. The irregularly shaped cargo 400, stored in the second storage area 1002 of the medicine cabinet 100, is transported to the end by the conveyor belt 1003 (described later). Then, under its own weight, the cargo 400 falls into the top-opening storage frame 1000, thus realizing the retrieval operation of the irregularly shaped cargo 400.

[0210] In the case of retrieving irregularly shaped goods, the operation process is as follows: Adjust the first blocking member 31 to the first extreme position and adjust the second blocking member 32 to the upright position. After the first blocking member 31, the second blocking member 32, and the pair of clamping parts 22 form a storage frame 1000 with a top opening, move the entire goods storage and retrieval mechanism to the position where the goods are placed on the corresponding track conveyor 1003. The goods 400 are transported to the end edge of the track conveyor 1003 using the track conveyor 1003, and the goods 400 fall into the storage frame 1000 under the action of inertia and their own gravity. Of course, the entire goods storage and retrieval mechanism can also be moved to the position where the goods are placed on the corresponding track conveyor 1003 first, and then adjusted to form the storage frame 1000.

[0211] The unloading state of irregularly shaped goods refers to the movement of irregularly shaped goods 400 from above the goods storage and retrieval mechanism to outside the mechanism. The unloading state of irregularly shaped goods is the same as the unloading operation of regular goods by pushing. In the unloading state of irregularly shaped goods, 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 flattened state. Alternatively, the first blocking member 31 in the first extreme position accommodates the limiting member 4 through its own receiving groove 311, and the first blocking member 31 and the limiting member 4 are connected, i.e. Figure 3 The situation as indicated.

[0212] In the unloading state of irregularly shaped goods, in the second direction, the first blocking member 31 is located between a 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.

[0213] When unloading irregularly shaped goods, the operation process is as follows: The clamping part 22 does not need to move in the second direction. The first blocking member 31 is adjusted to the first limit position and avoids the limiting 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 once. It is also possible to push out only part of the goods 400 on the support member 11 as needed.

[0214] For both regular and irregularly shaped goods unloading states, 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 retrieval operation of regularly shaped cargo 400, the clamping part 22 can be used to clamp it; for the unloading operation of a single regularly shaped cargo 400, the clamping part 22 can also be used to clamp it; for multiple regularly shaped cargo 400, the first blocking member 31 can be used to push all the cargo 400 out, resulting in high unloading efficiency. For irregularly shaped cargo 400, the cargo storage and retrieval mechanism forms a storage frame 1000 with an open top, and the irregularly shaped cargo 400 is moved into the storage frame 1000 directly by external force (specifically, for example, the tracked cargo channel 1003) to achieve retrieval. Furthermore, since the storage frame 1000 is blocked on all four sides, the irregularly shaped cargo 400 can also be firmly placed on the support member 11, and cargo 400 of any shape is not easy to fall off, making it very reliable. As can be seen, the above-mentioned cargo storage and retrieval mechanism can be applied to both regular and irregular shaped cargo 400, and can realize both picking and unloading operations. The cargo storage and retrieval mechanism has multiple working modes and richer functions.

[0216] See Figure 7 and Figure 8 When the clamping part 22 clamps the next item 400, the previous item 400 is pushed to the end of the support member 11 away from the second blocking member 32 by the push of the next clamped item 400. When there are enough items 400 on the support member 11, without the blocking effect of the limiting member 4, the items 400 may be pushed off the other end of the support member 11. On the other hand, since the first blocking member 31 is swinging, if the item 400 is located in the swing path of the first blocking member 31, then the first blocking member 31 will not be able to swing normally and will not be able to achieve normal position switching. Therefore, setting the limiting member 4 can avoid the above situation. Multiple limiting members 4 can be set, and multiple limiting members 4 are distributed along the Y direction to better limit the extreme position of the item 400 on the support member 11.

[0217] Figure 9 This is a three-dimensional structural diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention. Figure 10 This is another three-dimensional structural diagram of the cargo storage and retrieval robot provided in an embodiment of the present invention.

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

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

[0220] See Figure 2 , Figure 9 and Figure 10 In some embodiments, the cargo storage and retrieval robot further includes a fifth drive unit 6 and a fifth transmission mechanism 7. The fifth drive unit 6 is mounted on the support arm 5; the fifth transmission mechanism 7 is drivenly connected to the fifth drive unit 6 and 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 drive unit 6.

[0221] The fifth drive unit 6 is, for example, a motor, and the fifth transmission mechanism 7 converts the rotation of the motor into the rotation of the goods storage and retrieval mechanism. The fifth transmission mechanism 7 can be implemented in various ways, such as using a gear mechanism or a rotary table.

[0222] See also Figure 2 , Figure 9 and Figure 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 drive unit 6; the third gear 71 is mounted on the support arm 5; the fourth gear 72 is mounted on the bottom of the support base 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. Furthermore, the fifth transmission mechanism 7 uses gear meshing to achieve rotation, which can precisely control the rotation angle and rotation timing.

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

[0225] If the support column 8 is a vertical track, the cargo storage and retrieval mechanism can move along the support column 8, thus realizing the lifting and lowering of the cargo storage and retrieval mechanism.

[0226] In some embodiments, the sixth transmission mechanism 10 includes a first synchronous pulley 101, a second synchronous pulley 102, a synchronous belt (not shown), a second guide rail 104, and a third guide portion (not shown). The first synchronous pulley 101 is mounted on one end of the support column 8; the first synchronous pulley 101 is fixedly connected to the power output shaft of the sixth drive unit 9; the second synchronous pulley 102 is mounted on the other end of the support column 8. The synchronous belt is tensioned by the first synchronous pulley 101 and the second synchronous pulley 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 motion of the cargo storage and retrieval mechanism is achieved through the first synchronous pulley 101, the second synchronous pulley 102, and the synchronous belt, while the lifting and lowering motion of the cargo storage and retrieval mechanism is made smoother through the second guide rail 104 and the third guide section.

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

[0229] The goods storage and retrieval robot is installed inside the medicine storage cabinet 100, which is equipped with a walking track. The entire goods storage and retrieval robot can move along the walking track, for example, a horizontal track.

[0230] Figure 11 This is a three-dimensional structural diagram of a cargo storage and retrieval system provided in an embodiment of the present invention. Figure 12 This is another three-dimensional structural diagram of the cargo storage and retrieval system provided in an embodiment of the present invention. Figure 13 This is another three-dimensional structural diagram of the cargo storage and retrieval system provided in an embodiment of the present invention.

[0231] See Figures 11 to 14 The present invention also provides a cargo storage and retrieval system, including a cargo storage and retrieval robot provided by any of the technical solutions of the present invention.

[0232] In some embodiments, the goods storage and retrieval system further 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 goods storage and retrieval robot to pick up goods 400 in order to realize storage and retrieval of goods. The second storage area 1002 is configured to deliver goods 400 to the goods storage and retrieval robot.

[0233] The first storage area 1001 is used to store goods 400 with regular shapes, and the second storage area 1002 is used to store goods 400 with irregular shapes. The first storage area 1001 adopts a shelf-type storage structure. The second storage area 1002 uses active conveyor channels, tracked conveyor channels, etc. to realize the transportation of goods 400. Goods are directly stored on the active conveyor channels and tracked conveyor channels 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 by the active conveyor channels and tracked conveyor channels.

[0234] Figure 14 The diagram illustrates the structure of the tracked cargo channel 1003. The tracked cargo channel 1003 includes one or more sets of conveyor belts 1003a, each set comprising one or more conveyor belts. The conveyor belts 1003a are arranged side-by-side and parallel to each other. Each set of conveyor belts 1003a is driven independently, without interference and operating independently. Adjacent sets of conveyor belts 1003a are separated by partitions 1003b to facilitate the storage of irregularly shaped goods 400. When replenishment is needed on the tracked cargo channel 1003, the irregularly shaped goods 400 are manually placed onto the conveyor belts 1003a. When the cargo retrieval robot needs to retrieve goods from the second storage area 1002, it activates the conveyor belt 1003a containing the desired goods. The conveyor belt 1003a transports the irregularly shaped goods 400 to its end, where they fall into the storage frame 1000 enclosed by the retrieval robot. Because the storage box 1000 is surrounded by barriers, the irregularly shaped goods 400 can stay securely inside the storage box 1000 and are not likely to fall out.

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

[0236] See also Figures 11 to 13 In some embodiments, the cargo storage and retrieval system also includes a packing machine 200, located downstream of the medicine cabinet 100, to pack the cargo 400 retrieved from the medicine cabinet 100 by the cargo storage and retrieval robot.

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

[0238] In some embodiments, the goods storage and retrieval system further includes a parcel locker 300, which is located downstream of the packing machine 200 to store the goods 400 packed by the packing machine 200.

[0239] Specifically, considering the four states of the cargo storage and retrieval mechanism mentioned above (regular cargo retrieval state, regular cargo unloading state, irregular cargo retrieval state, and irregular cargo unloading state), and based on the cooperation relationship between the cargo storage and retrieval mechanism and the medicine storage cabinet 100, taking the cargo storage and retrieval mechanism as the main object of description, then:

[0240] The regular cargo retrieval status refers to the cargo 400 being retrieved from the first storage area 1001 by the cargo retrieval mechanism and placed on the support component 11 of the cargo retrieval mechanism.

[0241] The regular cargo unloading state refers to the cargo 400 being pushed off or clamped off the support member 11 by the cargo storage and retrieval mechanism. The delivered cargo 400 can be placed to the downstream packing machine 200 for automatic packing.

[0242] The irregular cargo retrieval status refers to the cargo 400 being actively transported out of the second storage area 1002 and falling into the storage frame 1000 formed by the cargo storage and retrieval mechanism.

[0243] The unloading state of irregularly shaped goods refers to the situation where goods 400 are pushed off the support member 11 by the goods storage and retrieval mechanism. The delivered goods 400 can be put into the downstream packing machine 200 for automatic packing.

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

[0245] The first method involves storing the regular goods 400 in the first storage area 1001 of the medicine storage cabinet 100. Specifically, the goods storage and retrieval robot retrieves the goods 400 from the dispensing machine, and the gripping part 22 of the goods storage and retrieval mechanism grips the goods 400 from the dispensing machine. The gripped goods 400 are then placed on the support member 11 of the goods storage and retrieval mechanism. The goods storage and retrieval robot then moves the goods storage and retrieval mechanism to the target storage location in the first storage area 1001 of the medicine storage cabinet 100. The gripping part 22 of the goods storage and retrieval mechanism then removes the goods 400 from the support member 11 and places it in the target storage location in the first storage area 1001.

[0246] The second method involves retrieving the regular goods 400 from the first storage area 1001 of the medicine cabinet 100. First, the first blocking member 31 of the goods storage and retrieval mechanism is adjusted to the second extreme position. The clamping part 22 extends to the target storage location in the first storage area 1001 of the medicine cabinet 100. The clamping part 22 then retracts to retrieve the goods 400 from the target storage location in the first storage area 1001. After retrieval, the goods 400 are conveyed to the support member 11 of the goods storage and retrieval mechanism as the clamping part 22 moves along the first direction. The goods 400 retrieved from the medicine cabinet 100 are subsequently sent to the packing machine 200 (described later). The packing machine 200 packs the goods 400 and then conveys them to the express delivery locker 300 (described later).

[0247] The third method involves storing the irregularly shaped goods 400 in the second storage area 1002 of the medicine storage cabinet 100. Specifically, the irregularly shaped goods 400 are placed into the second storage area 1002 of the medicine storage cabinet 100 manually.

[0248] The fourth method involves retrieving the irregularly shaped goods 400 from the second storage area 1002 of the medicine cabinet 100. First, the goods retrieval mechanism is adjusted to the irregularly shaped goods retrieval state. Then, the conveyor belt corresponding to the target goods in the second storage area 1002 is activated. The conveyor belt transports the goods 400 from the second storage area 1002 of the medicine cabinet 100. Then, under its own gravity, the goods 400 falls into the storage frame 1000 of the goods retrieval mechanism. The retrieved goods 400 are then transported to the packing machine 200 along with the goods retrieval mechanism. The goods retrieval mechanism then switches to the irregularly shaped goods unloading state, and the first blocking member 31 pushes the irregularly shaped goods 400 into the packing machine 200. The packed goods 400 are then transported to the express locker 300 for storage.

[0249] The above technical solution enables the automatic storage of goods in the express locker after packaging (400 items) into the locker (300 items). The goods storage and retrieval system has a high degree of intelligence and high work efficiency.

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

[0251] Step S100: Determine whether the goods storage and retrieval system needs to retrieve or unload goods.

[0252] The cargo storage and retrieval robot in the cargo storage and retrieval system determines whether to perform a retrieval operation or a storage operation based on the received instructions.

[0253] In step S200, if the goods storage and retrieval system needs to retrieve goods, it determines whether the shape of the goods 400 to be retrieved is a regular shape.

[0254] Regularly shaped goods 400 are stored in the first storage area 1001, while irregularly shaped goods 400 are stored in the second storage area 1002. Different retrieval operations are required for goods 400 of different shapes.

[0255] In step S300, if the shape of the goods 400 is a regular shape, the goods storage and retrieval mechanism is adjusted to the 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. The first blocking member 31 is raised to avoid the clamping part 22, so that the clamping part 22 can clamp the cargo 400 when it retracts along the second direction. Along the first direction, the first blocking member 31 is located on the side of each clamping part 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 part 22, and the clamping part 22 can freely retract and close in the second direction. When the second blocking member 32 is in a flat state, the clamping part 22 moves along the first direction with the sliding assembly 21 to extend out of the support base 1, and the clamping part 22 retracts in the second direction to clamp the cargo 400 located outside the support member 11.

[0257] Boxed or bottled medicines are all regularly shaped goods. The goods storage and retrieval mechanism moves to the goods storage position on the target shelf, and based on the actual distance of the medicine closest to the dispensing machine at that target storage position, and according to the medicine width recorded in the system, the goods storage and retrieval mechanism adjusts the width of the clamping part to be wide enough to fit into the gap between the storage positions. Then, based on the detected actual distance, it extends to the target medicine, and then adjusts the width of the two clamping parts to a distance that can clamp the goods, retracts the clamping parts, and retrieves the goods onto the support 11. The goods storage and retrieval mechanism can retrieve one medicine at a time, or it can retrieve multiple identical medicines from the same storage position at the same time. The goods clamped first are pushed inward by the goods clamped later. For goods of different sizes, they are clamped in order of increasing width to avoid medicines initially buffered on the support 11 affecting the width adjustment of the clamping part 22.

[0258] In step S400, the clamping mechanism 2 of the cargo storage and retrieval system extends to clamp the cargo 400. By moving the clamping mechanism 2, which is clamping the cargo 400, along the first direction, the cargo 400 is retrieved onto the support member 11.

[0259] In step S400 described above, specifically, the clamping part 22 moves along the sliding component 21 in the first direction to extend out of the support member 11; then, the clamping part 22 retracts along the second direction to clamp the target goods 400. Subsequently, the clamping part 22 retracts along the sliding component 21 along the first direction to the support member 11, thus bringing the goods 400 onto the support member 11. Next, the clamping part 22 opens along the second direction to release the goods 400, leaving the goods 400 on the support member 11. Repeating the above actions allows the next goods 400 to be retrieved. As the next goods 400 retracts along the first direction with the clamping part 22, if it encounters the previous goods 400, it will push the previous goods 400 further back along the first direction. That is, after each goods 400 is retrieved, the retrieved goods 400 does not need to be placed at the innermost side of the support member 11; the next goods 400 will automatically push the previous goods 400 back.

[0260] In some embodiments, the picking and unloading method further includes the following steps:

[0261] In step S500, if the shape of the goods 400 is irregular, the goods storage and retrieval mechanism of the goods storage and retrieval system is adjusted to the irregular goods retrieval state.

[0262] When the cargo storage and retrieval mechanism is in the process of retrieving irregularly shaped goods, see [link / reference]. Figure 6 This corresponds to the retrieval operation of irregular goods 400. In this state, the first blocking member 31 is in the first extreme position, and the second blocking member 32 is in the upright position. Viewed along the first direction, the limiting member 4 is located between the first blocking member 31 in the first extreme position and the second blocking member 32 in the upright position. Viewed from the second direction, the first blocking member 31 is located between a 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: Place the goods 400 into the storage box 1000 formed by the goods storage and retrieval mechanism.

[0264] In step S600 above, the irregularly shaped goods 400 stored in the second storage area 1002 of the medicine cabinet 100 are transported to the end by the tracked cargo channel 1003. Then, under its own gravity, the goods 400 fall into the storage frame 1000 with the top opening, thus realizing the retrieval operation of the irregularly shaped goods 400.

[0265] In some embodiments, the picking and unloading method further includes the following steps:

[0266] In step S700, if the goods storage and retrieval system needs to unload goods, it is determined whether the shape of the goods 400 to be retrieved is a regular shape.

[0267] In 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 the regular cargo unloading state.

[0268] As described above, the regular cargo unloading state refers to the movement of regularly shaped cargo 400 from above the cargo storage and retrieval mechanism to outside the mechanism. In this state, if there is only one cargo 400, it can be unloaded by clamping or pushing with the first blocking member 31. If there are multiple cargoes 400, all cargoes 400 can be pushed out of the support member 11 at once using the first blocking member 31.

[0269] In step S900, the goods 400 are pushed out of the support member 11 of the goods storage and retrieval mechanism or the goods 400 are clamped 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. And along the first direction, the first blocking member 31 is located on the side of each clamping part 22 away from the second blocking member 32; in the second direction, the first blocking member 31 is outside the movement trajectory of the clamping part 22; the second blocking member 32 is in a flat state; the clamping part 22 retracts in the second direction to clamp the goods 400 located on the support member 11; the clamping part 22 moves along the first direction with the sliding assembly 21 to extend out of the support base 1, so as to deliver the clamped goods 400 outside the support member 11.

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

[0272] In the case where unloading is achieved by pushing out: the first blocking member 31 is in the first extreme position. 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 the flattened 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 parts 22 do 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] For unloading via a push-out method, the specific operation is as follows: The clamping part 22 does not need to move in the second direction. The first blocking member 31 is adjusted to its first extreme position, avoiding the limiting 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. This operation can push out all the goods 400 on the support member 11 at once. Alternatively, only a portion of the goods 400 on the support member 11 can be pushed out as needed, depending on when the first blocking member 31 is adjusted to its first extreme position.

[0274] In step S900 above, the goods 400 pushed out from the support 11 can be placed into the downstream packing machine 200 for packing. The goods 400 that are clamped out have two destinations depending on different needs: first, they are placed into the downstream packing machine 200 for packing; second, the goods 400 are placed in 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 shall be adopted.

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

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

[0278] The unloading state of irregularly shaped goods is the same as the unloading operation of regular goods by pushing. In the unloading state of irregularly 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 the flat position, and the first blocking member 31 is located between a pair of clamping parts 22. Among them, 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] In step S1100, the goods 400 are pushed out from the support member 11 of the goods storage and retrieval mechanism. Specifically, the first blocking member 31 moves along the first direction to push out the goods 400.

[0280] In step S1100 above, when the irregularly shaped goods are unloading, the clamping part 22 does not need to move in the second direction. The first blocking member 31 is adjusted to the first limit position and avoids the limiting 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 once. 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 packed goods 400 are transported to the express cabinet 300 for storage.

[0282] This invention provides a cargo storage and retrieval device, including a memory and a processor coupled to the memory. The processor is configured to execute the cargo retrieval and unloading method of any of the foregoing embodiments based on instructions stored in the memory.

[0283] Memory may include, for example, system memory, fixed non-volatile storage media, etc. System memory may store, for example, the operating system, application programs, boot loader, and other programs.

[0284] Some embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the program implements the picking and unloading method of any of the above embodiments.

[0285] The processors described herein may include general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in alternatives, it 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, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

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

[0287] Those skilled in the art will understand that the method embodiments of this disclosure can be provided as a method, system, or computer program product. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0288] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0289] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0290] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0291] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0292] In the description of this 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, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to 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: Support base (1), including support member (11); The clamping mechanism (2) includes a sliding assembly (21) and a pair of clamping parts (22), wherein the sliding assembly (21) is slidably mounted on the support member (11) along a first direction, and the clamping parts (22) are movably mounted on the sliding assembly (21) along a second direction. as well as The blocking mechanism (3) includes 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 support member (11); 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 first blocking member (31) includes a first limit position and a second limit position; when the first blocking member (31) is in the first limit position, the first blocking member (31) is in contact with the top surface of the support member (11); when the first blocking member (31) is in the second limit position, the first blocking member (31) is lifted. The second blocking member (32) includes an upright state and a flat state; when the second blocking member (32) is in the upright state, the second blocking member (32) is configured to prevent the goods (400) placed on the support member (11) from falling off the location of the second blocking member (32); when the second blocking member (32) is in the flat state, the second blocking member (32) allows the goods (400) to move from the second blocking member (32) to the support member (11), and also allows the goods (400) to be pushed out of the support member (11) from the second blocking member (32) by the first blocking member (31). 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 paired clamping parts (22); When the first blocking member (31) is in the second limit position, the first blocking member (31) is outside the movement trajectory of each of the clamping parts (22) along the second direction, and the clamping parts (22) are movable in the second direction.

2. The cargo storage and retrieval mechanism according to claim 1, characterized in that, The sliding component (21) includes: 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 distributed separately, 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 hold one end of the support member (11) in a second direction, and the second column (2112) can slidably hold the other end of the support member (11) in a second direction; The first drive unit (2121) is installed in one of the first column (2111), the second column (2112), and the connecting column (2113); First transmission mechanism (2122); and The first connectors (2123) are arranged in pairs; each of the first connectors (2123) is driven to be connected to the first drive unit (2121) via the first transmission mechanism (2122) so as to move along the second direction under the drive of the first drive unit (2121).

3. The cargo storage and retrieval mechanism according to claim 2, characterized in that, The first transmission mechanism (2122) includes: The first gear (2122a) is fixedly connected to the output shaft of the first drive unit (2121); The first rack (2122b) meshes with the first gear (2122a); and The second rack (2122c) meshes with the first gear (2122a) and is arranged parallel to the first rack (2122b); One of the first connectors (2123) is fixedly connected to the first rack (2122b), and the other first connector (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 includes: The first guide portions (2122d) arranged in pairs are fixedly installed on the connecting column (2113). Each of the first guide portions (2122d) is arranged side by side along the moving direction of the first rack (2122b). The first gear (2122a) is located between the pair of first guide portions (2122d). One of the first connectors (2123) is slidably mounted on one of the first guide portions (2122d), and the other first connector (2123) is slidably mounted on the other first guide portion (2122d); one of the clamping portions (22) is fixedly connected to one of the first connectors (2123), and the other clamping portion (22) is fixedly connected to the other first connector (2123).

5. The cargo storage and retrieval mechanism according to claim 2, characterized in that, The blocking mechanism (3) further includes: The second drive unit (33) is installed on the first column (2111), the second column (2112), or the connecting column (2113); and The second transmission mechanism (34) is driven to connect with the second drive unit (33) to rotate under the drive of the second drive unit (33); The first blocking member (31) is mounted on the second transmission mechanism (34) to rotate upward as the second transmission mechanism (34) rotates in the third direction.

6. The cargo storage and retrieval mechanism according to claim 5, characterized in that, The second transmission mechanism (34) includes: The output shaft gear (340) is fixedly connected to the power output shaft of the second drive unit (33); The second gears (341) are arranged in pairs, one of which meshes with the output shaft gear (340); A pair of half-gears (342), each half-gear (342) corresponding to and meshing with the second gear (341), so as to rotate under the drive of the second gear (341); and A connecting shaft (343) is used to fix the pairs of half gears (342) together or to fix the two second gears (341) together. 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 includes: The third connectors (344) are arranged in pairs and are fixedly connected to the half gears (342) one by one; one end of the first blocking member (31) along the second direction is fixedly connected to one of the third connectors (344), and the other end of the first blocking member (31) along the second direction is fixedly connected to the other third connector (344).

8. The cargo storage and retrieval mechanism according to claim 1, characterized in that, When the first blocking member (31) is in the first extreme position, 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 located.

9. The cargo storage and retrieval mechanism according to claim 1, characterized in that, The clamping mechanism (2) further includes: The third drive unit (23) is installed at the bottom of the support member (11); and The third transmission mechanism (24) is driven and connected to the third drive unit (23) and fixedly connected to the sliding component (21); the sliding component (21) is configured to move linearly along the first direction under the drive of the third drive unit (23) along with the third transmission mechanism (24).

10. The cargo storage and retrieval mechanism according to claim 9, characterized in that, The third transmission mechanism (24) includes: The first guide rail (240) is fixedly installed on the support base (1); The second guide portion (241) is slidably mounted on the first guide rail (240); the sliding component (21) is fixedly mounted on the second guide portion (241). The pulley (242) is fixedly connected to the output shaft of the third drive unit (23); The first belt (243) is installed at the bottom of the support base (1); the first belt (243) meshes with the pulley (242); 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 includes: The fourth drive unit (35) is mounted on the support member (11); and The fourth transmission mechanism (36) is driven to connect with the fourth drive unit (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 driven to connect with the second blocking member (32) so that the second blocking member (32) can switch between the following positions: upright state and flat state.

12. The cargo storage and retrieval mechanism according to claim 11, characterized in that, The fourth transmission mechanism (36) includes: A crank (361), one end of which is fixedly connected to the power output shaft of the fourth drive unit (35); and A connecting rod (360), one end of which is rotatably connected to the other end of the crank (361), and the other end of which is rotatably connected to the second stop (32); The fourth drive unit (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 installed on the support member (11) and is located at the end of the support 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), which is configured to avoid the limiting member (4); wherein, when the first blocking member (31) is in the 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 irregular cargo retrieval states: Along the first direction, the limiting member (4) is located between the first blocking member (31) in the first extreme position and the second blocking member (32) in the upright state; Along the second direction, the first blocking member (31) is positioned between a pair of clamping portions (22); The first blocking member (31), the second blocking member (32), and a pair of clamping parts (22) together form a storage frame (1000) with a top opening.

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 irregular 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 the flat state, or the first blocking member (31) in the first extreme position accommodates the limiting member (4) through its own receiving groove (311); along the second direction, the first blocking member (31) is located between a pair of clamping parts (22); The first blocking member (31) moves along a first direction with the sliding assembly (21) to push the goods (400) located on the support member (11) out of the support 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 the second extreme position; and along the first direction, the first blocking member (31) is located on the side of each of the clamping portions (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); The second blocking member (32) is in a flat state, the clamping part (22) moves along the first direction with the sliding assembly (21) to extend out of the support base (1), and the clamping part (22) retracts 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 the second extreme position; and along the first direction, the first blocking member (31) is located on the side of each of the clamping portions (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); The second blocking member (32) is in a flat position; the clamping part (22) retracts in a second direction to clamp the goods (400) located on the support member (11); the clamping part (22) moves along a first direction with the sliding assembly (21) to extend out of the support base (1) to deliver the clamped goods (400) outside the support member (11).

19. The cargo storage and retrieval mechanism according to claim 13, characterized in that, The cargo storage and retrieval mechanism includes regular cargo unloading status: 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 the flat state, and the first blocking member (31) is located between a pair of clamping parts (22); The first blocking member (31) moves along a first direction with the sliding assembly (21) to push the goods (400) located on the support member (11) out of the support 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), which is located downstream of the cargo storage and retrieval mechanism and is configured to receive cargo (400) delivered from the support (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, wherein the cargo storage and retrieval mechanism is rotatably mounted on the support arm (5).

22. The cargo storage and retrieval robot according to claim 21, characterized in that, Also includes: The fifth drive unit (6) is mounted on the support arm (5); and The fifth transmission mechanism (7) is driven to the fifth drive 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 drive unit (6).

23. The cargo storage and retrieval robot according to claim 22, characterized in that, The fifth transmission mechanism (7) includes: The third gear (71) is fixedly connected to the power output shaft of the fifth drive unit (6); the third gear (71) is mounted on the support arm (5); and The fourth gear (72) is installed at the bottom of the support (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); The sixth drive unit (9) is mounted on the support column (8); and The sixth transmission mechanism (10) is driven to the sixth drive unit (9), and the sixth transmission mechanism (10) is fixedly connected to the support arm (5) so that the cargo storage and retrieval mechanism moves along the support column (8) under the drive of the sixth drive unit (9).

25. The cargo storage and retrieval robot according to claim 24, characterized in that, The sixth transmission mechanism (10) includes: The first synchronous pulley (101) is installed at one end of the support column (8); the first synchronous pulley (101) is fixedly connected to the power output shaft of the sixth drive unit (9); The second synchronous pulley (102) is installed at the other end of the support column (8); A synchronous belt is tensioned by the first synchronous pulley (101) and the second synchronous pulley (102); the cargo storage and retrieval mechanism is mounted on the synchronous belt to rise and fall as the synchronous belt rotates; The second guide rail (104) is installed on the support column (8); and The third guide section is slidably mounted on the second guide rail, and the cargo storage and retrieval mechanism is fixedly mounted on the third guide section.

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 cabinet (100).

27. A cargo storage and retrieval system, characterized in that, Includes the cargo storage and retrieval robot as 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) includes a first storage area (1001) and a second storage area (1002). The first storage area (1001) is configured to use the goods storage robot to pick up and store goods; the second storage area (1002) is configured to deliver goods (400) to the goods storage robot.

29. The cargo storage and retrieval system according to claim 28, characterized in that, Also includes: A packing machine (200), located downstream of the medicine storage cabinet (100), is used to pack the goods (400) retrieved 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: A parcel locker (300) is located downstream of the packing machine (200) to store goods (400) packed by the packing machine (200).

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

32. The method for picking up and unloading goods according to claim 31, characterized in that, It also includes the following steps: If the goods (400) are irregular in shape, the goods storage and retrieval mechanism of the goods storage and retrieval system shall be adjusted to the irregular goods retrieval state. Goods (400) are placed into the storage box (1000) formed by the 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, It also includes the following steps: If the cargo storage and retrieval system needs to unload cargo, it determines whether the shape of the cargo (400) to be retrieved is a regular shape; If the cargo (400) is a regular shape, the cargo storage and retrieval mechanism of the cargo storage and retrieval system is adjusted to the regular cargo unloading state; The goods (400) are pushed out of the support (11) of the goods storage mechanism or the goods (400) are clamped out of the support (11).

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

35. The method for picking up and unloading goods according to claim 33 or 34, characterized in that, It also includes the following steps: The packing machine (200) packs the goods (400) delivered from the support (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, the processor being configured to execute the picking and unloading method as described in any one of claims 31 to 35 based on instructions stored in the memory.

37. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the picking and unloading method as described in any one of claims 31 to 35.

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