Goods taking device, goods taking method and automatic goods delivery system

Abstract

The invention discloses a goods taking device, a goods taking method and an automatic goods delivery system, the goods taking device (PU) is used for taking out goods (GD) blocked by a blocking mechanism (BL) of a gravity type goods conveying channel (GC) in the gravity type goods conveying channel (GC), and the goods taking device (PU) comprises a support (10); the pushing mechanism (20) is configured to push the goods (GD) away from the blocking mechanism (BL); and the goods picking mechanism (30) is arranged on the bracket (10) and is configured to apply upward lifting force to the goods (GD) in a state that the goods (GD) are pushed away from the blocking mechanism (BL), so that the goods (GD) cross the blocking mechanism (BL). According to the invention, the pickup effect can be improved.

Description

Technical Field

[0001] The present invention relates to the field of warehousing and logistics, and in particular to a picking device, a picking method and an automatic shipping system. Background Art

[0002] In the field of logistics and warehouse management, the weight of the goods is used to slide along the inclined aisle to achieve automatic movement of the goods, so as to improve picking efficiency and save energy. When it is necessary to pick up goods from the inclined aisle, the relevant technology adopts the method of picking up goods from the top, that is, the goods finger mechanism applies an upward force to the goods blocked by the baffle at the bottom of the aisle to make them pass over the baffle to complete the picking operation. Summary of the invention

[0003] Research has found that when the goods are picked up, there is a problem of unbalanced force on the goods due to the friction of the baffle and other obstacles, causing the goods to tip over, resulting in failure to pick up the goods.

[0004] In view of this, the embodiments of the present disclosure provide a picking device, a picking method and an automatic delivery system to improve the picking effect.

[0005] In one aspect of the present disclosure, there is provided a cargo picking device for picking up cargo in a gravity-type transport channel that is blocked by a blocking mechanism of the gravity-type transport channel, comprising: Bracket; a pushing mechanism configured to push the cargo away from the blocking mechanism; and The cargo lifting mechanism is arranged on the support and is configured to apply a lifting force to the cargo when the cargo is pushed away from the blocking mechanism, so as to make the cargo pass over the blocking mechanism.

[0006] In some embodiments, the pushing mechanism is configured to be limited by the gravity-type transport channel during the process of the cargo picking mechanism picking up the cargo.

[0007] In some embodiments, the pushing mechanism comprises: A stopper configured to stop against the gravity-type transport channel during the process of the cargo-picking mechanism picking up the cargo so as to be limited by the gravity-type transport channel; A top block is fixedly connected to the abutment member and is used to push the goods away from the blocking mechanism.

[0008] In some embodiments, the blocking mechanism includes two blocking parts located at the bottom end of the gravity-type transfer channel, and the top block is configured to push the goods between the two blocking parts; the abutment member includes a cross beam, the top block is located in the middle of the cross beam, and the dimension of the cross beam in the width direction of the gravity-type transfer channel is greater than the distance between the two blocking parts in the width direction of the gravity-type transfer channel, so as to abut against the two blocking parts when the picking mechanism picks up the goods.

[0009] In some embodiments, the abutment member further comprises: Two side rods are respectively connected to the two ends of the cross beam to form a door-shaped structure with the cross beam; Wherein, the two side rods are hinged to the bracket respectively.

[0010] In some embodiments, the cargo picking mechanism is further used to limit at least one of the top block and the abutment member before picking up the cargo.

[0011] In some embodiments, the pickup device further comprises: An elastic member is connected to the abutting member to apply elastic force to the abutting member.

[0012] In some embodiments, the elastic member is connected to the bracket.

[0013] In some embodiments, the cargo picking device includes at least two pushing mechanisms, and each end of the elastic member is respectively connected to the at least two pushing mechanisms.

[0014] In some embodiments, the picking device includes two pushing mechanisms and two picking mechanisms corresponding to the two pushing mechanisms respectively. The abutment member in each pushing mechanism includes a crossbeam and two side rods. The two side rods are respectively connected to both ends of the crossbeam to form a door-shaped structure with the crossbeam. The two side rods are respectively hinged to the bracket. The elastic member includes a spring, one end of the spring is connected to the side rod of one of the two pushing mechanisms, and the other end is connected to the side rod of the other of the two pushing mechanisms.

[0015] In some embodiments, the blocking mechanism includes two blocking parts located at the bottom of the gravity-type transport channel, and the picking mechanism includes: A support block is fixedly connected to the bracket and is configured to extend between the two blocking parts to stir the goods at the lower side of the goods; The support block has a through portion, and the top block can movably pass through the through portion.

[0016] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably disposed on the bracket.

[0017] In some embodiments, the pickup device further comprises: The first driving mechanism is drivingly connected to the support and is configured to drive the support to move so as to drive the pushing mechanism and the picking mechanism to move relative to the gravity-type transport channel.

[0018] In some embodiments, at least one of the pushing mechanism and the picking mechanism is configured to abut against the next cargo in the gravity-type transport channel after the cargo at the bottom of the gravity-type transport channel passes over the blocking mechanism.

[0019] In some embodiments, the pickup device further comprises: The driving member is drivingly connected to the pushing mechanism and is configured to drive the pushing mechanism to rotate to a position where the goods are not blocked during the process of being lifted up or after being lifted up to exceed the top of the blocking mechanism.

[0020] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably arranged on the bracket; Wherein, the picking device further comprises: A first driving mechanism is drivingly connected to the support and is configured to drive the support to move so as to drive the pushing mechanism and the picking mechanism to move relative to the gravity-type transport channel; and The second driving mechanism is arranged on the bracket and is drivingly connected to the cargo picking mechanism. The second driving mechanism is configured to apply an upward lifting force to the cargo by driving the cargo picking mechanism.

[0021] In some embodiments, the support includes a cargo guiding mechanism and a cargo receiving area, the cargo guiding mechanism is configured to guide the received cargo to the cargo receiving area, and the cargo picking mechanism is fixedly connected to the cargo guiding mechanism; Wherein, the pushing mechanism and the cargo picking mechanism are both located on the cargo receiving side of the cargo guiding mechanism.

[0022] In some embodiments, the pickup device further comprises: The vibration mechanism is connected to the bracket and is configured to apply an exciting force to the bracket and the picking mechanism.

[0023] In some embodiments, the pickup device further comprises: The sensing element is configured to sense that the goods enter the receiving area.

[0024] In one aspect of the present disclosure, there is provided an automatic shipping system, comprising: at least one gravity-fed cargo lane; and The aforementioned pickup device.

[0025] In one aspect of the present disclosure, a method for picking up goods by the aforementioned picking up device is provided, comprising: The goods blocked by the blocking mechanism of the gravity-type transport channel in the gravity-type transport channel are pushed away from the blocking mechanism by means of a pushing mechanism; When the goods are pushed away from the blocking mechanism, an upward lifting force is applied to the goods by the lifting mechanism, so that the goods pass over the blocking mechanism.

[0026] In some embodiments, the pickup method further includes: In the process of the cargo-lifting mechanism lifting the cargo, the pushing mechanism is limited by the gravity-type cargo transmission channel.

[0027] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably arranged on the bracket; the picking device also includes a first driving mechanism drivingly connected to the bracket; The step of pushing the goods blocked by the blocking mechanism of the gravity-type transport channel away from the blocking mechanism by means of a pushing mechanism comprises: The bracket is driven to move by the first driving mechanism, so that the pushing mechanism moves toward the blocking mechanism and pushes the goods away from the blocking mechanism.

[0028] In some embodiments, the push mechanism includes a support member and a push block fixedly connected to the support member; Wherein, in a state where the goods are pushed away from the blocking mechanism, the step of applying an upward lifting force to the goods by the lifting mechanism so that the goods pass over the blocking mechanism comprises: When the push block pushes the goods away from the blocking mechanism, the bracket is driven to move upward by the first driving mechanism, so as to drive the pushing mechanism and the picking mechanism to move upward; After the pushing mechanism moves to the position where the abutment member abuts against the blocking mechanism, the first driving mechanism continues to drive the bracket to move upward, so as to drive the cargo picking mechanism to move upward to apply an upward lifting force to the cargo, and the pushing mechanism is limited by the gravity-type cargo transport channel, so that the cargo passes over the blocking mechanism and the pushing mechanism.

[0029] In some embodiments, the pushing mechanism is rotatably connected to the bracket, and the picking device further comprises an elastic member connected to the abutting member; Wherein, the pickup method further includes: After the goods at the bottom of the gravity-type transport channel pass over the blocking mechanism through the picking mechanism, the picking mechanism abuts against the next goods in the gravity-type transport channel so that the goods do not contact the blocking mechanism; The bracket is driven to move downward by the first driving mechanism, so as to drive the cargo-picking mechanism to move downward and leave the position against the next cargo in the gravity-type cargo transport channel; As the bracket moves downward, the elastic member exerts an elastic force on the abutting member, so that the pushing mechanism continues to pass through the gravity-type transport channel and abuts against the next cargo in the gravity-type transport channel; The first driving mechanism is repeatedly used to drive the bracket to move upward and downward, so as to achieve continuous picking of multiple goods in the gravity-type transport channel.

[0030] In some embodiments, the cargo picking device further comprises a driving member drivingly connected to the pushing mechanism; Wherein, the pickup method further includes: When the goods are lifted up or after they are lifted up to exceed the top of the blocking mechanism, the driving member drives the pushing mechanism to rotate to a position where the goods are not blocked.

[0031] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, the pushing mechanism is movably arranged on the bracket, and the picking device further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is drivingly connected to the bracket, and the second driving mechanism is arranged on the bracket and drivingly connected to the picking mechanism; Wherein, in a state where the goods are pushed away from the blocking mechanism, the step of applying an upward lifting force to the goods by the lifting mechanism so that the goods pass over the blocking mechanism comprises: The bracket is driven to move by the first driving mechanism, so as to drive the pushing mechanism and the picking mechanism to move toward the gravity-type transport channel; When the pushing mechanism pushes the goods away from the blocking mechanism, the second driving mechanism drives the lifting mechanism to move so as to apply a lifting force to the goods.

[0032] According to the embodiment of the present disclosure, the pushing mechanism pushes the goods in the gravity-transported cargo channel away from the blocking mechanism, and the picking mechanism applies a lifting force to the goods when the goods are pushed away from the blocking mechanism, so that the goods pass over the blocking mechanism. Compared with the method in the related art of applying a lifting force to the goods blocked by the baffle at the bottom of the cargo channel to make them pass over the baffle, when the lifting force is applied to the goods in the embodiment of the present disclosure, the goods have left the blocking mechanism, which can reduce or eliminate the obstacles to the stable picking of the goods caused by the baffle when the goods are picked up due to factors such as wide and thin goods that are easy to be hooked by the baffle, poor processing or installation accuracy of the baffle, positioning deviation between the picking device and the goods in the cargo channel, and protrusions on the outer edge of the goods packaging, thereby reducing the risk of the goods tipping over due to unbalanced force and the failure of picking up, thereby improving the picking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which: Figure 1 It is a schematic diagram of the structure of some embodiments of the automatic shipping system according to the present disclosure; Figure 2 is a schematic diagram of the structure of other embodiments of the automatic shipping system according to the present disclosure; Figure 3 is a schematic structural diagram of some embodiments of the pickup device according to the present disclosure; Figure 4 It is a partial schematic diagram of the blocking portion limiting the pushing mechanism in some embodiments of the pickup device disclosed in the present invention; Figure 5 yes Figure 3 A schematic diagram of the pickup process of the illustrated embodiment; Figure 6 is a schematic diagram of a cargo picking process according to other embodiments of the cargo picking device disclosed herein; Figure 7 is a schematic diagram of a cargo picking process according to some other embodiments of the cargo picking device disclosed herein; Figure 8 It is a flowchart of some embodiments of the pickup method disclosed in the present invention.

[0035] It should be understood that the size of each part shown in the accompanying drawings is not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components.

[0036] Description of reference numerals: 10. Bracket; 11. Cargo guiding mechanism; 12. Cargo receiving area; 20. Push mechanism; 21. Abutment member; 22. Push block; 211. Crossbeam; 212. Side rod; 23. Push rod; 30. Picking mechanism; 31. Support block; 311. Through-hole; 41. elastic member; 42. driving member; 51. a first driving mechanism; 52. a second driving mechanism; 61. Vibration mechanism; 62. Sensing element; PU, pickup device; GC, gravity conveyor; BL, blocking mechanism; GD, goods. DETAILED DESCRIPTION

[0037] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0038] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0039] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other device without an intermediate device, or may not be directly connected to the other device but have an intermediate device.

[0040] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0042] In some related technologies, when it is necessary to pick up goods from an inclined aisle, an upward picking method is adopted, that is, a cargo finger mechanism applies an upward force to the goods blocked by the baffle at the bottom of the aisle to make them pass over the baffle to complete the picking operation.

[0043] Research has found that when the goods are picked up, the contact resistance between the front end of the goods and the bottom baffle of the inclined cargo lane is unbalanced, resulting in failure to pick up the goods. There may be many reasons for this obstruction. For example, the installation of the cargo lane board causes the bottom baffle to be misaligned, resulting in the front end of the goods not actually contacting the baffle and being suspended in the air. When the goods are picked up, only one side of the baffle has a force on the front end of the goods, causing it to tip over. For another example, there are bulges on the outer edge of the cargo packaging, which also causes an unbalanced force between the cargo and the baffle.

[0044] In addition, the forces on the goods when they are lifted are more complicated. The imbalance of forces on the guide plate, the surface packaging of the goods, and the upper surface of the cargo aisle may cause problems when picking goods. The above problems are more obvious when the goods are thin or wide.

[0045] In view of this, the embodiments of the present disclosure provide a picking device, a picking method and an automatic delivery system to improve the picking effect.

[0046] Figure 1 Schematic diagram of the structure of some embodiments of the automatic delivery system according to the present disclosure. Figure 1 The embodiment of the present disclosure provides an automatic delivery system, including at least one gravity-transport cargo lane GC and a cargo pickup device PU. The gravity-transport cargo lane GC may have an inclined cargo lane section so that the cargo moves downward along the inclined cargo lane section under the action of its own weight. The inclined cargo lane section may be the entire gravity-transport cargo lane GC or a part of the gravity-transport cargo lane GC.

[0047] The automatic delivery system may include one or more gravity conveyor lanes GC. Figure 1 As shown, multiple gravity conveying cargo lanes GC can be arranged in multiple rows and columns. Each gravity conveying cargo lane GC can be arranged to be parallel to each other. The gravity conveying cargo lane GC can be formed by adjacent slender pieces of an inverted T-shaped structure, and the slender pieces of the inverted T-shaped structure are all inclined relative to the horizontal plane and parallel to each other.

[0048] For each group of adjacent elongated members forming each gravity-transfer cargo lane GC, the spacing between adjacent elongated members can be set to be the same, and accordingly, the cargo lane widths of the corresponding gravity-transfer cargo lanes GC are the same. The spacing between adjacent elongated members can also be set to be different for at least some groups. Accordingly, the cargo lane widths of the gravity-transfer cargo lanes GC corresponding to at least some groups of adjacent elongated members are different.

[0049] The gravity conveying cargo lane GC can accommodate one or more cargoes GD. The gravity conveying cargo lane GC has a blocking mechanism BL to block the cargo GD to be taken out, and other cargoes are arranged in sequence on one side of the cargo GD along the bottom surface of the cargo lane. When the cargo GD blocked by the blocking mechanism BL is taken out, the adjacent cargo GD can slide under the action of gravity and be blocked by the blocking mechanism BL.

[0050] As required, the gravity conveying lane GC may include one blocking mechanism BL or multiple blocking mechanisms BL. The blocking mechanism BL may include a blocking portion installed or formed on the gravity conveying lane GC. The blocking portion may be formed integrally with the elongated member of the gravity conveying lane GC, or may be installed at the end of the elongated member through a connecting structure or a connecting member. The blocking mechanism BL may also be located at other positions of the gravity conveying lane GC, for example, by installing the blocking mechanism BL on a frame for fixing each elongated member.

[0051] The blocking portion may adopt various structural forms that can achieve a blocking effect, such as a blocking sheet, a blocking block or a protruding structure.

[0052] Figure 2 Schematic diagram of the structure of some embodiments of the pickup device according to the present disclosure. Figure 1 and Figure 2 As shown, the gravity conveying cargo lane GC can be arranged on one side or both sides of the pickup device PU. The gravity conveying cargo lane GC can also be arranged in other forms, such as a structure in which multiple groups of gravity conveying cargo lanes GC surround the pickup device PU in the middle.

[0053] The picking device PU can take out the goods GD blocked by the blocking mechanism BL from the gravity conveying cargo lane GC. For multiple goods GD stored in one or more gravity conveying cargo lanes GC, the picking device PU can be operated to different gravity conveying cargo lanes GC in turn according to the preset picking order to pick up the goods.

[0054] Figure 3 Schematic diagram of an application scenario of the pickup device according to the present disclosure. Figure 1-Figure 3The embodiment of the present disclosure provides a picking device PU for taking out goods GD in a gravity-transport cargo lane GC that is blocked by a blocking mechanism BL of the gravity-transport cargo lane GC. The picking device PU includes: a bracket 10, a pushing mechanism 20, and a picking mechanism 30. The pushing mechanism 20 is configured to push the goods GD away from the blocking mechanism BL. The picking mechanism 30 is disposed on the bracket 10, and is configured to apply an upward lifting force to the goods GD when the goods GD is pushed away from the blocking mechanism BL, so that the goods GD passes over the blocking mechanism BL.

[0055] As required, the support 10 can be driven by a driving mechanism to move relative to the gravity-type conveying channel GC, for example, in a vertical direction, a horizontal direction, or a direction parallel to the conveying direction of the gravity-type conveying channel GC.

[0056] In some embodiments, the support 10 may include a cargo guiding mechanism 11 and a cargo receiving area 12, wherein the cargo guiding mechanism 11 is configured to guide the received cargo GD to the cargo receiving area 12. The structure of the cargo guiding mechanism 11 may be as follows: Figure 3 When the cargo GD enters the inclined chute, under the guidance of the cargo GD's own gravity and the inclined chute, the cargo GD will slide to the receiving area 12 away from the gravity conveying channel GC. The cargo guiding mechanism 11 is not limited to the structure of the inclined chute, and other structures can also be used, such as a powered transmission belt, a transmission roller, etc.

[0057] The receiving area 12 can be as follows Figure 3 The slideway is shown as being adjacent to the cargo guiding mechanism 11, the bottom of which can be docked with a cargo receiving trolley or container, and intersects with the guiding direction of the cargo guiding mechanism 11 to form an angle. The cargo receiving area 12 is not limited to the structural form of the slideway, and can also directly adopt a cargo receiving container or a hollow structure that allows cargo to fall.

[0058] In other embodiments, the support 10 may not include the cargo guiding mechanism 11 or the cargo receiving area 12. For example, in some scenarios, the cargo picking mechanism 30 of the cargo picking device PU only needs to pick the cargo GD out of the gravity conveying channel GC, without the need to set up the cargo guiding mechanism 11 or the cargo receiving area 12.

[0059] The pushing mechanism 20 is used to push the cargo GD away from the blocking mechanism BL. For example, the pushing mechanism 20 applies a thrust to the surface of the cargo GD adjacent to the blocking mechanism BL, so that the cargo GD and other cargo GD that squeeze the cargo GD in the cargo lane move obliquely upward along the inclined cargo lane. As the cargo GD moves, the cargo GD is out of contact with the blocking mechanism BL.

[0060] The push mechanism 20 can be installed with the bracket 10, for example Figure 3 The pushing mechanism 20 shown is fixedly connected to the cargo guiding mechanism 11 via a connecting piece. In other embodiments, the pushing mechanism 20 may also be arranged outside the bracket 10 without being connected to the bracket 10.

[0061] The lifting mechanism 30 is disposed on the bracket 10. The lifting mechanism 30 can apply a lifting force to the cargo GD when the cargo GD is pushed away from the blocking mechanism BL, so that the cargo GD passes over the blocking mechanism BL. The lifting force here is a force applied by the lifting mechanism 30 to a part (e.g., the bottom surface of the front section of the cargo) or the whole (e.g., the whole surface of the bottom of the cargo) of the cargo GD, and the force includes a vertical upward component, so that a part or the whole of the cargo GD moves upward.

[0062] The lifting mechanism 30 may be disposed on the cargo receiving side of the rack 10, that is, on the side of the rack adjacent to the blocking mechanism BL. The lifting force of the lifting mechanism 30 on the cargo GD may be applied to the portion of the bottom surface of the cargo GD adjacent to the side of the blocking mechanism BL, so that the lowest point of the cargo GD can be lifted upward under the action of the lifting force, thereby passing over the blocking mechanism BL. The lifting force of the lifting mechanism 30 may also act on other suitable positions on the cargo GD.

[0063] The lifting mechanism 30 applies a lifting force to the cargo GD when the cargo GD is pushed away from the blocking mechanism BL. In some embodiments, the cargo GD is pushed away from the blocking mechanism BL, and the cargo GD leaves the blocking mechanism BL and is not in contact with the blocking mechanism BL at all. At this time, the blocking mechanism BL has no friction or other resistance to the cargo GD. In other embodiments, the cargo GD leaves the blocking mechanism BL and is still partially in contact with the blocking mechanism BL. At this time, the blocking mechanism BL has a small amount of friction or other resistance to the cargo GD, thereby reducing the obstruction effect of the blocking mechanism BL on the cargo GD.

[0064] In this embodiment, the pushing mechanism pushes the goods in the gravity-transported cargo channel away from the blocking mechanism, and the picking mechanism applies a lifting force to the goods when the goods are pushed away from the blocking mechanism, so that the goods pass over the blocking mechanism and enter the cargo guiding mechanism. Compared with the method in the related art of applying a lifting force to the goods blocked by the baffle at the bottom of the cargo channel to make them pass over the baffle, when the lifting force is applied to the goods in the embodiment disclosed, the goods have left the blocking mechanism, which can reduce or eliminate the obstacles to the stable picking of the goods caused by the baffle when the goods are picked up due to factors such as wide and thin goods that are easy to be hooked by the baffle, poor processing or installation accuracy of the baffle, positioning deviation between the picking device and the goods in the cargo channel, and protrusions on the outer edge of the goods packaging, thereby reducing the risk of the goods tipping over due to unbalanced force and the failure of picking up, thereby improving the picking effect.

[0065] Figure 4 1 is a partial schematic diagram of the blocking portion limiting the pushing mechanism in some embodiments of the pickup device disclosed in the present invention. Figure 3 and Figure 4 In some embodiments, the pushing mechanism 20 is configured to be limited by the gravity-type cargo channel GC during the process of the cargo picking mechanism 30 picking up the cargo GD.

[0066] During the process of the cargo picking mechanism 30 picking up the cargo GD, the pushing mechanism 20 may be limited by the bottom end of the gravity-type cargo conveying lane GC, or by the blocking mechanism BL of the gravity-type cargo conveying lane GC.

[0067] The pushing mechanism 20 needs to act on the goods GD when pushing the goods GD, so as to apply a thrust to the goods GD, which will correspondingly form an obstacle to the downward movement of the goods GD. However, through the limiting effect of the gravity-type conveying cargo lane GC on the pushing mechanism 20, the pushing mechanism 20 can not move upward as the goods GD is lifted, so that when the goods GD passes over the blocking mechanism BL under the action of the upward lifting force, it can easily pass over the pushing mechanism 20 and avoid the interference of the pushing mechanism 20 on the movement of the goods GD.

[0068] refer to Figure 3 In some embodiments, the pushing mechanism 20 includes: a supporting member 21 and a top block 22. The supporting member 21 is configured to be restrained by the gravity-type conveying cargo lane GC by abutting against the gravity-type conveying cargo lane GC during the process of the cargo-picking mechanism 30 picking up the cargo GD. The top block 22 is fixedly connected to the supporting member 21 and is used to push the cargo GD away from the blocking mechanism BL.

[0069] When the abutment member 21 is driven to move relative to the cargo GD, it can drive the top block 22 to push the cargo GD away from the blocking mechanism BL. When the abutment member 21 is abutted by the gravity-type transfer channel GC and no longer moves upward, the cargo GD gradually breaks away from the state of being abutted by the top block 22 during the process of being lifted and is no longer restricted by the top block 22.

[0070] The abutment member 21 can be movably connected to the bracket 10, for example, by being hinged via a pivot, or forming a sliding connection via a slider, etc. In this way, the abutment member 21 can move with the movement of the bracket 10 when it is not limited by the gravity conveying cargo lane GC, and form a relative movement with the bracket 10 when it is limited by the gravity conveying cargo lane GC, such as relative movement or relative rotation.

[0071] refer to Figure 1 and Figure 4In some embodiments, the blocking mechanism BL includes two blocking parts located at the bottom of the gravity-transport cargo lane GC, and the top block 22 is configured to push the cargo GD between the two blocking parts. The abutting member 21 includes a crossbeam 211, and the top block 22 is located in the middle of the crossbeam 211. The dimension of the crossbeam 211 in the width direction of the gravity-transport cargo lane GC is greater than the distance between the two blocking parts in the width direction of the gravity-transport cargo lane GC, so as to abut against the two blocking parts when the picking mechanism 30 picks up the cargo GD.

[0072] There is a preset distance between the two blocking parts at the bottom of the gravity conveying cargo lane GC, so as to block the cargo GD and allow the top block 22 and the cargo picking mechanism 30 to enter. The distance between the cross beam 211 and the two blocking parts in the width direction of the gravity conveying cargo lane GC enables the blocking mechanism BL to reliably limit the cross beam 211 by blocking the cross beam 211.

[0073] The top block 22 is arranged in the middle of the beam 211 without interfering with the two blocking parts. The middle of the beam 211 here includes but is not limited to the midpoint position of the entire beam 211. Specifically, it can be arranged at the midpoint position or other positions adjacent to the midpoint position according to the distance between the two blocking parts.

[0074] refer to Figure 3 In some embodiments, the abutment member 21 further includes two side rods 212, which are respectively connected to both ends of the cross beam 211 to form a door-shaped structure with the cross beam 211. The two side rods 212 are respectively hinged to the bracket 10.

[0075] like Figure 3 As shown, the side rod 212 can be set as a straight rod, or can be set as a curved rod or other shapes based on the need to avoid other structures. The two side rods 212 can be hinged to the bracket 10 on the side away from the cross beam 211 to facilitate the rotatable connection of the abutment member 21 relative to the bracket 10. The door-shaped structure formed by connecting the two side rods 212 at both ends of the cross beam 211 can effectively reduce or avoid the interference with the movement of the cargo guide mechanism 11 or the cargo GD.

[0076] exist Figure 3 In the embodiment, the cargo guiding mechanism 11 is located in the door-shaped structure and does not interfere with the abutting member 21. The cargo GD reaching the cargo guiding mechanism 11 is also located in the door-shaped structure and its movement does not interfere with the abutting member 21 either.

[0077] refer to Figure 3 and Figure 4In some embodiments, the cargo picking mechanism 30 is further used to limit at least one of the top block 22 and the abutment member 21 before picking up the cargo GD.

[0078] Before the picking mechanism 30 picks up the goods GD, by limiting at least one of the top block 22 and the abutment member 21, the pushing mechanism 20 and the picking mechanism 30 can be moved synchronously before the goods GD is picked up. The picking mechanism 30 can act on the top block 22 or the abutment member 21 to achieve the limiting effect on the pushing mechanism 20.

[0079] exist Figure 3 and Figure 4 In the embodiment, the picking mechanism 30 is fixedly connected to the cargo guiding mechanism 11 and extends outward relative to the cargo guiding mechanism 11. The crossbeam 211 of the abutment member 21 and the picking mechanism 30 can maintain their relative positions by abutting against each other. The crossbeam 211 can be provided with a groove at a position corresponding to the picking mechanism 30 to accommodate a part of the structure of the picking mechanism 30. In this way, the picking mechanism 30 can limit the abutment member 21 before picking up the cargo GD.

[0080] refer to Figure 3 and Figure 4 In some embodiments, the pickup device PU further includes an elastic member 41, which is connected to the abutting member 21 to apply elastic force to the abutting member 21. The elastic member 41 may include a tension spring, a compression spring, a torsion spring or a spring sheet.

[0081] In some embodiments, the elastic member 41 is connected to the bracket 10. The elastic member 41 may be connected to the push mechanism 20 at one end thereof and connected to the bracket 10 at the other end thereof. For example, the push mechanism 20 and the bracket 10 are connected by a tension spring or a torsion spring. Figure 3 In the figure, the elastic member 41 is connected to the side rod 212 of the abutment member 21, and can be specifically connected to a hanging column arranged on the side rod 212, and there is a preset distance between the hanging column and the hinge point of the side rod 212, so that the elastic member 41 applies torque to the abutment member 21 through elastic force.

[0082] The elastic member 41 applies elastic force to the abutting member 21, and can make the abutting member 21 abut against the picking mechanism 30 before or after the abutting member 21 moves to the position limited by the gravity conveying cargo lane GC, so as to move synchronously. When the abutting member 21 is limited by the gravity conveying cargo lane GC, the elastic member 41 can make the abutting member 21 press the gravity conveying cargo lane GC, so that the blocking mechanism BL can be more stable relative to the gravity conveying cargo lane GC.

[0083] refer to Figure 3In some embodiments, the picking device PU includes at least two pushing mechanisms 20, and each end of the elastic member 41 is respectively connected to the at least two pushing mechanisms 20. The number of the pushing mechanisms 20 here can be two or more than three. The number of the picking mechanisms 30 can be the same as the number of the pushing mechanisms 20, and correspond to the pushing mechanisms 20 one by one. In other embodiments, the number of the picking mechanisms 30 can be more or less than the number of the pushing mechanisms 20.

[0084] Multiple pushing mechanisms 20 can realize the picking operation of the gravity conveying cargo lane GC in multiple directions, which is conducive to reducing the need for adjusting the position of the bracket and simplifying the difficulty of bracket adjustment control. On this basis, each end of the elastic member 41 can be connected to the at least two pushing mechanisms 20 respectively, which is conducive to making each pushing mechanism 20 receive a more balanced elastic force, and reducing the number of elastic members 41 used, which is conducive to reducing the complexity and cost of the picking device.

[0085] Corresponding to this embodiment, the support 10 may include at least two cargo guiding mechanisms 11. The at least two cargo guiding mechanisms 11 may correspond to the at least two pushing mechanisms 20 one by one.

[0086] like Figure 3 As shown, specifically, the pickup device PU may include two pushing mechanisms 20 and two picking mechanisms 30 corresponding to the two pushing mechanisms 20. The abutment member 21 in each pushing mechanism 20 includes a crossbeam 211 and two side rods 212, the two side rods 212 are respectively connected to both ends of the crossbeam 211 to form a door-shaped structure with the crossbeam 211, the two side rods 212 are respectively hinged to the bracket 10, and the elastic member 41 includes a spring, one end of the spring is connected to the side rod 212 of one of the two pushing mechanisms 20, and the other end is connected to the side rod 212 of the other of the two pushing mechanisms 20.

[0087] exist Figure 3 In the embodiment, the two pushing mechanisms 20 are respectively located at opposite sides of the cargo receiving area 12. The two cargo guiding mechanisms 11 corresponding thereto are also respectively located at opposite sides of the cargo receiving area 12, and guide the cargo GD to the center. Figure 3 The figure shows an elastic member 41 including two springs, and the two ends of each spring are respectively connected to the spring hanging columns on the side rods 212 of the two pushing mechanisms 20 adjacent to the receiving area 12. The two springs can be arranged at intervals in the width direction of the cargo guiding mechanism 11 so as to form a balanced and stable elastic force on the pushing mechanism 20 in the width direction. The springs can act on the two pushing mechanisms 20 respectively, so that the two pushing mechanisms 20 are respectively limited by the two picking mechanisms 30, so that the force is more balanced and stable, which is conducive to simplifying the complexity of the picking device.

[0088] refer to Figure 3 and Figure 4 In some embodiments, the blocking mechanism BL includes two blocking parts at the bottom of the gravity-type cargo channel GC, and the cargo picking mechanism 30 includes a support block 31. The support block 31 is fixedly connected to the bracket 10 and is configured to extend between the two blocking parts to pick up the cargo GD at the lower side of the cargo GD. The support block 31 has a through portion 311, and the top block 22 can movably pass through the through portion 311.

[0089] like Figure 3 As shown, the picking mechanism 30 can be constructed as a structure in which one end is fixedly connected to the cargo guiding mechanism 11 through a connecting piece, and the other end extends relative to the cargo guiding mechanism 11, and the support block 31 is the extended part of the picking mechanism 30. When picking up the cargo GD, the picking mechanism 30 is located between the two blocking parts without interfering with the blocking parts.

[0090] The support block 31 can be as Figure 3 The first surface shown in the figure is substantially parallel to the bottom surface of the inclined chute (i.e., the cargo guiding mechanism 11) and a second surface located at the end of the support block 31. The first surface and the second surface intersect to form a sharp angle, which can be an acute angle. The first surface can be used for sliding guidance of the cargo GD, and the second surface can be used to abut against the next cargo GD to make it leave the blocking mechanism BL.

[0091] The top block 22 may be configured as a part or the whole of a cone or a pyramid. The through portion 311 may be configured to cooperate with the outer contour of the top block 22 so that the top block 22 moves in the through portion 311 .

[0092] The top block 22 maintains its position relative to the gravity-type conveying channel GC as the abutment member 21 to which it is fixedly connected is limited, and the support block 31 applies an upward force to the cargo GD by rising. Accordingly, the top block 22 and the through portion 311 of the support block 31 move relative to each other without interfering with each other.

[0093] In other embodiments, the top block 22 may also be disposed on one or both sides of the support block 31 along the width direction of the cargo channel, so that there is no need to provide a through portion 311 on the support block 31 and movement interference between the support block 31 and the top block 22 may be avoided.

[0094] In the above embodiment, the picking mechanism 30 may be fixedly connected to the bracket 10 to move synchronously with the bracket 10. The pushing mechanism 20 is movably disposed on the bracket 10, for example, being hinged or slidably connected to the bracket 10.

[0095] refer to Figure 1In some embodiments, the picking device PU also includes a first driving mechanism 51, which is drivingly connected to the bracket 10 and is configured to drive the bracket 10 to move, so as to drive the pushing mechanism 20 and the picking mechanism 30 to move relative to the gravity transfer cargo channel GC.

[0096] The first driving mechanism 51 may include a track mechanism, which can realize driving in the x direction, the z direction, and the y direction perpendicular to them. The first driving mechanism 51 can drive the pushing mechanism 20 and the picking mechanism 30 to move by driving the movement of the bracket 10, so that the pushing mechanism 20 and the picking mechanism 30 are close to the blocking mechanism BL, and the pushing mechanism 20 pushes the goods GD away from the blocking mechanism BL. The way in which the picking mechanism 30 applies a lifting force to the goods GD can be realized by the first driving mechanism 51, and can also be realized by other mechanisms.

[0097] refer to Figure 3 In some embodiments, the bracket 10 includes a cargo guiding mechanism 11 and a cargo receiving area 12, the cargo guiding mechanism 11 is configured to guide the received cargo GD to the cargo receiving area 12, and the cargo picking mechanism 30 is fixedly connected to the cargo guiding mechanism 11; wherein, the pushing mechanism 20 and the cargo picking mechanism 30 are both located on the cargo receiving side of the cargo guiding mechanism 11.

[0098] The cargo guiding mechanism 11 can guide the cargo GD taken out by the cargo picking mechanism 30 to the cargo receiving area 12. Figure 3 As shown, the cargo guiding mechanism 11 may adopt an inclined U-shaped slideway structure, and the cargo picking mechanism 30 may be fixedly connected to the cargo guiding mechanism 11 by connecting members such as bolts or rivets, so that when the cargo GD contacts the surface of the U-shaped slideway structure, it may slide down toward the cargo receiving area 12 under the action of gravity. The cargo receiving area 12 may include a slideway to transport the cargo GD to other mechanisms or areas through the guiding effect of the slideway.

[0099] refer to Figure 1 In some embodiments, the picking device PU further includes a vibration mechanism 61 , which is connected to the bracket 10 and is configured to apply an exciting force to the bracket 10 and the picking mechanism 30 .

[0100] The vibration mechanism 61 may include a vibration motor that can apply an excitation force to the structure to which it is installed. The vibration mechanism 61 may be disposed on a side wall or a bottom wall of the cargo guide mechanism 11 , or may be disposed at other locations on the bracket 10 .

[0101] The vibration mechanism 61 can vibrate the cargo guiding mechanism 11 and the picking mechanism 30 during the picking process, so that the cargo GD can be picked up more smoothly and enter the cargo guiding mechanism 11, and slide down quickly in the cargo guiding mechanism 11, reducing the risk of the cargo getting stuck in the picking mechanism 30 and the cargo guiding mechanism 11.

[0102] refer to Figure 3 In some embodiments, the pickup device PU further includes a sensing element 62, which is configured to sense the goods GD entering the receiving area 12. The sensing element 62 may include an infrared, ultrasonic, laser, contact or proximity sensor, which can detect whether the goods GD enters the receiving area 12 through the goods guiding mechanism 11. For example, the sensing element 62 may include a light-emitting tube disposed at a position of the inclined slide of the goods guiding mechanism 11 close to the receiving area 12. The sensing element 62 may also be disposed at a position between the receiving area 12 and the goods guiding mechanism 11 or within the receiving area 12.

[0103] By blocking the light path of the light-transmitting tube by the goods GD, it is determined that the goods GD has passed the position, thereby judging whether the goods GD has reached the receiving area 12. The sensing element 62 can also be used to sense whether the goods GD is stuck in the goods guiding mechanism 11.

[0104] Figure 5 yes Figure 3 A schematic diagram of the pickup process of the illustrated embodiment. Figure 5 (d), in some embodiments, at least one of the pushing mechanism 20 and the picking mechanism 30 is configured to abut against the next cargo GD in the gravity-type transfer lane GC after the cargo GD at the bottom of the gravity-type transfer lane GC passes over the blocking mechanism BL.

[0105] exist Figure 5 In (d), the front end of the support block 31 of the picking mechanism 30 can form abutment against the end surface of the next cargo GD after the cargo GD at the bottom of the cargo channel passes over the blocking mechanism BL, so that the cargo GD will not continue to slide down to the blocking position of the blocking mechanism BL. Figure 5 In (e), as the picking mechanism 30 descends, the restricted pushing mechanism 20 pushes the next cargo GD.

[0106] In this embodiment, with the lifting and lowering of the picking mechanism 30 and the abutment of the pushing mechanism 20 and the picking mechanism 30 against the next cargo GD, multiple cargoes GD can be picked up continuously, and there is no need to frequently push the cargo GD away from the blocking position of the blocking mechanism BL through the pushing mechanism 20, thereby effectively improving the picking efficiency.

[0107] The following is based on Figure 5(a) to (e) to illustrate Figure 3 An example of a specific picking process of the picking device embodiment shown.

[0108] When the picking device PU on the left needs to pick up the goods GD in a certain aisle on the right, Figure 5 In (a), the first driving mechanism 51 can drive the support 10 to move in the lane, so that it moves to the corresponding gravity-type conveying lane GC. Accordingly, the support 10 drives the push mechanism 20 and the picking mechanism 30 connected thereto to move synchronously. This movement process can be Figure 1 Movement in at least one of the x-, y- and z-directions.

[0109] When the support 10 reaches the pickup position of the corresponding cargo lane in the lane, the support 10 can be driven to translate along the x direction by the first driving mechanism 51. Figure 5 (b), the top block 22 of the push mechanism 20 is driven to contact the cargo GD and exert a thrust, so that the cargo GD blocked by the blocking mechanism BL slides upward along the surface of the cargo path and escapes from the blocking mechanism BL. At this time, the support block 31 of the picking mechanism 30 reaches the lower side of the cargo GD.

[0110] exist Figure 5 In (c), the first driving mechanism 51 can be used to make the bracket 10 and the picking mechanism 30 connected to the bracket 10 translate as a whole along the z direction, so that the support block 31 forms an upward force on the goods GD, so that the lower end of the goods GD gradually leaves the surface of the cargo channel. In addition, in the process of picking up the goods GD, the abutment member 21 of the pushing mechanism 20 is limited by the blocking mechanism BL and does not move upward with the bracket 10 and the picking mechanism 30. In the process of picking up the goods GD, the vibration mechanism 61 can continue to apply an exciting force to the goods guiding mechanism 11 during the ascending process of the picker.

[0111] When the cargo GD is lifted up to a height position exceeding the blocking mechanism BL and the top block 22, the cargo GD passes over the blocking mechanism BL under its own weight and the squeezing effect of other cargo GD behind it, and reaches the cargo guiding mechanism 11. Figure 5 In (d), the tip of the support block 31 abuts against the next cargo GD to prevent it from sliding down to the blocking position of the blocking mechanism BL.

[0112] refer to Figure 5 (d), at this time, the inclined smooth surface of the cargo guiding mechanism 11 can guide the cargo GD to slide further to the left and enter the cargo receiving area 12. The sensing element 62 can sense that the cargo GD passes through the cargo guiding mechanism 11 and reaches the cargo receiving area 12.

[0113] refer to Figure 5(e), the first driving mechanism 51 can make the bracket 10 and the picking mechanism 30 connected to the bracket 10 move in the opposite direction of the z direction (i.e. move downward). As the support block 31 moves downward, the pushing mechanism 20 remains in the state of being limited by the blocking mechanism BL under the action of the spring, thereby taking over the support block 31 and continuing to abut against the next cargo GD, so that it does not slide down to the blocking position of the blocking mechanism BL.

[0114] On this basis, the picking device PU can drive the picking mechanism 30 to rise and fall by repeatedly lifting the bracket 10, and realize the picking operation of multiple goods in the same cargo channel with better efficiency. Figure 5 The support frame 20 continues to descend in the state (e) so that the pushing mechanism 20 abuts against the picking mechanism 30 under the action of the elastic member 41, and then moves with the bracket to other cargo channels to continue the picking operation.

[0115] Figure 6 Schematic diagram of the cargo picking process according to other embodiments of the cargo picking device disclosed herein. Figure 6 In some embodiments, the picking device PU also includes a driving member 42, which is drivably connected to the pushing mechanism 20 and is configured to drive the pushing mechanism 20 to rotate to a position that does not block the cargo GD during the process of the cargo GD being lifted up or after being lifted up to exceed the top of the blocking mechanism BL.

[0116] exist Figure 6 In the figure, a driving member 42 is shown by a circle, and the driving member 42 may include a motor, a pneumatic motor or other available driving mechanism. The driving member 42 is connected to the pushing mechanism 20, and can make the pushing mechanism 20 rotate so as to avoid the position blocking the cargo GD. This method is more concise in structural implementation, and conveniently solves the problem of interference between the pushing mechanism 20 and the cargo GD when the cargo GD is lifted up to pass over the blocking mechanism BL.

[0117] The driving member 42 can drive the pushing mechanism 20 to rotate to a position that does not block the cargo GD while the cargo GD is being lifted up, or after the cargo GB is lifted up to exceed the top of the blocking mechanism BL.

[0118] The following is based on Figure 6 (a) to (d) are used to illustrate an example of a specific picking process of the picking device embodiment.

[0119] exist Figure 6 In (a), the driving bracket 10 can move so that the pushing mechanism 20 and the picking mechanism 30 move to the corresponding positions of the gravity transfer channel GC where the goods are to be picked up. At this time, the pushing mechanism 20 is located at the first rotation position relative to the picking mechanism 30.

[0120] The driving bracket 10 can be driven to move, thereby driving the pushing mechanism 20 and the picking mechanism 30 to move at least in the x direction, and also to move obliquely upward to include displacement components in the x direction and the z direction. Figure 6 In (b), the pushing mechanism 20 pushes the cargo GD upward along the surface of the cargo channel, and at this time, the picking mechanism 30 has reached the lower side of the cargo GD.

[0121] The driving bracket 10 can be driven to move, driving the pushing mechanism 20 and the picking mechanism 30 to move along the z direction, thereby forming an upward lifting force on the goods GD through the picking mechanism 30. Figure 6 In (c), it can be seen that a portion of the cargo GD has left the surface of the cargo channel and its height has exceeded the blocking mechanism BL, but the cargo GD has not entered the cargo guiding mechanism 11 due to the blocking effect of the pushing mechanism 20.

[0122] The push mechanism 20 is laid down by the driving member 42. Figure 6 The arc line with arrow in (d) shows that the pushing mechanism 20 is turned toward the cargo guiding mechanism 11, and at this time, the pushing mechanism 20 is located at the second rotation position relative to the bracket 10. In this way, the cargo GD can slide toward the cargo guiding mechanism 11 over the blocking mechanism BL.

[0123] Figure 7 Schematic diagram of the picking process according to some other embodiments of the picking device disclosed in the present invention. For the embodiment in which the picking mechanism 30 applies the lifting force to the goods GD by other mechanisms, refer to Figure 1 and Figure 7 In some embodiments, the picking mechanism 30 is movably connected to the bracket 10 , and the pushing mechanism 20 is fixedly disposed on the bracket 10 to move synchronously with the bracket 10 .

[0124] The picking device PU also includes: a first driving mechanism 51 and a second driving mechanism 52. The first driving mechanism 51 is connected to the support 10 and is configured to drive the support 10 to move, so as to drive the pushing mechanism 20 and the picking mechanism 30 to move relative to the gravity-type conveying cargo lane GC. The second driving mechanism 52 is disposed on the support 10 and is connected to the picking mechanism 30. The second driving mechanism 52 is configured to apply an upward lifting force to the cargo GD by driving the picking mechanism 30 to move.

[0125] exist Figure 7 In (b), the pushing mechanism 20 may include a push rod 23 fixedly connected to the cargo guiding mechanism 11 and a top block 22 fixedly connected to the end of the push rod 23. The picking mechanism 30 may be disposed between the two sets of top blocks 22 and the push rod 23, and movably connected to the cargo guiding mechanism 11. The movably connected here may include both a rotating connection and a movable connection.

[0126] The picking mechanism 30 is also connected to a second driving mechanism 52 indicated by a circle. The second driving mechanism 52 may include a motor, a pneumatic motor or other mechanism capable of providing a driving torque. When the goods GD needs to be picked up, the second driving mechanism 52 can make the picking mechanism 30 perform at least one of a movement and a rotation relative to the goods guiding mechanism 11, thereby forming an upward lifting force of the picking mechanism 30 on the goods GD.

[0127] The following is based on Figure 7 (a) to (d) are used to illustrate an example of a specific picking process of the picking device embodiment.

[0128] exist Figure 7 In (a), the driving bracket 10 can move so that the pushing mechanism 20 and the picking mechanism 30 move to the corresponding positions of the gravity transfer channel GC where the goods are to be picked up. At this time, the picking mechanism 30 is located in the first rotation position relative to the goods guiding mechanism 11.

[0129] The driving bracket 10 can be driven to move, thereby driving the pushing mechanism 20 and the picking mechanism 30 to move at least in the x direction, and also to move obliquely upward to include displacement components in the x direction and the z direction. Figure 7 In (c), the top block 22 of the pushing mechanism 20 pushes the cargo GD upward along the surface of the cargo channel, and at this time, the picking mechanism 30 has reached the lower side of the cargo GD.

[0130] The lifting mechanism 30 is rotated by the second driving mechanism 52 to form a lifting force on the cargo GD. Figure 7 In (d), it can be seen that the cargo picking mechanism 30 is located at the second rotation position relative to the cargo guiding mechanism 11. At this time, a part of the cargo GD has been picked up to a position away from the surface of the cargo channel so that the height of the cargo GD can exceed the blocking mechanism BL. In this way, the cargo GD will pass over the blocking mechanism BL under the action of its own weight and the squeezing of other cargo GD.

[0131] The above-mentioned embodiments of the pickup device PU can be applied to various systems that need to pick up goods from the gravity conveyor channel GC, including but not limited to automatic delivery systems.

[0132] The embodiment of the present disclosure provides an automatic delivery system, comprising: at least one gravity conveying channel GC and a pickup device PU of any of the above embodiments. The pickup device PU and the automatic delivery system can be used in automatic medicine dispensing machines, automatic vending machines, and storage systems.

[0133] Figure 8 Schematic diagram of some embodiments of the pickup method according to the present disclosure. Figure 8Based on the above-mentioned pickup device PU, the present disclosure also provides a method for picking up goods using the pickup device PU according to the above-mentioned embodiments. The method for picking up goods includes: step S1 and step S2.

[0134] In step S1 , the goods GD blocked by the blocking mechanism BL of the gravity conveying channel GC in the gravity conveying channel GC are pushed away from the blocking mechanism BL by the pushing mechanism 20 .

[0135] In step S2 , in a state where the cargo GD is pushed away from the blocking mechanism BL, an upward force is applied to the cargo GD by the cargo lifting mechanism 30 , so that the cargo GD passes over the blocking mechanism BL.

[0136] In this embodiment, the pushing mechanism pushes the goods in the gravity-transported cargo channel away from the blocking mechanism, and the picking mechanism applies a lifting force to the goods when the goods are pushed away from the blocking mechanism, so that the goods pass over the blocking mechanism and enter the cargo guiding mechanism. Compared with the method in the related art of applying a lifting force to the goods blocked by the baffle at the bottom of the cargo channel to make them pass over the baffle, when the lifting force is applied to the goods in the embodiment disclosed, the goods have left the blocking mechanism, which can reduce or eliminate the obstacles to the stable picking of the goods caused by the baffle when the goods are picked up due to factors such as wide and thin goods that are easy to be hooked by the baffle, poor processing or installation accuracy of the baffle, positioning deviation between the picking device and the goods in the cargo channel, and protrusions on the outer edge of the goods packaging, thereby reducing the risk of the goods tipping over due to unbalanced force and the failure of picking up, thereby improving the picking effect.

[0137] In some embodiments, the cargo picking method further includes: during the process of the cargo picking mechanism 30 picking up the cargo GD, limiting the pushing mechanism through the gravity-type cargo transfer channel GC.

[0138] In some embodiments, the picking mechanism 30 is fixedly connected to the support 10 to move synchronously with the support 10, and the pushing mechanism 20 is movably arranged on the support 10; the picking device PU also includes a first driving mechanism 51 drivingly connected to the support 10. Accordingly, in step S1, the step of pushing the goods GD blocked by the blocking mechanism BL of the gravity-type conveying channel GC in the gravity-type conveying channel GC away from the blocking mechanism BL by the pushing mechanism 20 includes: driving the support 10 to move by the first driving mechanism 51, so that the pushing mechanism 20 moves toward the blocking mechanism BL, and pushes the goods GD away from the blocking mechanism BL.

[0139] In some embodiments, the pushing mechanism 20 includes a supporting member 21 and a top block 22 fixedly connected to the supporting member 21. Accordingly, in step S2, when the cargo GD is pushed away from the blocking mechanism BL, the step of applying a lifting force to the cargo GD through the cargo picking mechanism 30 so that the cargo GD passes over the blocking mechanism BL includes: when the cargo GD is pushed away from the blocking mechanism BL by the top block 22, the bracket 10 is driven to move upward by the first driving mechanism 51 to drive the pushing mechanism 20 and the cargo picking mechanism 30 to move upward; after the pushing mechanism 20 moves to the position where the supporting member 21 abuts against the blocking mechanism BL, the bracket 10 is continuously driven to move upward by the first driving mechanism 51 to drive the cargo picking mechanism to move upward to apply a lifting force to the cargo GD, and the pushing mechanism 20 is limited by the gravity-type transport cargo channel GC, so that the cargo GD passes over the blocking mechanism BL and the pushing mechanism 20.

[0140] In some embodiments, the pushing mechanism 20 is rotatably connected to the bracket 10, and the picking device PU further includes an elastic member 41 connected to the abutting member 21. Accordingly, the picking method further includes: After the cargo GD at the bottom of the gravity-transporting cargo lane GC passes over the blocking mechanism BL through the cargo picking mechanism 30, the cargo picking mechanism 30 abuts against the next cargo GD in the gravity-transporting cargo lane GC so that it does not contact the blocking mechanism BL; The support 10 is driven to move downward by the first driving mechanism 51, so as to drive the picking mechanism 30 to move downward and leave the position against the next cargo GD in the gravity-type cargo channel GC; As the support 10 moves downward, the elastic member 41 exerts an elastic force on the abutting member 21, so that the pushing mechanism 20 continues to pass through the gravity conveying cargo lane GC and abuts against the next cargo GD in the gravity conveying cargo lane GC; The first driving mechanism 51 is repeatedly used to drive the support 10 upward and downward to achieve continuous pickup of multiple goods GD in the gravity-type transfer channel GC.

[0141] In some embodiments, the picking device PU further includes a driving member 42 drivingly connected to the pushing mechanism 20. Accordingly, the picking method further includes: during the process of the goods GD being picked up or after being picked up to exceed the top of the blocking mechanism BL, the pushing mechanism 20 is driven by the driving member 42 to rotate to a position that does not block the goods GD.

[0142] In some embodiments, the picking mechanism 30 is fixedly connected to the support 10 to move synchronously with the support 10, the pushing mechanism 20 is movably arranged on the support 10, and the picking device PU further comprises a first driving mechanism 51 and a second driving mechanism 52, wherein the first driving mechanism 51 is drivingly connected to the support 10, and the second driving mechanism 52 is arranged on the support 10 and drivingly connected to the picking mechanism 30. Accordingly, in step S2, when the goods GD is pushed away from the blocking mechanism BL, the step of applying an upward lifting force to the goods GD by the picking mechanism 30 so that the goods GD passes over the blocking mechanism BL comprises: driving the support 10 to move by the first driving mechanism 51 to drive the pushing mechanism 20 and the picking mechanism 30 to move toward the gravity-type transport cargo lane GC; when the pushing mechanism 20 pushes the goods GD away from the blocking mechanism BL, the second driving mechanism 52 drives the picking mechanism 30 to move to apply an upward lifting force to the goods GD.

[0143] In this specification, multiple embodiments are described in a progressive manner, and the focus of each embodiment is different, and the same or similar parts between the embodiments can be referred to each other. For the method embodiment, since its overall structure and the steps involved correspond to the contents in the embodiment of the pickup device, the description is relatively simple, and the relevant parts can be referred to the partial description of the embodiment of the pickup device.

[0144] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0145] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A pickup device (PU) for taking out goods (GD) blocked by a blocking mechanism (BL) of a gravity conveying channel (GC) in a gravity conveying channel (GC), comprising: Bracket (10); A pushing mechanism (20) configured to push the cargo (GD) away from the blocking mechanism (BL); and The cargo lifting mechanism (30) is arranged on the support (10) and is configured to apply an upward lifting force to the cargo (GD) when the cargo (GD) is pushed away from the blocking mechanism (BL), so as to enable the cargo (GD) to pass over the blocking mechanism (BL).

2. The pickup device (PU) according to claim 1, wherein: The pushing mechanism (20) is configured to be limited by the gravity-type cargo conveying channel (GC) during the process of the cargo picking mechanism (30) picking up the cargo (GD).

3. The pickup device (PU) according to claim 1, wherein: The pushing mechanism (20) comprises: The abutment member (21) is configured to abut against the gravity-type conveying channel (GC) so as to be limited by the gravity-type conveying channel (GC) during the process of the conveying mechanism (30) conveying the goods (GD); A top block (22) is fixedly connected to the abutment member (21) and is used to push the cargo (GD) away from the blocking mechanism (BL).

4. The pickup device (PU) according to claim 3, wherein: The blocking mechanism (BL) comprises two blocking parts located at the bottom end of the gravity-type conveying cargo lane (GC), and the top block (22) is configured to push the cargo (GD) between the two blocking parts; the abutting member (21) comprises a cross beam (211), the top block (22) is located in the middle of the cross beam (211), and the dimension of the cross beam (211) in the width direction of the gravity-type conveying cargo lane (GC) is greater than the distance between the two blocking parts in the width direction of the gravity-type conveying cargo lane (GC), so as to abut against the two blocking parts when the cargo picking mechanism (30) picks up the cargo (GD).

5. The pickup device (PU) according to claim 4, wherein: The abutment member (21) further comprises: Two side rods (212) are respectively connected to two ends of the crossbeam (211) to form a door-shaped structure with the crossbeam (211); Wherein, the two side rods (212) are respectively hinged to the bracket (10).

6. The pickup device (PU) according to claim 3, wherein: The cargo picking mechanism (30) is also used to limit the position of at least one of the top block (22) and the abutment member (21) before picking up the cargo (GD).

7. The pickup device (PU) according to claim 6, further comprising: An elastic member (41) is connected to the abutting member (21) to apply an elastic force to the abutting member (21).

8. The pickup device (PU) according to claim 7, wherein: The elastic member (41) is connected to the bracket (10).

9. The pickup device (PU) according to claim 7, wherein: The pickup device (PU) comprises at least two pushing mechanisms (20), and each end of the elastic member (41) is respectively connected to the at least two pushing mechanisms (20).

10. The pickup device (PU) according to claim 9, wherein: The picking device (PU) comprises two pushing mechanisms (20) and two picking mechanisms (30) respectively corresponding to the two pushing mechanisms (20); the abutting member (21) in each pushing mechanism (20) comprises a crossbeam (211) and two side rods (212); the two side rods (212) are respectively connected to two ends of the crossbeam (211) to form a door-shaped structure with the crossbeam (211); the two side rods (212) are respectively hinged to the bracket (10); the elastic member (41) comprises a spring, one end of the spring is connected to the side rod (212) of one of the two pushing mechanisms (20), and the other end is connected to the side rod (212) of the other of the two pushing mechanisms (20).

11. The pickup device (PU) according to claim 3, wherein: The blocking mechanism (BL) comprises two blocking parts located at the bottom end of the gravity-type cargo conveying channel (GC), and the cargo picking mechanism (30) comprises: A support block (31) is fixedly connected to the support (10) and is configured to extend between the two blocking portions to stir the cargo (GD) at the lower side of the cargo (GD); The supporting block (31) has a through portion (311), and the top block (22) can movably pass through the through portion (311).

12. The pickup device (PU) according to claim 2 or 3, wherein: The picking mechanism (30) is fixedly connected to the bracket (10) so as to move synchronously with the bracket (10), and the pushing mechanism (20) is movably arranged on the bracket (10).

13. The pickup device (PU) according to claim 12, further comprising: The first driving mechanism (51) is drivingly connected to the support (10) and is configured to drive the support (10) to move, thereby driving the pushing mechanism (20) and the picking mechanism (30) to move relative to the gravity conveying channel (GC).

14. The pickup device (PU) according to claim 2 or 3, wherein: At least one of the pushing mechanism (20) and the picking mechanism (30) is configured to abut against the next cargo (GD) in the gravity-transporting cargo lane (GC) after the cargo (GD) at the bottom of the gravity-transporting cargo lane (GC) passes over the blocking mechanism (BL).

15. The pickup device (PU) according to claim 1, further comprising: A driving member (42) is drivably connected to the pushing mechanism (20) and is configured to drive the pushing mechanism (20) to rotate to a position where the cargo (GD) is not blocked during the process of being lifted up or after being lifted up to a position above the top of the blocking mechanism (BL).

16. The pickup device (PU) according to claim 1 or 2, wherein: The picking mechanism (30) is movably connected to the bracket (10), and the pushing mechanism (20) is fixedly arranged on the bracket (10) so as to move synchronously with the bracket (10); Wherein, the pickup device (PU) further comprises: a first driving mechanism (51) drivingly connected to the support (10) and configured to drive the support (10) to move, so as to drive the pushing mechanism (20) and the picking mechanism (30) to move relative to the gravity conveying channel (GC); and The second driving mechanism (52) is arranged on the support (10) and is drivingly connected to the cargo picking mechanism (30). The second driving mechanism (52) is configured to apply an upward lifting force to the cargo (GD) by driving the cargo picking mechanism (30) to move.

17. The pickup device (PU) according to claim 1, wherein: The support (10) comprises a cargo guiding mechanism (11) and a cargo receiving area (12), the cargo guiding mechanism (11) being configured to guide received cargo (GD) to the cargo receiving area (12), and the cargo picking mechanism (30) being fixedly connected to the cargo guiding mechanism (11); Wherein, the pushing mechanism (20) and the cargo picking mechanism (30) are both located on the cargo receiving side of the cargo guiding mechanism (11).

18. The pickup device (PU) according to claim 17, further comprising: A vibration mechanism (61) is connected to the bracket (10) and is configured to apply an exciting force to the bracket (10) and the picking mechanism (30).

19. The pickup device (PU) according to claim 17, further comprising: A sensing element (62) is configured to sense the goods (GD) entering the receiving area (12).

20. An automatic delivery system, comprising: At least one gravity-fed conveyor (GC); and The pickup device (PU) as described in any one of claims 1 to 19.

21. A method for picking up goods using a picking up device (PU) according to any one of claims 1 to 19, comprising: The goods (GD) blocked by the blocking mechanism (BL) of the gravity-type conveying channel (GC) are pushed away from the blocking mechanism (BL) by means of a pushing mechanism (20); When the goods (GD) are pushed away from the blocking mechanism (BL), an upward lifting force is applied to the goods (GD) by a lifting mechanism (30) so that the goods (GD) pass over the blocking mechanism (BL).

22. The method for picking up goods according to claim 21, further comprising: In the process of the cargo picking mechanism (30) picking up the cargo (GD), the pushing mechanism is limited by the gravity-type cargo transfer channel (GC).

23. The method for picking up goods according to claim 22, wherein: The picking mechanism (30) is fixedly connected to the bracket (10) so as to move synchronously with the bracket (10), and the pushing mechanism (20) is movably arranged on the bracket (10); the picking device (PU) further comprises a first driving mechanism (51) drivingly connected to the bracket (10); The step of pushing the goods (GD) blocked by the blocking mechanism (BL) of the gravity-type conveying channel (GC) away from the blocking mechanism (BL) by means of the pushing mechanism (20) comprises: The support (10) is driven to move by the first driving mechanism (51), so that the pushing mechanism (20) moves toward the blocking mechanism (BL) and pushes the cargo (GD) away from the blocking mechanism (BL).

24. The method for picking up goods according to claim 23, wherein: The pushing mechanism (20) comprises a supporting member (21) and a pushing block (22) fixedly connected to the supporting member (21); Wherein, when the goods (GD) are pushed away from the blocking mechanism (BL), the step of applying an upward lifting force to the goods (GD) by means of a lifting mechanism (30) so as to make the goods (GD) pass over the blocking mechanism (BL) comprises: When the push block (22) pushes the cargo (GD) away from the blocking mechanism (BL), the first driving mechanism (51) drives the bracket (10) to move upward, thereby driving the push mechanism (20) and the cargo picking mechanism (30) to move upward; After the pushing mechanism (20) moves to a position where the abutting member (21) abuts against the blocking mechanism (BL), the first driving mechanism (51) continues to drive the bracket (10) to move upward, thereby driving the lifting mechanism to move upward to apply an upward lifting force to the goods (GD), and the pushing mechanism (20) is limited by the gravity-type conveying channel (GC), so that the goods (GD) pass over the blocking mechanism (BL) and the pushing mechanism (20).

25. The method for picking up goods according to claim 24, wherein: The pushing mechanism (20) is rotatably connected to the bracket (10), and the picking device (PU) further comprises an elastic member (41) connected to the abutting member (21); Wherein, the pickup method further includes: After the goods (GD) at the bottom of the gravity-type conveying channel (GC) pass over the blocking mechanism (BL) through the picking mechanism (30), the picking mechanism (30) abuts against the next goods (GD) in the gravity-type conveying channel (GC) so that it does not contact the blocking mechanism (BL); The support (10) is driven to move downwards by the first driving mechanism (51), so as to drive the cargo picking mechanism (30) to move downwards and leave the position against the next cargo (GD) in the gravity conveying channel (GC); As the support (10) moves downward, the elastic member (41) exerts an elastic force on the abutting member (21), causing the pushing mechanism (20) to continue to pass through the gravity conveying channel (GC) to limit the position and abut against the next cargo (GD) in the gravity conveying channel (GC); The first driving mechanism (51) is repeatedly used to drive the support (10) to move upward and downward, so as to achieve continuous picking of multiple goods (GD) in the gravity conveying channel (GC).

26. The method for picking up goods according to claim 21, wherein: The pickup device (PU) further comprises a driving member (42) drivingly connected to the pushing mechanism (20); Wherein, the pickup method further includes: When the goods (GD) are being lifted up or after being lifted up to a position above the top of the blocking mechanism (BL), the driving member (42) drives the pushing mechanism (20) to rotate to a position where the goods (GD) are not blocked.

27. The method for picking up goods according to claim 21, wherein: The picking mechanism (30) is fixedly connected to the bracket (10) so as to move synchronously with the bracket (10); the pushing mechanism (20) is movably arranged on the bracket (10); the picking device (PU) further comprises a first driving mechanism (51) and a second driving mechanism (52); the first driving mechanism (51) is drivingly connected to the bracket (10); the second driving mechanism (52) is arranged on the bracket (10) and drivingly connected to the picking mechanism (30); Wherein, when the goods (GD) are pushed away from the blocking mechanism (BL), the step of applying an upward lifting force to the goods (GD) by means of a lifting mechanism (30) so as to make the goods (GD) pass over the blocking mechanism (BL) comprises: The support (10) is driven to move by the first driving mechanism (51), so as to drive the pushing mechanism (20) and the picking mechanism (30) to move toward the gravity-type cargo conveying channel (GC); When the pushing mechanism (20) pushes the cargo (GD) away from the blocking mechanism (BL), the second driving mechanism (52) drives the cargo lifting mechanism (30) to move so as to apply an upward lifting force to the cargo (GD).

Images