Goods picking device, goods picking method and automatic vending system

Abstract

A picking device, a picking method, and an automatic delivery system. The picking device (PU) is used to take out goods (GD) blocked by a blocking mechanism (BL) of a gravity-type conveying channel (GC). The picking device comprises: a bracket (10); a pushing mechanism (20) configured to push the goods (GD) away from the blocking mechanism (BL); and a picking mechanism (30) provided on the bracket (10) and configured to apply an upward lifting force to the goods (GD) when the goods (GD) are pushed away from the blocking mechanism (BL), so that the goods (GD) pass over the blocking mechanism (BL). The present disclosure can improve the picking effect.

Description

Technical Field

[0001] The present disclosure 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 fields of logistics and warehouse management, automated movement of goods using their own weight to slide along inclined aisles improves picking efficiency and saves energy. When goods need to be retrieved from an inclined aisle, related technologies employ a top-up pick-up method. This involves using a finger mechanism to apply an upward force to goods blocked by a barrier at the bottom of the aisle, allowing them to pass over the barrier and complete the retrieval operation. Summary of the Invention

[0003] Research has found that when the goods are picked up, there is a problem that the goods are subjected to unbalanced force and overturned due to the obstruction of the baffle friction, thus failing 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, a cargo picking device is provided for removing cargo blocked by a blocking mechanism of a gravity-type cargo transport channel, comprising:

[0006] Bracket;

[0007] a pushing mechanism configured to push the cargo away from the blocking mechanism; and

[0008] The cargo lifting mechanism is provided on the bracket and is configured to apply a lifting force to the cargo when the cargo is pushed away from the blocking mechanism, so as to enable the cargo to pass over the blocking mechanism.

[0009] In some embodiments, the pushing mechanism is configured to be limited by the gravity-type transport channel during the process of the picking mechanism picking up the goods.

[0010] In some embodiments, the pushing mechanism includes:

[0011] an abutting member configured to abut against the gravity-type transport channel so as to be limited by the gravity-type transport channel during the process of the cargo-picking mechanism picking up the cargo;

[0012] A top block is fixedly connected to the abutting member and is used to push the goods away from the blocking mechanism.

[0013] In some embodiments, the blocking mechanism includes two blocking parts located at the bottom end of the gravity-type transport freight lane, and the top block is configured to push the goods between the two blocking parts; the abutment member includes a crossbeam, and the top block is located in the middle of the crossbeam, and the dimension of the crossbeam in the width direction of the gravity-type transport freight lane is greater than the distance between the two blocking parts in the width direction of the gravity-type transport freight lane, so as to abut against the two blocking parts during the process of the picking mechanism picking up the goods.

[0014] In some embodiments, the abutment member further comprises:

[0015] Two side bars are connected to both ends of the crossbeam to form a door-shaped structure with the crossbeam;

[0016] Wherein, the two side rods are hinged to the bracket respectively.

[0017] 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.

[0018] In some embodiments, the pickup device further comprises:

[0019] An elastic member is connected to the abutting member to apply elastic force to the abutting member.

[0020] In some embodiments, the elastic member is connected to the bracket.

[0021] 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.

[0022] 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 the two 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.

[0023] In some embodiments, the blocking mechanism includes two blocking parts located at the bottom end of the gravity-type transport channel, and the picking mechanism includes:

[0024] A support block is fixedly connected to the bracket and is configured to extend between the two blocking parts to stir the cargo at the bottom side of the cargo;

[0025] The supporting block has a through portion, and the top block can movably pass through the through portion.

[0026] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably provided on the bracket.

[0027] In some embodiments, the pickup device further comprises:

[0028] The first driving mechanism is 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.

[0029] 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 end of the gravity-type transport channel passes over the blocking mechanism.

[0030] In some embodiments, the pickup device further comprises:

[0031] The driving member is connected to the pushing mechanism and is configured to drive the pushing mechanism to rotate to a position where the goods are not blocked when the goods are being lifted up or after being lifted up to a position above the top of the blocking mechanism.

[0032] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably provided on the bracket;

[0033] Wherein, the picking device further includes:

[0034] a first driving mechanism, drivingly connected to the bracket, and configured to drive the bracket to move, thereby driving the pushing mechanism and the picking mechanism to move relative to the gravity-type transport channel; and

[0035] The second driving mechanism is provided 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.

[0036] 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;

[0037] Wherein, the pushing mechanism and the cargo picking mechanism are both located on the cargo receiving side of the cargo guiding mechanism.

[0038] In some embodiments, the pickup device further comprises:

[0039] The vibration mechanism is connected to the bracket and is configured to apply an exciting force to the bracket and the picking mechanism.

[0040] In some embodiments, the pickup device further comprises:

[0041] The sensing element is configured to sense that the goods enter the receiving area.

[0042] In one aspect of the present disclosure, there is provided an automatic shipping system, comprising:

[0043] At least one gravity-fed transport lane; and

[0044] The aforementioned pickup device.

[0045] In one aspect of the present disclosure, a method for picking up goods using the aforementioned picking up device is provided, comprising:

[0046] Pushing the goods in the gravity-type transport channel that are blocked by the blocking mechanism of the gravity-type transport channel away from the blocking mechanism through the pushing mechanism;

[0047] 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.

[0048] In some embodiments, the pickup method further includes:

[0049] In the process of the cargo-picking mechanism picking up the cargo, the pushing mechanism is limited by the gravity-type cargo transmission channel.

[0050] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, and the pushing mechanism is movably provided on the bracket; the picking device further includes a first driving mechanism drivingly connected to the bracket;

[0051] The step of pushing the goods blocked by the blocking mechanism of the gravity-type transport channel away from the blocking mechanism by using a pushing mechanism includes:

[0052] 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.

[0053] In some embodiments, the pushing mechanism includes a supporting member and a pushing block fixedly connected to the supporting member;

[0054] 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 includes:

[0055] When the push block pushes the goods away from the blocking mechanism, the bracket is driven to move upward by the first driving mechanism, thereby driving the pushing mechanism and the goods picking mechanism to move upward;

[0056] 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, thereby driving 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.

[0057] In some embodiments, the pushing mechanism is rotatably connected to the bracket, and the picking device further includes an elastic member connected to the abutting member;

[0058] Wherein, the pickup method further includes:

[0059] 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 next goods do not contact the blocking mechanism;

[0060] The bracket is driven downward by the first driving mechanism to drive the picking mechanism to move downward and away from a position against the next cargo in the gravity-type transport channel;

[0061] As the bracket moves downward, the elastic member exerts an elastic force on the abutting member, causing the pushing mechanism to continue to pass through the gravity-type transport channel and abut against the next cargo in the gravity-type transport channel;

[0062] 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.

[0063] In some embodiments, the cargo picking device further comprises a driving member drivingly connected to the pushing mechanism;

[0064] Wherein, the pickup method further includes:

[0065] When the goods are being lifted up or after being lifted up to a position beyond the top of the blocking mechanism, the driving member drives the pushing mechanism to rotate to a position where the goods are not blocked.

[0066] In some embodiments, the picking mechanism is fixedly connected to the bracket to move synchronously with the bracket, the pushing mechanism is movably provided on the bracket, and the picking device further includes 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 provided on the bracket and drivingly connected to the picking mechanism;

[0067] 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 includes:

[0068] 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;

[0069] When the pushing mechanism pushes the goods away from the blocking mechanism, the second driving mechanism drives the goods lifting mechanism to move so as to apply an upward lifting force to the goods.

[0070] According to the embodiment of the present disclosure, the pushing mechanism pushes the goods in the gravity-transported cargo lane away from the blocking mechanism, and the picking mechanism applies an upward 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 an upward lifting force to the goods blocked by the baffle at the bottom of the cargo lane to make them pass over the baffle, the embodiment of the present disclosure applies the upward lifting force to the goods after the goods have left the blocking mechanism. This can reduce or eliminate the obstacles caused by the baffle to the stable picking of the goods when the goods are picked up, such as the wide and thin goods that are easy to be hooked by the baffle, the poor processing or installation accuracy of the baffle, the positioning deviation between the picking device and the goods in the cargo lane, the bulge on the outer edge of the goods packaging, etc., 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

[0071] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0072] The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0073] Figure 1 is a schematic structural diagram of some embodiments of the automatic shipping system according to the present disclosure;

[0074] Figure 2 is a schematic structural diagram of some other embodiments of the automatic shipping system according to the present disclosure;

[0075] Figure 3 is a schematic structural diagram of some embodiments of the pickup device according to the present disclosure;

[0076] Figure 4 is a partial schematic diagram of the blocking portion limiting the pushing mechanism in some embodiments of the cargo picking device disclosed herein;

[0077] Figure 5 yes Figure 3 A schematic diagram of the pickup process of the illustrated embodiment;

[0078] Figure 6 is a schematic diagram of a cargo picking process according to other embodiments of the cargo picking device disclosed herein;

[0079] Figure 7 is a schematic diagram of a cargo picking process according to some further embodiments of the cargo picking device disclosed herein;

[0080] Figure 8 It is a flowchart of some embodiments of the pickup method according to the present disclosure.

[0081] It should be understood that the size of each part shown in the drawings is not drawn according to the actual proportional relationship.In addition, the same or similar reference numerals represent the same or similar components.

[0082] Description of reference numerals:

[0083] 10. Bracket; 11. Cargo guiding mechanism; 12. Cargo receiving area;

[0084] 20. Push mechanism; 21. Abutment member; 22. Push block; 211. Crossbeam; 212. Side rod; 23. Push rod;

[0085] 30. Picking mechanism; 31. Support block; 311. Through-hole;

[0086] 41. Elastic member; 42. Driving member;

[0087] 51. First driving mechanism; 52. Second driving mechanism;

[0088] 61. Vibration mechanism; 62. Sensing element;

[0089] PU, pickup device; GC, gravity conveyor; BL, blocking mechanism; GD, goods. DETAILED DESCRIPTION

[0090] 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, 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 convey 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 parts and steps, the composition of materials, numerical expressions, and numerical values set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0091] The terms "first", "second" and similar terms used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The terms "include" or "comprises" and similar terms mean that the elements before the term include the elements listed after the term, and do not exclude the possibility of also including other elements. The terms "upper", "lower", "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.

[0092] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0093] All terms (including technical or scientific terms) used in this disclosure have the same meaning as understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0094] 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 part of the specification.

[0095] 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 lifting 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.

[0096] Research has found that when lifting cargo, unbalanced contact resistance between the front end of the cargo and the bottom baffle of the inclined aisle can lead to unsuccessful pickup. This obstruction can occur for a variety of reasons, including a misalignment of the bottom baffle due to installation issues with the aisle board, resulting in the front end of the cargo being suspended without contact with the baffle. When the cargo is lifted, only one side of the baffle is acting on the front end of the cargo, causing it to tip over. Another example is a bulge on the outer edge of the cargo packaging, which can also cause an imbalance in the force between the cargo and the baffle.

[0097] Furthermore, the forces acting on the cargo when it is lifted are complex. Unbalanced forces on the guide plate, cargo packaging, and the upper surface of the aisle can all cause problems during lifting. These problems are more pronounced when the cargo is thin or wide.

[0098] 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.

[0099] Figure 1 Schematic diagram of some embodiments of the automatic shipping system according to the present disclosure. Figure 1 The present disclosure provides an automated delivery system comprising at least one gravity-assisted cargo lane (GC) and a cargo pickup device (PU). The GC may have an inclined lane section, allowing cargo to move downward along the inclined lane section under its own weight. The inclined lane section may comprise the entire GC or a portion of the GC.

[0100] The automatic delivery system may include one or more gravity conveyor lanes GC. Figure 1 As shown, multiple gravity-controlled cargo lanes GC can be arranged in multiple rows and columns. Each gravity-controlled cargo lane GC can be arranged parallel to one another. The gravity-controlled cargo lanes GC can be formed using adjacent elongated members in an inverted T-shaped structure, each of which is inclined relative to the horizontal plane and parallel to one another.

[0101] For each group of adjacent elongated members forming each gravity conveying lane GC, the spacing between adjacent elongated members can be set to be the same. Accordingly, the lane widths of the corresponding gravity conveying lanes GC are all the same. The spacing between adjacent elongated members can also be set to be different for at least some groups. Accordingly, the lane widths of the gravity conveying lanes GC corresponding to at least some groups of adjacent elongated members are different.

[0102] A gravity-controlled conveyor lane GC can accommodate one or more cargo items GD. It features a blocking mechanism BL to prevent cargo items GD from being removed. Other cargo items are arranged sequentially along the lane's floor, one to each side of the GD. Once a cargo item GD blocked by the blocking mechanism BL is removed, the adjacent cargo item GD can slide under the force of gravity and be stopped by the blocking mechanism BL.

[0103] As needed, the gravity conveyor lane GC may include one or more blocking mechanisms BL. The blocking mechanism BL may include a blocking portion mounted or formed on the gravity conveyor lane GC. The blocking portion may be integrally formed with the elongated members of the gravity conveyor lane GC, or may be mounted to the ends of the elongated members via a connecting structure or connector. The blocking mechanism BL may also be located elsewhere on the gravity conveyor lane GC, for example, by mounting the blocking mechanism BL on a frame used to secure the elongated members.

[0104] The blocking portion may adopt various structural forms that can achieve a blocking effect, such as a blocking piece, a blocking block or a protruding structure.

[0105] 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 set on one side or both sides of the pickup device PU. The gravity conveying cargo lane GC can also adopt other configuration forms, such as a structure in which multiple groups of gravity conveying cargo lanes GC surround the pickup device PU in the middle.

[0106] The retrieval device PU can retrieve goods GD from the gravity conveyor lanes GC that are blocked by the blocking mechanism BL. For multiple goods GD stored in one or more gravity conveyor lanes GC, the retrieval device PU can sequentially move to different gravity conveyor lanes GC to retrieve goods according to a pre-set retrieval sequence.

[0107] Figure 3 This is a schematic diagram of an application scenario of the pickup device according to the present disclosure. Figure 1-Figure 3 The embodiment of the present disclosure provides a picking device PU for removing goods GD in a gravity-type conveying channel GC that is blocked by a blocking mechanism BL of the gravity-type conveying channel 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 provided 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.

[0108] As needed, the support 10 can be driven by a driving mechanism to move relative to the gravity conveying cargo lane GC, for example, in a vertical direction, a horizontal direction, or a direction parallel to the conveying direction of the gravity conveying cargo lane GC.

[0109] In some embodiments, the rack 10 may include 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. The structure of the cargo guiding mechanism 11 may be as follows: Figure 3 When cargo GD enters the inclined chute, it slides to a receiving area 12, away from the gravity-controlled conveyor channel GC, under the guidance of its own weight and the inclined chute. The cargo guiding mechanism 11 is not limited to an inclined chute; other structures, such as a powered belt or rollers, may also be employed.

[0110] The receiving area 12 can be as follows Figure 3 The figure shows a slideway adjacent to the cargo guide mechanism 11. The bottom of the slideway can dock with a receiving cart or container, and intersects the guiding direction of the cargo guide mechanism 11 at an angle. The cargo receiving area 12 is not limited to a slideway structure; it can also directly adopt a receiving container or a hollow structure that allows cargo to fall.

[0111] 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 picking mechanism 30 of the pickup device PU only needs to pick the cargo GD out of the gravity conveyor channel GC, without the need for a cargo guiding mechanism 11 or the cargo receiving area 12.

[0112] 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, causing the cargo GD and other cargo GD pressing against it in the cargo aisle to move diagonally upward along the inclined aisle. As the cargo GD moves, it breaks contact with the blocking mechanism BL.

[0113] The pushing 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.

[0114] The lifting mechanism 30 is mounted on the support 10. When the cargo GD is pushed away from the blocking mechanism BL, the lifting mechanism 30 can apply an upward lifting force to the cargo GD, thereby causing the cargo GD to pass over the blocking mechanism BL. The upward lifting force is a force applied by the lifting mechanism 30 to a portion of the cargo GD (e.g., the bottom surface of the front section of the cargo) or the entire cargo GD (e.g., the entire bottom surface of the cargo). This force includes a vertical upward component, thereby causing the cargo GD to partially or entirely move upward.

[0115] The lifting mechanism 30 can be positioned on the cargo receiving side of the rack 10, i.e., on the side of the rack adjacent to the blocking mechanism BL. The lifting mechanism 30 can apply an upward force to the cargo GD at the bottom of the cargo GD adjacent to the blocking mechanism BL, so that the lowest point of the cargo GD is lifted upward by the lifting force, thereby clearing the blocking mechanism BL. The lifting force of the lifting mechanism 30 can also be applied to other suitable locations on the cargo GD.

[0116] The lifting mechanism 30 applies an upward 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 when the cargo GD is completely out of contact with the blocking mechanism BL. In this case, the blocking mechanism BL exerts no friction or other resistance on the cargo GD. In other embodiments, the cargo GD is pushed away from the blocking mechanism BL but still partially in contact with the blocking mechanism BL. In this case, the blocking mechanism BL exerts a small amount of friction or other resistance on the cargo GD, thereby reducing the obstruction of the blocking mechanism BL on the cargo GD.

[0117] In this embodiment, the pushing mechanism pushes the goods in the gravity-type transport channel away from the blocking mechanism, and the picking mechanism applies an upward 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 goods guiding mechanism. Compared with the method in the related art of applying an upward lifting force to the goods blocked by the baffle at the bottom of the channel to make them pass over the baffle, the embodiment of the present disclosure applies the upward lifting force to the goods after the goods have left the blocking mechanism. This can reduce or eliminate the obstacles to the stable picking of the goods caused by the baffle when the goods are picked up, such as the wide and thin goods that are easy to be hooked by the baffle, the poor processing or installation accuracy of the baffle, the positioning deviation between the picking device and the goods in the channel, the bulge on the outer edge of the goods packaging, etc., thereby reducing the risk of the goods tipping over due to unbalanced force and the failure of picking up, thereby improving the picking effect.

[0118] Figure 4 This is a partial schematic diagram of the blocking portion limiting the pushing mechanism in some embodiments of the pickup device disclosed herein. Figure 3 and Figure 4In 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.

[0119] 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.

[0120] When pushing the cargo GD, the pushing mechanism 20 needs to act on the cargo GD to apply a thrust to the cargo GD, which in turn creates an obstacle to the downward movement of the cargo GD. However, due to the limiting effect of the gravity conveyor GC on the pushing mechanism 20, the pushing mechanism 20 is prevented from moving upward as the cargo GD is lifted. In this way, when the cargo GD passes over the blocking mechanism BL under the action of the upward force, it can easily pass over the pushing mechanism 20 without interfering with the movement of the cargo GD.

[0121] refer to Figure 3 In some embodiments, the pushing mechanism 20 includes a support member 21 and a push block 22. The support member 21 is configured to abut against the gravity conveyor channel GC during the process of the lifting mechanism 30 lifting the goods GD so as to be restrained by the gravity conveyor channel GC. The push block 22 is fixedly connected to the support member 21 and is used to push the goods GD away from the blocking mechanism BL.

[0122] 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 conveying 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.

[0123] The abutment member 21 can be movably connected to the bracket 10, for example, by being hinged via a pivot or slidingly connected via a slider. In this way, the abutment member 21 can move with the movement of the bracket 10 when not restrained by the gravity conveying lane GC, and can form relative motion, such as relative translation or relative rotation, with the bracket 10 when restrained by the gravity conveying lane GC.

[0124] refer to Figure 1 and Figure 4In some embodiments, the blocking mechanism BL includes two blocking portions located at the bottom end of the gravity conveying cargo lane GC, and the top block 22 is configured to push the cargo GD between the two blocking portions. The abutting member 21 includes a crossbeam 211, and the top block 22 is located in the middle of the crossbeam 211. The crossbeam 211 has a dimension in the width direction of the gravity conveying cargo lane GC that is greater than the distance between the two blocking portions in the width direction of the gravity conveying cargo lane GC, so that the top block 22 abuts against the two blocking portions when the cargo picking mechanism 30 picks up the cargo GD.

[0125] The two blocking portions at the bottom of the gravity conveyor lane GC are spaced apart by a predetermined distance, ensuring both the blocking of the cargo GD and the access of the top block 22 and the cargo-lifting mechanism 30. The distance between the crossbeam 211 and the two blocking portions, along the width of the gravity conveyor lane GC, allows the blocking mechanism BL to reliably block and limit the crossbeam 211.

[0126] The top block 22 is disposed in the middle of the beam 211 without interfering with the two blocking portions. The middle of the beam 211 herein includes but is not limited to the midpoint of the entire beam 211. Specifically, the top block 22 can be disposed at the midpoint or at another location adjacent to the midpoint depending on the distance between the two blocking portions.

[0127] 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 crossbeam 211 to form a door-shaped structure with the crossbeam 211. The two side rods 212 are respectively hinged to the bracket 10.

[0128] like Figure 3 As shown, the side bars 212 can be configured as straight bars, or they can be curved or configured in other shapes to accommodate other structures. The two side bars 212 can be hinged to the bracket 10 on the side away from the crossbeam 211 to facilitate the rotatable connection of the abutment member 21 relative to the bracket 10. The gate-like structure formed by connecting the two side bars 212 at both ends of the crossbeam 211 can effectively reduce or avoid interference with the movement of the cargo guide mechanism 11 or the cargo GD.

[0129] exist Figure 3 In the embodiment, the cargo guiding mechanism 11 is located in the door-type structure and does not interfere with the abutting member 21. The cargo GD arriving at the cargo guiding mechanism 11 is also located in the door-type structure and its movement does not interfere with the abutting member 21 either.

[0130] 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.

[0131] Before lifting the goods GD, the picking mechanism 30 limits the position of at least one of the top block 22 and the abutment 21, so that the pushing mechanism 20 and the picking mechanism 30 can move synchronously before the goods GD is lifted. The picking mechanism 30 can act on the top block 22 or the abutment 21 to limit the pushing mechanism 20.

[0132] exist Figure 3 and Figure 4 In the embodiment, the picking mechanism 30 is fixedly connected to the cargo guide mechanism 11 and extends outward relative to the cargo guide mechanism 11. The crossbeam 211 of the abutment member 21 and the picking mechanism 30 can maintain their relative position 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 portion of the picking mechanism 30. This allows the picking mechanism 30 to limit the position of the abutment member 21 before lifting the cargo GD.

[0133] 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.

[0134] In some embodiments, the elastic member 41 is connected to the bracket 10. The elastic member 41 can be connected to the pushing mechanism 20 at one end and connected to the bracket 10 at the other end. For example, the pushing 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 specifically can be connected to a hanging column set on the side rod 212. 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.

[0135] The elastic member 41 applies an elastic force to the abutment member 21, causing the abutment member 21 to abut against the picking mechanism 30 before or after the abutment member 21 moves to a position limited by the gravity conveyor lane GC, thereby facilitating synchronous movement. While the abutment member 21 is being limited by the gravity conveyor lane GC, the elastic member 41 can press the abutment member 21 against the gravity conveyor lane GC, further stabilizing the blocking mechanism BL relative to the gravity conveyor lane GC.

[0136] 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 pushing mechanisms 20 here can be two or more. The number of picking mechanisms 30 can be the same as the number of pushing mechanisms 20, and have a one-to-one correspondence with the pushing mechanisms 20. In other embodiments, the number of picking mechanisms 30 can be more or less than the number of pushing mechanisms 20.

[0137] Multiple push mechanisms 20 enable retrieval of cargo from the gravity-fed cargo lanes GC in multiple directions, reducing the need for azimuth adjustments and simplifying control. Furthermore, each end of the elastic member 41 can be connected to at least two push mechanisms 20, ensuring a more balanced elastic force on each push mechanism 20 and reducing the number of elastic members 41 used, thereby reducing the complexity and cost of the retrieval device.

[0138] Corresponding to this embodiment, the bracket 10 may include at least two cargo guiding mechanisms 11. The at least two cargo guiding mechanisms 11 may correspond one-to-one to the at least two pushing mechanisms 20.

[0139] like Figure 3 As shown, specifically, the picking device PU may include two pushing mechanisms 20 and two picking mechanisms 30 corresponding to the two pushing mechanisms 20. The abutting 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 the 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, 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.

[0140] exist Figure 3 In the embodiment, the two pushing mechanisms 20 are respectively located on opposite sides of the receiving area 12. The two cargo guiding mechanisms 11 corresponding thereto are also respectively located on opposite sides of the receiving area 12 and guide the cargo GD toward the center. Figure 3 The figure shows an elastic member 41 comprising two springs. Each spring's ends are connected to spring mounting posts on the side bars 212 of the two pushing mechanisms 20, located adjacent to the cargo receiving area 12. The two springs can be spaced apart across the width of the cargo guide mechanism 11 to impart a balanced and stable elastic force to the pushing mechanisms 20. The springs can act separately on the two pushing mechanisms 20, ensuring they are restrained by the two cargo picking mechanisms 30. This results in a more balanced and stable force, simplifying the complexity of the cargo picking device.

[0141] refer to Figure 3 and Figure 4 In some embodiments, the blocking mechanism BL includes two blocking portions located at the bottom end of the gravity conveyor lane 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 portions to pick up the cargo GD from under the cargo GD. The support block 31 has a through portion 311, through which the top block 22 can movably pass.

[0142] like Figure 3 As shown, the picking mechanism 30 can be constructed with one end fixedly connected to the cargo guide mechanism 11 via a connector, and the other end extending relative to the cargo guide mechanism 11. The support block 31 is the extended portion of the picking mechanism 30. When picking up the cargo GD, the picking mechanism 30 is located between the two blocking portions without interfering with the blocking portions.

[0143] The support block 31 can be as Figure 3 The illustrated structure includes a first surface substantially parallel to the bottom of the inclined chute (i.e., cargo guide mechanism 11) and a second surface located at the end of the support block 31. The first and second surfaces intersect to form a sharp angle, which can be an acute angle. The first surface can be used to guide the sliding of cargo GD, while the second surface can be used to abut the next cargo GD, forcing it to leave the blocking mechanism BL.

[0144] The top block 22 may be configured as a portion or the entirety of a cone or a pyramid. The through portion 311 may be configured to cooperate with an outer contour of the top block 22 so that the top block 22 moves within the through portion 311 .

[0145] The top block 22 maintains its position relative to the gravity-type cargo lane GC as the abutment member 21 to which it is fixed 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.

[0146] In other embodiments, the top block 22 may also be arranged on one side or both sides of the support block 31 along the width direction of the cargo channel. In this way, there is no need to set a through portion 311 on the support block 31, and movement interference between the support block 31 and the top block 22 can be avoided.

[0147] 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 may be movably provided on the bracket 10, for example, being hinged or slidably connected to the bracket 10.

[0148] refer to Figure 1In some embodiments, the picking device PU also includes a first driving mechanism 51, which is driven and 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-type transport channel GC.

[0149] The first drive mechanism 51 may include a track mechanism that can achieve drive in the x-direction, the z-direction, and the perpendicular y-direction. The first drive mechanism 51 can drive the movement of the bracket 10 to drive the pushing mechanism 20 and the picking mechanism 30 to move, thereby bringing the pushing mechanism 20 and the picking mechanism 30 closer to the blocking mechanism BL and causing the pushing mechanism 20 to push the cargo GD away from the blocking mechanism BL. The lifting force exerted by the picking mechanism 30 on the cargo GD can be achieved by the first drive mechanism 51 or other mechanisms.

[0150] 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.

[0151] The cargo guiding mechanism 11 can guide the cargo GD taken out by the picking mechanism 30 to the receiving area 12. Figure 3 As shown, the cargo guide mechanism 11 can adopt an inclined U-shaped slide structure, and the picking mechanism 30 can be fixedly connected to the cargo guide mechanism 11 by connecting members such as bolts or rivets. In this way, when the cargo GD contacts the surface of the U-shaped slide structure, it can slide down toward the receiving area 12 under the action of gravity. The receiving area 12 can include a slide to transport the cargo GD to other mechanisms or areas through the guidance of the slide.

[0152] 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 .

[0153] The vibration mechanism 61 may include a vibration motor that can apply an excitation force to the structure on which it is installed. The vibration mechanism 61 may be disposed on a side wall or bottom wall of the cargo guide mechanism 11 or at other locations on the bracket 10.

[0154] 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 being stuck in the picking mechanism 30 and the cargo guiding mechanism 11.

[0155] refer to Figure 3 In some embodiments, the pickup device PU further includes a sensing element 62 configured to sense the entry of the goods GD into the receiving area 12. The sensing element 62 may include an infrared, ultrasonic, laser, contact, or proximity sensor capable of detecting whether the goods GD passes through the goods guiding mechanism 11 and enters the receiving area 12. For example, the sensing element 62 may include a light-emitting tube disposed on the inclined slide of the goods guiding mechanism 11 near the receiving area 12. The sensing element 62 may also be disposed between the receiving area 12 and the goods guiding mechanism 11 or within the receiving area 12.

[0156] By determining that the cargo GD has passed the position by blocking the light path of the light-emitting tube, it is determined whether the cargo GD has arrived at the receiving area 12. The sensing element 62 can also be used to sense whether the cargo GD is stuck in the cargo guiding mechanism 11.

[0157] Figure 5 yes Figure 3 Schematic diagram of the pickup process of the embodiment shown. 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 cargo lane GC after the cargo GD at the bottom end of the gravity-type transfer cargo lane GC passes over the blocking mechanism BL.

[0158] exist Figure 5 In (d), the front end of the support block 31 of the picking mechanism 30 can form abutment against the end face of the next cargo GD after the cargo GD at the bottom of the cargo aisle 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.

[0159] 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.

[0160] 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.

[0161] 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 be used to drive the bracket 10 to move in the lane so that it moves to the corresponding gravity-type conveying channel GC. Accordingly, the bracket 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.

[0162] When the support 10 reaches the pickup position of the corresponding cargo lane in the lane, the support 10 can be driven by the first driving mechanism 51 to translate along the x direction. Figure 5 (b) The push block 22 of the pushing mechanism 20 contacts the cargo GD and applies a thrust, causing the cargo GD blocked by the blocking mechanism BL to slide upward along the surface of the cargo path and escape 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.

[0163] exist Figure 5 In (c), the first driving mechanism 51 can be used to cause the bracket 10 and the picking mechanism 30 connected to the bracket 10 to translate as a whole along the z-direction, so that the support block 31 forms an upward force on the cargo GD, thereby causing the lower end of the cargo GD to gradually leave the surface of the cargo channel. In addition, during the process of picking up the cargo 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. During the process of picking up the cargo GD, the vibration mechanism 61 can continue to apply an exciting force to the cargo guide mechanism 11 during the ascending process of the cargo picker.

[0164] When the cargo GD is lifted up to a position higher than 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.

[0165] refer to Figure 5 (d), at this time, the inclined smooth surface of the cargo guide 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 guide mechanism 11 and reaches the cargo receiving area 12.

[0166] refer to Figure 5(e) The first drive mechanism 51 can cause the bracket 10 and the picking mechanism 30 connected thereto to translate in the opposite direction of the z-direction (i.e., downward). As the support block 31 moves downward, the pushing mechanism 20, under the action of the spring, remains restrained by the blocking mechanism BL, thereby taking over from the support block 31 and continuing to abut the next item GD, preventing it from sliding down to the blocking position of the blocking mechanism BL.

[0167] 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 of (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 lanes to continue the picking operation.

[0168] Figure 6 Schematic diagram of the pickup process according to other embodiments of the pickup device disclosed herein. Figure 6 In some embodiments, the picking device PU further 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.

[0169] exist Figure 6 In the figure, a circle indicates a drive member 42, which may comprise an electric motor, pneumatic motor, or other suitable drive mechanism. The drive member 42 is connected to the pushing mechanism 20, causing the pushing mechanism 20 to rotate so as to avoid blocking the cargo GD. This approach offers a simpler structural implementation and conveniently resolves the issue of interference between the pushing mechanism 20 and the cargo GD when the cargo GD is lifted over the blocking mechanism BL.

[0170] 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.

[0171] The following is based on Figure 6 (a) to (d) illustrate an example of a specific picking process of the picking device embodiment.

[0172] exist Figure 6 In (a), the driving bracket 10 can be driven to move so that the pushing mechanism 20 and the picking mechanism 30 move to the corresponding positions of the gravity-type conveying channel GC where the goods are to be picked up. At this time, the pushing mechanism 20 is located in the first rotation position relative to the picking mechanism 30.

[0173] 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.

[0174] 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 part 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.

[0175] The pushing mechanism 20 is laid down by the driving member 42. Figure 6 As shown in the arrowed arc line in (d), the pushing mechanism 20 is flipped toward the cargo guide mechanism 11. 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 pass over the blocking mechanism BL and slide toward the cargo guide mechanism 11.

[0176] Figure 7 Schematic diagram of the picking process according to some other embodiments of the picking device disclosed herein. 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 .

[0177] The pickup device PU further includes a first drive mechanism 51 and a second drive mechanism 52. The first drive mechanism 51 is drivably 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 conveyor channel GC. The second drive mechanism 52 is disposed on the support 10 and drivably connected to the picking mechanism 30. The second drive mechanism 52 is configured to apply an upward lifting force to the goods GD by driving the picking mechanism 30.

[0178] exist Figure 7 In (b), the pushing mechanism 20 may include a push rod 23 fixedly connected to the cargo guide mechanism 11 and a push block 22 fixedly connected to the end of the push rod 23. The picking mechanism 30 may be disposed between the two sets of push blocks 22 and the push rod 23 and movably connected to the cargo guide mechanism 11. The movably connected connection may include either a rotational connection or a movable connection.

[0179] The lifting mechanism 30 is further connected to a second drive mechanism 52, indicated by a circle. The second drive mechanism 52 may include an electric motor, a pneumatic motor, or other mechanism capable of providing driving torque. When the cargo GD needs to be lifted, the second drive mechanism 52 causes the lifting mechanism 30 to perform at least one of a movement and a rotation relative to the cargo guide mechanism 11, thereby generating an upward lifting force on the cargo GD by the lifting mechanism 30.

[0180] The following is based on Figure 7 (a) to (d) illustrate an example of a specific picking process of the picking device embodiment.

[0181] exist Figure 7 In (a), the driving bracket 10 can be driven to move so that the pushing mechanism 20 and the picking mechanism 30 move to the corresponding positions of the gravity-type conveying channel GC where the goods are to be picked up. At this time, the picking mechanism 30 is in the first rotation position relative to the goods guiding mechanism 11.

[0182] 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. At this time, the picking mechanism 30 has reached the lower side of the cargo GD.

[0183] The second driving mechanism 52 is used to rotate the cargo lifting mechanism 30 to form an upward lifting force on the cargo GD. Figure 7 In (d), it can be seen that the cargo picking mechanism 30 is located in 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.

[0184] The various embodiments of the above-mentioned 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.

[0185] The present disclosure provides an automatic delivery system comprising at least one gravity conveyor GC and a pickup device PU according to any of the aforementioned embodiments. The pickup device PU and the automatic delivery system can be used in automatic medicine dispensing machines, vending machines, and warehousing systems.

[0186] 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 includes: step S1 and step S2.

[0187] 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 .

[0188] In step S2 , in a state where the cargo GD is pushed away from the blocking mechanism BL, the cargo lifting mechanism 30 applies a lifting force to the cargo GD so that the cargo GD passes over the blocking mechanism BL.

[0189] In this embodiment, the pushing mechanism pushes the goods in the gravity-type transport channel away from the blocking mechanism, and the picking mechanism applies an upward 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 goods guiding mechanism. Compared with the method in the related art of applying an upward lifting force to the goods blocked by the baffle at the bottom of the channel to make them pass over the baffle, the embodiment of the present disclosure applies the upward lifting force to the goods after the goods have left the blocking mechanism. This can reduce or eliminate the obstacles to the stable picking of the goods caused by the baffle when the goods are picked up, such as the wide and thin goods that are easy to be hooked by the baffle, the poor processing or installation accuracy of the baffle, the positioning deviation between the picking device and the goods in the channel, the bulge on the outer edge of the goods packaging, etc., thereby reducing the risk of the goods tipping over due to unbalanced force and the failure of picking up, thereby improving the picking effect.

[0190] 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.

[0191] In some embodiments, the picking mechanism 30 is fixedly connected to the support 10 so as to move synchronously with the support 10, and the pushing mechanism 20 is movably disposed on the support 10; the picking device PU further includes a first driving mechanism 51 drivingly connected to the support 10. Accordingly, in step S1, the step of pushing the goods GD in the gravity conveying channel GC, which is blocked by the blocking mechanism BL of the gravity conveying channel GC, away from the blocking mechanism BL via the pushing mechanism 20 includes: driving the support 10 via the first driving mechanism 51 to move, so that the pushing mechanism 20 moves toward the blocking mechanism BL and pushes the goods GD away from the blocking mechanism BL.

[0192] 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 an upward lifting force to the cargo GD by the picking mechanism 30 so that the cargo GD passes over the blocking mechanism BL includes: when the top block 22 pushes the cargo GD away from the blocking mechanism BL, driving the support 10 upward by the first driving mechanism 51 to drive the pushing mechanism 20 and the 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, continuing to drive the support 10 upward by the first driving mechanism 51 to drive the picking mechanism to move upward to apply an upward lifting force to the cargo GD, and limiting the pushing mechanism 20 by the gravity conveying channel GC, so that the cargo GD passes over the blocking mechanism BL and the pushing mechanism 20.

[0193] 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:

[0194] After the cargo GD at the bottom of the gravity-type cargo channel GC passes over the blocking mechanism BL by the cargo picking mechanism 30, the cargo picking mechanism 30 abuts against the next cargo GD in the gravity-type cargo channel GC so that it does not contact the blocking mechanism BL;

[0195] The first driving mechanism 51 drives the support 10 to move downward, thereby driving the picking mechanism 30 to move downward and away from the position against the next cargo GD in the gravity conveying channel GC;

[0196] As the bracket 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 and abut against the next cargo GD in the gravity conveying channel GC.

[0197] 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 cargo lane GC.

[0198] In some embodiments, the pickup device PU further includes a driving member 42 drivingly connected to the pushing mechanism 20. Accordingly, the pickup method further includes: during the process of lifting the goods GD or after the goods GD is lifted above the top of the blocking mechanism BL, the driving member 42 drives the pushing mechanism 20 to rotate to a position that does not block the goods GD.

[0199] In some embodiments, the picking mechanism 30 is fixedly connected to the support 10 so as to move synchronously with the support 10, the pushing mechanism 20 is movably disposed on the support 10, and the picking device PU further includes 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 disposed on the support 10 and drivingly connected to the picking mechanism 30. Accordingly, in step S2, when the goods GD are pushed away from the blocking mechanism BL, the picking mechanism 30 applies an upward lifting force to the goods GD so that the goods GD pass over the blocking mechanism BL, including: driving the support 10 to move by the first driving mechanism 51, thereby driving the pushing mechanism 20 and the picking mechanism 30 to move toward the gravity conveying channel GC; and 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 the upward lifting force to the goods GD.

[0200] The various embodiments in this specification are described in a progressive manner, with different focuses between the embodiments. For the same or similar parts between the embodiments, reference can be made to each other. For the method embodiments, since the overall structure and the steps involved correspond to the contents of the pickup device embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the pickup device embodiments.

[0201] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0202] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with 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 removing goods (GD) from a gravity conveyor channel (GC) that is blocked by a blocking mechanism (BL) of the gravity conveyor channel (GC), comprising: Bracket (10); a pushing mechanism (20) configured to push the cargo (GD) blocked by the blocking mechanism (BL) away from the blocking mechanism (BL); and a lifting mechanism (30) provided on the support (10) and configured to apply an upward lifting force to the goods (GD) when the goods (GD) are pushed away from the blocking mechanism (BL), so as to enable the goods (GD) to pass over the blocking mechanism (BL); Wherein, the pushing mechanism (20) comprises: an abutting member (21) configured to abut against the gravity conveying channel (GC) so as to be limited by the gravity conveying channel (GC) during the process of the cargo picking mechanism (30) picking up the cargo (GD); and A top block (22) is fixedly connected to the abutting member (21) and is used to push the cargo (GD) away from 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 conveying channel (GC) during the process of the picking mechanism (30) picking up the goods (GD).

3. The pickup device (PU) according to claim 1, wherein: The blocking mechanism (BL) includes two blocking parts located at the bottom end of the gravity-type conveying cargo track (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), and the size of the crossbeam (211) in the width direction of the gravity-type conveying cargo track (GC) is larger than the distance between the two blocking parts in the width direction of the gravity-type conveying cargo track (GC), so as to abut against the two blocking parts when the picking mechanism (30) picks up the cargo (GD).

4. The pickup device (PU) according to claim 3, wherein: The abutment member (21) further comprises: 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).

5. The pickup device (PU) according to claim 1, wherein: The cargo picking mechanism (30) is also used to limit at least one of the top block (22) and the abutment member (21) before picking the cargo (GD).

6. The pickup device (PU) according to claim 5, further comprising: An elastic member (41) is connected to the abutting member (21) to apply an elastic force to the abutting member (21).

7. The pickup device (PU) according to claim 6, wherein: The elastic member (41) is connected to the bracket (10).

8. The pickup device (PU) according to claim 6, 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).

9. The pickup device (PU) according to claim 8, wherein: The picking device (PU) includes two pushing mechanisms (20) and two picking mechanisms (30) corresponding to the two pushing mechanisms (20), the abutting 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 the 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), 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).

10. The pickup device (PU) according to claim 1, wherein: The blocking mechanism (BL) includes two blocking parts located at the bottom end of the gravity conveying channel (GC), and the picking mechanism (30) includes: A support block (31) is fixedly connected to the bracket (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).

11. The pickup device (PU) according to claim 1 or 2, 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).

12. The pickup device (PU) according to claim 11, further comprising: A first driving mechanism (51) is 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).

13. The pickup device (PU) according to claim 1 or 2, 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-type conveying channel (GC) after the cargo (GD) at the bottom end of the gravity-type conveying channel (GC) passes over the blocking mechanism (BL).

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

15. 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) to move synchronously with the bracket (10); Wherein, the pickup unit (PU) further includes: a first driving mechanism (51) drivingly connected to the support (10) and 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); and A second driving mechanism (52) is provided on the bracket (10) and is drivingly connected to the picking mechanism (30). The second driving mechanism (52) is configured to apply an upward lifting force to the goods (GD) by driving the picking mechanism (30) to move.

16. The pickup device (PU) according to claim 1, wherein: The support (10) includes a cargo guiding mechanism (11) and a cargo receiving area (12), wherein the cargo guiding mechanism (11) is configured to guide 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).

17. The pickup device (PU) according to claim 16, further comprising: The 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).

18. The pickup device (PU) according to claim 16, further comprising: The sensing element (62) is configured to sense the goods (GD) entering the receiving area (12).

19. An automatic shipping system comprising: At least one gravity-fed conveyor (GC); and The pickup device (PU) according to any one of claims 1 to 18.

20. A method for picking up goods using a picking up device (PU) according to any one of claims 1 to 18, comprising: 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 a pushing mechanism (20); When the cargo (GD) is pushed away from the blocking mechanism (BL), an upward lifting force is applied to the cargo (GD) by a cargo lifting mechanism (30) so that the cargo (GD) passes over the blocking mechanism (BL).

21. The method for picking up goods according to claim 20, further comprising: During the process of the cargo picking mechanism (30) picking up the cargo (GD), the pushing mechanism is limited by the gravity-type cargo conveying channel (GC).

22. The method for picking up goods according to claim 21, wherein: The picking mechanism (30) is fixedly connected to the bracket (10) to move synchronously with the bracket (10), and the pushing mechanism (20) is movably arranged on the bracket (10); the picking device (PU) also includes 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 a pushing mechanism (20) comprises: The bracket (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).

23. The method for picking up goods according to claim 22, wherein: The pushing mechanism (20) comprises a supporting member (21) and a pushing block (22) fixedly connected to the supporting member (21); Wherein, in a state where the goods (GD) are pushed away from the blocking mechanism (BL), the step of applying an upward lifting force to the goods (GD) by a lifting mechanism (30) so as to enable the goods (GD) to pass over the blocking mechanism (BL) includes: When the top 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 pushing 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).

24. The method for picking up goods according to claim 23, wherein: 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); 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 bracket (10) is driven to move downward by the first driving mechanism (51), thereby driving the picking mechanism (30) to move downward and leave the position against the next cargo (GD) in the gravity conveying channel (GC); As the bracket (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) and abut against the next cargo (GD) in the gravity conveying channel (GC); The first driving mechanism (51) is repeatedly used to drive the bracket (10) to move upward and downward, thereby achieving continuous pickup of multiple goods (GD) in the gravity-type conveying channel (GC).

25. The method for picking up goods according to claim 20, wherein: The pickup device (PU) further includes 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.

26. The method for picking up goods according to claim 20, 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, in a state where the goods (GD) are pushed away from the blocking mechanism (BL), the step of applying an upward lifting force to the goods (GD) by a lifting mechanism (30) so as to enable the goods (GD) to pass over the blocking mechanism (BL) includes: The bracket (10) is driven to move by the first driving mechanism (51), thereby driving the pushing mechanism (20) and the picking mechanism (30) to move toward the gravity 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, thereby applying an upward lifting force to the cargo (GD).

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