Replenisher, replenishment system, replenishment control method, and controller
By designing the stop and pressure roller components, the problems of over-dispensing and jamming in the automatic replenishment mechanism were solved, enabling accurate dispensing and efficient replenishment of goods.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING JINGDONG YUANSHENG TECH CO LTD
- Filing Date
- 2024-12-16
- Publication Date
- 2026-06-16
AI Technical Summary
Existing automated replenishment systems are prone to issues such as over-dispensing and inventory jams during the replenishment process, which affects production efficiency.
The design employs a combination of a stop and a pressure roller assembly. The stop stops obstructing the flow of goods during shipment, while the pressure roller presses down on the goods under the action of the lifting drive mechanism and rotates under the action of the rotation drive mechanism, thus achieving accurate shipment of goods.
By controlling the rotation and lifting of the pressure rollers, the replenishment rhythm can be accurately controlled, reducing excess goods and jams, and improving the accuracy of delivery.
Smart Images
Figure CN122211718A_ABST
Abstract
Description
Technical Field
[0001] Embodiments of this disclosure relate to the field of warehousing technology, specifically to replenishers, replenishment systems, replenishment control methods, and controllers. Background Technology
[0002] With the continuous development of automation technology, more and more industries are adopting automated equipment to replace manual labor. For example, gravity-flow tilting rack automatic replenishment and retrieval systems are generally used for the retrieval, storage, and automatic dispatch of regular, small-sized items, such as pharmaceuticals and contact lenses.
[0003] However, the inventors discovered that the automatic replenishment mechanism often had poor control over the goods to be replenished, frequently resulting in problems such as over-dispensing and jamming, which affected production efficiency and had unsatisfactory actual performance.
[0004] The information disclosed in this background section is only intended to enhance the understanding of the background of the inventive concept, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention
[0005] The summary portion of this disclosure is intended to provide a brief overview of concepts that will be described in detail in the detailed description portion. This summary portion is not intended to identify key or essential features of the claimed technologies, nor is it intended to limit the scope of the claimed technologies. Some embodiments of this disclosure provide replenishment devices, replenishment systems, replenishment control methods, controllers, computer-readable media, and computer program products to address one or more of the technical problems mentioned in the background portion above.
[0006] In a first aspect, some embodiments of this disclosure provide a replenishment device, comprising: a cargo channel assembly including a base plate and two side plates, the two side plates being spaced apart on the upper surface of the base plate to form a cargo channel for accommodating goods, wherein a crossbeam is provided above the cargo channel near the outlet; a pressure roller assembly including a pressure roller, a lifting drive mechanism, and a rotating drive mechanism, the pressure roller being provided above the cargo channel near the outlet, the lifting drive mechanism controlling the height of the pressure roller from the cargo channel, and the rotating drive mechanism controlling the rotation of the pressure roller; and a stop member provided at the outlet to block the outlet and keep the goods within the cargo channel; wherein, during the dispensing process, the stop member stops blocking, the pressure roller contacts the surface of the goods within the cargo channel and rotates, thereby moving a specified number of goods from the cargo channel out of the outlet.
[0007] In some embodiments, a fixed beam is provided above the cargo channel near the outlet; the lifting drive mechanism includes a rotary drive component, a cam, and a swing arm; the cam is fixed on the main shaft of the rotary drive component, and the convex wheel surface of the cam abuts against the swing arm during rotation to control the swing arm to rise; one end of the swing arm is hinged to the fixed beam, and the other end is fixed to the rotary drive mechanism and the pressure roller.
[0008] In some embodiments, the swing arm is L-shaped, hinged to a fixed beam at a corner, and a counterweight is fixed on the swing arm. A pressure roller is fixed to the long side end of the swing arm, and an abutment roller is provided at the short side end of the swing arm. A rotation drive component is fixed to the fixed beam, and a cam controls the swing arm to rise by contacting the abutment roller.
[0009] In some embodiments, the first side plate of the two side plates is fixed to the bottom plate, and the second side plate is movably connected to the bottom plate; and the replenisher also includes at least one pitch-changing component, including a support plate and a pitch-changing drive mechanism, the support plate being fixed to the second side plate, and the width of the cargo channel being controlled by the pitch-changing drive mechanism.
[0010] In some embodiments, the variable pitch drive mechanism includes a gantry frame, a first drive motor, and a ball screw assembly. The gantry frame includes a support and a crossbeam. The support is fixed to both sides of the base plate, and the two ends of the crossbeam are fixed to the support. The two ends of the ball screw assembly are fixed to the support and located below the crossbeam. The nut in the ball screw assembly is sleeved on the screw and connected to the support plate. The first drive motor is fixed to the lower surface of the base plate, and the main shaft of the first drive motor is connected to one end of the screw via a transmission belt.
[0011] In some embodiments, the replenisher includes two pitch-changing components, respectively disposed at the outlet and inlet of the cargo channel; the replenisher also includes a first detection component disposed outside the cargo channel for detecting the change in distance of the second side plate.
[0012] In some embodiments, the stop is a door panel assembly, including a door panel and a door panel drive mechanism. The door panel is movably disposed at the outlet, and the door panel drive mechanism controls the opening and closing of the outlet.
[0013] In some embodiments, the bottom end of the door panel is hinged to the end of the base plate located at the outlet, and the lower surface of the door panel is provided with a mounting plate; the door panel driving mechanism includes a second drive motor, a convex ball and an elastic element, the second drive motor is fixed to the lower surface of the base plate, the convex ball is provided at the end of the main shaft of the second drive motor, and the convex ball is connected to the mounting plate through the elastic element to control the door panel to perform a flipping motion to realize the opening and closing of the outlet.
[0014] In some embodiments, a flange is formed at the top of the door panel, the width of which is smaller than the width of the aisle on the connecting shelf. When the door panel is opened and connected to the shelf, the flange on the door panel extends into the aisle of the shelf. A limit support is also provided at the outlet to limit the opening position of the door panel and to support the opened door panel.
[0015] In some embodiments, the replenishment device further includes a second detection component, a third detection component, and a fourth detection component, all disposed at the outlet; the second detection component is used to detect the open / closed state of the door panel; the third detection component is used to detect the goods information passing through the outlet; and the fourth detection component is used to detect the cargo aisle information of the docking rack.
[0016] Secondly, some embodiments of this disclosure provide a replenishment system, characterized in that it includes: a shelf with a plurality of aisles for storing goods, for retrieving goods from the front side of the shelf; at least one replenisher disposed on the rear side of the shelf via a moving mechanism for replenishing goods to the aisles on the shelf, the replenisher employing a replenisher structure described in any of the implementations of the first aspect above, and the height of the replenisher's outlet is lower than the height of its inlet, wherein the moving mechanism is used to drive the replenisher to move along the width and height directions of the shelf.
[0017] Thirdly, some embodiments of this disclosure provide a replenishment control method for a replenisher described in any of the implementations of the first aspect above, comprising: when picking up goods, controlling a stop member to be in a blocked state and a pressure roller to be in a raised state; when picking up goods is completed, controlling the pressure roller to be in a lowered state to press on the first item located in the aisle; when replenishing goods, controlling the stop member to be in an unblocked state to align the replenisher's aisle with the aisle on the shelf, and controlling the pressure roller to rotate in a direction away from the outlet to remove the goods in the aisle from the outlet.
[0018] In some embodiments, the method further includes: controlling the number of rotations of the pressure rollers according to the replenishment quantity and the length dimension of the goods, so as to move the replenishment quantity of goods into the aisle of the shelf, wherein the length dimension of the goods is the dimension of the goods in the direction of extension of the aisle; and controlling the movement of the second side plate according to the width dimension of the goods to be picked up when picking up the goods, so that the width of the aisle is greater than the width of the goods to be picked up.
[0019] Fourthly, some embodiments of this disclosure provide a controller, including: one or more processors; and a storage device having one or more programs stored thereon, which, when executed by one or more processors, cause the one or more processors to implement the replenishment control method described in the third aspect above.
[0020] Fifthly, some embodiments of this disclosure provide a computer-readable medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the replenishment control method described in the third aspect above.
[0021] Sixthly, some embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the replenishment control method described in the third aspect above.
[0022] The above-described embodiments of this disclosure have the following beneficial effects: the replenishment devices of some embodiments of this disclosure can improve the accuracy of delivery. Specifically, the relevant automatic replenishment mechanisms have poor control over the goods to be replenished. During replenishment, they rely entirely on gravity, and the speed and angle of the goods sliding down are uncontrolled, often resulting in goods rushing out of the replenishment mechanism, causing jams or excess goods.
[0023] Based on this, when replenishing shelves, the stoppers in this disclosed replenishment device can stop obstructing the outlet. Simultaneously, the pressure roller, driven by a lifting mechanism, presses down on the first item in the aisle. At this point, the item in the aisle remains stationary due to the pressure of the pressure roller, preventing it from falling out after the stoppers stop obstructing the outlet. During dispensing, the pressure roller rotates under the action of a rotary drive mechanism. This utilizes the rotational friction of the pressure roller to move the item out of the outlet. This method allows for precise control of the replenishment rhythm; the pressure roller only needs to rotate a fixed length (e.g., the length of the item) to push out the current item and ensure the next item remains stationary in the aisle, effectively reducing excess stock and inventory jams. Attached Figure Description
[0024] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.
[0025] Figure 1 This is a schematic diagram of the structure of some embodiments of the replenishment device disclosed herein;
[0026] Figure 2A-2B These are structural schematic diagrams of some embodiments of the pressure roller assembly;
[0027] Figures 3A-3B These are schematic diagrams of some embodiments of the variable pitch component;
[0028] Figures 4A-4D These are structural schematic diagrams of some embodiments of the door panel assembly;
[0029] Figure 5 These are schematic diagrams of some embodiments of the detection components at the shipping port;
[0030] Figure 6 This is a schematic diagram of the structure of some embodiments of the replenishment system disclosed herein;
[0031] Figure 7 This is a flowchart of some embodiments of the replenishment control method disclosed herein;
[0032] Figure 8 This is a schematic diagram of the structure of a controller suitable for implementing some embodiments of the present disclosure. Detailed Implementation
[0033] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.
[0034] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.
[0035] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.
[0036] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".
[0037] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
[0038] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.
[0039] Figure 1 Schematic diagrams of some embodiments of the replenishment device of this disclosure are shown. For example... Figure 1As shown, the replenishing device may include a cargo channel assembly 1, a stop 2, and a pressure roller assembly 3. Here, the cargo channel assembly 1 may include a base plate 11 and two side plates 12. The two side plates 12 may be spaced apart on the upper surface of the base plate 11 and extend along the length of the base plate 11, thus forming a cargo channel for accommodating goods. The upper surface is typically the surface facing away from the ground during operation, opposite to the lower surface. It is understood that the two side plates 1 may be fixedly connected to the base plate 1 to form a cargo channel of fixed width. The method of fixing the side plates to the base plate is not limited; for example, the base plate may have slots, or it may be fixed by L-shaped angle irons, etc.
[0040] Here, the stop 2 can be installed at the outlet to block it. This allows the goods to remain within the cargo channel due to the blocking effect of the stop 2. The structure of the stop 2 can be customized according to actual needs. For example, the stop 2 may include a baffle and a telescopic drive component. The base plate 11 may have a stop groove near the outlet. In this case, the baffle can be installed within the stop groove, with its end away from the outlet hinged to the base plate. Simultaneously, one end of the telescopic drive component is connected to the baffle, and the other end is connected to the lower surface of the base plate. Thus, when the telescopic drive component extends, the baffle can stand upright within the cargo channel, blocking the outlet. When the telescopic drive component retracts, the baffle can fall down and fully embed itself in the stop groove, stopping the obstruction and creating a smooth cargo channel.
[0041] Understandably, the replenishment device disclosed herein can open the baffle (i.e. close the outlet) when receiving goods. In this way, after the goods enter the replenishment device's channels in sequence, the baffle can restrict the goods within the channels, preventing the goods from falling out of the outlet.
[0042] Furthermore, the pressure roller assembly 3 may include a pressure roller 31, a lifting drive mechanism, and a rotating drive mechanism. The lifting drive mechanism 32 can be used to control the height of the pressure roller 31 above the conveyor belt. The rotating drive mechanism can be used to control the rotation of the pressure roller 31. Figure 1 As can be seen, a crossbeam 41 can be installed above the cargo channel near the outlet. Here, the pressure roller 31 can be fixed to the side plate via a connector. From Figure 1 As can be seen, a fixed beam 41 can be installed above the cargo channel near the outlet. Alternatively, the pressure roller 31 can also be installed at the outlet via the fixed beam 41.
[0043] It should be noted that during the restocking process, when goods enter the restocking device, the stop can block the outlet, and the pressure roller 31 is raised, thus arranging the goods in the aisle sequentially from the outlet. When restocking the shelf, the pressure roller 31, under the action of the lifting drive mechanism, can press down on the first item in the aisle, and the stop can stop obstructing the flow. At this time, the goods in the aisle can remain stationary due to the pressure of the pressure roller 31, thus preventing goods from falling out of the aisle after the stop stops obstructing the flow. During the unloading process, the pressure roller 31 can rotate under the action of the rotary drive mechanism. This allows the rotational friction of the pressure roller 31 to move the goods out of the outlet. This method can accurately control the restocking rhythm; the pressure roller only needs to rotate a fixed length (e.g., the length of the goods) to push out the current goods and continue to control the next goods to remain stationary in the aisle, thus effectively reducing excess goods and jamming.
[0044] It is understood that the specific structure of each component in the replenishment device disclosed herein can be configured according to actual needs. In some embodiments, such as Figure 2A and 2B As shown, the lifting drive mechanism may include a rotary drive component 321, a cam 322, and a swing arm 323. The rotary drive component may include, but is not limited to, a servo motor, a motor, or a similar device. Here, the cam 322 can be fixed to the main shaft of the rotary drive component 321, and the protruding wheel surface of the cam 322 can abut against the swing arm 323 during rotation. One end of the swing arm 323 can be hinged to the fixed beam 41, and the other end can be fixed to the rotary drive mechanism and the pressure roller 31. Thus, as the cam 322 rotates, the lifting and lowering of the swing arm 323 can be controlled, thereby achieving height adjustment of the pressure roller 31.
[0045] As an example, the rotation drive component 321 and the cam 322 can be mounted below the rocker arm 323. For example, the rotation drive component 321 can be mounted on a side plate or a bracket of the gantry shown in the figure. In this case, when the protruding wheel surface of the cam 322 abuts against the rocker arm 323, the rocker arm 323 will rise accordingly. When the cam 322 rotates from the protruding wheel surface to the non-protruding wheel surface, the rocker arm 323 will fall accordingly.
[0046] Alternatively, the rotation drive component 321 and the cam 322 can also be mounted above the rocker arm 323. For example... Figure 2A and 2BAs shown, the rotation drive component 321 can be fixed to the fixed beam 41 via a mounting plate. Here, the swing arm 323 can be L-shaped, and the swing arm is hinged to the fixed beam at the Z-angle. The pressure roller 31 can be fixed to the long side end of the swing arm 323, and an abutment roller 33 is provided at the short side end of the swing arm 323. The cam 322 can control the lifting and lowering of the swing arm by contacting the abutment roller 33. Thus, when the protruding surface of the cam 322 contacts the abutment roller 33, the abutment roller 33 moves away from the outlet around the hinge axis of the swing arm 323, while simultaneously raising the long side of the swing arm. Conversely, it moves the abutment roller 33 closer to the outlet around the hinge axis of the swing arm 323, while simultaneously lowering the long side of the swing arm.
[0047] In some applications, the lifting drive mechanism can also use cylinders and connecting rods. The cylinder can also be fixed to the side plate or fixed beam via a mounting plate, with the cylinder's piston rod facing the cargo channel. The piston rod is fixed to the pressure roller and the rotary drive mechanism via a connecting rod. Thus, the downward and upward movement of the pressure roller can be controlled by the extension and retraction of the piston rod.
[0048] In addition, to improve the reliability of the pressure roller in pressing down on the goods, a counterweight 34 can be fixed to the aforementioned swing arm 323, thereby increasing the pressure of the pressure roller. The weight, material, and fixing method of the counterweight are not limited. It should be noted that the rotary drive mechanism and pressure roller in this embodiment can use a small integrated motor similar to a hub motor. This reduces space occupation while meeting usage requirements. Furthermore, a high-friction wheel sleeve (e.g., a rubber wheel) can be fitted onto the outer side of the pressure roller 31, thereby increasing the contact friction.
[0049] In some embodiments, to broaden the applicability of the replenishment device to accommodate goods of various sizes, the first side plate (e.g., ...) of the two side plates of the replenishment device disclosed herein... Figure 1 The middle right side plate can be fixed to the base plate 11, while the second side plate (such as...) Figure 1 The middle left side plate can be movably connected to the base plate 11. In this case, the replenisher may also include at least one pitch-changing assembly 4. Figure 3A and 3B As shown, the pitch-changing assembly 4 may include a support plate 42 and a pitch-changing drive mechanism. Here, the support plate 42 can be fixed to the second side plate. Thus, under the action of the pitch-changing drive mechanism, the second side plate can be moved away from or closer to the first side plate to control the width of the cargo passage.
[0050] As an example, the variable pitch drive mechanism may include a gantry frame 431, a first drive motor 432, and a ball screw assembly 433. The gantry frame 431 may include a support and a crossbeam. The support can be fixed to both sides of the base plate 11, and both ends of the crossbeam can be fixed to the support. That is, the gantry frame spans above the cargo aisle. It is understood that, to simplify the equipment structure, the crossbeam here can be reused as the aforementioned fixed beam 41, meaning the crossbeam and the fixed beam can be the same component. Here, both ends of the ball screw assembly 433 can be fixed to the support and located below the crossbeam 41. Additionally, a nut can be fitted onto the ball screw assembly 433 and connected to the support plate 42. The first drive motor 432 can be fixed to the lower surface of the base plate 11, and the main shaft of the first drive motor can be connected to one end of the ball screw via a transmission belt 434. This not only ensures the accuracy of the variable pitch movement but also avoids interference with the goods in the cargo aisle.
[0051] Optionally, guide blocks can be provided on the support plate. Guide grooves can also be formed on the base plate. The variable-pitch drive mechanism can be a cylinder, located on the base plate near the second side plate. That is, the second side plate is located between the cylinder and the first side plate, thus avoiding interference with goods in the cargo aisle. To achieve variable-pitch movement of the second side plate, the piston rod of the cylinder can face the second side plate and be connected to the support plate. In this way, the extension and retraction of the piston rod can drive the second side plate to move, thereby adjusting the width of the cargo aisle.
[0052] It is understood that the replenishment device of this disclosure can have a pitch-changing component positioned in the middle of the conveyor. Optionally, to improve pitch-changing efficiency and stability, the replenishment device can also include two pitch-changing components. These two pitch-changing components can be respectively positioned at the outlet and inlet of the conveyor. That is, the two pitch-changing components have the same structure but are positioned differently, located at opposite ends of the replenishment device. Each of the two pitch-changing components has a drive and can be synchronously controlled to drive the movement of the pitch-changing side plate (second side plate).
[0053] It should be noted that, during the restocking process, the second side panel of this disclosed replenishment device can be moved to a certain position as needed, thus accommodating goods of the corresponding specifications. After restocking, the second side panel can also move inward (towards the first side panel) to clamp the goods, thereby organizing them and ensuring neat arrangement within the aisle. Afterward, it can move outward (away from the first side panel) a short distance to create a small gap between itself and the goods. This also guides the goods during replenishment to the shelf.
[0054] In some embodiments, the stop 2 described above can be a door panel assembly. The door panel assembly can include a door panel 21 and a door panel drive mechanism. The door panel 21 is movably disposed at the outlet of the cargo channel. Under the action of the door panel drive mechanism, the door panel 21 can be moved, thereby controlling the opening and closing of the outlet.
[0055] As an example, such as Figures 4A to 4C As shown, the bottom end of the door panel 21 can be hinged to the end of the base plate 11 located at the loading port, and a mounting plate 23 is provided on the lower surface of the door panel 21. Here, the door panel driving mechanism can include a second drive motor 221, a convex ball 222, and an elastic element 223. The second drive motor 221 can be fixed to the lower surface of the base plate 11. The convex ball 222 can be disposed at the end of the main shaft of the second drive motor 221. At the same time, the convex ball 222 can be connected to the mounting plate 23 through the elastic element 223. In this way, by the telescopic movement of the main shaft of the second drive motor 221, the door panel 21 can be controlled to flip, thereby realizing the opening and closing of the loading port.
[0056] like Figure 4A As shown, when the door panel 21 needs to be opened, the main shaft of the second drive motor 221 can retract inward. In this state, the convex ball 222 and the mounting plate 23 are usually separated. At this time, the mounting plate 23 can be pulled by the elastic element 223, thereby driving the door panel 21 to open. That is to say, the complete opening of the door panel 21 mainly relies on the pulling force of the elastic element. Figure 4B As shown, when the door panel 21 needs to be closed, the main shaft of the second drive motor 221 can extend outward. In this state, the convex ball 222 contacts the mounting plate 23 and pushes the mounting plate 23 to move away from the base plate, thereby causing the door panel 21 to close.
[0057] It is understood that the door panel drive mechanism disclosed herein adopts a non-contact drive, which can effectively reduce damage to the hinges and door panel, and the drive direction is linear, compact and saving installation space. Specifically, through the combination of the elastic element 223 and the convex ball 222 in the structure, the opening and closing of the door panel can be more linear and smooth, avoiding damage to the hinge joint when closing in the case of a rigid connection. The elastic element can have a pre-tensioned tension. This provides tension to ensure the door panel fully opens and engages with the loading channel when opening, and also helps the convex ball maintain stable contact with the mounting plate during closing. This structural design occupies little space, provides stable opening and closing, and has a long service life.
[0058] As described above, to enable the door panel to open and close, the mounting plate 23 typically cannot be a flat, smooth surface. As shown in the figure, the mounting plate usually has multiple (at least two) planes with different angles. The angle between the plane fixed to the door panel and the plane connected to the convex ball is typically greater than 90° and less than 180°. Furthermore, the elastic element can be customized according to actual needs, such as a spring, rubber strip, elastic band, etc. In some embodiments, to ensure the stability of the door panel's opening and closing movement and extend the service life of the elastic element, as shown in the figure, the elastic element 223 can be mounted on both sides of the convex ball 222 via a fixing plate 224. The fixing plate 224 is located between the convex ball 222 and the second drive motor 221.
[0059] Furthermore, such as Figure 4D As shown, a flange 211 can be formed at the top of the door panel 21. The width of the flange 211 can be smaller than the width of the aisle on the connecting shelf. That is, the width of the flange 211 should be smaller than the width of the narrowest aisle on the shelf. This design is to accommodate the connection of aisles of different widths. Figure 4D As shown, when connecting to the narrow aisle H1 (the upper part of the diagram), the flange can serve as a support for the connecting aisle; when connecting to the wide aisle H2 (the lower part of the diagram), although there is a small gap at the overlap, it will not affect the safe passage of goods. If this design is not adopted, and a uniform width is used at the front end, if the uniform width is the same as the wide aisle, the door panel will not be able to connect properly when connecting to the narrow aisle due to the obstruction of the aisle side panel (the black line in the diagram indicates the aisle side panel for guidance). If designed according to the narrow aisle width, the connection will be incomplete when connecting to the wide aisle, and wider goods are prone to falling. At the same time, since the entire replenishment unit does not have a mechanism for moving towards or away from the shelf, the door panel can be designed to be longer. This allows a small portion of the flange to extend into the aisle opening when connecting to the shelf. That is, when the door panel is opened and connected to the shelf, the flange on the door panel can extend into the aisle of the shelf, as shown by the dotted line in the diagram. This also better adapts to the deformation of the shelf aisle, making the connection more stable.
[0060] In some embodiments, such as Figure 4CAs shown, the replenisher disclosed herein may also be provided with an outer cover 24. Here, the outer cover 24 can be installed on the lower surface of the base plate and arranged around the door panel drive mechanism. This can protect the mechanism. In addition, to ensure the stability of the door panel's flipping movement, a limit support 25 can also be provided at the delivery port. The limit support 25 can be used to limit the opening position of the door panel 21 and to support the opened door panel 21. That is, under the tension of the elastic element and the action of the support, the door panel can be stably positioned in the open position, connecting with the bottom plate of the shelf aisle and linking the replenisher aisle with the shelf aisle. It is understood that the aforementioned limit support 25 can be installed on the lower surface of the base plate at the delivery port or on the aforementioned outer cover 24.
[0061] In some alternative implementations, the second drive motor can also be fixed to the upper surface of the base plate and located on one side of the outlet. The main shaft of the second drive motor is fixedly connected to one side of the door panel. Simultaneously, the base plate can be provided with a guide groove at the outlet that matches the bottom of the door panel. The extension direction of the guide groove is perpendicular to the length direction of the base plate. Thus, as the main shaft of the second drive motor extends and retracts, it can drive the door panel to move left and right along the guide groove, thereby achieving the opening and closing control of the outlet. Optionally, the second drive motor can also be located above the outlet, with the main shaft connected to the top of the door panel. Thus, as the main shaft extends and retracts, it can also drive the door panel to move up and down, thereby achieving the opening and closing control of the outlet.
[0062] In some embodiments, to ensure the accuracy of the movement of each mechanism, the replenishment device of this disclosure may also be equipped with various detection components. For example, such as... Figure 5 As shown, a first detection component 51 can be installed outside the cargo channel to detect the change distance of the second side plate, such as calibrating the movement distance or zeroing of the second side plate. The first detection component 51 can be fixed on the base plate or on the gantry frame, with the detection head facing the second side plate.
[0063] For example, a second detection component 52, a third detection component 53, and a fourth detection component 54 can be installed at the outlet. The second detection component 52 can detect the opening and closing status of the door panel, such as whether the door panel is fully closed. The second detection component 52 can be fixed to the side panel (such as the first side panel) or the bottom plate, with the detection head facing the door panel. The third detection component 53 can detect information about goods passing through the outlet, such as detecting whether goods are stuck, or for counting goods. The third detection component 53 can also be installed on the bottom plate, or it can be installed on the side facing the inlet when the door panel is closed, with the detection head perpendicular to the direction of goods movement. The fourth detection component 54 can detect information about the aisles of the docking rack, such as checking whether the information in the aisles is accurate and whether restocking is needed. The fourth detection component 54 can be installed on the side away from the inlet when the door panel is closed, with the detection head facing the top of the door panel. Thus, when the door panel is opened and docked with the rack, the detection head of the fourth detection component will face the rack aisle, thereby detecting through the gap between the door panel and the rack aisle.
[0064] Understandably, the detection methods of the aforementioned detection components can also be configured according to actual needs. For example, the first and second detection components can use proximity switches. The third detection component can use a photoelectric sensor. And the fourth detection component 54 can use a distance sensor. When the door is open, the detection light can enter the shelf aisle to detect the distance to the goods in the aisle. In this case, the sensor can continuously monitor the distance data, thereby preventing inaccurate detection caused by aisle deformation and other problems, which could lead to incorrect replenishment.
[0065] Some embodiments of this disclosure also propose a replenishment system. For example... Figure 6 As shown, the replenishment system may include a shelf 61, at least one replenisher 62, and a moving mechanism 63. Figure 6 As can be seen, multiple aisles for storing goods can be arranged on the shelf 61. A picking mechanism 64 can be set between two shelves, allowing goods to be retrieved from the front of the shelf. A moving mechanism 63 can be set on the rear side of the shelf 61. The moving mechanism 63 can be used to drive the replenisher 62 to move along the width and height directions of the shelf 61. At least one replenisher 62 can be installed on the moving mechanism 63 for replenishing goods to the aisles on the shelf. The replenisher here can adopt the replenisher structure described in any of the above embodiments. Furthermore, the height of the replenisher's outlet is lower than the height of the inlet, so that the goods in the aisle can slide along the aisle under their own gravity without the need for an additional driving mechanism, simplifying the equipment structure and reducing equipment costs.
[0066] It should be noted that the structure of the aforementioned moving mechanism 63 is not limited. For example, the moving mechanism may include a horizontal traveling mechanism and a lifting mechanism. The horizontal traveling mechanism may consist of a horizontal track and a traveling trolley. The lifting mechanism may be fixed to the traveling trolley. The replenisher may be mounted on the lifting mechanism. In this way, the moving mechanism can drive the replenisher to move along the shelf surface and can be raised and lowered. Therefore, the replenisher can reach the replenishment position of any aisle on the shelf.
[0067] Some embodiments of this disclosure also propose a replenishment control method. This replenishment control method can be used in the replenisher described in any of the above implementations. Figure 7 As shown, the method may include the following steps:
[0068] When receiving goods, the stop can be controlled to be in a blocked state and the pressure roller can be raised.
[0069] Once the goods have been picked up, the pressure roller can be controlled to descend so that it presses down on the first item located in the cargo aisle.
[0070] During replenishment, the stop can be controlled to be in an unobstructed state to connect the replenisher's aisle with the aisle on the shelf, and the pressure roller can be controlled to rotate away from the outlet to remove the goods from the outlet.
[0071] Furthermore, during the replenishment process, the number of rotations of the pressure rollers can be controlled based on the replenishment quantity and the length of the goods to move the required quantity of goods into the aisles of the shelf. This allows for precise control of the replenishment progress. The length of the goods refers to their dimensions along the aisle's extension direction.
[0072] Additionally, during the picking process (i.e., before the goods enter the conveyor belt), the second side panel can be moved according to the width of the goods to be picked, ensuring that the conveyor belt width is greater than the width of the goods. Furthermore, after picking is complete, the second side panel can be moved again towards the first side panel to neatly arrange the goods in the conveyor belt, facilitating subsequent shipment control. And after the arrangement is complete, the second side panel can be moved a certain distance away from the first side panel. For details, please refer to the relevant descriptions in the above embodiments; they will not be repeated here.
[0073] The following is for reference. Figure 8 The diagram illustrates a structural schematic of a controller 800 suitable for implementing some embodiments of the present disclosure. Figure 8 The controller shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this disclosure.
[0074] like Figure 8As shown, the controller 800 may include a processing device 801 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 802 or a program loaded from storage device 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the controller 800. The processing device 801, ROM 802, and RAM 803 are interconnected via bus 804. An input / output (I / O) interface 805 is also connected to bus 804.
[0075] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, speakers, vibrators, etc.; storage devices 808 including, for example, disks, hard disks, memory cards, etc.; and communication devices 809. Communication device 809 allows controller 800 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 A controller 800 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or included alternatively. Figure 8 Each box shown can represent a device or multiple devices as needed.
[0076] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a storage device 808, or installed from a ROM 802. When the computer program is executed by the processing device 801, it performs the functions defined in the methods of some embodiments of this disclosure.
[0077] It should be noted that, in some embodiments of this disclosure, the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.
[0078] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.
[0079] The aforementioned computer-readable medium may be included in the controller or may exist independently without being assembled into the controller. The aforementioned computer-readable medium carries one or more programs that, when executed by the controller, enable the controller to perform the flow of the aforementioned replenishment control method.
[0080] Furthermore, computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages or a combination thereof, including object-oriented programming languages and conventional procedural programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0081] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0082] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.
[0083] Some embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the replenishment control method described above.
[0084] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.
Claims
1. A replenishment device, comprising: A cargo channel assembly includes a base plate and two side plates, the two side plates being spaced apart on the upper surface of the base plate to form a cargo channel for accommodating goods. The pressure roller assembly includes a pressure roller, a lifting drive mechanism, and a rotating drive mechanism. The pressure roller is positioned above the cargo channel near the outlet. The lifting drive mechanism controls the height of the pressure roller from the cargo channel, and the rotating drive mechanism controls the rotation of the pressure roller. A stop is provided at the outlet to block the outlet and keep the goods in the cargo channel. During the shipping process, the stop stops blocking, and the pressure roller contacts and rotates with the surface of the goods in the cargo channel to move a specified number of goods out of the shipping outlet.
2. The replenishment device according to claim 1, wherein, The cargo channel is equipped with a fixed beam above the position near the outlet. The lifting drive mechanism includes a rotation drive component, a cam, and a swing arm; The cam is fixed on the main shaft of the rotation drive component, and the cam's protruding wheel surface abuts against the swing arm during rotation to control the swing arm to rise. One end of the swing arm is hinged to the fixed beam, and the other end is fixed to the rotary drive mechanism and the pressure roller.
3. The replenishment device according to claim 2, wherein, The swing arm is L-shaped, and the swing arm is hinged to the fixed beam at the corner. A counterweight is also fixed on the swing arm. The pressure roller is fixed to the long side end of the swing arm, and an abutment roller is provided at the short side end of the swing arm. The rotation drive component is fixed to the fixed beam, and the cam controls the lifting of the swing arm by contacting the abutment wheel.
4. The replenishment device according to claim 1, wherein, The first side plate of the two side plates is fixed to the base plate, and the second side plate is movably connected to the base plate; and The replenishment device also includes at least one pitch-changing component, including a support plate and a pitch-changing drive mechanism. The support plate is fixed to the second side plate, and the width of the cargo channel is controlled by the pitch-changing drive mechanism.
5. The replenishment device according to claim 4, wherein, The variable pitch drive mechanism includes a gantry frame, a first drive motor, and a ball screw pair, wherein the gantry frame includes a support and a crossbeam; The brackets are fixed to both sides of the base plate, and the two ends of the crossbeam are fixed to the brackets. The two ends of the ball screw in the ball screw pair are fixed on the bracket and located below the crossbeam. The nut in the ball screw pair is sleeved on the screw and connected to the support plate. The first drive motor is fixed to the lower surface of the base plate, and the main shaft of the first drive motor is connected to one end of the lead screw via a transmission belt.
6. The replenishment device according to claim 4, wherein, The replenishment device includes two of the aforementioned pitch-changing components, which are respectively disposed at the outlet and inlet of the cargo channel; The replenishment device also includes a first detection component, which is disposed outside the cargo channel and is used to detect the change distance of the second side plate.
7. The replenishment device according to claim 1, wherein, The stop is a door panel assembly, including a door panel and a door panel drive mechanism. The door panel is movably disposed at the outlet, and the door panel drive mechanism controls the opening and closing of the outlet.
8. The replenishment device according to claim 7, wherein, The bottom end of the door panel is hinged to the end of the base plate located at the loading port, and a mounting plate is provided on the lower surface of the door panel; The door panel drive mechanism includes a second drive motor, a convex ball, and an elastic element. The second drive motor is fixed to the lower surface of the base plate. The convex ball is disposed at the end of the main shaft of the second drive motor. The convex ball is connected to the mounting plate through the elastic element to control the door panel to perform a flipping motion to realize the opening and closing of the loading port.
9. The replenishment device according to claim 8, wherein, The top of the door panel has a flange, the width of which is less than the width of the aisle on the connecting shelf. When the door panel is opened and connected to the shelf, the flange on the door panel extends into the aisle of the shelf. The outlet is also equipped with a limit support to restrict the opening position of the door panel and to support the opened door panel.
10. The replenishment device according to any one of claims 1-9, wherein, The replenishment device also includes a second detection component, a third detection component, and a fourth detection component, all of which are located at the outlet. The second detection component is used to detect the open / closed state of the door panel; The third detection component is used to detect cargo information passing through the outlet; The fourth detection component is used to detect the cargo channel information of the docking rack.
11. A replenishment system, comprising: The shelf is arranged with multiple aisles for storing goods, so that goods can be retrieved from the front of the shelf; At least one replenisher is disposed on the rear side of the shelf via a moving mechanism for replenishing goods to the aisles on the shelf. The replenisher adopts the replenisher structure as described in any one of claims 1-10, and the height of the outlet of the replenisher is lower than the height of the inlet. The moving mechanism is used to drive the replenisher to move along the width and height directions of the shelf.
12. A replenishment control method for a replenisher as described in any one of claims 1-10, comprising: When receiving goods, the control stop is in the blocked state and the pressure roller is in the raised state; Upon completion of the pickup, the pressure roller is controlled to descend so as to press down on the first item located in the cargo aisle; During replenishment, the stop is controlled to be in an unobstructed state to connect the replenisher's aisle with the aisle on the shelf, and the pressure roller is controlled to rotate away from the outlet to remove the goods in the aisle from the outlet.
13. The replenishment control method according to claim 12, wherein, The method further includes: Based on the replenishment quantity and the length of the goods, the number of rotations of the pressure rollers is controlled to move the replenishment quantity of goods into the aisles of the shelf, wherein the length of the goods is the dimension of the goods in the direction extending from the aisle; and When picking up goods, the second side panel is moved according to the width of the goods to be picked up, so that the width of the cargo aisle is greater than the width of the goods to be picked up.
14. A controller, comprising: One or more processors; Storage device, on which one or more programs are stored, When the one or more programs are executed by the one or more processors, the one or more processors implement the replenishment control method as described in claims 12-13.
15. A computer-readable medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the replenishment control method as described in claims 12-13.
16. A computer program product comprising a computer program that, when executed by a processor, implements the replenishment control method as described in claims 12-13.