Goods picking system

Abstract

The utility model discloses a goods picking system. The goods picking system comprises a goods shelf, a work station, a walking mechanism and a goods taking mechanism. The shelf is used for storing goods. The work station is arranged on the ground and comprises a packaging assembly. The walking mechanism can move between a first position close to the goods shelf and a second position close to the work station. The goods taking mechanism is connected to the walking mechanism in a lifting mode and is configured to take out goods on the goods shelf when the walking mechanism is located at the first position and convey the taken goods to the work station when the walking mechanism is located at the second position so that the packaging assembly can package normal goods.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to a picking system. Background Art

[0002] The picking system is a system that picks, transfers and packs goods in the warehouse according to order information. The efficiency and accuracy of the picking system in the relevant technology in the entire order processing process need to be further improved. Utility Model Content

[0003] The embodiment of the present application provides a picking system that can ensure high efficiency and accuracy in the order processing process.

[0004] The picking system of the embodiment of the present application includes:

[0005] Shelves, used to store goods;

[0006] A workstation arranged on the ground and including a packaging assembly;

[0007] a walking mechanism movable between a first position proximate to the shelf and a second position proximate to the workstation; and

[0008] The picking mechanism is liftably connected to the traveling mechanism, and is configured to take out the goods on the shelf when the traveling mechanism is located at the first position, and to transport the picked-up goods to the workstation when the traveling mechanism is located at the second position, so that the packaging component can package the normal goods.

[0009] According to some embodiments of the present application, the workstation further comprises:

[0010] A cache assembly, comprising a cache rack and a plurality of cache hoppers, wherein the plurality of cache hoppers are mounted on the cache rack and are used to receive the goods transported by the pickup mechanism; wherein the number of the cache hoppers is greater than or equal to the number of the sorting hoppers of the pickup mechanism;

[0011] The merging component is movably connected to the cache rack through a movable component, and is configured to receive goods in at least one of the multiple cache hoppers and transport at least one of the normal goods to the packaging component.

[0012] According to some embodiments of the present application, the movable component includes a third slide rail and a third slider, the length direction of the third slide rail is parallel to the height direction of the cache rack and is connected to the cache rack, and the third slider is movably connected to the third slide rail;

[0013] The confluence assembly is connected to the third slider.

[0014] According to some embodiments of the present application, the cache rack includes two frames arranged at intervals along the length direction of the cache rack, each of the frames is connected to a plurality of cache hoppers arranged at intervals along the height direction of the cache rack; the number of the plurality of cache hoppers connected to the same frame is greater than or equal to the number of the sorting hoppers;

[0015] Along the height direction of the cache rack, the confluence assembly is movably located between the two frames.

[0016] According to some embodiments of the present application, each of the frames includes two second longitudinal beams, and a plurality of guide members arranged at intervals along the height direction of the cache rack are connected between the two second longitudinal beams. The plurality of guide members respectively correspond to the plurality of cache hoppers in the frame, and each of the guide members has a guide slope for guiding the goods to slide from the picking mechanism into the cache hopper.

[0017] According to some embodiments of the present application, the workstation further includes an exception handling component, and the merging component is configured to transport abnormal cargo to the exception handling component.

[0018] According to some embodiments of the present application, the pickup mechanism includes:

[0019] A lifting frame, connected to the walking mechanism in a liftable manner;

[0020] A cargo picker, movably connected to the lifting frame via a moving assembly; and

[0021] A sorting assembly connected to the lifting frame and comprising a plurality of sorting hoppers;

[0022] Wherein, the cargo picker is configured to take out the cargo located on the shelf and transport the cargo to any one of the plurality of sorting hoppers.

[0023] According to some embodiments of the present application, the moving component includes:

[0024] A first moving unit, used to drive the pickup device to move along a second direction; and

[0025] A second moving unit is used to drive the pickup device to move along a third direction; the second direction is perpendicular to the third direction;

[0026] Wherein, the lifting frame is lifted and lowered along the second direction, and the plurality of sorting hoppers are arranged side by side along the second direction or the third direction.

[0027] According to some embodiments of the present application, the first moving unit includes a first slide rail and a first slider, the first slide rail is connected to the lifting frame, and the first slider is movably connected to the first slide rail along the second direction;

[0028] The second moving unit comprises a second slide rail and a second slider, the second slide rail is connected to the first slider, and the second slider is movably connected to the second slide rail along the third direction;

[0029] The cargo picker is connected to the second sliding block.

[0030] According to some embodiments of the present application, each of the sorting hoppers has a first outlet for the goods to slide out;

[0031] The sorting component also includes a shielding member, which is movably connected to the lifting frame between a third position and a fourth position, and the shielding member has a plurality of second windows; when the shielding member is located at the third position, the shielding member simultaneously closes a plurality of the first outlets; when the shielding member is located at the fourth position, a plurality of the second windows are respectively connected to a plurality of the first outlets of the sorting hoppers.

[0032] According to some embodiments of the present application, the sorting assembly further includes an elastic member connected to the lifting frame and the shielding member, and configured to provide an elastic force to the shielding member to move toward the third position.

[0033] According to some embodiments of the present application, the shielding member is movably connected to the lifting frame along the lifting direction of the lifting frame; the shielding member has a trigger member;

[0034] The workstation has a stopper, and the orthographic projections of the stopper and the trigger member on a target plane have overlapping first projections; the target plane is perpendicular to the lifting direction of the lifting frame;

[0035] When the lifting frame descends, the abutting member is used to abut the triggering member to make the shielding member move from the third position to the fourth position.

[0036] According to some embodiments of the present application, the workstation further has a press-down member;

[0037] Along the lifting direction of the lifting frame, at least a portion of the trigger member is located between the pressing member and the abutting member; the orthographic projections of the pressing member and the trigger member on the target plane have overlapping second projections;

[0038] When the lifting frame rises, the pressing member is used to stop the trigger member.

[0039] According to some embodiments of the present application, the pickup mechanism includes:

[0040] frame;

[0041] a picking unit, mounted on the frame, comprising a picking assembly and a picking hopper made of a transparent material, wherein the picking assembly is used to take out the goods stored on the shelf and transport them into the picking hopper; and

[0042] A plurality of information collection units are arranged around the pickup hopper and are used to obtain preset information of the goods in the pickup hopper.

[0043] According to some embodiments of the present application, the cargo hopper includes an inclined slide plate and two vertical plates, the two vertical plates are respectively connected to two sides of the slide plate in the width direction, and form an exit for the cargo to slide out;

[0044] The multiple information acquisition units are image acquisition devices, and include a first information acquisition unit, a second information acquisition unit, a third information acquisition unit, a fourth information acquisition unit, a fifth information acquisition unit and a sixth information acquisition unit;

[0045] The first information acquisition unit and the second information acquisition unit are respectively located on two sides of the slide plate in the thickness direction, and the lens surfaces of the first information acquisition unit and the second information acquisition unit are both facing the slide plate;

[0046] The third information acquisition unit and the fourth information acquisition unit are respectively located on the sides of the two vertical plates facing away from each other, and the lens surfaces of the third information acquisition unit and the fourth information acquisition unit are respectively facing the corresponding vertical plates;

[0047] The fifth information collection unit is arranged on the side of the exit of the cargo hopper, and the lens surface of the fifth information collection unit faces the exit. The sixth information collection unit is arranged on the side away from the exit in the length direction of the cargo hopper, and the lens surface of the sixth information collection unit faces the space between the two vertical plates.

[0048] According to some embodiments of the present application, there are two cargo picking components, which are arranged opposite to each other in the left and right directions of the frame.

[0049] According to some embodiments of the present application, the pickup mechanism includes a pickup component, and the pickup component includes:

[0050] A slope having an edge;

[0051] a guide member connected to the slope, with at least a portion of the guide member extending beyond the edge;

[0052] a rotating unit rotatably connected to the portion of the guide member extending from the edge, and configured to generate friction with the cargo, so as to drive the cargo to pass through the guide member and slide into the slope; and

[0053] The first motor is connected to the rotating unit and is used to drive the rotating unit to rotate.

[0054] According to some embodiments of the present application, the rotating unit includes:

[0055] two rotating members, one of which is connected to the output shaft of the first motor, and the other of which is rotatably connected to a portion of the guide member extending from the edge; and

[0056] The annular member is arranged around the outer circumference of the two rotating members, and the outer side surface of the annular member is used to generate friction with the goods.

[0057] According to some embodiments of the present application, the guide member includes:

[0058] a connecting portion connected to the slope; and

[0059] a pair of cantilevers connected to the connecting portion and at least partially extending beyond the edge;

[0060] Wherein, at least a portion of the rotating unit is rotatably connected between a pair of cantilevers.

[0061] According to some embodiments of the present application, a stop portion is provided at one end of each cantilever away from the connecting portion, and the stop portion protrudes from the cantilever along the thickness direction of the connecting portion to stop the cargo.

[0062] According to some embodiments of the present application, a reinforcing portion is provided at one end of the cantilever connected to the connecting portion, the reinforcing portion and the connecting portion are respectively located on both sides of the slope in the thickness direction, and a slot for inserting the slope is formed between the reinforcing portion and the connecting portion.

[0063] According to some embodiments of the present application, the walking mechanism includes:

[0064] A first running seat is movably connected to a ground rail;

[0065] A second traveling seat is movably connected to a sky rail;

[0066] A column, the axial ends of which are respectively connected to the first walking seat and the second walking seat; the picking mechanism is liftably connected to the column; and

[0067] The driving assembly includes a third motor, a transmission shaft, a first driving part connected to the first traveling seat, and a second driving part connected to the second traveling seat, wherein the axial ends of the transmission shaft are respectively connected to the first driving part and the second driving part, the third motor is connected to the first traveling seat, and is drivingly connected to the first driving part; the first driving part is used to drive the first traveling seat to move along the ground rail, and the second driving part is used to drive the second traveling seat to move along the overhead rail.

[0068] According to some embodiments of the present application, it also includes:

[0069] a first transmission member, fixedly disposed relative to the ground rail and drivingly connected to the first driving part; and

[0070] The second transmission member is fixedly arranged relative to the ceiling rail and is drivingly connected to the second driving part.

[0071] According to some embodiments of the present application, the first driving unit includes:

[0072] A first steering gear having a first input shaft, a first output shaft and a second output shaft, wherein the first input shaft is connected to the third motor, and the first output shaft is connected to one axial end of the transmission shaft;

[0073] The first rotating member is connected to the second output shaft and is drivingly connected to the first transmission member.

[0074] According to some embodiments of the present application, the second driving unit includes:

[0075] A second steering gear having a second input shaft and a third output shaft, wherein the second input shaft is connected to the other axial end of the transmission shaft;

[0076] The second rotating member is connected to the third output shaft and is drivingly connected to the second transmission member.

[0077] One embodiment of the above application has at least the following advantages or beneficial effects:

[0078] The picking system of the embodiment of the present application, with the coordinated action of the workstation, the walking mechanism and the picking mechanism, can pick up, transfer and pack the goods on the shelves, ensuring the accuracy and timeliness of delivery, and ensuring the efficiency and accuracy of the entire order processing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 Shown is a partial three-dimensional schematic diagram of a shelf according to an embodiment of the present application.

[0080] Figure 2 Shown is a schematic diagram of four storage units connected to a crossbeam.

[0081] Figure 3 Shown is a partial schematic diagram of two storage units.

[0082] Figure 4 Shown is a partial schematic diagram of one end of a storage unit.

[0083] Figure 5 Shown is a partial schematic diagram of the other end of a storage unit.

[0084] Figure 6 Shown is the Figure 4 Section view along the AA cutting line.

[0085] Figure 7 What is shown is a three-dimensional schematic diagram of the walking mechanism of an embodiment of the present application.

[0086] Figure 8 It is shown that Figure 7 A local enlarged view of point X1 in the middle.

[0087] Fig. 9 It is shown that Figure 7 A local enlarged view of the X2 point in the middle.

[0088] Fig.10 Shown is a schematic diagram of the first walking seat of an embodiment of the present application.

[0089] Fig.11 Shown is a schematic diagram of the second walking seat of an embodiment of the present application.

[0090] Fig.12 What is shown is a three-dimensional schematic diagram of the pickup mechanism and workstation of an embodiment of the present application from one viewing angle.

[0091] Fig.13 What is shown is a three-dimensional schematic diagram of the pickup mechanism and workstation of the embodiment of the present application from another perspective.

[0092] Fig.14 What is shown is a three-dimensional schematic diagram of the pickup mechanism of an embodiment of the present application.

[0093] Fig.15 Shown is a three-dimensional schematic diagram of a sorting component according to an embodiment of the present application.

[0094] Fig.16 The schematic diagram shown is that the triggering member of the sorting assembly is located between the abutting member and the pressing member of the workstation.

[0095] Fig.17 What is shown is a three-dimensional schematic diagram of the cargo picker according to an embodiment of the present application from one viewing angle.

[0096] Fig.18What is shown is a three-dimensional schematic diagram of the cargo picker according to an embodiment of the present application from another perspective.

[0097] Fig.19 Shown is a three-dimensional schematic diagram of the picker with the pick-up component omitted.

[0098] Fig. 20 Shown is a schematic diagram of the positional relationship between the lens surfaces of the third information acquisition unit and the fourth information acquisition unit and the vertical plate.

[0099] Fig.21 What is shown is a schematic diagram of the positional relationship between the lens surface of the fifth information acquisition unit and the length direction of the slide plate.

[0100] Fig. 22 What is shown is a three-dimensional schematic diagram of the picker according to an embodiment of the present application applied to a shelf.

[0101] Fig.23 What is shown is a three-dimensional schematic diagram of the cargo picker according to an embodiment of the present application.

[0102] Fig.24 Shown is a partial schematic diagram of the pickup component of an embodiment of the present application.

[0103] Fig.25 Shown is a partial schematic diagram of the pickup component of an embodiment of the present application from another perspective.

[0104] Fig.26 Shown is a three-dimensional schematic diagram of a guide member according to an embodiment of the present application.

[0105] Fig. 27 The shown is omitted Fig.25 A three-dimensional schematic diagram of the guide member in FIG.

[0106] Fig.28 What is shown is a three-dimensional schematic diagram of a workstation according to an embodiment of the present application.

[0107] Fig.29 Shown is a three-dimensional schematic diagram of a cache component according to an embodiment of the present application.

[0108] Fig.30 Shown is a three-dimensional schematic diagram of a cache hopper according to an embodiment of the present application.

[0109] Fig.31 Shown is a three-dimensional schematic diagram of a confluence hopper according to an embodiment of the present application.

[0110] Fig.32 It is shown that the pickup assembly and the locator correspond to two cargo lane assemblies located at different levels. DETAILED DESCRIPTION

[0111] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0112] It is understood that the terms "including" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or components that are inherent to these processes, methods, products, or devices.

[0113] like Figures 1 to 31 As shown, the present application provides a picking system, including a shelf 200, a workstation 500, a walking mechanism 400 and a picking mechanism 300. The shelf 200 can be arranged on the ground for storing goods; the workstation 500 is arranged on the ground and includes a packaging component 530 and an abnormality handling component 540; the walking mechanism 400 is movable between a first position close to the shelf 200 and a second position close to the workstation 500; the picking mechanism 300 is liftably connected to the walking mechanism 400, and is configured to take out the goods on the shelf 200 when the walking mechanism 400 is in the first position, and to transport the taken goods to the workstation 500 when the walking mechanism 400 is in the second position, so that the packaging component 530 packs the normal goods or uses the abnormality handling component 540 to remove the abnormal goods.

[0114] In the embodiment of the present application, when the walking mechanism 400 drives the picking mechanism 300 to move to the first position, the picking mechanism 300 takes out the goods on the shelf 200 and keeps the goods in the picking mechanism 300. When the walking mechanism 400 drives the picking mechanism 300 to move to the second position, the picking mechanism 300 can transport the picked goods to the workstation 500 and process the goods using the packaging component 530 and the abnormality processing component 540. When the goods are normal goods, the packaging component 530 packages the normal goods; when the goods are abnormal goods, the abnormality processing component 540 removes the abnormal goods.

[0115] It can be seen that the picking system of the embodiment of the present application, with the coordinated action of the workstation 500, the walking mechanism 400 and the picking mechanism 300, can pick up, transfer and pack the goods on the shelf 200. In addition, abnormal goods can be eliminated, ensuring the accuracy and timeliness of delivery, and ensuring the efficiency and accuracy of the entire order processing process.

[0116] The shelf 200, the workstation 500, the traveling mechanism 400 and the picking mechanism 300 are described in detail below.

[0117] like Figure 1 As shown, the shelf 200 of the embodiment of the present application includes a frame 210 and a plurality of aisle assemblies 200a, the plurality of aisle assemblies 200a are installed on the frame 210, and the plurality of aisle assemblies 200a are arranged along the height direction of the frame 210 for storing goods.

[0118] Among them, Figure 2 As shown, each cargo lane assembly 200a includes a plurality of cargo storage units 220 and a crossbeam 250, and the plurality of cargo storage units 220 are connected to the crossbeam 250 and arranged along the length direction of the frame 210. The length direction is perpendicular to the height direction. Both ends of the crossbeam 250 in the length direction are connected to the frame 210, so that the plurality of cargo storage units 220 are installed on the frame 210.

[0119] Understandably, to simplify the view, Figure 2 Only four storage units 220 arranged side by side are shown, but the invention should not be limited thereto.

[0120] In one embodiment, each cargo lane assembly 200a includes two cross beams 250, and the two cross beams 250 are arranged at intervals along the length direction of the cargo storage unit 220, but the present invention is not limited thereto.

[0121] like Figure 2 and Figure 3 As shown, each cargo storage unit 220 includes a support plate 221, a baffle plate 222 and a partition plate 223 for supporting cargo 260. The support plate 221 is arranged obliquely relative to the frame 210. The two ends of the support plate 221 in the length direction are respectively a first end 2211 and a second end 2212. The height of the first end 2211 from the ground is less than the height of the second end 2212 from the ground. The baffle plate 222 is connected to the first end 2211 and is used to stop the cargo 260 located on the support plate 221. The partition plate 223 is connected to the support plate 221 and extends from the first end 2211 to the second end 2212. The two adjacent partition plates 223 in two adjacent cargo storage units 220 form a cargo storage space 230 for storing cargo 260.

[0122] The shelf 200 of the embodiment of the present application has a support plate 221 that is arranged obliquely relative to the frame body 210, and a baffle 222 for stopping the goods 260 is provided at the first end 2211 of the support plate 221. On the one hand, since the support plate 221 is arranged obliquely, the storage space 230 can store more goods 260, thereby improving the space utilization rate of the shelf 200; on the other hand, when picking up goods, after the goods 260 in contact with the baffle 222 are taken out, the remaining goods 260 can automatically slide down under the action of their own gravity, so as to replenish the supply of goods in time for the next picking action, thereby improving the picking efficiency.

[0123] like Figure 2 As shown, two adjacent baffles 222 in two adjacent cargo storage units 220 stop the same cargo 260 in the cargo storage space 230 .

[0124] In the embodiment of the present application, a cargo 260 in the cargo storage space 230 is stopped by two adjacent baffles 222 in two adjacent cargo storage units 220 at the same time, so that the stopping force on the cargo 260 can be more balanced, thereby preventing the cargo 260 from being deflected due to force on one side, and further preventing the cargo 260 from being stuck in the cargo storage space 230 due to deflection and being unable to slide down automatically.

[0125] Of course, in other embodiments, the goods 260 may also be stopped by the baffle 222 in one storage unit 220 , while the baffle 222 of the storage unit 220 adjacent to the storage unit 220 does not stop the goods 260 .

[0126] like Figure 3 and Figure 6 As shown, the support plate 221 includes a base plate 2213 and two wing plates 2214. The two ends of the base plate 2213 in the length direction are respectively a first end 2211 and a second end 2212, and the partition plate 223 is vertically connected to the upper surface of the base plate 2213. The two wing plates 2214 are respectively connected to the two sides of the width direction of the base plate 2213 and extend along the length direction of the base plate 2213. The upper surface of the wing plate 2214 is flush with the upper surface of the base plate 2213, and the thickness of the wing plate 2214 is less than the thickness of the base plate 2213.

[0127] In the embodiment of the present application, the structure of the support plate 221 is thick in the middle and thin on both sides. Under the premise of ensuring the support of the cargo 260, the weight of the support plate 221 is reduced and the cost is saved.

[0128] As an example, the base plate 2213 is a hollow structure, which further reduces the weight of the support plate 221 and saves costs.

[0129] like Figure 6As shown, the partition 223 has an orthographic projection on the upper surface of the substrate 2213 ; along the width direction of the substrate 2213 , the orthographic projection is located in the middle position of the upper surface of the substrate 2213 .

[0130] That is, along the width direction of the base plate 2213 , the partition plate 223 divides the base plate 2213 into two parts with equal distances, so that the sizes of the plurality of storage spaces 230 are equal.

[0131] Of course, in other embodiments, the sizes of the plurality of storage spaces 230 may also be unequal.

[0132] like Figure 3 As shown, one end of the wing plate 2214 close to the baffle plate 222 forms a notch 225 with the base plate 2213; two adjacent notches 225 in two adjacent storage units 220 form a cutout 226, and part of the cargo 260 located in the storage space 230 and abutting against the baffle plate 222 is exposed on the lower surface of the wing plate 2214 through the cutout 226.

[0133] In the embodiment of the present application, a gap 226 is formed between two adjacent storage units 220, and the gap 226 can allow a picking tool to pass through from bottom to top, so that the picking tool can pick up the goods 260 in contact with the baffle 222. When the bottom surface of the goods 260 is higher than the upper edge of the baffle 222, under the action of the weight of the goods 260 itself, the goods 260 can slide out of the storage space 230 to complete the picking.

[0134] like Figure 3 As shown, the baffle 222 has an identification portion 2221 on one side facing away from the support plate 221 , and the identification portion 2221 records the information of the goods 260 , so that the picking tool can find the storage unit 220 corresponding to the picked goods 260 by identifying the identification portion 2221 .

[0135] In one implementation, the identification portion 2221 may be a QR code, a bar code, or the like.

[0136] like Figure 4 As shown, the baffle 222 is attached to the end surface of the first end 2211 , and an acute angle α is formed between the baffle 222 and the upper surface of the substrate 2213 . In one embodiment, the baffle 222 is parallel to the height direction of the frame 210 .

[0137] The baffle plate 222 is not only connected to the first end 2211 of the support plate 221, but also connected to the partition plate 223. In this way, the structural strength of the baffle plate 222 can be enhanced.

[0138] like Figure 5As shown, each storage unit 220 further includes a rear plate 224 , which is connected to the base plate 2213 and the two wing plates 2214 , and at least a portion of the rear plate 224 extends out from the lower surface of the base plate 2213 .

[0139] It can be understood that each storage unit 220 is provided with a rear plate 224, and at least a portion of the rear plate 224 extends out from the lower surface of the base plate 2213. When the connection structure between the storage unit 220 and the beam 250 fails and the storage unit 220 slides down, the rear plate 224 can cooperate with the beam 250 to stop and prevent the storage unit 220 and the goods 260 from falling from the rack 210.

[0140] like Figure 1 As shown, the shelf 200 further includes a platform 240, which is connected to the frame body 210 and is located on the side where the second end 2212 of the support plate 221 is located. The platform 240 can be used for operators to stand on in order to replenish the storage unit 220 or repair the shelf 200.

[0141] For example, the operator stands on the platform 240 and can replenish goods into the storage space 230 through the second end 2212 of the support plate 221. The newly replenished goods 260 can automatically slide down to the first end 2211 under the effect of their own weight.

[0142] like Figure 7 As shown, the walking mechanism 400 of the embodiment of the present application can move along the ceiling rail 402 and the ground rail 401. The ground rail 401 is arranged on the ground, and the ceiling rail 402 and the ground rail 401 are arranged opposite to each other in the vertical direction.

[0143] For convenience of explanation, the moving direction of the walking mechanism 400 is defined as the first direction D1, the length direction of the column 410 is defined as the second direction D2, the first direction D1 is perpendicular to the second direction D2, and the direction perpendicular to the first direction D1 and the second direction D2 is defined as the third direction D3.

[0144] The walking mechanism 400 of the embodiment of the present application includes a first walking seat 420, a second walking seat 430, a column 410 and a driving assembly 440. The first walking seat 420 is movably connected to the ground rail 401. The second walking seat 430 is movably connected to the overhead rail 402. The axial ends of the column 410 are respectively connected to the first walking seat 420 and the second walking seat 430; the driving assembly 440 includes a third motor 441, a transmission shaft 442, a first driving part 443 connected to the first walking seat 420 and a second driving part 444 connected to the second walking seat 430, and the axial ends of the transmission shaft 442 are respectively connected to the first driving part 443 and the second driving part 444, and the third motor 441 is connected to the first walking seat 420 and is drivingly connected to the first driving part 443. The first driving part 443 is used to drive the first walking seat 420 to move along the ground rail 401. The second driving part 444 is used to drive the second walking seat 430 to move along the overhead rail 402.

[0145] In the walking mechanism 400 of the embodiment of the present application, the third motor 441 is drivingly connected to the first driving part 443, the first driving part 443 is connected to one axial end of the transmission shaft 442, and the other axial end of the transmission shaft 442 is connected to the second driving part 444, so that the power of the third motor 441 can not only drive the first driving part 443 to move, but also drive the second driving part 444 to move through the transmission shaft 442. Through the provision of the transmission shaft 442, the synchronization between the first driving part 443 and the second driving part 444 is effectively improved, thereby ensuring the walking accuracy of the walking mechanism 400.

[0146] The walking mechanism 400 further includes a first transmission member 450 and a second transmission member 460. The first transmission member 450 is disposed adjacent to the ground rail 401 and is fixed relative to the ground rail 401. For example, the ground rail 401 is fixedly arranged on the ground. The second transmission member 460 is disposed adjacent to the ceiling rail 402 and is fixed relative to the ceiling rail 402. The first driving part 443 is drivingly connected to the first transmission member 450, and the second driving part 444 is drivingly connected to the second transmission member 460.

[0147] In the embodiment of the present application, the first driving part 443 is drivingly connected to the first transmission member 450. Since the first transmission member 450 is fixedly arranged relative to the ground rail 401, the first driving part 443 can move relative to the first transmission member 450, thereby realizing the movement of the first walking seat 420 along the ground rail 401. The second driving part 444 is drivingly connected to the second transmission member 460. Since the second transmission member 460 is fixedly arranged relative to the ceiling rail 402, the second driving part 444 can move relative to the second transmission member 460, thereby realizing the movement of the second walking seat 430 along the ceiling rail 402.

[0148] like Figure 8As shown, the first driving part 443 includes a first steering gear 4431 and a first rotating member 4432. The first steering gear 4431 is fixedly connected to the first traveling seat 420, and has a first input shaft, a first output shaft and a second output shaft, the first input shaft is connected to the third motor 441, and the first output shaft is connected to an axial end of the transmission shaft 442. The first rotating member 4432 is connected to the second output shaft and is drivingly connected to the first transmission member 450. Through the setting of the first steering gear 4431, the power of the third motor 441 can be transmitted to the first output shaft and the second output shaft respectively, so that the third motor 441 can simultaneously drive the first rotating member 4432 and the transmission shaft 442 to rotate.

[0149] In one embodiment, the axis of the first input shaft is parallel to the first direction D1 , the axis of the first output shaft is parallel to the second direction D2 , and the axis of the second output shaft is parallel to the third direction D3 , but not limited thereto.

[0150] like Fig. 9 As shown, the second driving part 444 includes a second steering gear 4441 and a second rotating member 4442. The second steering gear 4441 is fixedly connected to the second traveling seat 430, and has a second input shaft and a third output shaft, the second input shaft is connected to the other axial end of the transmission shaft 442; the second rotating member 4442 is connected to the third output shaft, and is drivingly connected to the second transmission member 460. By providing the second steering gear 4441, the power of the transmission shaft 442 can be transmitted to the second rotating member 4442.

[0151] In one embodiment, the axis of the second input shaft is parallel to the second direction D2, and the axis of the third output shaft is parallel to the third direction D3, but the present invention is not limited thereto.

[0152] The first transmission member 450 covers at least a portion of the outer periphery of the first rotating member 4432. In one embodiment, the first transmission member 450 and the first rotating member 4432 are a synchronous belt and synchronous wheel structure. For example, the first transmission member 450 is a synchronous belt and has a first tooth structure, and the outer periphery of the first rotating member 4432 has a second tooth structure, and the first tooth structure is meshed with the second tooth structure.

[0153] The second transmission member 460 covers at least a portion of the outer periphery of the second rotating member 4442. In one embodiment, the second transmission member 460 and the second rotating member 4442 are a synchronous belt and synchronous wheel structure. For example, the second transmission member 460 is a synchronous belt and has a third tooth structure, and the outer periphery of the second rotating member 4442 has a fourth tooth structure, and the third tooth structure is meshed with the fourth tooth structure.

[0154] In the embodiment of the present application, the first transmission member 450 and the first rotating member 4432, and the second transmission member 460 and the second rotating member 4442 are all synchronous belt and synchronous wheel structures. Since the transmission is achieved by meshing between teeth, on the one hand, the transmission efficiency is high and the energy loss is effectively reduced; on the other hand, during the transmission process, it is not easy to slip between the first transmission member 450 and the first rotating member 4432, and between the second transmission member 460 and the second rotating member 4442, thereby maintaining a high transmission accuracy and improving the acceleration of the walking mechanism 400.

[0155] like Figure 8 As shown, the first walking seat 420 includes a first base 422, two walking wheels 423 and a plurality of first rollers 424. The first deflector 4431 is fixedly connected to the first base 422. The two walking wheels 423 are rotatably connected to the two ends of the first base 422 along the first direction D1, and are used for rolling contact with the surface of one side of the ground rail 401 facing the sky rail 402. The rotation axis of each walking wheel 423 is parallel to the third direction D3. The plurality of first rollers 424 are rotatably connected to the two sides of the first base 422 along the third direction D3, and are used for rolling contact with the two side surfaces of the ground rail 401 along the third direction D3. The rotation axis of each first roller 424 is parallel to the second direction D2.

[0156] The first traveling seat 420 further includes a first pressing wheel 421 rotatably connected to the first base 422, the rotation axis of the first pressing wheel 421 is parallel to the rotation axis of the first rotating member 4432, and presses the first transmission member 450 to increase the wrap angle between the first transmission member 450 and the first rotating member 4432. By providing the first pressing wheel 421, the length of the contact arc between the first transmission member 450 and the first rotating member 4432 can be increased, thereby improving the transmission stability.

[0157] like Fig. 9 As shown, the second traveling seat 430 includes a second base 432 and a plurality of second rollers 433. The second diverter 4441 is fixedly connected to the second base 432. The plurality of second rollers 433 are rotatably connected to both sides of the second base 432 along the third direction D3, respectively, for rolling contact with the surfaces of both sides of the ceiling rail 402 along the third direction D3. The rotation axis of each second roller 433 is parallel to the second direction D2.

[0158] The second traveling seat 430 includes a second pressing wheel 431 rotatably connected to the second base 432. The rotation axis of the second pressing wheel 431 is parallel to the rotation axis of the second rotating member 4442, and presses against the second transmission member 460 to increase the wrap angle between the second transmission member 460 and the second rotating member 4442. By providing the second pressing wheel 431, the length of the contact arc between the second transmission member 460 and the second rotating member 4442 can be increased, thereby improving the transmission stability.

[0159] like Fig.10 As shown, a first triggering member 471 is provided on one of the ground rail 401 and the first traveling seat 420, and a first sensor 472 is provided on the other of the ground rail 401 and the first traveling seat 420. The first triggering member 471 is used to trigger the first sensor 472 so that the first sensor 472 generates a first verification signal.

[0160] In one embodiment, the ground rail 401 is provided with a first trigger 471 , and the first travel seat 420 is provided with a first sensor 472 ; in another embodiment, the ground rail 401 is provided with a first sensor 472 , and the first travel seat 420 is provided with a first trigger 471 .

[0161] like Fig.11 As shown, a second triggering member 481 is provided on one of the overhead rail 402 and the second traveling seat 430, and a second sensor 482 is provided on the other of the overhead rail 402 and the second traveling seat 430. The second triggering member 481 is used to trigger the second sensor 482 so that the second sensor 482 generates a second verification signal.

[0162] In one embodiment, the overhead rail 402 is provided with a second trigger 481 , and the second traveling seat 430 is provided with a second sensor 482 ; in another embodiment, the overhead rail 402 is provided with a second sensor 482 , and the second traveling seat 430 is provided with a second trigger 481 .

[0163] It is understandable that during zero point calibration, the first sensor 472 and the second sensor 482 can be triggered at the same time, thereby simultaneously sending out the first verification signal and the second verification signal.

[0164] When one of the first sensor 472 and the second sensor 482 sends a verification signal and the other sensor does not send a verification signal, it means that tooth jumping has occurred between the first transmission member 450 and the first rotating member 4432 and / or tooth jumping has occurred between the second transmission member 460 and the second rotating member 4442. Once the tooth jumping phenomenon occurs, it will affect the synchronization of the walking of the first walking seat 420 and the second walking seat 430.

[0165] In the embodiment of the present application, by setting a first trigger member 471 and a first sensor 472 and a second trigger member 481 and a second sensor 482, and by judging whether the first verification signal and the second verification signal are generated at the same time, it is possible to know whether the synchronous belt structure has tooth jumping, and then timely repair the synchronous belt structure to ensure the synchronization of walking.

[0166] It is understandable that the present application does not limit the types of the first sensor 472 and the second sensor 482 .

[0167] like Fig.12 and Fig.13 As shown, the pickup mechanism 300 of the embodiment of the present application is connected to the walking mechanism 400 in a liftable manner along the second direction D2.

[0168] When picking up goods, the walking mechanism 400 drives the picking mechanism 300 to move near the shelf along the first direction D1, and the picking mechanism 300 rises and falls along the second direction D2 to ensure that the picking mechanism 300 is aligned with the goods to be picked up. After the picking mechanism 300 takes the goods from the shelf and places them in the picking mechanism 300, the walking mechanism 400 drives the picking mechanism 300 to move near the workstation 500 again, so that the picking mechanism 300 delivers the goods to the workstation 500.

[0169] It should be noted that in order to simplify the view, Figure 1 and Figure 2 Only part of the columns 410 of the walking mechanism 400 are shown, while other structures are omitted.

[0170] like Fig.14 As shown, the picking mechanism 300 of the embodiment of the present application includes a lifting frame 310, a picker 100 and a sorting assembly 320. The lifting frame 310 is connected to the column 410 of the walking mechanism 400 in a liftable manner along the second direction D2. The axial direction of the column 410 is parallel to the second direction D2. The picker 100 is movably connected to the lifting frame 310 through a moving assembly 330; the sorting assembly 320 is connected to the lifting frame 310 and includes a plurality of sorting hoppers 321; the picker 100 is configured to take out the goods on the shelf and transport the goods to any one of the plurality of sorting hoppers 321.

[0171] When the picking mechanism 300 of the embodiment of the present application is picking up goods, after the picking device 100 picks up the first goods, it transfers the goods to one of the sorting hoppers 321, and then the picking device 100 continues to pick up the second goods. If the distance between the second goods and the first goods is very close, the picking device 100 only needs to be driven to move relative to the lifting frame 310 to pick up the second goods, without driving the walking mechanism 400 to move and / or driving the lifting frame 310 to rise and fall, and then the second goods are transferred to one of the remaining empty sorting hoppers 321. When all the sorting hoppers 321 are loaded with goods, the walking mechanism 400 is driven back to transfer all the goods in the picking mechanism 300 to the workstation 500.

[0172] It can be seen that in the picking mechanism 300 of the embodiment of the present application, the picker 100 is movably connected to the lifting frame 310 through the moving component 330, and the sorting component 320 includes a plurality of sorting hoppers 321 for accommodating goods. Through a slight movement of the picker 100 relative to the lifting frame 310, the picker 100 can take out a plurality of goods and load them into the plurality of sorting hoppers 321 respectively, thereby significantly improving the picking efficiency of the picking mechanism 300.

[0173] like Fig.14 As shown, the moving assembly 330 includes a first moving unit 330a and a second moving unit 330b. The first moving unit 330a is used to drive the picker 100 to move along the second direction D2. The second moving unit 330b is used to drive the picker 100 to move along the third direction D3. A plurality of sorting hoppers 321 are arranged side by side along the second direction D2 or the third direction D3.

[0174] As an example, the first moving unit 330a and the second moving unit 330b are linear slides. For example, the first moving unit 330a includes a first slide rail 331 and a first slider 332. The first slide rail 331 is connected to the lifting frame 310, and the length direction of the first slide rail 331 is parallel to the second direction D2. The first slider 332 is movably connected to the first slide rail 331 along the second direction D2.

[0175] The second moving unit 330b includes a second slide rail 333 and a second slider 334. The second slide rail 333 is connected to the first slider 332, and the length direction of the second slide rail 333 is parallel to the third direction D3. The second slider 334 is movably connected to the second slide rail 333 along the third direction D3; the picker 100 is connected to the second slider 334.

[0176] Of course, in other embodiments, the first moving unit 330a and the second moving unit 330b may also be other linear drive mechanisms, which will not be described in detail here.

[0177] In addition, the moving path of the picker 100 relative to the lifting frame 310 through the moving component 330 may not be a straight line, for example, it may be an arc, as long as the picker 100 can pick up different goods by moving relative to the lifting frame 310.

[0178] like Fig.14 As shown, the lifting frame 310 includes two first longitudinal beams 311 arranged at intervals along the third direction D3, and multiple sorting hoppers 321 are connected to the two first longitudinal beams 311 and arranged side by side along the second direction D2; wherein, the area between the two first longitudinal beams 311 is divided into multiple first windows 311a by the multiple sorting hoppers 321, and the multiple first windows 311a correspond to the multiple sorting hoppers 321 respectively.

[0179] For example, after the picker 100 picks up the first cargo, through the coordinated movement of the first mobile unit 330a and the second mobile unit 330b, the picker 100 can be aligned with one of the first windows 311a, so that the first cargo in the picker 100 passes through the first window 311a and slides into one of the sorting hoppers 321.

[0180] like Fig.15As shown, each sorting hopper 321 has a first outlet 321a for goods to slide out; the sorting component 320 also includes a shielding member 322, which is movably connected to the lifting frame 310 between a third position and a fourth position, and the shielding member 322 has a plurality of second windows 322a; when the shielding member 322 is located at the third position, the shielding member 322 simultaneously closes the plurality of first outlets 321a; when the shielding member 322 is located at the fourth position, the plurality of second windows 322a are respectively connected to the plurality of first outlets 321a.

[0181] During the picking process of the picker 100, the shielding member 322 is located at the third position, so that the shielding member 322 closes the multiple first outlets 321a of the multiple sorting hoppers 321 to prevent the goods from slipping out of the first outlets 321a of the sorting hoppers 321. After the picker 100 finishes picking up the goods and the walking mechanism 400 drives the picking mechanism 300 to return to the workstation 500, the shielding member 322 is located at the fourth position, and the goods in each sorting hopper 321 automatically slide to the workstation 500 through the second window 322a corresponding to the sorting hopper 321.

[0182] As an example, the shielding member 322 is movably connected to the lifting frame 310 along the lifting direction (second direction D2) of the lifting frame 310. Since the second direction D2 is a vertical direction, the shielding member 322 can move from the fourth position to the third position by its own gravity.

[0183] The sorting assembly 320 further includes an elastic member 323, which is connected to the lifting frame 310 and the shielding member 322, and is used to provide an elastic force for the shielding member 322 to move to the third position. By providing the elastic member 323, it is ensured that the shielding member 322 is kept at the third position during the picking process of the picking mechanism 300, so as to prevent the goods in the sorting assembly 320 from slipping due to the shielding member 322 accidentally opening the first outlet 321a of the sorting hopper 321.

[0184] In one embodiment, the elastic member 323 may be a tension spring, but is not limited thereto.

[0185] like Fig.16 As shown, the top of the shielding member 322 has a trigger member 322b. The workstation 500 has a resisting member 501, and the orthographic projections of the resisting member 501 and the trigger member 322b on a target plane have overlapping first projections. The target plane is perpendicular to the lifting direction (second direction D2) of the lifting frame 310. When the lifting frame 310 descends, the resisting member 501 is used to resist the trigger member 322b, so that the shielding member 322 moves from the third position to the fourth position.

[0186] In the embodiment of the present application, when the walking mechanism 400 drives the picking mechanism 300 to move to the vicinity of the workstation 500, the trigger member 322b is located above the abutting member 501. The orthographic projections of the abutting member 501 and the trigger member 322b on a target plane have overlapping first projections. When the lifting frame 310 drives the picking mechanism 300 to descend, the abutting member 501 abuts against the trigger member 322b, so that the shielding member 322 moves from the third position to the fourth position. It can be seen that by setting the abutting member 501 and the trigger member 322b, when the lifting frame 310 descends, the shielding member 322 can automatically open the first outlet 321a of the sorting hopper 321, thereby allowing the goods in the sorting hopper 321 to slide to the workstation 500.

[0187] like Fig.16 As shown, the workstation 500 further has a pressing member 502. The orthographic projections of the pressing member 502 and the trigger member 322b on the target plane have overlapping second projections. When the lifting frame 310 rises, the pressing member 502 is used to stop the trigger member 322b.

[0188] After all the goods in the sorting hopper 321 slide into the workstation 500, the walking mechanism 400 will drive the picking mechanism 300 to perform the next picking action. Under normal circumstances, after the trigger member 322b leaves the abutting member 501, the shielding member 322 will move from the fourth position to the third position under the action of its own gravity and / or the elastic force of the elastic member 323. However, under abnormal circumstances, such as when the shielding member 322 does not slide smoothly relative to the lifting frame 310, the shielding member 322 is prone to get stuck and cannot move to the third position under the action of gravity and / or elastic force, resulting in the first outlet 321a of the sorting hopper 321 still being in an open state. At this time, if a picking action is performed, the goods will slide out of the first outlet 321a of the sorting hopper 321.

[0189] In the embodiment of the present application, by providing the pressing member 502, it is possible to avoid the blocking member 322 being unable to reset to the third position due to an abnormal situation, thereby ensuring that the next picking action is carried out normally.

[0190] like Fig.16 As shown, the pressing member 502 and the abutting member 501 are arranged opposite to each other in the second direction D2, and the orthographic projections of the pressing member 502 and the abutting member 501 on the target plane have overlapping third projections.

[0191] It should be noted that, in the second direction D2, at least part of the trigger member 322b is located between the pressing member 502 and the abutting member 501. In order to ensure the normal lifting of the lifting frame 310 and avoid the interference of the pressing member 502, the movement of the walking mechanism 400 and the lifting frame 310 is carried out in stages:

[0192] In the process of returning to the workstation 500, the walking mechanism 400 drives the picking mechanism 300 to move to the second position. When the picking mechanism 300 is located at the first intermediate position, the trigger member 322b is located outside the space surrounded by the abutting member 501 and the pressing member 502, that is, the orthographic projections of the trigger member 322b and the abutting member 501 on the target plane do not overlap. Afterwards, the walking mechanism 400 translates along the first direction D1 to move the picking mechanism 300 to the second intermediate position. When the picking mechanism 300 is located at the second intermediate position, at least part of the trigger member 322b is located between the abutting member 501 and the pressing member 502; finally, the lifting frame 310 drives the picking mechanism 300 to descend and move to the third intermediate position. In the process of the picking mechanism 300 moving from the second intermediate position to the third intermediate position, the abutting member 501 abuts against the trigger member 322b to move the shielding member 322 from the third position to the fourth position.

[0193] In the process of leaving the workstation 500 to pick up the goods, the picking mechanism 300 moves from the third intermediate position to the second intermediate position. If the shielding member 322 is not stuck due to an abnormal situation, the shielding member 322 will automatically reset from the fourth position to the third position, and then the walking mechanism 400 will translate along the first direction D1 to move the trigger member 322b out of the space surrounded by the abutting member 501 and the pressing member 502; if the shielding member 322 is stuck at a certain position of the lifting frame 310 due to an abnormal situation, the pressing member 502 will press the trigger member 322b during the process of the picking mechanism 300 moving from the third intermediate position to the second intermediate position, so that the shielding member 322 is reset to the third position under the action of the pressing force, so as to avoid the first outlet 321a of the sorting hopper 321 being still in the open state. Then the walking mechanism 400 will translate along the first direction D1 to move the trigger member 322b out of the space surrounded by the abutting member 501 and the pressing member 502.

[0194] like Fig.17 and Fig.18 As shown, the picker 100 of the embodiment of the present application includes a frame 120, a pick-up unit 100a and a plurality of information collection units 150. The pick-up unit 100a is installed on the frame 120, and includes a pick-up component 110 and a pick-up hopper 130 made of a transparent material, and the pick-up component 110 is used to take out the goods stored on the shelf and transport them to the pick-up hopper 130. A plurality of information collection units 150 are arranged around the pick-up hopper 130, and are used to obtain preset information of the goods located in the pick-up hopper 130.

[0195] The picker 100 of the embodiment of the present application has a plurality of information collection units 150 arranged around the pick-up hopper 130. After the pick-up component 110 delivers the goods to the pick-up hopper 130, the plurality of information collection units 150 can collect the preset information of the goods in a timely manner to further determine whether the goods are correct goods. If the goods are correct goods, subsequent packaging operations are performed. If the goods are not correct goods, they are processed as abnormal goods, thereby avoiding affecting the order processing efficiency due to the wrong goods being picked up. In addition, the picker of the embodiment of the present application includes a plurality of information collection units 150, each of which can capture the preset information of the goods, effectively improving the success rate of the information collection unit 150 in acquiring the preset information of the goods, thereby improving the review efficiency.

[0196] It is understandable that there are many implementation methods for the information collection unit 150 to obtain the preset information of the goods. For example, the information collection unit 150 can use code scanning technology, image recognition technology, OCR (Optical Character Recognition) text recognition technology, electronic label technology, etc.

[0197] In addition, the preset information of the target goods may be commodity information, for example including but not limited to: commodity number, manufacturer code, global trade item number, production date, batch number, etc.

[0198] Next, the cargo pickup device of the present application is described by taking the information acquisition unit 150 as an image acquisition device as an example. The image acquisition device may be a camera, a digital camera, a scanner, etc. The image acquisition device may obtain preset information of the cargo through a one-dimensional code, a two-dimensional code, the appearance characteristics of the cargo, etc. on the target cargo, and the present application does not limit this.

[0199] like Fig.32 As shown, the picker 100 further includes a positioner 190, which is connected to the frame 120 and is used to position the picker 100 at a designated position of the shelf 200. Specifically, the positioner 190 is used to position the picker 100 at a designated aisle assembly 200a. The picker assembly 110 and the positioner 190 of the picker 100 correspond to two aisle assemblies 200a located at different layers.

[0200] Specifically, when picking up goods, if the picking component 110 needs to take out the goods located on a cargo aisle assembly 200a, the positioner 190 positions the picking device 100 to a cargo aisle assembly 200a below the cargo aisle assembly 200a, so as to realize cross-layer picking up. For example, the picking component 110 and the positioner 190 correspond to two adjacent cargo aisle assemblies 200a, or the picking component 110 and the positioner 190 correspond to the cargo aisle assemblies 200a on both sides of one cargo aisle assembly 200a.

[0201] It is understandable that the locator 190 can locate the picker 100 to the designated aisle assembly 200a by scanning code technology, image recognition technology, etc. For example, the locator 190 can be a camera or a digital camera, and the aisle assembly 200a is provided with a one-dimensional code or a two-dimensional code. By obtaining the information corresponding to the one-dimensional code or the two-dimensional code by the locator 190, the picker 100 can be moved to the designated aisle assembly 200a, and then the picker component 110 can be moved to the designated aisle assembly 200a to be picked up.

[0202] like Fig.17 As shown, the pickup device 100 of the embodiment of the present application includes two pickup components 110, and the two pickup components 110 are arranged relatively along the left and right directions of the frame 120, which can improve the picking efficiency.

[0203] The picking assembly 110 is connected to the frame 120, and the picking hopper 130 is connected to the two picking assemblies 110. Of course, in other embodiments, the picking hopper 130 can also be directly connected to the frame 120, and this application does not limit this.

[0204] like Fig.19 As shown, the cargo hopper 130 includes an inclined slide plate 132 and two vertical plates 133. The two vertical plates 133 are respectively connected to both sides of the slide plate 132 in the width direction Dr2, and form a fourth outlet 131 for cargo to slide out.

[0205] The plurality of information collecting units 150 include a first information collecting unit 151 , a second information collecting unit 152 , a third information collecting unit 153 , a fourth information collecting unit 154 , a fifth information collecting unit 155 and a sixth information collecting unit 156 .

[0206] The first information collection unit 151 and the second information collection unit 152 are respectively located on both sides of the thickness direction Dr3 of the slide plate 132, and the lens surfaces of the first information collection unit 151 and the second information collection unit 152 are both facing the slide plate 132. The third information collection unit 153 and the fourth information collection unit 154 are respectively located on the side opposite to each other of the two vertical plates 133, and the lens surfaces of the third information collection unit 153 and the fourth information collection unit 154 are respectively facing the corresponding vertical plates 133. The fifth information collection unit 155 is arranged on the side where the fourth exit 131 of the pickup hopper 130 is located, and the lens surface of the fifth information collection unit 155 faces the fourth exit 131. The sixth information collection unit 156 is arranged on the side away from the fourth exit 131 in the length direction Dr1 of the pickup hopper 130, and the lens surface of the sixth information collection unit 156 faces the space between the two vertical plates 133. The length direction Dr1, the width direction Dr2, and the thickness direction Dr3 are perpendicular to each other.

[0207] It can be seen that in the embodiment of the present application, information collection units 150 are arranged at both ends of the cargo picking hopper 130 along the length direction Dr1, on both sides of the thickness direction Dr3, and on both sides of the width direction Dr2. In other words, information collection units 150 are arranged on the six sides of the cargo picking hopper 130, so that multiple information collection units 150 basically cover the outer surface of the goods, which significantly improves the success rate of the information collection unit 150 in capturing the preset information of the goods, thereby further improving the review efficiency.

[0208] It is understandable that the pickup hopper 130 is made of transparent material so that light can pass through the pickup hopper 130 , thereby preventing the pickup hopper 130 from blocking the information collection unit 150 located outside the vertical plate 133 and the bottom of the slide plate 132 and failing to obtain the preset information of the goods.

[0209] The present application does not limit the transparent material as long as light can pass through it. For example, the transparent material includes but is not limited to glass, acrylic, polycarbonate, etc.

[0210] like Fig.17 and Fig.19 As shown, the number of information collection units 150 arranged on each of the six surfaces of the pickup hopper 130 can be one or more. For example, the number of first information collection units 151 on the upper surface of the slide plate 132 is two, and the two first information collection units 151 are arranged along the width direction Dr2; the number of second information collection units 152 on the lower surface of the slide plate 132 is one; the number of third information collection units 153 and fourth information collection units 154 are both two, and the two third information collection units 153 are arranged along the thickness direction Dr3, and the two fourth information collection units 154 are arranged along the thickness direction Dr3; the number of fifth information collection units 155 is two, and the two fifth information collection units 155 are arranged along the width direction Dr2, and correspond to the positions of the two vertical plates 133 along the length direction Dr1; the number of sixth information collection units 156 is one.

[0211] The lens surface of the first information acquisition unit 151 and the lens surface of the second information acquisition unit 152 are both parallel to the slide plate 132. Since the first information acquisition unit 151 and the second information acquisition unit 152 are respectively arranged on both sides of the thickness direction Dr3 of the slide plate 132, the lens surfaces of the two information acquisition units are parallel to the slide plate 132, so that the shooting range of each information acquisition unit can cover as much of the slide plate 132 as possible, thereby improving the success rate of taking pictures.

[0212] like Fig. 20As shown, the number of the third information acquisition units 153 and the number of the fourth information acquisition units 154 are both two; the lens surface of one of the third information acquisition units 153 is parallel to the corresponding vertical plate 133, and the lens surface of the other third information acquisition unit 153 presents a first target angle α1 with the corresponding vertical plate 133; the lens surface of one of the fourth information acquisition units 154 is parallel to the corresponding vertical plate 133, and the lens surface of the other fourth information acquisition unit 154 presents a second target angle α2 with the corresponding vertical plate 133.

[0213] In the embodiment of the present application, two third information acquisition units 153 are located on the outside of one of the vertical plates 133, and the shooting surfaces of the two third information acquisition units 153 are not parallel but have an angle, so that the two third information acquisition units 153 can shoot goods in different postures. For example, when the goods fall onto the slide 132, its QR code is parallel to the vertical plate 133, and the third information acquisition unit 153 whose lens surface is parallel to the vertical plate 133 can obtain the QR code of the goods. If there is an angle between the QR code and the vertical plate 133 when the goods fall onto the slide 132, the third information acquisition unit 153 whose lens surface is at an angle to the vertical plate 133 can obtain the QR code of the goods.

[0214] Similarly, the two fourth information collection units 154 are located on the outside of another vertical board 133, and the shooting surfaces of the two fourth information collection units 154 are not parallel but have an angle, so that the two fourth information collection units 154 can shoot goods in different postures. For example, when the goods fall onto the slide 132, its QR code is parallel to the vertical board 133, and the fourth information collection unit 154 whose lens surface is parallel to the vertical board 133 can obtain the QR code of the goods. If there is an angle between the QR code and the vertical board 133 when the goods fall onto the slide 132, the fourth information collection unit 154 whose lens surface is at an angle with the vertical board 133 can obtain the QR code of the goods.

[0215] like Fig.21 As shown, there are two fifth information collection units 155, the lens surfaces of the two fifth information collection units 155 are perpendicular to the slide 132, and the lens surface of each fifth information collection unit 155 presents a third target angle α3 with the length direction Dr1 of the slide 132. By designing the lens surface of the fifth information collection unit 155 to have the third target angle α3 with the length direction Dr1 of the slide 132, the arrangement position of the fifth information collection unit 155 ensures that the fifth information collection unit 155 is obliquely facing the goods without affecting the normal sliding of the goods from the fourth exit 131, so as to improve the success rate of taking pictures.

[0216] like Fig. 22As shown, the picking component 110 of the embodiment of the present application can take the goods placed on the shelf 200 from the shelf 200 and is used to guide the goods to slide into the picking hopper 130.

[0217] When the picking component 110 picks up goods, the picking component 110 moves to the bottom of the support plate 221, and moves from bottom to top through the notch 226, so that the picking component 110 picks up the goods at the bottom of the multiple goods, and makes the goods flip over the baffle 222 and slide to the picking component 110, and then slide through the picking component 110 into the picking hopper 130.

[0218] like Fig.23 As shown, the frame 120 includes a first crossbeam 121, two second crossbeams 122, two third longitudinal beams 123 and a back plate 124. The length direction of the first crossbeam 121 is parallel to the left-right direction (the direction indicated by the arrow is left, and the opposite direction is right), the length direction of the second crossbeam 122 is parallel to the front-back direction (the direction indicated by the arrow is front, and the opposite direction is back), and the length direction of the third longitudinal beam 123 is parallel to the up-down direction (the direction indicated by the arrow is up, and the opposite direction is down). The two ends of the first crossbeam 121 along the left-right direction are respectively connected to the front ends of the two second crossbeams 122, and the lower ends of the two third longitudinal beams 123 are respectively connected to the rear ends of the two second crossbeams 122. The back plate 124 is connected to the two third longitudinal beams 123 and is located at the rear side of the two third longitudinal beams 123. Among them, the left-right direction, the front-back direction, and the up-down direction are perpendicular to each other.

[0219] The frame 120 further includes two support beams 125 . The length direction of each support beam 125 is parallel to the up-down direction, and the two support beams 125 are respectively connected to the two second cross beams 122 .

[0220] Among them, the cargo picker 100 of the embodiment of the present application includes two cargo pick-up components 110, the two cargo pick-up components 110 are arranged opposite to each other in the left and right directions, and are respectively connected to two support beams 125, and the two cargo pick-up components 110 are also connected to the back panel 124.

[0221] The picking hopper 130 is located in a space enclosed by the first cross beam 121 and the two second cross beams 122 , and the picking hopper 130 is connected to the two picking assemblies 110 .

[0222] Of course, in other embodiments, the number of the picking assembly 110 can also be one, three or other numbers. The picking hopper 130 can be connected to the first crossbeam 121 and the second crossbeam 122 .

[0223] like Fig.23 As shown, the cargo hopper 130 has a fourth outlet 131 for cargo to slide out. The cargo picker 100 further includes an opening and closing assembly 140, which is used to open or close the fourth outlet 131.

[0224] As an example, the opening and closing assembly 140 includes a driving mechanism 141 and a door component 142, the door component 142 is movable between a first position closing the fourth outlet 131 and a second position opening the fourth outlet 131, and the driving mechanism 141 is connected to the pickup hopper 130 and is connected to the door component 142 to drive the door component 142 to move. It can be understood that by setting the opening and closing assembly 140, it is possible to control when the goods in the pickup hopper 130 slide out of the pickup hopper 130.

[0225] The door component 142 is made of a transparent material, so that the fifth information collection unit 155 can take a photo of the goods in the pickup hopper 130 through the door component 142. The transparent material may include but is not limited to glass, acrylic, polycarbonate, and the like.

[0226] It is understandable that the driving mechanism 141 can be a motor (defined as a second motor), an electric push rod, etc., and this application does not limit this.

[0227] like Fig.24 and Fig.25 As shown, the pickup assembly 110 of the embodiment of the present application includes a ramp 111, a guide member 112, a rotating unit 113 and a first motor 114. The ramp 111 has an edge 1111. The guide member 112 is connected to the ramp 111, and at least part of the guide member 112 extends out of the edge 1111; the rotating unit 113 is rotatably connected to the part of the guide member 112 extending out of the edge 1111, and is used to generate friction with the goods, so as to drive the goods to pass through the guide member 112 and slide into the ramp 111; the first motor 114 is connected to the rotating unit 113, and is used to drive the rotating unit 113 to rotate.

[0228] like Fig. 22 As shown, when the picking component 110 of the embodiment of the present application picks up goods, the guide member 112 and at least part of the rotating unit 113 pass through the notch 226 from bottom to top, and the first motor 114 drives the rotating unit 113 to rotate, and utilizes the friction between the rotating unit 113 and the goods to drive the goods through the guide member 112 and slide into the slope 111.

[0229] It can be seen that the pickup assembly 110 of the embodiment of the present application can take out the goods by rotating the rotating unit 113 and utilizing the friction force generated between the rotating unit 113 and the goods, and its pickup efficiency is significantly improved. In addition, when the goods slide into the pickup assembly 110, they are not only affected by the gravity of the goods themselves, but also by the friction force, which significantly improves the success rate of the goods sliding into the pickup assembly 110.

[0230] The slope 111 has a target angle relative to the horizontal plane, that is, the slope 111 is inclined. The slope 111 has a bottom plate 1115 and two side plates 1116. The two sides of the bottom plate 1115 along the front-back direction are respectively connected to the two side plates 1116. The side plates 1116 can prevent the goods on the slope 111 from sliding off the side of the slope 111. The bottom plate 1115 of the slope 111 has the edge 1111.

[0231] Please continue reading Fig.24 and Fig.25 , the rotating unit 113 includes two rotating members 1131 and an annular member 1132. For the convenience of explanation, the two rotating members 1131 are respectively defined as a first rotating member 1131a and a second rotating member 1131b. The first rotating member 1131a is connected to the output shaft of the first motor 114, and the second rotating member 1131b is rotatably connected to the portion of the guide member 112 extending from the edge 1111. The annular member 1132 is arranged around the outer circumference of the two rotating members 1131, and the outer side surface of the annular member 1132 is used to generate friction with the goods. When the first motor 114 is working, it drives the first rotating member 1131a to rotate, and the first rotating member 1131a drives the annular member 1132 to rotate, and then drives the second rotating member 1131b to follow. During the rotation of the annular member 1132, the outer surface of the annular member 1132 can generate friction with the goods, and then use the friction to drag the goods from the shelf 200 into the slope 111.

[0232] As an example, the inner side of the annular member 1132 has a first tooth structure, and the outer side of each rotating member 1131 has a second tooth structure, and the first tooth structure meshes with the second tooth structure. That is, in the embodiment of the present application, the rotating unit 113 is a synchronous belt structure. When the rotating unit 113 is a synchronous belt structure, the first rotating member 1131a is a synchronous wheel, the second rotating member 1131b is a driven wheel, and the annular member 1132 is a synchronous belt.

[0233] Of course, the rotating unit 113 is not limited to the synchronous belt structure. For example, in other embodiments, the rotating unit 113 includes a friction wheel and a motor. The friction wheel is rotatably connected to the portion of the guide member 112 extending from the edge 1111. The motor is connected to the friction wheel to drive the friction wheel to rotate so that the friction wheel generates friction with the cargo, thereby driving the cargo to pass through the guide member 112 and slide into the ramp 111.

[0234] Continue reading Fig.24 and Fig.25The bottom plate 1115 of the ramp 111 also has a slope 1112 for guiding the sliding of goods and a back side 1114 disposed opposite to the slope 1112. One side of the slope 1112 is an edge 1111, and the guide member 112 is attached to the slope 1112. The first rotating member 1131a and the first motor 114 are both located on the side where the back side 1114 is located, and at least part of the second rotating member 1131b is higher than the slope 1112. In one embodiment, the first motor 114 is fixedly connected to the bottom plate 1115 of the ramp 111. In other embodiments, the first motor 114 can also be fixedly connected to the frame 120. The first motor 114 is located on the side where the back side 1114 of the ramp 111 is located, and will not affect the sliding of goods on the slope 1112.

[0235] like Fig.25 and Fig.26 As shown, the guide member 112 includes a connecting portion 1121 and a pair of cantilevers 1122. The connecting portion 1121 is connected to the slope 111 and fits the slope surface 1112. The pair of cantilevers 1122 is connected to the connecting portion 1121 and at least partially extends out of the edge 1111; wherein at least a portion of the rotating unit 113 is rotatably connected between the pair of cantilevers 1122.

[0236] In the embodiment of the present application, the second rotating member 1131b is rotatably connected between the pair of cantilevers 1122, and at least a portion of the annular member 1132 is located between the pair of cantilevers 1122. By rotatably arranging the second rotating member 1131b between the pair of cantilevers 1122, the stability of the rotation of the second rotating member 1131b can be improved, thereby improving the stability of the rotation of the annular member 1132, and achieving the effect of stably taking out the goods.

[0237] It can be understood that the connecting portion 1121 and the slope 111 can be a separate structure or an integrated structure.

[0238] A reinforcing portion 1124 is provided at one end of the cantilever 1122 connected to the connecting portion 1121. The reinforcing portion 1124 and the connecting portion 1121 are respectively located on both sides of the thickness direction of the slope 111, and a slot 1125 for inserting the slope 111 is formed between the reinforcing portion 1124 and the connecting portion 1121. In detail, the connecting portion 1121 is located on the side where the slope surface 1112 of the bottom plate 1115 of the slope 111 is located, and the reinforcing portion 1124 is located on the side where the back surface 1114 of the bottom plate 1115 is located. When the guide member 112 is assembled with the slope 111, the side where the edge 1111 of the slope 111 is located is inserted into the slot 1125 formed by the reinforcing portion 1124 and the connecting portion 1121.

[0239] When the goods slide onto the guide member 112, since the cantilever 1122 of the guide member 112 is suspended in the air, the cantilever 1122 may bend downward under the weight of the goods. In the embodiment of the present application, by providing the reinforcing portion 1124, the overall structural strength of the guide member 112 can be improved. When the cantilever 1122 has a tendency to bend downward, the reinforcing portion 1124 can abut against the bottom plate 1115 of the slope 111 to maintain the stability of the guide member 112.

[0240] like Fig.25 and Fig.26 As shown, a stopper 1123 is provided at one end of each cantilever 1122 away from the connecting portion 1121 . The stopper 1123 protrudes from the cantilever 1122 along the thickness direction of the connecting portion 1121 , and the stopper 1123 protrudes to the left and downward direction to stop the goods.

[0241] like Fig. 22 As shown, when the guide member 112 lifts the goods at the bottom through the notch 226 from bottom to top, the goods slide down the slope 111 under the action of their own weight and the friction between the annular member 1132 and the goods. At this time, the remaining goods will automatically move toward the baffle 230 under the action of their own weight.

[0242] In the embodiment of the present application, when the remaining goods automatically slide down on the support plate 221, the stopper 1123 will stop the goods before the baffle 222. After the picker 100 moves away from the notch 226, the remaining goods will continue to slide down until they are blocked by the baffle 222. In other words, after the picker 100 takes away a piece of goods, the remaining goods slide to the baffle 222 in two stages, which can shorten the sliding distance of the goods in each stage and avoid the sliding distance being too long and causing the goods to have a large inertia and rush out of the baffle 222.

[0243] like Fig. 27 As shown, the edge 1111 of the slope 111 has an opening 1113 , and the opening 1113 passes through the slope surface 1112 and the back surface 1114 . The annular member 1132 is movably disposed in the opening 1113 .

[0244] In the embodiment of the present application, the annular member 1132 is movably inserted into the opening 1113 of the slope 111 , which can reduce the length of the guide member 112 extending from the edge 1111 of the slope 111 , thereby saving costs and preventing the guide member 112 from forming a long cantilever structure.

[0245] It is understandable that in other embodiments, the picking component 110 can also be other structures. For example, the picking component 110 is a fork, which moves to the bottom of the support plate 221 and moves from bottom to top through the notch 226, so that the fork picks up the bottommost cargo among multiple cargoes and makes the cargo slide into the picking hopper 130.

[0246] like Fig.28 As shown, the workstation 500 of the embodiment of the present application also includes a cache component 510 and a confluence component 520. The cache component 510 includes a cache rack 511 and a plurality of cache hoppers 512, and the plurality of cache hoppers 512 are installed on the cache rack 511 for receiving the goods delivered by the pickup mechanism 300. The number of cache hoppers 512 is greater than or equal to the number of sorting hoppers 321. The confluence component 520 is movably connected to the cache rack 511 through a movable component 550, and is configured to receive the goods in at least one cache hopper 512 of the plurality of cache hoppers 512, and deliver at least one of the goods to the packaging component 530, and deliver abnormal goods to the abnormal handling component 540.

[0247] Among them, abnormal goods refer to goods that are taken by mistake by the pickup mechanism 300, or one or more goods corresponding to an order returned by a customer.

[0248] The abnormality handling component 540 is used to handle abnormal goods. For example, in one embodiment, the abnormality handling component 540 can be a slide, and the slide can transport the abnormal goods to a designated location.

[0249] Of course, in other embodiments, the exception handling component 540 may also be a device for collecting abnormal goods.

[0250] In the embodiment of the present application, after the picking mechanism 300 takes out the goods from the shelf, the walking mechanism 400 drives the picking mechanism 300 to move to the vicinity of the workstation 500, and all the goods in the multiple sorting hoppers 321 of the picking mechanism 300 are transferred to the multiple buffer hoppers 512 of the buffer component 510. Afterwards, depending on whether the goods are abnormal, the merging component 520 transports the goods to the packaging component 530 or the abnormality handling component 540. At this time, since the goods in the sorting hopper 321 of the picking mechanism 300 have been transferred, the walking mechanism 400 can drive the picking mechanism 300 to return to the shelf for the next picking action, without waiting for the merging component 520 to complete the goods transfer and then return to the shelf to perform the next picking action.

[0251] It can be seen that the workstation 500 of the embodiment of the present application includes a cache component 510 and a merging component 520. The cache component 510 can be used to temporarily store the goods delivered by the pickup mechanism 300. The merging component 520 can deliver the goods delivered by the cache component 510 to the packaging component 530 or the exception handling component 540. When the merging component 520 transfers the goods, the pickup mechanism 300 can perform the next pickup action without waiting on the spot. This can significantly improve the pickup efficiency and effectively enhance the ability of the workstation 500 to process orders.

[0252] like Fig.28 and Fig.29 As shown, as an example, the movable component 550 can be a linear slide. For example, the movable component 550 includes a third slide rail 551 and a third slider 552, the third slide rail 551 is connected to the cache rack 511, and the length direction of the third slide rail 551 is parallel to the height direction (second direction D2) of the cache rack 511. The third slider 552 is movably connected to the third slide rail 551, and the confluence component 520 is connected to the third slider 552.

[0253] Of course, in other embodiments, the movable component 550 may also be other linear drive mechanisms, which will not be described in detail here.

[0254] In addition, the moving path of the merging component 520 relative to the cache rack 511 through the movable component 550 may not be a straight line, for example, it may be an arc, as long as the merging component 520 can move relative to the cache rack 511 to pick up the goods in different cache hoppers 512.

[0255] like Fig.28 As shown, the cache rack 511 includes two frames 5111 spaced apart along the length direction (first direction D1) of the cache rack 511, and each frame 5111 is connected to a plurality of cache hoppers 512 spaced apart along the height direction (second direction D2) of the cache rack 511; the number of cache hoppers 512 connected to the same frame 5111 is greater than or equal to the number of sorting hoppers 321. Along the height direction (second direction D2) of the cache rack 511, the confluence assembly 520 is movably located between the two frames 5111.

[0256] It should be noted that in order to simplify the view, Fig.12 Only one of the two frames 5111 in the workstation 500 corresponds to a pickup mechanism 300, while the other frame 5111 does not correspond to a pickup mechanism 300. In fact, both frames 5111 in the present application may correspond to a pickup mechanism 300. That is to say, the two frames 5111 of the workstation 500 correspond to two sets of pickup mechanisms 300 and walking mechanisms 400, respectively, and the pickup mechanisms 300 are connected to the corresponding walking mechanisms 400 in a liftable manner. Along the first direction D1, the two walking mechanisms 400 can move in a direction approaching or moving away from each other. The two walking mechanisms 400 can respectively drive the two pickup mechanisms 300 to pick up goods on two shelves located at different positions.

[0257] In an embodiment of the present application, a frame 5111 is provided on both sides of the merging component 520 along the first direction D1, and each frame 5111 is provided with multiple cache hoppers 512. In this way, the merging component 520 can receive goods from the cache hoppers 512 located on different frames 5111, and transport the goods to the packaging component 530 for packaging.

[0258] For example, two goods corresponding to an order are located on different shelves. In this case, two walking mechanisms 400 are required to drive two picking mechanisms 300 to take out the two goods and transfer them to the cache hoppers 512 on the two frames 5111 respectively.

[0259] In the embodiment of the present application, each frame 5111 is provided with three buffer hoppers 512. For the sake of convenience, the three buffer hoppers 512 provided on one frame 5111 are numbered 1, 2 and 3, respectively, and the three buffer hoppers 512 provided on the other frame 5111 are numbered 4, 5 and 6. If two goods corresponding to an order are transferred to 1 and 6 respectively by two pickup mechanisms 300, the goods in 1 and 6 can be received in sequence by the merging component 520, and after merging, the two goods are simultaneously transported to the packaging component 530 for packaging.

[0260] like Fig.28 As shown, the packing assembly 530 includes a packing machine 531 and a buffering platform 532. The packing machine 531 is used to pack goods; the buffering platform 532 is configured to buffer the goods transported by the merging assembly 520 and transport the goods to the packing machine 531.

[0261] In the embodiment of the present application, the buffer platform 532 can buffer the goods to prevent the baler 531 from being damaged due to excessive momentum when the goods slide out of the merging assembly 520 .

[0262] In one embodiment, the buffer platform 532 may be a conveyor belt assembly, a conveyor roller assembly, etc., which is not particularly limited in the present application.

[0263] like Fig.29 As shown, each frame 5111 includes two second longitudinal beams 5111a arranged at intervals, and a plurality of guides 5112 arranged at intervals along the height direction (second direction D2) of the cache rack 511 are connected between the two second longitudinal beams 5111a. The plurality of guides 5112 correspond to the plurality of cache hoppers 512 in the frame 5111, respectively. Each guide 5112 has a guide slope 5112a for guiding the goods to slide from the picking mechanism 300 into the cache hopper 512. The plurality of sorting hoppers 321 of the picking mechanism 300 can correspond to the plurality of guides 5112 provided on a frame 5111, respectively, so that the goods can slide from the sorting hopper 321 into the cache hopper 512 with the help of the guides 5112.

[0264] In one embodiment, a resisting member 501 and a pressing member 502 are provided on the top of each frame 5111 .

[0265] like Fig.30As shown, the cache hopper 512 includes a hopper body 5121 and a first cover assembly 5122. The hopper body 5121 is connected to the cache frame 511 and has a second outlet 5121a. The first cover assembly 5122 is connected to the hopper body 5121 and is used to close or open the second outlet 5121a. When the first cover assembly 5122 is in a closed state, it can be used to prevent the goods in the hopper body 5121 from sliding out of the second outlet 5121a.

[0266] As an example, the first cover assembly 5122 includes a first cover plate 5122a, a first connecting rod 5122b, a second connecting rod 5122c and a third motor 5122d. The first cover plate 5122a is rotatably connected to the hopper body 5121 for opening or closing the second outlet 5121a; one end of the first connecting rod 5122b is hinged to the side of the first cover plate 5122a; one end of the second connecting rod 5122c is hinged to the other end of the first connecting rod 5122b; the third motor 5122d is connected to the hopper body 5121, and the output shaft of the third motor 5122d is connected to the other end of the second connecting rod 5122c.

[0267] like Fig.31 As shown, the confluence assembly 520 includes a confluence hopper 521 and a second cover assembly 522. The confluence hopper 521 is movably connected to the buffer frame 511 through a movable assembly 550 and has a third outlet 5211. The second cover assembly 522 is connected to the confluence hopper 521 and is used to close or open the third outlet 5211. When the second cover assembly 522 is in a closed state, the goods in the confluence hopper 521 can be prevented from slipping out of the third outlet 5211.

[0268] As an example, the second cover assembly 522 includes a second cover plate 5221, a third connecting rod 5222, a fourth connecting rod 5223 and a fourth motor 5224. The second cover plate 5221 is rotatably connected to the confluence hopper 521 for opening or closing the third outlet 5211; one end of the third connecting rod 5222 is hinged to the side of the second cover plate 5221; one end of the fourth connecting rod 5223 is hinged to the other end of the third connecting rod 5222; the fourth motor 5224 is connected to the confluence hopper 521, and the output shaft of the fourth motor 5224 is connected to the other end of the fourth connecting rod 5223.

[0269] In summary, the picking system of the embodiment of the present application has at least the following advantages and beneficial effects:

[0270] The picking system of the embodiment of the present application, with the coordinated action of the workstation 500, the walking mechanism 400 and the picking mechanism 300, can pick up, transfer and pack the goods on the shelf 200. In addition, abnormal goods can be eliminated, ensuring the accuracy and timeliness of delivery, and ensuring the efficiency and accuracy of the entire order processing process.

[0271] It is understandable that the various embodiments / implementations provided in the present application can be combined with each other without causing any contradiction, and will not be illustrated one by one here.

[0272] In the application embodiments, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the application embodiments can be understood according to the specific circumstances.

[0273] In the description of the application embodiments, it should be understood that the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the application embodiments and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the application embodiments.

[0274] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the application embodiment. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0275] The above are only preferred embodiments of the application embodiments and are not intended to limit the application embodiments. For those skilled in the art, the application embodiments may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application embodiments shall be included in the protection scope of the application embodiments.

Claims

1. A picking system, characterized in that: include: Shelves (200) for storing goods; A workstation (500) is arranged on the ground and includes a packaging assembly (530); A walking mechanism (400) movable between a first position close to the shelf (200) and a second position close to the workstation (500); as well as The picking mechanism (300) is connected to the walking mechanism (400) in a liftable manner, and is configured to take out the goods on the shelf (200) when the walking mechanism (400) is located at the first position, and to transport the taken goods to the workstation (500) when the walking mechanism (400) is located at the second position, so that the packaging component (530) can package the normal goods.

2. The picking system according to claim 1, characterized in that: The workstation (500) further comprises: A cache assembly (510) comprises a cache rack (511) and a plurality of cache hoppers (512), wherein the plurality of cache hoppers (512) are mounted on the cache rack (511) and are used to receive goods transported by the pickup mechanism (300); wherein the number of the cache hoppers (512) is greater than or equal to the number of the sorting hoppers (321) of the pickup mechanism (300); The merging component (520) is movably connected to the cache rack (511) through a movable component (550), and is configured to receive goods in at least one of the multiple cache hoppers (512) and transport at least one of the normal goods to the packaging component (530).

3. The picking system according to claim 2, characterized in that: The movable component (550) comprises a third slide rail (551) and a third slider (552); the length direction of the third slide rail (551) is parallel to the height direction of the cache rack (511) and is connected to the cache rack (511); the third slider (552) is movably connected to the third slide rail (551); The merging component (520) is connected to the third sliding block (552).

4. The picking system according to claim 2, characterized in that: The cache rack (511) comprises two frames (5111) arranged at intervals along the length direction of the cache rack (511), and each of the frames (5111) is connected to a plurality of cache hoppers (512) arranged at intervals along the height direction of the cache rack (511); the number of the plurality of cache hoppers (512) connected to the same frame (5111) is greater than or equal to the number of the sorting hoppers (321); Along the height direction of the cache rack (511), the confluence assembly (520) is movably located between the two frames (5111).

5. The picking system according to claim 4, characterized in that: Each of the frames (5111) includes two second longitudinal beams (5111a), and a plurality of guide members (5112) are connected between the two second longitudinal beams (5111a) and are arranged at intervals along the height direction of the cache rack (511). The plurality of guide members (5112) respectively correspond to the plurality of cache hoppers (512) in the frame (5111), and each of the guide members (5112) has a guiding slope (5112a) for guiding the goods to slide from the picking mechanism into the cache hopper (512).

6. The picking system according to claim 2, characterized in that: The workstation (500) further comprises an exception handling component (540), and the merging component (520) is configured to transport the abnormal cargo to the exception handling component (540).

7. The picking system according to claim 1, characterized in that: The pickup mechanism (300) comprises: A lifting frame (310) connected to the walking mechanism (400) in a liftable manner; A cargo picker (100) is movably connected to the lifting frame (310) via a moving assembly (330); and A sorting assembly (320) connected to the lifting frame (310) and comprising a plurality of sorting hoppers (321); The cargo picker (100) is configured to take out the cargo on the shelf (200) and transport the cargo to any one of the plurality of sorting hoppers (321).

8. The picking system according to claim 7, characterized in that: The moving component (330) comprises: A first moving unit (330a) is used to drive the pickup device (100) to move along a second direction; and A second moving unit (330b) is used to drive the cargo picker (100) to move along a third direction; the second direction is perpendicular to the third direction; Wherein, the lifting frame (310) is lifted and lowered along the second direction, and the plurality of sorting hoppers (321) are arranged side by side along the second direction or the third direction.

9. The picking system according to claim 8, characterized in that: The first moving unit (330a) comprises a first slide rail (331) and a first slider (332), the first slide rail (331) being connected to the lifting frame (310), and the first slider (332) being movably connected to the first slide rail (331) along the second direction; The second moving unit (330b) comprises a second slide rail (333) and a second slider (334), wherein the second slide rail (333) is connected to the first slider (332), and the second slider (334) is movably connected to the second slide rail (333) along the third direction; The pickup device (100) is connected to the second sliding block (334).

10. The picking system according to claim 7, characterized in that: Each of the sorting hoppers (321) has a first outlet (321a) for the goods to slide out; The sorting component (320) further comprises a shielding member (322), wherein the shielding member (322) is movably connected to the lifting frame (310) between a third position and a fourth position, and the shielding member (322) has a plurality of second windows (322a); when the shielding member (322) is located at the third position, the shielding member (322) simultaneously closes a plurality of the first outlets (321a); ​​when the shielding member (322) is located at the fourth position, a plurality of the second windows (322a) are respectively connected to the first outlets (321a) of a plurality of the sorting hoppers (321).

11. The picking system according to claim 10, characterized in that: The sorting assembly (320) further comprises an elastic member (323) connected to the lifting frame (310) and the shielding member (322) and used for providing an elastic force for the shielding member (322) to move toward the third position.

12. The picking system according to claim 10, characterized in that: The shielding member (322) is movably connected to the lifting frame (310) along the lifting direction of the lifting frame (310); the shielding member (322) has a trigger member (322b); The workstation (500) has a resisting member (501), and the orthographic projections of the resisting member (501) and the trigger member (322b) on a target plane have overlapping first projections; the target plane is perpendicular to the lifting direction of the lifting frame (310); When the lifting frame (310) descends, the abutting member (501) is used to abut the trigger member (322b) so that the shielding member (322) moves from the third position to the fourth position.

13. The picking system according to claim 12, characterized in that: The workstation (500) further comprises a pressing member (502); Along the lifting direction of the lifting frame (310), at least a portion of the trigger member (322b) is located between the pressing member (502) and the abutting member (501); the orthographic projections of the pressing member (502) and the trigger member (322b) on the target plane have overlapping second projections; When the lifting frame (310) rises, the pressing member (502) is used to stop the trigger member (322b).

14. The picking system according to claim 1, characterized in that: The pickup mechanism (300) comprises: Rack (120); A picking unit (100a) is installed on the frame (120) and comprises a picking assembly (110) and a picking hopper (130) made of a transparent material, wherein the picking assembly (110) is used to take out the goods stored on the shelf (200) and transport them into the picking hopper (130); and A plurality of information collection units (150) are arranged around the pickup hopper (130) and are used to obtain preset information of the goods located in the pickup hopper (130).

15. The picking system according to claim 14, characterized in that: The cargo hopper (130) comprises an inclined slide plate (132) and two vertical plates (133), wherein the two vertical plates (133) are respectively connected to two sides of the slide plate (132) in a width direction and form a fourth outlet (131) for the cargo to slide out; The multiple information acquisition units (150) are image acquisition devices, and include a first information acquisition unit (151), a second information acquisition unit (152), a third information acquisition unit (153), a fourth information acquisition unit (154), a fifth information acquisition unit (155) and a sixth information acquisition unit (156); The first information acquisition unit (151) and the second information acquisition unit (152) are respectively located on two sides of the slide plate (132) in a thickness direction, and lens surfaces of the first information acquisition unit (151) and the second information acquisition unit (152) are both facing the slide plate (132); The third information acquisition unit (153) and the fourth information acquisition unit (154) are respectively located on the sides of the two vertical plates (133) facing away from each other, and the lens surfaces of the third information acquisition unit (153) and the fourth information acquisition unit (154) are respectively facing the vertical plates (133) corresponding to them; The fifth information collection unit (155) is arranged on the side of the fourth exit (131) of the pickup hopper (130), and the lens surface of the fifth information collection unit (155) faces the fourth exit (131); the sixth information collection unit (156) is arranged on the side of the pickup hopper (130) away from the fourth exit (131) in the length direction, and the lens surface of the sixth information collection unit (156) faces the space between the two vertical plates (133).

16. The picking system according to claim 14, characterized in that: The number of the picking components (110) is two, which are arranged opposite to each other along the left and right directions of the frame (120).

17. The picking system according to claim 1, characterized in that: The picking mechanism (300) comprises a picking component (110), and the picking component (110) comprises: A slope (111) having an edge (1111); A guide member (112) connected to the slope (111), wherein at least a portion of the guide member (112) extends beyond the edge (1111); a rotating unit (113) rotatably connected to a portion of the guide member (112) extending from the edge (1111) and configured to generate friction with the cargo so as to drive the cargo to pass through the guide member (112) and slide into the slope (111); and A first motor (114) is connected to the rotating unit (113) and is used to drive the rotating unit (113) to rotate.

18. The picking system according to claim 17, characterized in that: The rotating unit (113) comprises: two rotating members (1131), one of the rotating members (1131) is connected to the output shaft of the first motor (114), and the other rotating member (1131) is rotatably connected to a portion of the guide member (112) extending from the edge (1111); and The annular member (1132) is arranged around the outer circumference of the two rotating members (1131), and the outer side surface of the annular member (1132) is used to generate friction with the goods.

19. The picking system according to claim 17, characterized in that: The guide member (112) comprises: A connecting portion (1121) connected to the slope (111); and a pair of cantilevers (1122), connected to the connecting portion (1121) and at least partially extending from the edge (1111); Wherein, at least a portion of the rotating unit (113) is rotatably connected between a pair of cantilevers (1122).

20. The picking system according to claim 19, characterized in that: A stopper (1123) is provided at one end of each cantilever (1122) away from the connecting portion (1121); the stopper (1123) protrudes from the cantilever (1122) along the thickness direction of the connecting portion (1121) and is used to stop the goods.

21. The picking system according to claim 19, characterized in that: A reinforcing portion (1124) is provided at one end of the cantilever (1122) connected to the connecting portion (1121); the reinforcing portion (1124) and the connecting portion (1121) are respectively located on both sides of the thickness direction of the slope (111); and a slot (1125) for inserting the slope (111) is formed between the reinforcing portion (1124) and the connecting portion (1121).

22. The picking system according to claim 1, characterized in that: The walking mechanism (400) comprises: A first walking seat (420) is movably connected to a ground rail (401); A second traveling seat (430) is movably connected to a sky rail (402); A column (410), wherein two axial ends of the column (410) are respectively connected to the first walking seat (420) and the second walking seat (430); the picking mechanism (300) is liftably connected to the column (410); and The driving assembly (440) comprises a third motor (441), a transmission shaft (442), a first driving part (443) connected to the first walking seat (420), and a second driving part (444) connected to the second walking seat (430); the axial ends of the transmission shaft (442) are respectively connected to the first driving part (443) and the second driving part (444); the third motor (441) is connected to the first walking seat (420) and is drivingly connected to the first driving part (443); the first driving part (443) is used to drive the first walking seat (420) to move along the ground rail (401), and the second driving part (444) is used to drive the second walking seat (430) to move along the ceiling rail (402).

23. The picking system according to claim 22, characterized in that: Also includes: A first transmission member (450) is fixedly disposed relative to the ground rail (401) and is drivingly connected to the first driving part (443); as well as The second transmission member (460) is fixedly arranged relative to the ceiling rail (402) and is drivingly connected to the second driving part (444).

24. The picking system according to claim 23, characterized in that: The first driving unit (443) comprises: A first steering gear (4431) having a first input shaft, a first output shaft and a second output shaft, wherein the first input shaft is connected to the third motor (441), and the first output shaft is connected to an axial end of the transmission shaft (442); The first rotating member (4432) is connected to the second output shaft and is drivingly connected to the first transmission member (450).

25. The picking system according to claim 23, characterized in that: The second driving unit (444) comprises: A second steering gear (4441) having a second input shaft and a third output shaft, wherein the second input shaft is connected to the other axial end of the transmission shaft (442); The second rotating member (4442) is connected to the third output shaft and is drivingly connected to the second transmission member (460).

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