Goods taking mechanism, goods taking device and logistics system

Abstract

The utility model belongs to the technical field of logistics, and discloses a goods taking mechanism, a goods taking device and a logistics system. The goods taking mechanism comprises a goods taking part and a vibration part, the goods taking part is used for acting with the bottom of the goods to pick up the goods to take the goods, and the vibration part is used for applying vibration to the goods taking part. The goods taking device comprises a walking mechanism and a goods taking mechanism, and the walking mechanism drives the goods taking mechanism to move. According to the goods taking mechanism, the goods taking device and the logistics system, the reliability and smoothness of goods taking can be improved, the probability of goods taking failure is reduced, and the goods taking efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, in particular to a goods picking mechanism, a goods picking device and a logistics system. Background Art

[0002] With the rapid development of warehousing technology, intelligent warehousing systems that use intelligent handling robots to achieve automatic goods picking and handling are becoming more and more widespread, which has better improved warehousing efficiency and reduced the labor cost required for warehousing.

[0003] The prior art provides a logistics system, which includes multi-layer shelves and a goods picking device. Each layer of the multi-layer shelves is provided with a partition layer, and multiple rows of storage chutes are formed on the partition layer. The storage chutes are inclined from top to bottom, and a stop member capable of stopping the goods from sliding down out of the storage chute is provided at the lower end of the chute opening. Multiple goods can be arranged side by side in the storage chute along its extending direction. The goods picking device includes a traveling mechanism and a goods picking mechanism. A goods picking chute for picking goods is provided on the goods picking mechanism, and the traveling mechanism realizes the horizontal and vertical movement of the goods picking mechanism. When goods picking is required, the goods picking device moves through the lane between two shelves to the front side of the target goods, and the goods picking mechanism moves to the position corresponding to the lower end of the storage chute where the target goods are located; the goods picking member at the upper end of the goods picking chute picks up the goods upwards, so that the goods can cross the stop member and then fall into the goods picking chute under the action of gravity.

[0004] When implementing the above technical solution, the inventor found that in some cases, for example, when there are fewer goods in the storage chute, resulting in a smaller downward pressure on the target goods, or when the friction between the goods and the bottom of the storage chute is large, or when the goods are light in weight, there is a problem that the goods are stagnant in the storage chute and cannot slide down, or the goods slide down slowly, resulting in low picking efficiency, which affects the normal progress of goods picking. Summary of the Utility Model

[0005] The purpose of the embodiments of the utility model is to provide a goods picking mechanism, a goods picking device and a logistics system, so as to improve the smoothness and efficiency of goods picking and reduce the probability of picking failure.

[0006] To achieve this purpose, the embodiments of the utility model adopt the following technical solutions:

[0007] A goods picking mechanism, characterized in that the goods picking mechanism includes a goods picking member and a vibrating member, the goods picking member is used to act on the bottom of the goods to pick up the goods for picking, and the vibrating member is used to apply vibration to the goods picking member.

[0008] As an optional technical solution of the goods picking mechanism, it further includes a goods picking chute, wherein the goods picking member is arranged at the upper end of the goods picking chute.

[0009] As an alternative technical solution of the picking mechanism, the vibrating member is installed on the picking chute or on the picking component;

[0010] And / or, the vibrating member includes a vibration motor.

[0011] As an alternative technical solution of the picking mechanism, the picking chute includes a chute bottom plate disposed obliquely and chute side plates disposed on opposite sides of the chute bottom plate, and the vibrating member is installed on the back side of the chute bottom plate or on the outer side of the chute side plates.

[0012] As an alternative technical solution of the picking mechanism, a mounting seat is installed on the outer side of the picking chute, and the vibrating member is installed on the mounting seat; the mounting seat is detachably connected to the picking chute, and / or, the vibrating member is detachably connected to the mounting seat.

[0013] As an alternative technical solution of the picking mechanism, the picking mechanism further includes a picking frame, the picking chute is installed on the picking frame, and a shock absorption structure is provided between the picking frame and the picking chute.

[0014] As an alternative technical solution of the picking mechanism, a detection sensor is installed on the picking chute, and the detection sensor is used to detect whether a good passes through the picking chute.

[0015] As an alternative technical solution of the picking mechanism, two picking chutes are disposed opposite to each other and at intervals, and the two picking chutes are inclined and extended downward in a direction close to each other from top to bottom. The picking mechanism includes a temporary storage chute located between the lower ends of the two picking chutes, and the temporary storage chute is inclined and extended downward in a direction away from the picking chute;

[0016] Or, two picking chutes are disposed opposite to each other and at intervals, and the two picking chutes are inclined and extended downward in a direction close to each other from top to bottom. The picking mechanism further includes a temporary storage space located between the two picking chutes.

[0017] As an alternative technical solution of the picking mechanism, the picking component includes a picking main body disposed obliquely from bottom to top and a goods blocking portion connected to the upper end of the picking main body, and at least a part of the width of the goods blocking portion is greater than the width of the upper end of the picking main body.

[0018] As an alternative technical solution of the picking mechanism, the picking mechanism further includes a force application assembly, the force application assembly includes a force application driving member and a force application member rotatably sleeved on the upper end of the picking component, the force application member can contact the bottom of the goods, and the force application driving member drives the force application member to rotate so that the movement of the force application member relative to the goods applies a force to the goods toward the picking chute.

[0019] A picking device includes a traveling mechanism and also includes the picking mechanism as described above, and the traveling mechanism drives the picking mechanism to move.

[0020] As an alternative technical solution of the picking device, the picking device further includes a horizontal adjustment module, the horizontal adjustment module is connected between the traveling mechanism and the picking mechanism, and the horizontal adjustment module drives the picking mechanism to move horizontally relative to the traveling mechanism so that the picking component approaches or moves away from the shelf;

[0021] And / or, the picking device further includes a vertical adjustment module, and the vertical adjustment module drives the picking mechanism to lift and lower relative to the traveling mechanism in the vertical direction.

[0022] A logistics system includes a shelf, the shelf is provided with multiple rows of storage chutes at intervals in the height direction, the storage chutes are arranged obliquely downward from the inventory end to the picking end, the logistics system further includes the picking device as described above, the picking mechanism can move the upper end of the picking component to be located below any one of the storage chutes, and the picking component can move upward to pass through the storage chute and pick up the goods in the storage chute so that the goods fall into the picking chute.

[0023] Advantages of the present utility model:

[0024] The picking mechanism provided by the embodiment of the present utility model, by setting a vibrating member, when the picking mechanism picks up goods in the storage chute, the vibrating member can drive the picking component to vibrate, thereby reducing the friction between the goods and the picking component, reducing the jamming between the goods, the picking component and the storage chute, promoting the goods to move downward under the action of gravity into the picking mechanism, improving the smoothness of the goods sliding from the storage chute to the picking mechanism, thereby reducing the probability of picking failure, improving the picking reliability, and improving the picking efficiency, thus enhancing the operation efficiency of the entire logistics system.

[0025] The picking device provided by the embodiment of the present utility model, by adopting the above-mentioned picking mechanism, can reduce the probability of picking failure and improve the picking smoothness and picking efficiency.

[0026] The logistics system provided by the embodiment of the present utility model, by adopting the above-mentioned picking device for picking, can improve the picking efficiency and picking success rate, thereby improving the logistics efficiency. Description of the Drawings

[0027] Figure 1 is a partial structural schematic diagram of the logistics system provided by Embodiment 1 of the present utility model;

[0028] Figure 2 is Figure 1Side view of the middle structure;

[0029] Figure 3 is Figure 2 Partial enlarged view at I in the middle;

[0030] Figure 4 Schematic structural diagram of the shelf and the picking device provided by an embodiment of the present utility model;

[0031] Figure 5 is Figure 4 Partial enlarged view at J in the middle;

[0032] Figure 6 Schematic structural diagram of the picking device and the shelf provided by an embodiment of the present utility model;

[0033] Figure 7 Schematic partial structural diagram of the picking device provided by an embodiment of the present utility model;

[0034] Figure 8 is Figure 7 Partial enlarged view at K in the middle;

[0035] Figure 9 Schematic structural diagram of the picking mechanism provided by Embodiment 1 of the present utility model from the first perspective;

[0036] Figure 10 is Figure 9 Partial enlarged view at L in the middle;

[0037] Figure 11 Schematic structural diagram of the picking mechanism provided by Embodiment 1 of the present utility model from the second perspective;

[0038] Figure 12 Flowchart of the picking method provided by Embodiment 2 of the present utility model.

[0039] In the figure:

[0040] 100, picking device; 200, shelf; 201, vertical frame; 202, partition assembly; 2021, support member; 20211, support plate part; 20212, partition plate part; 2022, storage chute; 2023, stop member; 2024, picking notch; 2025, cross beam; 300, goods;

[0041] 1. Pickup mechanism; 11. Pickup chute; 111. Chute bottom plate; 112. Chute side plate; 11. Pickup chute; 12. Pickup component; 121. Pickup main body; 122. Goods blocking part; 13. Temporary storage chute; 14. Pickup frame; 141. Installation frame; 142. Support frame part; 15. Vibration part; 16. Force application component; 161. Force application driving part; 162. Driven pulley; 163. Driving pulley; 164. Transmission belt; 17. Baffle component; 171. Movable baffle; 172. Baffle driving part; 18. Identification device; 19. Mounting seat;

[0042] 2. Traveling mechanism; 21. Lifting column;

[0043] 3. Horizontal adjustment module; 31. Horizontal adjustment guide rail; 32. Horizontal adjustment slider;

[0044] 4. Vertical adjustment module; 41. Vertical adjustment guide rail; 42. Vertical adjustment slider; 43. Vertical adjustment driving component;

[0045] 5. Temporary storage component; 51. Temporary storage space;

[0046] 6. Lifting frame. Detailed implementation mode

[0047] The present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the convenience of description, only parts related to the present utility model rather than all structures are shown in the drawings.

[0048] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0049] In the present utility model, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0050] In the description of this embodiment, the terms such as "above", "below", "right", etc., which represent the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0051] Embodiment 1

[0052] This embodiment provides a logistics system, which includes a shelf 200, a picking device 100 and a control system. The shelf 200 is used for storing goods 300. The picking device 100 can move to the position where the target goods 300 are located to pick up the target goods 300 on the shelf 200. The control system controls the operation of the picking device 100.

[0053] Specifically, as Figures 1 to 5 shown, the shelf 200 includes a plurality of compartment components 202 arranged at intervals in the height direction. Each compartment component 202 is provided with a plurality of storage chutes 2022 arranged side by side in the first direction. The storage chutes 2022 are inclined downward from the inventory end to the picking end. The goods 300 enter the storage chutes 2022 from the inventory end and slide out of the picking chute 11 from the picking end. A stop member 2023 is provided at the lower end opening of the storage chute 2022. The stop member 2023 can stop the goods 300 in the storage chute 2022 from sliding out downward.

[0054] The shelf 200 includes two vertical frames 201 arranged at intervals in the first direction. An inventory interval is formed between two adjacent vertical frames 201. Each inventory interval is provided with a plurality of compartment components 202 arranged at intervals in the height direction. The compartment components 202 in two adjacent inventory intervals are arranged in one-to-one correspondence in the height direction. The two ends of the compartment component 202 in the first direction are respectively connected to the two vertical frames 201.

[0055] As Figure 4 andFigure 5 As shown, to improve the versatility of the shelf 200, each compartment assembly 202 includes a plurality of support members 2021 arranged side by side in the first direction and a cross beam 2025 extending in the first direction. Both ends of the cross beam 2025 are respectively connected to two vertical frames 201, and the bottoms of all the support members 2021 are detachably connected to the cross beam 2025. The support member 2021 includes a support plate portion 20211 and a partition plate portion 20212 connected at an angle. A storage chute 2022 is formed between the partition plate portions 20212 of two adjacent support members 2021, and the support plate portion 20211 forms the bottom of the storage chute 2022. Thus, the width of the storage chute 2022 can be adjusted by changing the distance between two adjacent support members 2021, so that the shelf 200 can meet the storage of different types of goods 300. Preferably, at least two cross beams 2025 are arranged at intervals along the extending direction of the support members 2021 to ensure the setting stability and reliability of the support members 2021.

[0056] Further, a plurality of shelves 200 are arranged at intervals in the second direction, and an aisle for the picking device 100 to move is formed between two adjacent shelves 200. The second direction is perpendicular to the first direction.

[0057] As Figure 5 and Figure 6 shown, the picking device 100 includes a traveling mechanism 2 and a picking mechanism 1. The traveling mechanism 2 can enable the picking device 100 to walk on the ground. The traveling mechanism 2 can move in the first direction so that the picking mechanism 1 can be directly opposite to any column of storage chutes 2022; the traveling mechanism 2 can drive the picking mechanism 1 to lift in the vertical direction so that the picking mechanism 1 can be directly opposite to any row of picking chutes 11, thereby realizing the picking of the goods 300 in any picking chute 11 on the shelf 200 by the picking mechanism 1.

[0058] It should be noted that the specific structure of the traveling mechanism 2 can be set with reference to the prior art, which is not the key improvement of the present utility model. The specific structure and traveling mode of the traveling mechanism 2 are not limited in this embodiment.

[0059] As Figures 5 to 12As shown, the picking mechanism 1 includes a picking component 12, and the picking component 12 is used to act on the bottom of the goods 300 to lift the goods for picking. A picking notch 2024 is formed in the bottom of the storage chute 2022, and the picking notch 2024 communicates with the lower end notch of the storage chute 2022. When the picking device 100 is used for picking, first, the picking component 12 is moved to the lower part of the corresponding storage chute 2022, and then the picking component 12 can pass through the picking notch 2024 from bottom to top to abut against the bottom of the goods 300 in the storage chute 2022, so as to drive the lower end of the goods 300 to rise, so that the goods 300 can slide over the stop component 2023 and slide into the picking mechanism 1.

[0060] That is, in this embodiment, the stop component 2023 is fixedly arranged at the lower end of the storage chute 2022 and is higher than the bottom of the storage chute 2022. When the goods 300 are not lifted by the picking component 12, the stop component 2023 stops the goods 300 from sliding out of the storage chute 2022 downward. This setting can simplify the structure of the stop component 2023, thereby reducing the overall cost of the shelf 200 and the storage system. Specifically, a stop component 2023 is connected to the lower end of each partition plate part 20212, and both sides of the stop component 2023 in the first direction extend outwards from the partition plate part 20212, thereby simplifying the setting of the stop component 2023.

[0061] It can be understood that the specific structural setting of the partition component 202 in the above shelf 200 is only an exemplary setting, and the existing shelf 200 structures with inclined storage chutes 2022 to realize inventory storage and inclined downward picking can be applied to the present invention, and the present invention does not specifically limit the structure of the shelf 200.

[0062] Furthermore, to improve the smoothness of picking, in this embodiment, the picking mechanism 1 further includes a vibration member 15, and the vibration member 15 is used to apply vibration to the picking component 12.

[0063] The picking mechanism 1, the picking device 100 and the logistics system provided in this embodiment, by setting the vibration member 15, when the picking mechanism 1 picks the goods 300 in the storage chute 2022, the vibration member 15 can drive the picking component 12 to vibrate, so as to reduce the friction between the goods 300 and the picking component 12, reduce the jamming between the goods 300 and the picking component 12 and in the storage chute 2022, promote the goods 300 to move downward under the action of gravity into the picking mechanism 1, improve the smoothness of the goods 300 sliding from the storage chute 2022 to the picking mechanism 1, thereby reducing the probability of picking failure, improving the picking reliability, and improving the picking efficiency, thereby enhancing the operating efficiency of the entire logistics system.

[0064] In this embodiment, to further improve the reliability and smoothness of picking up goods, the picking mechanism 1 further includes a picking chute 11. The picking chute 11 extends obliquely downward in a direction away from the picking component 12, and the picking component 12 is disposed at the upper end of the picking chute 11. When the picking component 12 picks up goods, the picking component 12 extends outwards from the picking chute 11. By providing the picking chute 11 and disposing the picking component 12 at the upper end of the picking chute 11, after the picking component 12 picks up the goods, the goods 300 fall along the picking component 12 into the picking chute 11 and then fall into a specific position of the picking mechanism 1 via the picking chute 11, thereby better guiding the goods to fall into the picking mechanism 1, reducing the risk of the goods 300 falling during the picking process, and improving the picking safety.

[0065] To better achieve the temporary storage of goods, the picking device 100 further has a temporary storage component 5. A temporary storage space 51 is provided on the temporary storage component 5. The lower end of the storage chute 2022 is docked with the temporary storage space 51 so that the goods 300 falling into the picking chute 11 can slide into the temporary storage space 51, realizing the temporary storage of the goods 300 in the picking device 100.

[0066] In another embodiment, the picking mechanism 1 may not be provided with the picking chute 11 and only the temporary storage component 5 with the temporary storage space 51 is provided. The lower end of the picking component 12 is docked with the temporary storage space 51, so that the goods falling from the picking component 12 directly fall into the temporary storage space 51 for temporary storage.

[0067] In yet another embodiment, the picking component 12 may be separately provided from the picking chute 11. For example, the picking mechanism 1 includes a picking frame 14. The picking component 12 and the picking chute 11 are both provided on the picking frame 14, and the upper end of the picking component 12 extends out of the upper end of the picking chute 11 to guide the goods picked up by the picking component 12 to fall into the picking chute 11.

[0068] In this embodiment, the vibrating member 15 is installed on the picking chute 11, which is conducive to the installation of the vibrating member 15, ensuring the installation space of the vibrating member 15 and the structural strength at the installation position, and reducing the influence of the setting of the vibrating member 15 on the size of the picking component 12. In another embodiment, the vibrating member 15 may also be installed on the picking component 12. In yet another embodiment, the vibrating member 15 may also be installed on the picking frame 14 and disposed close to the picking chute 11.

[0069] The goods pickup chute 11 includes a chute bottom plate 111 arranged obliquely and two chute side plates 112 connected to opposite sides of the chute bottom plate 111. The two chute side plates 112 protrude upward from the chute bottom plate 111. The vibrating member 15 is installed on the back side of the chute bottom plate 111 or the outer side of the chute side plate 112. This is beneficial to further simplify the installation structure of the vibrating member 15 and reduce the installation difficulty of the vibrating member 15.

[0070] To further improve the installation convenience of the vibrating member 15, a mounting seat 19 is arranged on the outer side of the goods pickup chute 11, and the vibrating member 15 is installed on the mounting seat 19; the mounting seat 19 is detachably connected to the goods pickup chute 11, and / or the vibrating member 15 is detachably connected to the mounting seat 19.

[0071] The vibrating member 15 is preferably a vibrating motor. The structure and the principle of realizing vibration of the vibrating motor can be set with reference to the prior art. The specific structure and type of the vibrating motor are not limited in this embodiment. The size and model of the vibrating motor can be adaptively selected according to the size and type of the goods 300.

[0072] In this embodiment, the lower end of the goods pickup member 12 is connected to the chute bottom plate 111, and the upper end extends upward out of the goods pickup chute 11, and the extending direction of the goods pickup member 12 is the same as the extending direction of the goods pickup chute 11. That is, in this embodiment, the upper end of the goods pickup member 12 always extends out of the goods pickup chute 11. In other embodiments, the goods pickup member 12 can be movably installed on the chute bottom plate 111. When the goods pickup member 12 does not need to pick up goods, the goods pickup member 12 is located inside the goods pickup chute 11 or below the goods pickup chute 11.

[0073] The goods pickup member 12 includes a goods pickup main body 121 and a goods blocking portion 122. The goods pickup main body 121 extends obliquely from top to bottom. One end of the goods blocking portion 122 is connected to the upper end of the goods pickup main body 121, and the other end of the goods blocking portion 122 extends downward. With this setting, when the goods pickup member 12 picks up the goods 300, the goods pickup main body 121 contacts the bottom of the goods 300, and the goods blocking portion 122 can abut against the goods 300 behind the goods 300 to be picked up to prevent the goods 300 behind from sliding down and causing jamming, further improving the safety and reliability of goods pickup; at the same time, the setting of the goods blocking portion 122 is also beneficial to enhancing the structural strength and stiffness of the upper end of the goods pickup member 12 and reducing the probability of deformation and damage of the goods pickup member 12.

[0074] Furthermore, at least a part of the width of the goods blocking portion 122 is greater than the width of the upper end of the goods pickup main body 121 to increase the contact area between the goods blocking portion 122 and the goods 300, thereby enhancing the blocking effect of the goods blocking portion 122 on the goods 300.

[0075] Further, in this embodiment, the picking device 100 further includes a lifting frame 6. The lifting frame 6 is connected to the traveling mechanism 2, and the picking mechanism 1 and the temporary storage assembly 5 are both installed on the lifting frame 6, so that the lifting of the lifting frame 6 drives the picking mechanism 1 and the temporary storage assembly 5 to lift synchronously. In this embodiment, the temporary storage assembly 5 is installed on one side of the lifting column 21 of the lifting frame 6 away from the traveling mechanism 2, and the traveling mechanism 2 is located between the lifting column 21 and the temporary storage assembly 5. Thereby, the structural layout rationality of the picking device 100 can be improved, the size of the picking device 100 in the second direction can be reduced, so as to reduce the width requirement for the aisle between two adjacent shelves 200, and the warehousing density can be increased.

[0076] Two picking chutes 11 are oppositely and spaced apart. The two picking chutes 11 extend obliquely downward from top to bottom in a direction approaching each other. The picking mechanism 1 includes a temporary storage chute 13 located between the lower ends of the two picking chutes 11. The temporary storage chute 13 extends obliquely downward in a direction away from the picking chutes 11, and the upper end of the temporary storage chute 13 is butted against the lower ends of the two picking chutes 11, and the lower end of the temporary storage chute 13 can be butted against the temporary storage space 51. Thereby, the flexibility of the position setting of the temporary storage assembly 5 can be improved, and the overall structural compactness of the picking mechanism 1 and the picking device 100 can be improved; at the same time, by providing two picking chutes 11, the picking device 100 can pick up the goods 300 on the shelves 200 on both sides thereof, improving the picking flexibility.

[0077] Specifically, the two picking chutes 11 extend obliquely downward from top to bottom in the second direction, and the temporary storage chute 13 and the temporary storage chute 13 extend obliquely downward from top to bottom in the first direction towards the temporary storage assembly 5.

[0078] In other embodiments, the temporary storage chute 13 may not be provided, and a temporary storage space 51 may be provided between the lower ends of the two picking chutes 11.

[0079] Such as Figure 7 and Figure 8As shown in the figure, in this embodiment, the temporary storage component 5 includes at least two temporary storage spaces 51 arranged at intervals in the vertical direction. The goods picking device 100 further includes a vertical adjustment module 4. The vertical adjustment module 4 drives the goods picking mechanism 1 to lift and lower along the vertical direction relative to the traveling mechanism 2, so as to adjust the lower end position of the temporary storage chute 13, so that the lower end of the temporary storage chute 13 can be directly opposite to any temporary storage space 51, realizing the temporary storage of the goods 300 in any temporary storage space 51. With this setting, the temporary storage quantity of the goods 300 can be increased, thereby improving the goods picking efficiency of the goods picking device 100; at the same time, the setting of the vertical adjustment module 4 enables the vertical adjustment module 4 to drive the goods picking mechanism 1 to move when the goods picking component 12 moves upward to lift the goods 300, thereby reducing the driving cost and control difficulty. Specifically, the goods picking mechanism 1 is connected to the lifting frame 6 through the vertical adjustment module 4, so that the vertical adjustment module 4 drives the goods picking mechanism 1 to lift and lower relative to the lifting frame 6.

[0080] The goods picking device 100 further includes a horizontal adjustment module 3. The horizontal adjustment module 3 is connected between the vertical adjustment module 4 and the goods picking mechanism 1. The horizontal adjustment module 3 drives the goods picking mechanism 1 to move along the second direction, so that the goods picking component 12 approaches or moves away from the goods shelf 200. The setting of the horizontal adjustment module 3 can finely adjust the position of the goods picking component 12 and the goods shelf 200 in the second direction without moving the traveling mechanism 2, so as to ensure that the upper end of the goods picking component 12 can be directly opposite to the goods picking notch 2024 and can pass through the goods picking notch 2024 upward, avoiding the problem that it is difficult for the goods picking component 12 to effectively dial the goods 300 due to the excessive distance between the goods picking component 12 and the goods shelf 200, and also avoiding the problem of collision between the upper end of the goods picking component 12 and the goods shelf 200 caused by the goods picking component 12 being too close to the goods shelf 200, ensuring the safety and reliability of goods picking.

[0081] The vertical adjustment module 4 includes a vertical adjustment driving component 43 and a vertical guiding component. The vertical guiding component includes a vertical adjustment guide rail 41 installed on the lifting frame 6 and a vertical adjustment slider 42 slidably arranged on the vertical adjustment guide rail 41. The vertical adjustment driving component 43 drives the vertical adjustment slider 42 to slide along the vertical direction; the horizontal adjustment module 3 includes a horizontal adjustment driving component and a horizontal guiding component. The horizontal guiding component includes a horizontal adjustment guide rail 31 extending along the second direction and a horizontal adjustment slider 32 slidably arranged on the horizontal adjustment guide rail 31. The horizontal adjustment guide rail 31 is connected to the vertical adjustment slider 42, and the horizontal adjustment slider 32 is connected to the goods picking frame 14 of the goods picking mechanism 1. The horizontal adjustment component drives the horizontal adjustment slider 32 to slide along the horizontal adjustment guide rail 31.

[0082] It should be noted that the specific structures of the vertical adjustment module 4 and the horizontal adjustment module 3 can be set with reference to the prior art. This is not the focus of the present utility model and will not be elaborated here.

[0083] In other embodiments, the horizontal adjustment module 3 may not be provided, and only the vertical adjustment module 4 and the temporary storage component 5 having a plurality of temporary storage spaces 51 may be provided. In another other embodiment, the vertical adjustment module 4 may not be provided, and only the horizontal adjustment module 3 may be provided to achieve precise alignment of the picking component 12 with the target storage chute 2022. In this setting, only one temporary storage space 51 may be provided, or a plurality of temporary storage spaces 51 are provided and the temporary storage component 5 is fixed relative to the lifting column 21.

[0084] To realize the position adjustment of the picking component, the picking device 100 further includes an identification device 18. An electronic tag code is provided at the front end of each stop component 2023 on the shelf 200, and the electronic tag code carries the coordinate position of the corresponding storage chute 2022 and the information of the stored goods 300. The identification device 18 is used to scan and identify the electronic tag code, so as to confirm and review the coordinate position of the storage chute 2022. The control system controls the vertical adjustment module 4 and / or the horizontal adjustment module 3 to act according to the information scanned and obtained by the identification device 18 to precisely adjust the position of the picking component 12, further ensuring the reliability of picking. The identification device 18 can be a barcode scanner, a camera, or other existing devices capable of identifying electronic tag codes.

[0085] As Figures 9 - 12 shown, to improve the convenience of setting the picking chute 11 and the temporary storage chute 13, in this embodiment, the picking chute 11 further includes a picking frame 14. The picking frame 14 is installed on the traveling mechanism 2, and the picking chute 11 is installed on the picking frame 14. Specifically, the picking frame 14 is detachably installed on the horizontal adjustment slider 32. Further, the picking frame 14 includes an installation frame 141 and two support frame parts 142 connected to opposite sides of the installation frame 141. The installation frame 141 is connected to the horizontal adjustment slider 32, and the two picking chutes 11 are respectively installed on the two support frame parts 142. The temporary storage chute 13 is located between the two installation frames 141 and is connected to the two support frame parts 142 at the upper ends of the opposite sides respectively.

[0086] Further, an elastic damping structure is provided between the support frame part 142 and the bottom of the picking chute 11, so that the vibration of the picking chute 11 can be reduced or slowed down from being transmitted to the support frame part 142, thereby reducing the vibration of the picking component 12 while reducing the overall vibration of the picking mechanism 1, thereby improving the operation reliability and safety of the picking device 100 and prolonging the overall service life of the picking device 100. The elastic damping structure is preferably an elastic pad covering the upper side of the support frame part 142 or the lower side of the chute bottom plate 111, or a plurality of elastic damping blocks provided between the support frame part 142 and the chute bottom plate 111.

[0087] In some embodiments, the picking mechanism 1 further includes a force - applying assembly 16. The force - applying assembly 16 includes a force - applying driving member 161 and a force - applying member rotatably sleeved on the upper end of the picking member 12. The force - applying member can contact the bottom of the goods 300. The force - applying driving member 161 drives the force - applying member to rotate, so that the movement of the force - applying member relative to the goods 300 applies a force to the goods 300 towards the picking chute 11. By providing the force - applying assembly 16, the goods 300 supported on the picking member 12 can be driven to move in the direction towards the picking chute 11, thereby further improving the smoothness and reliability of picking.

[0088] Further, the force - applying driving member 161 includes a force - applying motor. The force - applying assembly 16 further includes a driving pulley 163 rotatably sleeved on the motor shaft of the force - applying motor, a driven pulley 162 rotatably mounted on the upper end of the picking member 12, and a transmission belt 164 wound around the driving pulley 163 and the driven pulley 162. The driving pulley 163, the force - applying motor, and a part of the transmission belt 164 are located below the picking chute 11. The part of the transmission belt 164 sleeved on the driven pulley 162 forms the force - applying member. In other embodiments, the force - applying member can also adopt a roller or a roller structure. The force - applying driving member 161 drives the roller or roller structure to rotate, so that the relative movement between the force - applying member and the bottom of the goods 300 applies a frictional force towards the picking chute 11 to the picking chute 11.

[0089] To detect whether there is a goods 300 passing through the picking chute 11, so as to judge whether the picking is successful. In this embodiment, a detection sensor is further provided on the picking chute 11. The detection sensor and the vibration member 15 are both communicatively connected to the picking controller. The setting of the detection sensor is beneficial to controlling the picking process.

[0090] In this embodiment, the detection sensor is installed outside a chute side plate 112, and a detection port is provided on the chute side plate 112. The detection end of the detection sensor is arranged facing the detection port to detect whether there is a goods 300 passing through the picking chute 11 through the detection port. The detection sensor is preferably an optoelectronic sensor to achieve non - contact detection with relatively high detection accuracy.

[0091] The temporary storage chute 13 includes a guiding bottom plate part and two side baffle parts connected to opposite sides of the guiding bottom plate part. The guiding bottom plate part and the two side baffle parts enclose to form the temporary storage chute 13. The two side baffle parts are respectively connected to the two support frame parts 142.

[0092] The picking mechanism 1 further includes a baffle assembly 17, which includes a movable baffle 171 and a baffle driving member 172. The baffle driving member 172 drives the movable baffle 171 to switch between a stopping state and an avoiding state. When the movable baffle 171 is in the stopping state, the movable baffle 171 spans the temporary storage chute 13 and is higher than the bottom of the temporary storage chute 13 to stop the goods 300 in the temporary storage chute 13 from moving toward the temporary storage space 51. In this way, when the temporary storage space 51 is full of goods or the temporary storage chute 13 is not properly docked with the temporary storage space 51, it is possible to prevent the goods 300 from sliding down out of the temporary storage chute 13 and causing the goods 300 to fall, thereby improving the safety of picking up goods.

[0093] Embodiment 2

[0094] This embodiment provides a method for picking up goods to improve the efficiency and success rate of picking up goods, thereby improving logistics efficiency.

[0095] The pickup method provided in this embodiment includes:

[0096] Based on the pickup information, the pickup mechanism 1 is moved to the target pickup position so that the pickup component 12 of the pickup mechanism 1 is located below the storage chute 2022 where the target goods 300 are located;

[0097] This solution is based on the principle of using a picking component to pick up the goods so that the goods slide over the blocking component in front for picking up. The picking component 12 is located below the storage chute 2022, which refers to the bottom in a broad sense, and can be diagonally below or directly below, as long as the picking component can be lifted or extended to contact the target goods 300.

[0098] Performing a picking operation: the picking component 12 lifts the target goods 300 upwards to make the target goods 300 slide downwards;

[0099] If the vibration start condition is met, vibration is applied to the picking component 12.

[0100] The purpose of applying vibration to the pickup component 12 is to make the pickup component 12 in a vibrating state when it contacts the target goods 300 and lifts the target goods 300 to make the goods slide down, thereby promoting the target goods 300 to slide out. The time node for starting the vibration can be any time before the completion of the pickup, as long as the vibration can promote the sliding of the target goods 300 when the goods are lifted up. The vibration applying step is not the last step in the method.

[0101] In the picking method provided in this embodiment, when the vibration start condition is met, vibration is applied to the picking component 12. When the picking component 12 picks up the goods 300 in the storage chute 2022, the vibration piece 15 can drive the picking component 12 to vibrate, thereby reducing the friction between the goods 300 and the picking component 12, reducing the jamming between the goods 300, the picking component 12 and the storage chute 2022, prompting the goods 300 to move downward under the action of gravity to the picking mechanism 1, improving the smoothness of the goods 300 sliding from the storage chute 2022 to the picking mechanism 1, thereby reducing the probability of picking failure, improving the picking reliability, and improving the picking efficiency, thus enhancing the operating efficiency of the entire logistics system.

[0102] Among them, the understanding of the vibration start condition should be broad and not restricted. For example, position, instruction, the machine passes self-check and can operate, time, normal communication, etc. For position, a possible situation is that when the picking component 12 reaches the picking position (i.e., below the goods), the start condition is met; for machine self-check, it may be that when the device starts or starts to move, the self-check device is normal and meets the start condition, and at this time, it is considered to meet the vibration start condition; for normal communication, the device needs to communicate with the upstream system for detection, and the communication heartbeat is normal before the device can operate, which can be used as the vibration start condition; for instruction, it belongs to a relatively direct control scenario. When the control system issues a vibration instruction, it can be regarded as meeting the vibration start condition. It should be noted that various conditions can be combined or regarded as the vibration start condition alone, that is, a certain condition can be used as the basis alone, or it is considered to meet the condition only when multiple conditions are met.

[0103] It is worth noting that in this embodiment, the structural settings of the shelf 200 and the picking device 100 can refer to the structure in Embodiment 1, and the specific structures of the shelf 200 and the picking device 100 are not limited in this embodiment.

[0104] In this embodiment, applying vibration to the picking component 12 specifically includes: controlling the vibration piece 15 to act on the upper end of the picking chute 11 so that the vibration is transmitted to the picking component 12. Thus, it is only necessary to apply the vibration piece 15 to the picking chute 11, which is beneficial to the installation of the vibration piece 15 and simplifies the structure of the picking component 12, avoiding the picking component 12 from being too large in size and interfering with the storage chute 2022.

[0105] In other embodiments, applying vibration to the picking component 12 may also include: controlling the vibration piece 15 to act directly on the picking component 12. This setting ensures that the vibration acts on the picking component 12 while reducing the range of vibration spreading to other positions.

[0106] In this embodiment, the vibration start condition includes: the picking component 12 starts to move upward to initiate the picking operation. Specifically, when the picking component 12 moves to directly below the picking chute 11 where the target goods 300 are located and starts to move upward, the vibrating member 15 starts to vibrate. This setting can avoid detecting the relative positions of the picking component 12 and the vibrating member 15, simplify the control logic, and reduce the control difficulty.

[0107] Further, in this embodiment, moving the picking mechanism 1 to the target picking position specifically includes:

[0108] Based on the picking information, obtaining the position information of the target storage chute 2022 where the target goods 300 are located;

[0109] Based on the position information, controlling the traveling mechanism 2 to travel along the ground to the front side of the target storage chute 2022;

[0110] Controlling the picking mechanism 1 to lift and lower until the picking component 12 is directly below the target storage chute 2022;

[0111] The identification device 18 scans and identifies the electronic tag information at the front end of the target storage chute 2022 to obtain the calibration position coordinates of the target storage chute 2022;

[0112] Based on the calibration position coordinates, controlling the horizontal adjustment module 3 and / or the vertical adjustment module 4 to act so that the picking component 12 is directly below the picking notch 2024 of the target storage chute 2022.

[0113] Performing the picking operation specifically includes: controlling the picking mechanism 1 to rise until the picking component 12 passes upward through the picking notch 2024 and abuts against the goods 300 until the lower end of the picking component 12 raises the goods 300 by a preset height.

[0114] In this embodiment, the picking method further includes: after the vibration starts, if the vibration end condition is satisfied, controlling the vibration to stop; the vibration end condition includes: detecting that the target goods 300 pass through the preset detection position, or, the vibration duration is greater than or equal to the first preset duration.

[0115] By setting the vibration end condition, the application of vibration can be stopped by timing, thereby avoiding structural damage caused by the long-term vibration of the picking component 12 or the picking mechanism 1, and improving the use safety and reliability of the picking device 100. Among them, when it is detected that the target goods 300 pass through the preset detection position, it means that the picking has been carried out smoothly, so there is no need to vibrate anymore; if it is determined that the vibration duration is greater than or equal to the first preset duration, it is possible to avoid the continuous ineffective vibration of the vibrating member 15 after the vibration picking fails, and reduce the operating cost of the picking mechanism 1 and the picking device 100.

[0116] It should be noted that in this embodiment, the preset detection position is located at the picking chute 11. In other embodiments, the preset detection position can also be located at the temporary storage chute 13.

[0117] Preferably, the first preset duration is 5s - 40s, specifically it can be 10s, 15s, 20s, 25s, 30s, 35s, etc. The specific value of the first preset time can be specifically set according to the type, weight of the goods 300 and the required picking efficiency. For example, the average time for the goods 300 to fall into the picking chute 11 when the vibrating member 15 vibrates can be obtained through testing, and based on this average time, a first preset duration greater than this average time is determined.

[0118] Furthermore, the picking method further includes: within the first preset duration of continuous vibration, if no goods 300 are detected passing through the preset detection position, an abnormal reminder alarm is issued.

[0119] That is, when the vibration continues for the first preset duration and no goods 300 still pass through the preset detection position, it is determined that the picking fails, and the probability of successful picking by continuing to vibrate is relatively small. In this case, it may be that the vibrating member 15 fails, or there is a stuck part in the storage chute 2022, or other abnormal situations occur. Therefore, when the picking fails, the control issues an abnormal reminder alarm, which is beneficial for the staff to eliminate the abnormal situation and better ensure the smooth progress of the next picking.

[0120] Embodiment III

[0121] This embodiment provides a picking method. The picking method provided in this embodiment is basically the same as the picking method provided in Embodiment II, only some settings are different. The content that is the same as that in Embodiment II will not be elaborated in this embodiment.

[0122] In this embodiment, the vibration start condition includes: the picking component 12 contacts the target goods 300. That is, in this embodiment, when the picking component 12 contacts the target goods 300, the vibration starts.

[0123] It should be noted that it can be determined whether the picking component 12 contacts the goods 300 by identifying the position of the picking component 12, or a pressure sensor is provided at the upper end of the picking component 12, and it is judged whether the picking component 12 contacts the goods 300 through the detected value of the pressure sensor. In other embodiments, other methods can also be used to judge whether the picking component 12 contacts the goods 300.

[0124] Embodiment IV

[0125] This embodiment provides a goods picking method. The goods picking method provided in this embodiment is basically the same as the goods picking method provided in Embodiment 2, except that there are differences in some settings. The same content as in Embodiment 2 will not be elaborated in this embodiment.

[0126] In this embodiment, the goods picking method includes: within a preset time after the picking component 12 contacts the target goods 300, if it is not detected that the goods 300 passes through the preset detection position all the time, it is determined that the vibration start condition is satisfied.

[0127] It should be noted that, in this embodiment, the preset detection position is located at the picking chute 11. In other embodiments, the preset detection position can also be located at the temporary storage chute 13.

[0128] In this setting, a detection sensor needs to be set at the preset detection position to detect whether the goods 300 passes through the preset detection position.

[0129] That is, in this setting, it is possible to avoid the frequent start of the vibrating member 15, and only start when the goods picking fails or the goods picking is slow, so as to avoid the problem of short service life caused by the long-term vibration of the picking chute 11 and the picking component 12.

[0130] Furthermore, the preset time is 2s - 20s, preferably 3s - 10s.

[0131] Embodiment Five

[0132] This embodiment provides a goods picking method. The goods picking method provided in this embodiment is basically the same as the goods picking method provided in Embodiment 2, except that there are differences in some settings. The same content as in Embodiment 2 will not be elaborated in this embodiment.

[0133] In this embodiment, the goods picking method includes: when the number of goods 300 in the storage chute 2022 where the target goods 300 is located is less than or equal to the preset number, and the picking component 12 contacts the picking component 12, it is determined that the vibration start condition is satisfied.

[0134] During the goods picking process, if the number of goods 300 in the storage chute 2022 is small, the pressure exerted by the goods 300 on the foremost goods 300 decreases, resulting in a decrease in the force of the goods 300 in the direction towards the picking chute 11, which easily leads to the problem of failed goods picking. Therefore, in this embodiment, when the number of goods 300 in the storage chute 2022 is small, if the picking component 12 contacts the acquisition, vibration is applied to the picking component 12 to ensure that the goods 300 can smoothly move through the picking component 12 into the picking chute 11, and to avoid the frequent start of the vibrating member 15.

[0135] The preset number is preferably one to four.

[0136] Embodiment Six

[0137] This embodiment provides a picking method. The picking method provided in this embodiment is a further improvement based on the picking method provided in Embodiment Two, and the same content as that in Embodiment Two will not be elaborated herein.

[0138] In this embodiment, the picking method further includes: controlling the vibration frequency based on the weight of the target goods 300 or the pressure exerted by the target goods 300 on the picking component 12.

[0139] For goods 300 of different types and sizes, when the goods 300 slide from the storage chute 2022 to the picking chute 11, the gravity and friction forces received are different. Therefore, by controlling the vibration frequency based on the weight of the target goods 300 or the pressure exerted by the target goods 300 on the picking component 12, it is possible to avoid the situation where the vibration frequency of the goods 300 is too small, resulting in a small effect of guiding the goods 300 to slide downward, and also avoid the situation where the vibration frequency is too large, resulting in a wide spread of vibration to other positions or the goods 300 being vibrated out of the picking chute 11 and falling. While achieving smooth picking, it also improves the safety and reliability of picking, and is also conducive to realizing the picking versatility of the picking device 100 for different types of goods 300.

[0140] It should be noted that the vibration frequency corresponding to the goods 300 can be obtained through testing, and this embodiment does not limit the vibration frequency corresponding to each type of goods 300.

[0141] In this embodiment, multiple vibration gears can be set. Each vibration gear corresponds to a different vibration frequency, and each vibration gear corresponds to goods 300 of different weights, which is conducive to simplifying the adjustment and control of vibration.

[0142] Embodiment Seven

[0143] This embodiment provides a picking method. The picking method provided in this embodiment is a further improvement based on the picking method provided in Embodiment Two, and the same content as that in Embodiment Two will not be elaborated herein.

[0144] In this embodiment, the picking method includes: when the vibration is started, controlling the vibration member 15 to apply a frequency to the picking component 12 at an initial frequency. If no goods 300 are detected passing through the preset detection position within the second preset duration during which the vibration persists, the vibration frequency of the vibration member 15 is increased.

[0145] That is, in this embodiment, if there is still a problem of unsuccessful picking with the vibration applied at the initial frequency, the vibration frequency is increased to further enhance the promotion effect on the downward sliding of the goods 300, so as to be able to successfully pick the goods while reducing the picking cost and reducing the probability of vibration spreading to other positions.

[0146] Furthermore, multiple frequency gears are preset in the control system, and the initial frequency is the lowest frequency gear. When vibration is applied at a lower gear frequency and the picking fails, the vibration frequency is increased to the adjacent higher frequency gear, thereby enabling the adjustment of convenience.

[0147] Obviously, the above embodiments of the present utility model are merely examples for clearly illustrating the present utility model, rather than limitations on the implementation manners of the present utility model. For those of ordinary skill in the art, various obvious changes, re-adjustments, and substitutions can be made without departing from the protection scope of the present utility model. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the claims of the present utility model.

Claims

1. A pickup mechanism, characterized in that: The picking-up mechanism comprises a picking-up component (12) and a vibrating component (15), wherein the picking-up component (12) is used to act on the bottom of the goods (300) to lift the goods (300) for picking up, and the vibrating component (15) is used to apply vibration to the picking-up component (12).

2. The pickup mechanism according to claim 1, characterized in that: It also includes a pickup chute (11), wherein the pickup component (12) is arranged at the upper end of the pickup chute (11).

3. The pickup mechanism according to claim 2, characterized in that: The vibrating member (15) is installed on the picking chute (11) or on the picking component (12); And / or, the vibrating member (15) includes a vibration motor.

4. The pickup mechanism according to claim 3, characterized in that: The pickup chute (11) comprises a chute bottom plate (111) arranged at an angle and chute side plates (112) arranged on opposite sides of the chute bottom plate (111), and the vibrating member (15) is installed on the back side of the chute bottom plate (111) or the outer side of the chute side plate (112).

5. The pickup mechanism according to claim 4, characterized in that: A mounting seat (19) is installed on the outer side of the pickup chute (11), and the vibrating member (15) is installed on the mounting seat (19); the mounting seat (19) is detachably connected to the pickup chute (11), and / or the vibrating member (15) is detachably connected to the mounting seat (19).

6. The pickup mechanism according to claim 5, characterized in that: The pickup mechanism also includes a pickup frame (14), the pickup chute (11) is installed on the pickup frame (14), and a shock-absorbing structure is provided between the pickup frame (14) and the pickup chute (11).

7. The pickup mechanism according to any one of claims 2 to 6, characterized in that: A detection sensor is installed on the pickup chute (11), and the detection sensor is used to detect whether goods (300) pass through the pickup chute (11).

8. The pickup mechanism according to any one of claims 2 to 6, characterized in that: The two cargo pickup chutes (11) are arranged opposite to each other and at intervals, and the two cargo pickup chutes (11) extend obliquely from top to bottom in a direction approaching each other, and the cargo pickup mechanism includes a temporary storage chute (13) located between the lower ends of the two cargo pickup chutes (11), and the temporary storage chute (13) extends obliquely downward from a direction away from the cargo pickup chutes (11); Alternatively, two cargo pickup chutes (11) are arranged opposite to each other and at intervals, and the two cargo pickup chutes (11) extend obliquely from top to bottom in a direction approaching each other, and the cargo pickup mechanism also includes a temporary storage space (51) located between the two cargo pickup chutes (11).

9. The pickup mechanism according to any one of claims 1 to 6, characterized in that: The cargo picking component (12) comprises a cargo picking body (121) arranged obliquely from bottom to top and a cargo blocking part (122) connected to the upper end of the cargo picking body (121); the cargo blocking part (122) has a width greater than the upper end width of the cargo picking body (121) at least in part.

10. The pickup mechanism according to any one of claims 1 to 6, characterized in that: The picking mechanism further comprises a force-applying component (16), wherein the force-applying component (16) comprises a force-applying driving member (161) and a force-applying member rotatably mounted on the upper end of the picking member (12), wherein the force-applying member is capable of contacting the bottom of the cargo (300), and the force-applying driving member (161) drives the force-applying member to rotate, so that the movement of the force-applying member relative to the cargo (300) applies a force to the cargo (300) to move toward the interior of the picking mechanism.

11. A picking device, comprising a walking mechanism (2), characterized in that: It also includes the cargo picking mechanism as described in any one of claims 1 to 10, and the walking mechanism (2) drives the cargo picking mechanism to move.

12. The cargo picking device according to claim 11, characterized in that: The picking device further comprises a horizontal adjustment module (3), wherein the horizontal adjustment module (3) is connected between the walking mechanism (2) and the picking mechanism, and the horizontal adjustment module (3) drives the picking mechanism to move horizontally relative to the walking mechanism (2) so as to move the picking component (12) closer to or farther away from the shelf (200); And / or, the cargo picking device further comprises a vertical adjustment module (4), and the vertical adjustment module (4) drives the cargo picking mechanism to rise and fall in a vertical direction relative to the walking mechanism (2).

13. A logistics system, comprising a shelf (200), wherein the shelf (200) is provided with a plurality of rows of storage chutes (2022) at intervals along the height direction, wherein the storage chutes (2022) are arranged obliquely downward from the storage end to the pickup end, and characterized in that: The logistics system also includes a picking device as described in claim 11 or 12, wherein the picking mechanism is capable of moving the upper end of the picking component (12) to be located below any of the storage chutes (2022), and the picking component (12) is capable of moving upward to pass through the storage chute (2022) and pick up the goods (300) in the storage chute (2022) so that the goods (300) fall into the picking mechanism.

Images