Replenishment device and replenishment device

Abstract

The utility model discloses a replenisher and a replenishment device. The liftable replenishment device comprises a replenishment device body and a lower door plate piece, a replenishment channel is obliquely arranged on the replenishment device body, the replenishment channel is used for containing goods and comprises a goods discharging opening located in the low position, and the lower door plate piece is movably arranged at the goods discharging opening and has a door opening position for opening the goods discharging opening and a door closing position for closing the goods discharging opening. According to the replenishment device, the goods in the replenishment goods channel can be automatically delivered to the goods shelf needing replenishment through the opened goods discharging opening, the replenishment efficiency is high, manual goods carrying is not needed in the replenishment process, and safety is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic replenishment technical field especially, relate to a kind of replenisher and replenishment device. BACKGROUND

[0002] Automatic picking system is a kind of system according to order information directly in its storage rack, after order is completed, all target goods taken are directly packed and exported, which mainly includes storage rack and picking mechanism. Automatic picking system needs to replenish storage rack periodically to cope with future order demand, and there is a replenishment device for replenishing storage rack in prior art. Goods on the replenishment device are generally replenished by manual, and the replenishment device includes inclined goods grid and multi-layer steel platform arranged at the side of storage rack. The worker needs to climb to the corresponding steel platform to replenish the goods in the goods grid opposite to the steel platform. After the goods are arranged in the goods grid, they are replenished to the corresponding channel of storage rack. The worker needs to stay near the equipment to replenish the goods to the replenishment device at any time, which not only leads to long time for each replenishment, affects the efficiency of automatic picking system from the replenishment device, but also causes the worker to climb up and down, which may cause injury to the worker and poor safety.

[0003] How to provide a replenisher capable of realizing automatic replenishment is a technical problem to be solved urgently. CONTENT OF UTILITY MODEL

[0004] The first purpose of the utility model is to provide a replenisher, which can realize automatic replenishment, has high replenishment efficiency and high safety.

[0005] To achieve this purpose, the utility model adopts the following technical solutions.

[0006] A replenisher, which is liftable, comprises a replenisher main body, an inclined replenishment channel is arranged on the replenisher main body, the replenishment channel comprises a low-positioned goods outlet, and the replenishment channel is used for accommodating goods.

[0007] Preferably, the replenisher main body comprises a channel bottom plate and two channel side plates forming the replenishment channel, and at least one channel side plate can move to adjust the width of the replenishment channel.

[0008] As preferred, the replenishment device further comprises a variable-stroke driving member, the variable-stroke driving member comprises a variable-stroke motor, a screw rod and a nut block, a motor shaft of the variable-stroke motor is in transmission connection with one end of the screw rod, the nut block is in threaded connection with the screw rod and forms a screw-nut pair, and the nut block is connected with the movable side plate of the goods channel.

[0009] As preferred, in the direction of the width of the replenishment goods channel, the lower door plate member comprises a first part and a second part connected with each other, in the length direction of the replenishment goods channel, the first part protrudes away from one end of the replenishment device main body and the second part protrudes away from one end of the replenishment device main body to form a flange structure; wherein the replenishment device is used for replenishing a storage shelf, the storage shelf comprises a plurality of storage goods channels, and the width of the flange structure is less than or equal to the width of the narrowest storage goods channel among all the storage goods channels.

[0010] As preferred, the replenishment device further comprises a driving member, a push-pull member and a mounting abutting member, the telescopic end of the driving member is connected with the push-pull member and can drive the push-pull member to move linearly, and the mounting abutting member is arranged on the lower door plate member; when the telescopic end of the driving member is extended, the push-pull member pushes the mounting abutting member to switch the lower door plate member from the open door position to the closed door position; when the telescopic end of the driving member is retracted, the push-pull member pulls the mounting abutting member to switch the lower door plate member from the closed door position to the open door position.

[0011] As preferred, the push-pull member comprises a reset elastic body and a fixed plate, the fixed plate is fixed on the telescopic end of the driving member, the reset elastic body is connected between the mounting abutting member and the fixed plate and pushes or pulls back the mounting abutting member; and / or, the push-pull member comprises a convex ball, the convex ball is fixed on the telescopic end of the driving member, and the convex ball abuts against the mounting abutting member and can push the mounting abutting member.

[0012] As preferred, the replenishment device is used for replenishing a storage shelf, the storage shelf comprises a storage goods channel; the replenishment device further comprises a goods detection member, the goods detection member is arranged on the lower door plate member, the lower door plate member in the closed door position makes the goods detection member face the storage goods channel, and the goods detection member is used for detecting goods in the storage goods channel; and / or, the replenishment device further comprises a goods-out detection member, the goods-out detection member is arranged on the lower door plate member, and the goods-out detection member is used for detecting the goods stagnating at the lower door plate member.

[0013] As preferred, the replenishment device body comprises a goods channel bottom plate forming the replenishment goods channel, and the goods channel bottom plate is provided with an ejection limiting mechanism, the ejection limiting mechanism comprises a movable limiting block, and the limiting block has a limiting position protruding out of the goods channel bottom plate and a avoiding position hidden in the goods channel bottom plate.

[0014] The second object of the present application is to provide a replenishment device with high replenishment efficiency and high safety.

[0015] To achieve the object, the present application adopts the following technical scheme.

[0016] An automatic replenishment system comprises a walking mechanism, a goods carrying table and a replenishment device, the walking mechanism comprises a vertical guide structure, the goods carrying table is arranged on the guide structure in a lifting manner, and the replenishment device is arranged on the goods carrying table.

[0017] As preferred, the replenishment device is provided with at least two replenishment devices arranged side by side, and the replenishment goods channel of each replenishment device can accommodate the goods.

[0018] The present application has the following beneficial effects.

[0019] The present application provides a lifting replenishment device comprising a replenishment device body and a lower door plate, the replenishment device body is provided with a replenishment goods channel in an inclined manner, the replenishment goods channel is used for accommodating goods, the replenishment goods channel comprises a goods discharging port at a low position, the lower door plate is movably arranged at the goods discharging port and has an open door position for opening the goods discharging port and a closed door position for closing the goods discharging port. The replenishment device can automatically deliver the goods in the replenishment goods channel to the goods shelf to be replenished through the opened goods discharging port, so that the replenishment efficiency is high, and the safety is high during the replenishment process without manual participation in carrying goods.

[0020] The present application provides a replenishment device comprising a walking mechanism, a goods carrying table and a replenishment device, the walking mechanism comprises a vertical guide structure, the goods carrying table is arranged on the guide structure in a lifting manner, and the replenishment device is arranged on the goods carrying table. The replenishment device can receive goods at a low position and deliver goods at a high position, so that automatic replenishment can be realized, the replenishment efficiency is high, and the safety is high without the need for workers to climb high. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic view of an automatic warehouse provided by the present application;

[0022] Figure 2 is a schematic view of a replenishment device provided by the present application;

[0023] Figure 3 is a schematic view of a buffer station provided by the present application in a certain view angle;

[0024] Figure 4 is a side view of the buffer station provided by the utility model;

[0025] Figure 5 is a schematic view of the buffer station provided by the utility model from another perspective;

[0026] Figure 6 is a schematic view of the door assembly provided by the utility model when the upper door panel member is in the closed position;

[0027] Figure 7 is a schematic view of the door assembly provided by the utility model when the upper door panel member is in the open position;

[0028] Figure 8 is a schematic view of the door assembly provided by the utility model from a certain perspective;

[0029] Figure 9 is a schematic view of the door assembly provided by the utility model from another perspective;

[0030] Figure 10 is a schematic view of the buffer bottom plate and the buffer side plate provided by the utility model;

[0031] Figure 11 is a schematic view of the door assembly provided by the utility model from a certain perspective, which has two upper door panel members capable of being simultaneously opened and closed;

[0032] Figure 12 is a schematic view of the door assembly provided by the utility model from another perspective, which has two upper door panel members capable of being simultaneously opened and closed;

[0033] Figure 13 is a schematic view of the replenishment device provided by the utility model, which has two replenishers, and the two replenishment channels are one wide and one narrow;

[0034] Figure 14 is Figure 13 a schematic view of the structure shown in another perspective;

[0035] Figure 15 is a schematic view of the replenishment device provided by the utility model, which has two replenishers, and the two replenishment channels are both wide;

[0036] Figure 16 is Figure 15 a schematic view of the structure shown in another perspective;

[0037] Figure 17 is a schematic view of the replenisher provided by the utility model from a certain perspective;

[0038] Figure 18 is a schematic view of the replenisher provided by the utility model from another perspective;

[0039] Figure 19 is a schematic view of the replenishment device from another perspective provided by the utility model;

[0040] Figure 20 is a schematic view of the partial structure of the replenishment device provided by the utility model;

[0041] Figure 21 is a schematic view of the driving assembly and the lower door plate provided by the utility model;

[0042] Figure 22 is Figure 21 is a top view of the structure shown in figure;

[0043] Figure 23 is a schematic view of the upper door plate in the open position lapping on the goods channel bottom plate of the replenishment goods channel provided by the utility model;

[0044] Figure 24 is a schematic view of the protruding part of the upper door plate covering on the in-place detection part provided by the utility model;

[0045] Figure 25 is a schematic view of the lower door plate being adapted to the narrow goods channel and the wide goods channel respectively provided by the utility model;

[0046] Figure 26 is a schematic view of the goods detection part facing the storage goods channel and detecting the goods in the storage goods channel provided by the utility model;

[0047] Figure 27 is a schematic view of the inventory device inventorying the goods in the storage goods channel provided by the utility model;

[0048] Figure 28 is a schematic view of the inventory device provided by the utility model;

[0049] Figure 29 is Figure 28 is an enlarged view of part A in figure;

[0050] Figure 30 is an enlarged view of part B in figure; Figure 28

[0051] is a schematic view of the extension structure of the inventory device not being extended provided by the utility model; Figure 31

[0052] is a schematic view of the track part provided by the utility model. Figure 32 in the figure:

[0053]

[0054] ​100, cache station; 110, cache shelf; 111, cache channel; 112, replenishment port; 113, taking port; 114, front cross beam; 115, cache bottom plate; 116, cache side plate; 120, door assembly; 121, upper door plate piece; 1211, shielding part; 12111, protruding part; 1212, abutting part; 122, turnover piece; 1221, push plate; 1222, connecting rod; 1223, rotating wheel; 123, reset elastic piece; 124, hinge; 125, rotating shaft; 130, support frame;

[0055] 200, replenisher; 210, replenisher main body; 211, replenishment channel; 212, receiving port; 213, arranging port; 214, channel bottom plate; 215, channel side plate; 220, door pushing assembly; 221, door pushing driving piece; 222, pushing piece; 230, in-place detection piece; 240, variable-distance driving piece; 241, variable-distance motor; 242, lead screw; 243, nut block; 244, conveyor belt mechanism; 2441, driving pulley; 2442, driven pulley; 2443, conveyor belt; 245, connecting push plate; 250, variable-distance mounting rack; 251, cross beam piece; 252, side beam piece; 260, side plate detection piece; 270, lower door plate piece; 271, first part; 272, second part; 280, driving assembly; 281, driving piece; 282, push-pull piece; 2821, convex ball; 2822, reset elastic body; 2823, fixed plate; 283, mounting abutting piece; 291, taking-out detection piece; 292, goods detection piece; 293, limiting block;

[0056] 300, load table;

[0057] 400, guide structure;

[0058] 500, inventoryer; 510, extending structure; 511, limiting groove; 520, inventorying structure; 530, moving piece; 540, telescopic driving piece; 541, telescopic motor; 542, synchronous belt structure; 5421, driving wheel; 5422, synchronous belt; 5423, driven wheel; 550, track piece; 551, first mounting plate; 552, track plate; 553, third mounting plate; 554, first side plate; 555, second side plate; 560, first supporting wheel; 570, second supporting wheel; 581, first hinged seat; 582, second hinged seat; 583, limiting piece; 584, second mounting plate;

[0059] 10, automatic picking system; 11, storage channel; 12, goods; 101, channel inlet; 102, channel outlet; 20, automatic replenishment system. DETAILED DESCRIPTION

[0060] The utility model will be described in further detail below in combination with the drawings and embodiments. It can be understood that the specific embodiments described herein are merely intended to explain the utility model and not to limit the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings for ease of description, not all the structures.

[0061] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0062] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0063] In the description of the embodiment, the terms "up", "down", "right", etc. orientation or position relationship is based on the orientation or position relationship shown in the drawings, only for the convenience of description and simplification of operation, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0064] As Figure 1 As shown in the utility model discloses a kind of automated warehouse, automated warehouse includes automatic picking system 10 and automatic replenishment system 20, automatic replenishment system 20 can be replenished to automatic picking system 10 operation, to ensure that there is enough goods 12 in automatic picking system 10 according to order information is packed.

[0065] The automatic picking system 10 comprises a storage rack and a picking mechanism, the storage rack is a stereoscopic shelf in the automatic picking system 10 for storing goods 12, the storage rack is provided with a storage channel 11, the storage channel 11 is arranged obliquely relative to the horizontal direction, the storage channel 11 comprises a channel inlet 101 at a high position and a channel outlet 102 at a low position, the goods 12 are put into the storage channel 11 from the channel inlet 101 and can move along the storage channel 11 to the channel outlet 102, and the goods 12 wait for the picking mechanism of the automatic picking system 10 to pick at the channel outlet 102. The structure of the picking mechanism is the prior art, which will not be described in detail here.

[0066] It should be noted that, in order to increase the storage capacity, a plurality of storage channels 11 are arranged side by side in the height direction of the storage rack, each storage channel 11 can store the same or different goods 12, and the picking mechanism can move in the vertical direction to take the goods 12 from different storage channels 11, so that the automatic picking system 10 can efficiently complete the order.

[0067] Continuing to refer to Figure 1 and Figure 2 , the automatic replenishment system 20 comprises a buffer station 100 and a replenishment device, the buffer station 100 is arranged beside the storage rack and is a small storage mechanism for temporarily storing a part of the goods 12. The replenishment device can move to the buffer station 100 and dock with the buffer station 100, take the goods 12 from the buffer station 100, and then move to the storage rack and put the goods 12 into the storage channel 11 of the storage rack from the channel inlet 101 of the storage rack.

[0068] It should be noted that the height of the buffer station 100 is low, and the replenishment worker can arrange the goods 12 in the buffer station 100 from the ground, which is not only simple to operate, but also the worker only needs to replenish the buffer station 100 periodically to meet the replenishment demand of the automatic picking system 10, and does not need to contact the replenishment device which needs to be moved during the replenishment process, which is safe, efficient and reliable.

[0069] As shown in Figures 3 to 9 , the buffer station 100 comprises a buffer shelf 110 and a door assembly 120, the buffer shelf 110 is obliquely provided with a buffer channel 111, the buffer channel 111 comprises a replenishment port 112 at a high position and a goods taking port 113 at a low position, and the door assembly 120 comprises an upper door plate 121 rotatably connected at the goods taking port 113, the upper door plate 121 has an opening position for opening the goods taking port 113 and a closing position for closing the goods taking port 113.

[0070] The staff puts the goods 12 into the buffer shelf 110 from the high replenishment port 112, and the goods 12 move along the buffer channel 111 arranged in the height direction to the low taking port 113 and are finally blocked by the door assembly 120 in the closed position, so that the goods 12 are delivered into the replenishment port 112 in a cycle until the buffer channel 111 is full of goods 12. When the replenishment device moves to the taking port 113, the door assembly 120 can be controlled to switch from the closed position to the open position to open the taking port 113, and the replenishment device can take the goods 12 from the open taking port 113. During the process that the goods 12 at the lowest position are taken away by the replenishment device, the goods 12 at the higher position in the buffer channel 111 slide down under the action of gravity and pass through the open taking port 113 in turn, so that the goods 12 in the buffer channel 111 can be taken away one by one by the replenishment device. When the goods 12 in the buffer station 100 are insufficient, the staff can continue to replenish the buffer station 100.

[0071] The buffer station 100 is provided with the inclined buffer channel 111, so that the goods 12 can slide down along the inclined buffer channel 111 and pass through the open taking port 113 under the action of gravity as long as the taking port 113 is opened. This arrangement makes the taking process continuous and efficient, improves the taking efficiency, and the movement of the goods 12 does not need manual participation, which is safe.

[0072] Optionally, the buffer channel 111 is provided with a plurality of buffer channels 111, and each buffer channel 111 is provided with a door assembly 120 at the taking port 113. Optionally, the plurality of buffer channels 111 are arranged in rows and columns, and each buffer channel 111 can store the same or different goods 12.

[0073] In some embodiments, as shown in Figure 10 The buffer shelf 110 includes a buffer bottom plate 115 forming the bottom surface of the buffer channel 111, and the included angle between the wide side of the buffer bottom plate 115 and the horizontal line is an acute angle. This arrangement makes the goods 12 slide down on the buffer bottom plate 115 from top to bottom and tilt to one side in the width direction of the buffer bottom plate 115, so that the goods 12 can be arranged neatly when moving in the buffer channel 111, which facilitates the accurate taking of goods by the subsequent replenishment device.

[0074] Further, the buffer shelf 110 further includes a buffer side plate 116 arranged beside the buffer bottom plate 115, and the buffer side plate 116 is arranged vertically, and the goods 12 can slide down on the buffer side plate 116. Optionally, the buffer side plate 116 is provided with two buffer side plates 116 arranged on both sides of the buffer bottom plate 115 in the width direction of the buffer bottom plate 115, and the buffer bottom plate 115 and the two buffer side plates 116 form the buffer channel 111 which is open at the top and has a U-shaped structure.

[0075] With reference to the Figures 3 to 5 As shown in FIG. 1, the cache shelf 110 further comprises a support frame 130 for supporting the cache bottom plate 115 and the cache side plate 116. In one embodiment, the support frame 130 comprises horizontal rods and vertical rods which are spliced to form a cuboid-shaped frame structure; in one embodiment, the support frame 130 further comprises a plurality of channel plates which are cross-connected in a grid shape, and each grid is provided with a set of cache bottom plates 115 and cache side plates 116. In one embodiment, the support frame 130 further comprises ground nails by which the support frame 130 can be stably fixed to the ground to avoid the cache station 100 from toppling over.

[0076] In some embodiments, with reference to FIG. 1, the upper door plate member 121 is generally in an L-shaped structure, and comprises an obtuse-angled connection of a shielding portion 1211 and an abutting portion 1212, the shielding portion 1211 is used for shielding the order pickup opening 113, and the abutting portion 1212 is used for bearing a support force so that the upper door plate member 121 can be maintained in a closed position, and when the support force disappears, the upper door plate member 121 loses support and directly switches from the closed position to an open position. It should be noted that the external force that causes the upper door plate member 121 to lose support can come from the replenishment device or other power members. Figure 6 In one embodiment, the upper door plate member 121 is rotationally connected at the order pickup opening 113, and the door assembly 120 further comprises a hinge 124, one end of which is fixedly connected to the abutting portion 1212, and the other end is fixedly connected to the cache shelf 110. Optionally, the cache shelf 110 comprises a front cross beam 114 provided at the order pickup opening 113, and the other end of the hinge 124 is fixed to the front cross beam 114. Of course, in other embodiments, the upper door plate member 121 can also be provided at the order pickup opening 113 by a moving manner to achieve switching between the closed position and the open position.

[0077] With reference to FIG. 1, the door assembly 120 further comprises a turnover member 122 for supporting the upper door plate member 121 and bearing an external force for changing the support state of the upper door plate member 121 to realize the rotation opening of the upper door plate member 121. Optionally, the turnover member 122 is rotationally connected to the cache shelf 110, and the turnover member 122 abuts against the abutting portion 1212.

[0078] Figures 6 to 9 With reference to FIG. 1, the door assembly 120 further comprises a turnover member 122 for supporting the upper door plate member 121 and bearing an external force for changing the support state of the upper door plate member 121 to realize the rotation opening of the upper door plate member 121. Optionally, the turnover member 122 is rotationally connected to the cache shelf 110, and the turnover member 122 abuts against the abutting portion 1212.

[0079] ​In some embodiments, the turnover member 122 comprises a push plate 1221, which is rotationally connected to the buffer shelf 110. Optionally, a rotation shaft seat is arranged on the front cross beam 114, and the push plate 1221 is rotationally connected to the rotation shaft seat through a rotation shaft 125. By applying force to the push plate 1221, the push plate 1221 can be rotated around the rotation shaft 125, so that the upper door plate member 121 is switched from the closed position to the open position. It should be noted that the direction of the force is indicated by the arrow in Figure 6 .

[0080] Continuing to refer to Figure 6 , the rotation shaft 125 is arranged at a position lower than the middle of the push plate 1221. The top of the push plate 1221 can support the abutting portion 1212 of the upper door plate member 121. When force is applied in the direction indicated by the arrow in Figure 6 , the top end of the push plate 1221 moves towards the front cross beam 114, so that the abutting portion 1212 loses support and the upper door plate member 121 rotates in the counterclockwise direction under the action of gravity, and is switched from the state shown in Figure 6 to the state shown in Figure 7 , completing the switching from the closed position to the open position.

[0081] After the replenishment device completes the taking of goods from the goods receiving port 113, in order to enable the upper door plate member 121 to automatically reset to the closed position, thereby maintaining the upper door plate member 121 in the closed position without external force, continuing to refer to Figures 6 to 9 , the door assembly 120 further comprises a reset elastic member 123, which is arranged between the turnover member 122 and the buffer shelf 110, and has a tendency to reset the upper door plate member 121 to the closed position. It should be noted that during the process of applying force to the push plate 1221 in the direction indicated by the arrow in Figure 6 , the reset elastic member 123 is compressed and accumulates elastic potential energy. After the force applied to the push plate 1221 is removed, under the action of the reset elastic member 123, the upper door plate member 121 is reset from the state shown in Figure 7 to the state shown in Figure 6 , completing the switching from the open position to the closed position.

[0082] In order to reduce the friction generated by the movement of the push plate 1221 on the upper door plate member 121, thereby reducing the wear of the upper door plate member 121, the turnover member 122 further comprises a connecting rod 1222 and a rotating wheel 1223. The connecting rod 1222 is connected to the push plate 1221, and the rotating wheel 1223 is rotationally connected to the connecting rod 1222. The rotating wheel 1223 rolls against the abutting portion 1212.

[0083] In one embodiment, the reset elastic member 123 comprises a coil spring, one end of the coil spring is fixed on the push plate 1221, and the other end is fixed on the front cross beam 114. Of course, in addition to the coil spring, the reset elastic member 123 can also be other elastic bodies, such as spring sheets, etc.

[0084] Since the buffer shelf 110 is provided with a plurality of buffer channels 111, the upper door plate member 121 is arranged at the goods receiving opening 113 of each buffer channel 111. In a replenishment process of the replenishment device, there is a need to open a plurality of goods receiving openings 113 to receive goods, so the plurality of upper door plate members 121 or the plurality of turnover members 122 can be connected by the connecting member, thereby meeting the needs of synchronous opening and synchronous closing of the plurality of goods receiving openings 113.

[0085] In some embodiments, there is a need to receive goods from two adjacent goods receiving openings 113. In order to improve the efficiency of receiving goods, as shown in Figure 11 and Figure 12 , one end of the turnover member 122 can be in abutment with the abutment portion 1212 of two adjacent upper door plate members 121. In this way, during a turnover process of the turnover member 122, two goods receiving openings 113 can be opened at the same time.

[0086] In one specific embodiment, the rotating wheel 1223 is provided with two rotating wheels 1223, and the two rotating wheels 1223 are in rolling abutment with the abutment portions 1212 of two adjacent upper door plate members 121. It should be noted that the number of connecting rods 1222 can be one or two according to the needs. If it is one, the length of the connecting rod 1222 is relatively long, and the two ends of the connecting rod 1222 protrude from the push plate 1221, and the two rotating wheels 1223 are rotatably connected to the two ends of the connecting rod 1222. If it is two, the length of each connecting rod 1222 is relatively short, and the two connecting rods 1222 protrude from the push plate 1221, and the two rotating wheels 1223 are rotatably connected to the two connecting rods 1222 one by one.

[0087] As shown in Figure 2 , Figures 13 to 16 , the replenishment device comprises a walking mechanism, a goods carrying table 300 and a liftable replenisher 200. The replenishment device can move between the buffer station 100 and the storage shelf through the walking mechanism. The specific structure of the walking mechanism will not be described here. It can be the cooperation of a walking main body, a power component and a track component. The power component drives the walking main body to move on the track component, so that the goods carrying table 300 and the replenisher 200 on the walking main body can move synchronously. In addition, the walking mechanism can also be other structures that can output linear motion, such as a moving platform composed of a motor and a belt transmission structure, etc.

[0088] Continue to refer to Figure 2As shown, the walking mechanism includes a vertically arranged guide structure 400, which is optionally a vertically arranged guide rail. The loading platform 300 is arranged on the guide structure 400 in a liftable manner. The replenisher 200 is arranged on the loading platform 300 and synchronously lifts and lowers with the loading platform 300. The lifting and driving structure for driving the loading platform 300 to lift and lower along the guide rail is not described here in detail and can be any mechanism capable of outputting linear motion, such as a linear motor, a motor and a gear rack combination, or a cylinder.

[0089] The replenisher 200 is the main structure of the replenishment device for docking with the buffer station 100 and the storage shelf and has the functions of receiving goods and replenishing goods. Specifically, as shown in Figures 17 to 26 The replenisher 200 includes a replenisher main body 210. The replenisher main body 210 is obliquely provided with a replenishment channel 211. The replenishment channel 211 includes a high-positioned receiving port 212 and a low-positioned discharging port 213. The receiving port 212 is used to receive goods 12. The discharging port 213 is used to release the goods 12. Under the driving of the loading platform 300, the replenisher 200 can move to a replenishment position where the receiving port 212 is opposite to the receiving port 113 of the buffer station 100.

[0090] Specifically, the replenisher main body 210 includes a channel bottom plate 214 forming the replenishment channel 211 and two channel side plates 215 arranged on both sides of the channel bottom plate 214 in the width direction of the channel bottom plate 214. The channel bottom plate 214 and the two channel side plates 215 surround to form a U-shaped replenishment channel 211 with an open top, which can stably protect the goods 12 and prevent the goods 12 from flying out of the replenishment channel 211.

[0091] Optionally, the inclination degree of the replenishment channel 211 and the inclination degree of the buffer channel 111 of the buffer station 100 can be the same or different and can be flexibly set according to requirements, as long as the goods 12 can smoothly enter the replenishment channel 211 from the buffer channel 111.

[0092] In order to open the receiving port 113 synchronously during the docking of the replenisher 200 and the buffer station 100, the efficiency of receiving goods can be improved. As shown in Figure 18 The replenisher 200 further includes a door pushing assembly 220. The door pushing assembly 220 can drive the upper door plate 121 to switch from the closed position to the open position and make the receiving port 212 and the receiving port 113 dock and conduct. That is, the door pushing assembly 220 is used to apply an external force to the turnover piece 122 as shown by the arrow in Figure 6 , so that the turnover piece 122 rotates and the support of the upper door plate 121 by the turnover piece 122 is removed, so that the upper door plate 121 is folded counterclockwise.

[0093] In some embodiments, the door pushing assembly 220 comprises a door pushing driver 221 and a pushing member 222. The door pushing driver 221 is arranged on the replenishment device main body 210 near the buffer station 100, and is optionally arranged on the replenishment device main body 210. The door pushing driver 221 is in transmission connection with the pushing member 222 and is configured to drive the pushing member 222 to move linearly. The pushing member 222 is configured to apply force to the turnover member 122. Optionally, the door pushing driver 221 is a linear motor. The pushing member 222 is a push rod, and an end of the push rod is provided with a push block (not shown in the figure) configured to apply force to the push plate 1221 and in a cylindrical shape.

[0094] In the material taking stage of the replenishment device 200, the door pushing driver 221 drives the pushing member 222 to move towards the turnover member 122, so that the pushing member 222 is in contact with the push plate 1221 of the turnover member 122. The push plate 1221 rotates around the rotating shaft 125 under the pushing of the pushing member 222, so as to open the upper door plate member 121. The goods 12 in the buffer channel 111 enter the replenishment channel 211 through the material taking opening 113 and the goods receiving opening 212 under the action of gravity, and subsequent goods 12 are sequentially replenished. After the goods 12 in the replenishment channel 211 are replenished, the force applied to the push plate 1221 is stopped, the upper door plate member 121 is reset to the closed position under the action of the reset elastic member 123, and waits for the next opening.

[0095] In order to improve the smoothness of the goods 12 entering the replenishment channel 211 from the buffer channel 111, as shown in Figure 23 , the upper door plate member 121 in the open position is lapped on the channel bottom plate 214 of the replenishment channel 211.

[0096] Further, referring to Figure 18 , the replenishment device 200 further comprises a position detection member 230 arranged at the end of the channel bottom plate 214 and configured to detect the upper door plate member 121. Optionally, the position detection member 230 is a position sensor, which can be a proximity switch. When the upper door plate member 121 is lapped on the channel bottom plate 214 of the replenishment channel 211, the position detection member 230 can send a determination signal that the upper door plate member 121 is opened to the position.

[0097] Optionally, as shown in Figure 24 , the upper door plate member 121 comprises a protruding portion 12111, which is used in cooperation with the position detection member 230. When the upper door plate member 121 is in the open position, the protruding portion 12111 covers the position detection member 230. Further optionally, the end of the channel bottom plate 214 is provided with a groove, and the position detection member 230 is arranged in the groove. After the protruding portion 12111 is lapped into the groove, the protruding portion 12111 does not protrude from the channel bottom plate 214, so as to avoid affecting the smoothness of the movement of the goods 12.

[0098] As the goods 12 are of various types and widths, in order to adjust the width of the replenishment goods channel 211 so that the replenishment goods channel 211 can adapt to goods 12 of different widths, continuing to refer to Figure 13 、 Figure 14 、 Figure 17 and Figure 18 , the replenisher main body 210 includes two goods channel side plates 215, at least one of which can move to adjust the width of the replenishment goods channel 211.

[0099] That is, in some embodiments, one of the two goods channel side plates 215 is fixedly arranged, and the other is movably arranged, and the movably arranged goods channel side plate 215 can move closer to or farther away from the fixedly arranged goods channel side plate 215 to change the width of the replenishment goods channel 211 formed by the two goods channel side plates 215 and the part of the goods channel bottom plate 214 located between the two goods channel side plates 215; in some parallel embodiments, both of the two goods channel side plates 215 can move, that is, the two goods channel side plates 215 can move closer to each other or farther away from each other, thereby changing the width of the replenishment goods channel 211 formed by the two goods channel side plates 215 and the part of the goods channel bottom plate 214 located between the two goods channel side plates 215.

[0100] In order to realize the movement of the goods channel side plate 215, continuing to refer to Figure 18 and Figure 19 , the replenisher 200 further comprises a variable-distance driving member 240 for driving the goods channel side plate 215 to move. Optionally, the variable-distance driving member 240 comprises a variable-distance motor 241, a lead screw 242, and a nut block 243, the motor shaft of the variable-distance motor 241 is in transmission connection with one end of the lead screw 242, the nut block 243 is threadedly connected to the lead screw 242 and forms a lead screw nut pair, and the nut block 243 is connected with the movable goods channel side plate 215. Optionally, the nut block 243 is connected with the movable goods channel side plate 215 through a connecting push plate 245.

[0101] When the variable-distance motor 241 works, the lead screw 242 can rotate around its central axis, and the nut block 243 can move along the axial direction of the lead screw 242, thereby driving the goods channel side plate 215 to move. It should be noted that when only one goods channel side plate 215 needs to be driven to move, the lead screw 242 is a single-rotation screw, and the number of nut blocks 243 is one; when two goods channel side plates 215 need to be driven to move, the lead screw 242 can be selected as a double-head screw with two segments of threads of different rotations, the number of nut blocks 243 is two, and the two nut blocks 243 are threadedly connected to the segments of threads of different rotations, respectively, and the two nut blocks 243 are connected with the two goods channel side plates 215 one by one.

[0102] Further, the variable-distance driving member 240 further comprises a belt transmission mechanism 244, the variable-distance motor 241 is in transmission connection with the lead screw 242 through the belt transmission mechanism 244. Specifically, the belt transmission mechanism 244 comprises a driving pulley 2441, a driven pulley 2442 and a belt 2443, the motor shaft of the variable-distance motor 241 is connected with the driving pulley 2441, the driving pulley 2441 is arranged in interval with the driven pulley 2442, the driven pulley 2442 is sleeved on the lead screw 242, and the belt 2443 is sleeved on the driving pulley 2441 and the driven pulley 2442.

[0103] With reference back to Figure 18 As shown in the figure, the replenishment device 200 further comprises a variable-distance mounting frame 250, and part of the structure of the variable-distance driving member 240 is mounted on the variable-distance mounting frame 250. Optionally, the variable-distance mounting frame 250 is in inverted U-shaped structure, which comprises a cross beam 251 and two side beams 252 connected with the two ends of the cross beam 251 respectively, the cross beam 251 is above the two channel side plates 215 and across the channel bottom plate 214, and the bottom ends of the two side beams 252 are connected with the two sides of the channel bottom plate 214 in width direction respectively.

[0104] In an embodiment, the variable-distance motor 241 is fixed below the channel bottom plate 214, the belt transmission mechanism 244 is mounted on the fixed channel side plate 215, and the lead screw 242 is below the cross beam 251 and is rotationally connected with the two side beams 252. Of course, if the channel side plates 215 are all movable, the structure or position of the variable-distance mounting frame 250 can be adjusted so that the installation of the variable-distance driving member 240 does not affect the movement of the channel side plates 215 and the movement of the goods 12 in the replenishment channel 211.

[0105] Of course, in addition to the combination of motor and lead screw nut, the variable-distance driving member 240 can also be set as other mechanisms capable of outputting linear motion according to requirements, such as the combination of motor and gear rack, linear motor, air cylinder, etc.

[0106] By setting the width of the replenishment goods channel 211 as adjustable, the replenishment device can not only adapt to goods 12 with various widths, but also can regularize the goods 12 entering the replenishment goods channel 211 by moving the channel side plate 215, so as to improve the orderliness of the movement of the goods 12 and reduce the accuracy of subsequent replenishment of the storage goods channel 11. It should be noted that after the goods outlet 113 of the buffer station 100 is opened, the goods 12 in the buffer goods channel 111 quickly enter the replenishment goods channel 211, and during this process, the goods 12 in the replenishment goods channel 211 can be irregular. By moving the movable channel side plate 215, the channel side plate 215 can clamp the goods 12 to regularize the goods 12. After the goods 12 are regularized, the movable channel side plate 215 is reversely moved by a small distance, so that the width of the replenishment goods channel 211 is sufficient and does not affect the subsequent entry of the goods 12.

[0107] Further, continuing to refer to Figure 17 As shown in the figure, the replenisher 200 further comprises a side plate detection member 260, which is arranged on the replenisher body 210 and is used to detect the channel side plate 215 reset to the initial position. Optionally, the side plate detection member 260 can be a proximity switch or a photoelectric sensor. The movable channel side plate 215 has a zero position, i.e., its initial position, and the side plate detection member 260 belongs to a zero position detection mechanism, which can detect whether the channel side plate 215 is located at the zero position.

[0108] In order to realize the docking of the replenisher 200 and the storage goods shelf, continuing to refer to Figure 17 As shown in the figure, the replenisher 200 further comprises a lower door plate member 270, which is movably arranged at the goods outlet 213 and has an open door position for opening the goods outlet 213 and a closed door position for closing the goods outlet 213. When the lower door plate member 270 is in the closed door position, the goods 12 are limited in the replenishment goods channel 211 by the lower door plate member 270. When the lower door plate member 270 is in the open door position, the replenishment goods channel 211 can be communicated with the storage goods channel 11 of the storage goods shelf, and the goods 12 in the replenishment goods channel 211 can be moved to the storage goods channel 11.

[0109] Since the widths of the storage goods channels 11 of the storage goods shelf are inconsistent, the width of the storage goods channel 11 can be various, for example, two, three or more. In order to facilitate description, the storage goods channel 11 is divided into a narrow goods channel and a wide goods channel. Here, the narrow goods channel is the narrowest storage goods channel 11 among all the storage goods channels 11, and the wide goods channel is the storage goods channel 11 with a width greater than that of the narrow goods channel.

[0110] In order to be able to butt joint the storage channels 11 of different widths, the lower door plate 270 comprises a first part 271 and a second part 272 connected to each other, and in the length direction of the replenishment channel 211, the first part 271 protrudes from the one end of the replenisher main body 210, and the second part 272 protrudes from the one end of the replenisher main body 210. That is, the lower door plate 270 is divided into two sections in the width direction thereof, and due to the different lengths of the two sections, a notch structure and a flange structure are formed, the flange structure being the part where the first part 271 protrudes from the second part 272, and the width of the flange structure (i.e. the width of the first part 271) is set to be less than or equal to the width of the storage channel 11 with the smallest width (i.e. the width of the narrow channel). In this way, the flange structure can extend into any storage channel 11 to complete the butt joint, that is, whether it is a narrow channel or a wide channel, normal replenishment can be ensured.

[0111] As shown in Figure 25 Before the replenisher 200 butts joint the storage channel 11 of the storage shelf, the position of the movable channel side plate 215 needs to be adjusted first, so that the replenishment channel 211 is arranged opposite to the first part 271 (this step is generally completed synchronously when the replenisher 200 takes goods from the buffer station 100, for example, when the goods 12 in the replenishment channel 211 are arranged in order), so that the goods 12 are arranged opposite to the first part 271; then, if the replenisher 200 butts joint a narrow channel, the flange structure of the first part 271 extends into the narrow channel to butt joint the narrow channel, and the goods 12 with smaller width directly pass through the first part 271 into the narrow channel; if the replenisher 200 needs to butt joint a wide channel of the storage channel 11, the first part 271 can also butt joint the wide channel, and the goods 12 with larger width pass through the first part 271 in part, and pass through the second part 272 in the remaining part, and since the front side of the second part 272 forms a notch structure, there is a case that the goods 12 need to cross the notch structure to enter the wide channel, but since the flange structure is lapped in the wide channel, the notch width formed by the notch structure is generally small, and the short lack of support will not affect the normal sliding of the goods 12.

[0112] It needs to be explained that due to the reasons of materials and manual installation, the incoming end of the storage shelf 11 is not necessarily horizontally aligned, which leads to the fact that the lower door plate 270 of the replenisher 200 is not necessarily in the ideal state of a very small distance when it is connected with the storage shelf 11. The front end of the lower door plate 270 is designed to have a notch structure and a flange structure, which is to be able to connect with storage shelves 11 of different widths. The flange structure of the lower door plate 270 is designed according to the minimum width of the shelf, which can ensure stable replenishment when connecting with narrow shelves, and also ensure normal connection when facing wide shelves. The temporary lack of support at the notch structure does not affect the normal sliding of the goods 12. If this design is not adopted and a single width flange structure is provided, if the width of the flange structure is designed according to the width of the narrow shelf, it will cause the goods 12 to fall due to the too large gap when connecting with the wide shelf. If the width of the flange structure is designed according to the width of the wide shelf, it will not be able to fully open the lower door plate 270 due to the obstruction of the shelf side plate 215 when connecting with the narrow shelf, which affects the normal movement of the goods 12.

[0113] In some embodiments, the shelf bottom plate 214 is provided with a ejection limiting mechanism, which includes a movable limiting block 293. The ejection limiting mechanism is provided with an ejection port at the end of the shelf bottom plate 214 close to the goods outlet 213, and the limiting block 293 is movably arranged in the ejection port. The limiting block 293 has a limiting position protruding out of the shelf bottom plate 214 and a avoiding position hidden in the shelf bottom plate 214. The limiting block 293 in the limiting position can limit the movement of the goods 12 along the inclined replenishment shelf 211, and the limiting block 293 in the avoiding position can release the limitation of the goods 12. During the replenishment process, the limiting block 293 of the ejection limiting mechanism moves cyclically, thereby replenishing the goods 12 one by one into the storage shelf 11.

[0114] It needs to be explained that the driving force for switching the limiting block 293 between the limiting position and the avoiding position can come from a power element capable of outputting linear motion, such as a micro-cylinder, etc. Alternatively, a linkage structure can be provided between the lower door plate 270 and the limiting block 293, which includes but is not limited to a connecting rod structure. When the lower door plate 270 is opened, the lower door plate 270 drives the limiting block 293 to move from the limiting position to the avoiding position through the linkage structure. When the lower door plate 270 is closed, the lower door plate 270 drives the limiting block 293 to move from the avoiding position to the limiting position through the linkage structure.

[0115] Continuing to refer to Figures 20 to 22As shown, in order to realize the driving of the lower door plate 270, the replenisher 200 further comprises a driving assembly 280, the driving assembly 280 comprising a driving component 281, a push-pull component 282 and a mounting abutting component 283, the driving component 281 having a telescopic end capable of extending and retracting, the telescopic end of the driving component 281 being connected with the push-pull component 282 and capable of driving the push-pull component 282 to move linearly, and the mounting abutting component 283 being arranged on the lower door plate 270. When the telescopic end of the driving component 281 extends, the push-pull component 282 pushes the mounting abutting component 283 to switch the lower door plate 270 from the open door position to the closed door position; when the telescopic end of the driving component 281 retracts, the push-pull component 282 pulls the mounting abutting component 283 to switch the lower door plate 270 from the closed door position to the open door position.

[0116] It should be noted that one end of the lower door plate 270 is rotatably connected to the end of the goods channel bottom plate 214 close to the goods outlet 213 through a hinge component, and the lower door plate 270 is switched between the open door position and the closed door position through rotation. The linear movement of the push-pull component 282 is driven by the driving component 281 to push or pull the mounting abutting component 283, so that the lower door plate 270 can be switched between the open door position and the closed door position. This linear driving mode makes the structure of the driving assembly 280 compact and occupies less space.

[0117] The driving component 281 can be a mechanism capable of directly outputting linear motion, such as a cylinder, a linear motor, etc., or a combination of a power component capable of outputting rotary motion and a transmission component capable of converting rotary motion into linear motion, such as a combination of a motor and a gear rack, or a combination of a motor and a screw nut, etc.

[0118] Continuing to refer to Figure 21 and Figure 22 As shown, the push-pull component 282 comprises a convex ball 2821, the convex ball 2821 being fixed to the telescopic end of the driving component 281 and abutting against the mounting abutting component 283. When the telescopic end of the driving component 281 extends, the convex ball 2821 moves linearly. It should be noted that the convex ball 2821 is only used to push the mounting abutting component 283 to provide power for the lower door plate 270 to flip upward from the open door position and switch to the closed door position. When the telescopic end of the driving component 281 retracts, the convex ball 2821 retracts accordingly and separates from the mounting abutting component 283. Therefore, the convex ball 2821 cannot provide pulling force to the mounting abutting component 283 during the retraction of the convex ball 2821, and cannot drive the lower door plate 270 to rotate to the open door position.

[0119] In order to enable the lower door plate 270 to rotate to the open door position, continuing to refer to Figure 21 and Figure 22As shown, the push-pull piece 282 further comprises a reset elastic body 2822 and a fixing plate 2823, the fixing plate 2823 is fixed at the telescopic end of the driving component 281, and the reset elastic body 2822 is connected between the mounting abutting piece 283 and the fixing plate 2823, and pushes or pulls back the mounting abutting piece 283.

[0120] It should be noted that the reset elastic body 2822 plays a role in the process of pushing the lower door plate piece 270 to the closed door position or pulling back the lower door plate piece 270 to the open door position. Moreover, when the lower door plate piece 270 is at the open door position as shown in Figure 21 , the reset elastic body 2822 has a pre-tightening force, which decreases first and then increases in the process of switching the lower door plate piece 270 from the open door position to the closed door position. The reset elastic body 2822 is provided to enable softer driving of the lower door plate piece 270 to open or close the door, and does not cause large mechanical damage to the hinge piece that realizes the rotational connection between the lower door plate piece 270 and the goods channel bottom plate 214 in the process of driving the lower door plate piece 270 to turn upward to close the door and turn downward to open the door, which is beneficial to improve the service life of the hinge piece and reduce the cost. The driving of the lower door plate piece 270 by the driving assembly 280 has better flexibility, high accuracy, and low possibility of connection failure. Figure 21

[0121] Optionally, the reset elastic body 2822 is a tension spring, a first tension spring hole is provided on the fixing plate 2823, and a second tension spring hole is provided on the mounting abutting piece 283, and the two ends of the tension spring are respectively hooked on the first tension spring hole and the second tension spring hole. When the lower door plate piece 270 is closed, the reset elastic body 2822 can drive the lower door plate piece 270 to turn downward to open the door by pulling the mounting abutting piece 283, so that the opening and closing rate is improved, and the opening accuracy is improved.

[0122] Further, in order to avoid the lower door plate piece 270 from being excessively opened, a limiting structure is further provided at the lower end of the goods channel bottom plate 214, and when the lower door plate piece 270 is turned downward to the state as shown in Figure 20 , the limiting structure can abut against the lower door plate piece 270, so as to avoid the lower door plate piece 270 from continuing to turn downward. Optionally, the limiting structure can be a block-shaped structure, a columnar structure, etc. with a limiting function, and the specific structure thereof is not limited.

[0123] Continuing to refer to Figure 19 and Figure 26 , the replenisher 200 further comprises a goods detection piece 292, which is provided on the lower door plate piece 270 and is directed toward the storage goods channel 11 when the lower door plate piece 270 is at the closed door position, and is used to detect the inventory of the goods 12 in the storage goods channel 11 to determine whether the storage goods channel 11 has a replenishment demand.

[0124] ​Optionally, the goods detection member 292 is a distance measuring sensor, which is installed on the installation abutting member 283 and is capable of emitting a detection light parallel to the direction of the storage channel 11 when the lower door plate member 270 is in the closed position, and the detection light penetrates into the storage channel 11.

[0125] It should be noted that after the replenisher 200 reaches the storage channel 11 that needs to be replenished on the storage shelf, the goods 12 in the storage channel 11 need to be detected by the distance measuring sensor first. The specific detection method is to measure whether there is goods 12 within a certain distance range by the distance measuring sensor. If there is no goods 12, it can be verified that the storage channel 11 needs to be replenished. At this time, the lower door plate member 270 is directly controlled to open to form a docking slide, and then the replenishment is directly started. Not only the replenishment accuracy is ensured, the wrong replenishment probability is reduced, and the design is ingenious, no additional movement and positioning are needed. If the detected distance is not correct, for example, the detected distance is very small, which means that the storage channel 11 is full of goods 12, and the information that the storage channel 11 needs to be replenished is wrong.

[0126] Continuing to refer to Figure 17 It should be noted that after the replenisher 200 reaches the storage channel 11 that needs to be replenished on the storage shelf, the goods 12 in the storage channel 11 need to be detected by the distance measuring sensor first. The specific detection method is to measure whether there is goods 12 within a certain distance range by the distance measuring sensor. If there is no goods 12, it can be verified that the storage channel 11 needs to be replenished. At this time, the lower door plate member 270 is directly controlled to open to form a docking slide, and then the replenishment is directly started. Not only the replenishment accuracy is ensured, the wrong replenishment probability is reduced, and the design is ingenious, no additional movement and positioning are needed. If the detected distance is not correct, for example, the detected distance is very small, which means that the storage channel 11 is full of goods 12, and the information that the storage channel 11 needs to be replenished is wrong.

[0127] Optionally, the goods detection member 292 is a distance measuring sensor, which is installed on the installation abutting member 283 and is capable of emitting a detection light parallel to the direction of the storage channel 11 when the lower door plate member 270 is in the closed position, and the detection light penetrates into the storage channel 11.

[0128] Continuing to refer to Figures 13 to 16 It should be noted that after the replenisher 200 reaches the storage channel 11 that needs to be replenished on the storage shelf, the goods 12 in the storage channel 11 need to be detected by the distance measuring sensor first. The specific detection method is to measure whether there is goods 12 within a certain distance range by the distance measuring sensor. If there is no goods 12, it can be verified that the storage channel 11 needs to be replenished. At this time, the lower door plate member 270 is directly controlled to open to form a docking slide, and then the replenishment is directly started. Not only the replenishment accuracy is ensured, the wrong replenishment probability is reduced, and the design is ingenious, no additional movement and positioning are needed. If the detected distance is not correct, for example, the detected distance is very small, which means that the storage channel 11 is full of goods 12, and the information that the storage channel 11 needs to be replenished is wrong. Figures 13 to 16

[0129] ​Before the replenisher 200 replenishes a certain storage channel 11 of the storage shelf, the inventory of the goods 12 in the storage channel 11 needs to be counted to determine the replenishment quantity. In order to count the goods 12 in the storage channel 11, as shown in Figure 13 、 Figure 14 、 Figures 27 to 32 The replenisher further comprises a counter 500, the counter 500 comprises an extending structure 510 and a counting structure 520, the extending structure 510 is movably arranged relative to the replenisher 200, and is movably arranged on the replenisher body 210 or the loading table 300, and the counting structure 520 is arranged at the end of the extending structure 510. With the movement of the extending structure 510, the counting structure 520 can enter the storage channel 11 through the channel entrance 101 to count the goods 12 in the storage channel 11.

[0130] Compared with the laser counting method in the prior art, the counting structure 520 of the counter 500 can extend into the storage channel 11 through the channel entrance 101 to detect at a relatively closer distance, which can reduce the influence of the deformation of the storage channel 11 caused by various reasons on the detection, that is, the correctness of the detection of the target goods 12 can be effectively ensured in the case of close-range detection, thereby improving the accuracy of the counting and significantly reducing the error rate. Compared with the manual counting method, the counting structure 520 of the counter 500 can more efficiently and accurately detect the goods 12 and obtain the inventory data.

[0131] It should be noted that in order to obtain the inventory number n of the goods 12, the following parameters are known: 1, the length L of the storage channel 11; 2, the extension stroke L1 of the extending structure 510 when the counting structure 520 detects the goods 12; 3, the length L2 of the goods 12 in the storage channel 11; 4, the distance L3 between the counting structure 520 and the goods 12 when the counting structure 520 detects the goods 12; 5, the distance L4 between the counting structure 520 and the channel entrance 101 when the extending structure 510 is not extended, wherein n=(L-L1+L4-L3) / L2, and the number N of the goods 12 to be replenished in the channel =L / L2-n.

[0132] In one embodiment, the extending structure 510 is an elongated rod.

[0133] In one embodiment, the inventory structure 520 is one of a laser ranging sensor, an infrared ranging sensor, a micro switch and a pressure sensor. It should be noted that the inventory structure 520 can also be set as other sensors according to requirements, as long as it can detect signals in a short distance.

[0134] In order to drive the extension structure 510 to move, the inventory device 500 further comprises a telescopic drive 540, which is in transmission connection with the extension structure 510 and is used to drive the extension structure 510 to move in a direction substantially parallel to the extending direction of the storage channel 11.

[0135] In some embodiments, the telescopic drive 540 comprises a telescopic motor 541 and a synchronous belt structure 542, the synchronous belt structure 542 comprises a driving wheel 5421, a driven wheel 5423 and a synchronous belt 5422, the driving wheel 5421 and the driven wheel 5423 are arranged in a spaced manner and are rotatable, the synchronous belt 5422 is sleeved on the driving wheel 5421 and the driven wheel 5423, the motor shaft of the telescopic motor 541 is in transmission connection with the driving wheel 5421, and the extension structure 510 is connected to the synchronous belt 5422 of the synchronous belt structure 542. Of course, in other embodiments, the telescopic drive 540 can also be other structures capable of outputting linear motion, such as a pneumatic cylinder, a linear motor, a combination of a motor and a gear rack, etc.

[0136] In order to fix the telescopic drive 540, it is continued to refer to Figure 28 As shown in the figure, the inventory device 500 further comprises a track member 550 for supporting the extension structure 510 and mounting the telescopic motor 541 and the synchronous belt structure 542, the extension structure 510 is movably arranged on the track member 550, and the extension structure 510 has an extension state of extending out of the track member 550 and a recovery state of being recovered to overlap with the track member 550.

[0137] Optionally, the track member 550 is fixed to the side of the replenisher main body 210 through a plurality of second mounting plates 584 in an L shape.

[0138] Optionally, the track member 550 is substantially in a cuboid shape, as Figure 32As shown, the track piece 550 includes a first side plate 554, a first mounting plate 551, a second side plate 555 and a track plate 552 connected in sequence, the first side plate 554 and the second side plate 555 are oppositely arranged, the first mounting plate 551 and the track plate 552 are oppositely arranged, the height of the first side plate 554 is less than the height of the second side plate 555, so that an opening is formed between the first side plate 554 and the track plate 552 to facilitate the installation of the synchronous belt structure 542 in the space inside the track piece 550. Specifically, the telescopic motor 541 is fixed below the first mounting plate 551, the driving wheel 5421 and the driven wheel 5423 are both rotatably connected to the first mounting plate 551, and the extension structure 510 is movably arranged on the upper surface of the track plate 552.

[0139] In order to improve the moving accuracy of the extension structure 510, as shown in Figure 31 As shown, the inventory counter 500 further comprises a limiting piece 583, which is fixedly arranged relative to the restocker 200, one of the limiting piece 583 and the extension structure 510 is provided with a limiting groove 511, and the other is provided with a limiting protrusion, the limiting protrusion is slidingly limited in the limiting groove 511, so as to realize the guidance of the extension structure 510 and prevent the extension structure 510 from swinging left and right during movement. Optionally, continuing to refer to Figure 32 As shown, the track piece 550 further comprises a third mounting plate 553, which is arranged above the track plate 552, and the limiting piece 583 is mounted on the third mounting plate 553. Further optionally, the third mounting plate 553 is L-shaped. Optionally, the track piece 550 is an integrally formed piece, which is cut and bent to form the shape as shown in Figure 32 As shown.

[0140] In order to make the extension structure 510 better adapt to the possible deformation of the storage channel 11, continuing to refer to Figure 28 As shown, the inventory counter 500 further comprises a moving piece 530 which is movable relative to the restocker 200, and an end of the extension structure 510 away from the inventory structure 520 is rotatably connected to the moving piece 530. In an embodiment, continuing to refer to Figure 29 As shown, one end of the moving piece 530 is fixedly connected to the synchronous belt 5422, and the other end is formed with a first hinged seat 581, the end of the extension structure 510 is provided with a second hinged seat 582, and the first hinged seat 581 and the second hinged seat 582 are hinged through a hinge shaft. In an embodiment, one end of the moving piece 530 is fixed to the synchronous belt 5422 through a synchronous belt pressing plate.

[0141] In this way, the extension structure 510 can swing up and down at an angle when the storage channel 11 is deformed, so as to better adapt to the deformation of the storage channel 11, and always keep the detection direction of the inventory structure 520 parallel to the tangent direction of the bottom surface of the storage channel 11, thereby better ensuring the correctness of the detection target.

[0142] With reference back to Figure 30 As shown in the figure, the inventory device 500 further comprises a first supporting wheel 560, which is rotatably connected to the extension structure 510 and rolls on the track plate 552 of the track member 550. The extension structure 510 is supported by the first supporting wheel 560, so as to improve the stability of the movement of the extension structure 510. Optionally, a plurality of first supporting wheels 560 are symmetrically arranged on both sides of the extension structure 510.

[0143] With reference back to Figure 30 As shown in the figure, the inventory device 500 further comprises a second supporting wheel 570, which is rotatably connected to the inventory structure 520 and rolls on the track plate 552 of the track member 550. The inventory structure 520 is supported by the second supporting wheel 570 at a suitable detection height. The first supporting wheel 560 and the second supporting wheel 570 cooperate to keep the extension structure 510 straight and not swing down before the inventory structure 520 enters the storage channel 11.

[0144] It should be noted that the automated warehouse further comprises a control mechanism, which can be a centralized or distributed controller. For example, the controller can be a single microcontroller or a plurality of microcontrollers distributed in a distributed manner. The microcontroller can run a control program to control the automatic picking system 10 and the automatic replenishment system 20 to realize their respective functions.

[0145] Obviously, the above embodiments of the present application are only examples for clear illustration of the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the scope of the present application. It is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A replenisher characterized by, The replenishment device is liftable, and the replenishment device comprises: a replenishment device body (210) on which a replenishment goods channel (211) is obliquely arranged, the replenishment goods channel (211) comprising a goods outlet (213) at a low position and being used for accommodating goods (12); a lower door plate member (270) movably arranged at the goods outlet (213) and having an open door position for opening the goods outlet (213) and a close door position for closing the goods outlet (213).

2. The replenisher according to claim 1, characterized in that, The replenishment device body (210) comprises a goods channel bottom plate (214) forming the replenishment goods channel (211) and two goods channel side plates (215), at least one of the goods channel side plates (215) being movable to adjust the width of the replenishment goods channel (211).

3. The replenisher according to claim 2, characterized in that, The replenishment device further comprises a variable-distance driving member (240) comprising a variable-distance motor (241), a lead screw (242) and a nut block (243), a motor shaft of the variable-distance motor (241) being in transmission connection with one end of the lead screw (242), the nut block (243) being threadedly connected on the lead screw (242) and forming a lead screw and nut pair, the nut block (243) being connected with the movable goods channel side plate (215); and / or, the replenishment device further comprises a side plate detection member (260) arranged on the replenishment device body (210) and used for detecting the goods channel side plate (215) reset to an initial position.

4. The replenisher according to claim 2, characterized in that, In the width direction of the replenishment goods channel (211), the lower door plate member (270) comprises a first part (271) and a second part (272) connected with each other, in the length direction of the replenishment goods channel (211), one end of the first part (271) away from the replenishment device body (210) protrudes beyond one end of the second part (272) away from the replenishment device body (210) to form a flange structure; wherein the replenishment device is used for replenishing a storage goods shelf, the storage goods shelf comprises a plurality of storage goods channels, and the width of the flange structure is less than or equal to the width of the narrowest storage goods channel among all the storage goods channels.

5. The replenisher according to claim 1, characterized in that, The replenishment device further comprises a driving member (281), a push-pull member (282) and a mounting abutting member (283), a telescopic end of the driving member (281) is connected with the push-pull member (282) and can drive the push-pull member (282) to move linearly, and the mounting abutting member (283) is arranged on the lower door plate member (270); when the telescopic end of the driving member (281) is extended, the push-pull member (282) pushes the mounting abutting member (283) to switch the lower door plate member (270) from the open door position to the close door position; when the telescopic end of the driving member (281) is retracted, the push-pull member (282) pulls the mounting abutting member (283) to switch the lower door plate member (270) from the close door position to the open door position.

6. The replenisher according to claim 5, characterized in that, The push-pull piece (282) comprises a reset elastic body (2822) and a fixing plate (2823), the fixing plate (2823) is fixed at the telescopic end of the driving component (281), the reset elastic body (2822) is connected between the mounting abutting piece (283) and the fixing plate (2823), and the reset elastic body (2822) pushes or pulls back the mounting abutting piece (283); And / or, the push-pull piece (282) comprises a convex ball (2821), the convex ball (2821) is fixed at the telescopic end of the driving component (281), and the convex ball (2821) abuts against the mounting abutting piece (283) and can push the mounting abutting piece (283).

7. The replenisher according to claim 1, characterized in that, The replenishment device is used for replenishing a storage shelf, and the storage shelf comprises a storage channel (11); The replenishment device further comprises a goods detection piece (292), the goods detection piece (292) is arranged on the lower door plate piece (270), the lower door plate piece (270) in the closed position makes the goods detection piece (292) face the storage channel (11), and the goods detection piece (292) is used for detecting goods (12) in the storage channel (11); And / or, the replenishment device further comprises an out-of-stock detection piece (291), the out-of-stock detection piece (291) is arranged on the lower door plate piece (270), and the out-of-stock detection piece (291) is used for detecting the goods (12) remaining at the lower door plate piece (270).

8. The replenisher according to claim 1, characterized in that, The replenishment device body (210) comprises a channel bottom plate (214) forming the replenishment channel (211), the channel bottom plate (214) is provided with an ejection limiting mechanism, the ejection limiting mechanism comprises a movable limiting block (293), the limiting block (293) has a limiting position protruding out of the channel bottom plate (214) and a avoiding position hidden in the channel bottom plate (214).

9. A replenishment device, characterized by Comprise: A walking mechanism, the walking mechanism comprises a vertical guide structure (400); A loading platform (300), the loading platform (300) is arranged on the guide structure (400) in a lifting manner; The replenishment device according to any one of claims 1-8, the replenishment device is arranged on the loading platform (300).

10. The replenishment device according to claim 9, characterized in that The replenishment devices are arranged side by side, and the replenishment channel (211) of each replenishment device can accommodate the goods (12).

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