Goods storing and taking mechanism, goods storing and taking robot and system

Abstract

The utility model discloses a cargo storing and taking mechanism, a cargo storing and taking robot and a cargo storing and taking system, relates to the field of automatic cargo storing and taking, and aims to meet the storing and taking requirements of various cargoes in different shapes. The goods storing and taking mechanism comprises a supporting base, a clamping mechanism and a blocking mechanism. The supporting seat comprises a supporting piece; the clamping mechanism comprises a sliding assembly and clamping parts arranged in pairs, the sliding assembly is slidably installed on the supporting piece in the first direction, and the clamping parts are movably installed on the sliding assembly in the second direction. The blocking mechanism comprises a second blocking piece and a first blocking piece, the second blocking piece is installed on the supporting piece, and the first blocking piece is movably installed on the sliding assembly in the third direction; wherein the first direction and the second direction are located in the horizontal plane and intersect, and the third direction is different from the first direction and the second direction. The goods storing and taking mechanism can be suitable for goods in regular shapes and goods in irregular shapes, the working modes are multiple, and the functions are richer.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic goods storage and taking field, concretely relates to a goods storage and taking mechanism, goods storage and taking robot and system. BACKGROUND

[0002] Box medicine and bottle medicine are common medicine kinds, these medicines are more neat and regular in shape, and the medicine taking machine can adopt the clamping mode to take out the goods in the related art.

[0003] The inventor finds that at least the following problems exist in the prior art: the types of medicines are more and more rich at present, and the shape of some medicines is not a regular cuboid shape, and the medicine taking machine cannot take out the special-shaped medicine. UTILITY MODEL CONTENT

[0004] The utility model provides a goods storage and taking mechanism, goods storage and taking robot and system to satisfy the storage and taking demand of various different shape goods.

[0005] The utility model embodiment provides a goods storage and taking mechanism, which comprises:

[0006] A support seat comprising a support piece;

[0007] A clamping mechanism comprising a sliding assembly and a pair of clamping parts, the sliding assembly being slidably mounted on the support piece along a first direction, and the clamping parts being movably mounted on the sliding assembly along a second direction; and

[0008] A blocking mechanism comprising a second blocking piece and a first blocking piece, the second blocking piece being mounted on the support piece, and the first blocking piece being movably mounted on the sliding assembly along a third direction;

[0009] The first direction and the second direction are located in a horizontal plane and intersect with each other, and the third direction is different from the first direction and the second direction.

[0010] In some embodiments, the sliding assembly comprises:

[0011] A frame comprising a first column, a second column and a connecting column, the first column and the second column being dispersedly arranged, one end of the connecting column being fixedly connected with the first column, and the other end of the connecting column being fixedly connected with the second column, the first column slidably clamping one end of the support piece in the second direction, and the second column slidably clamping the other end of the support piece in the second direction; and

[0012] A first driving part mounted on one of the first column, the second column and the connecting column;

[0013] A first transmission mechanism; and

[0014] a pair of first connecting members, each of the first connecting members being drivingly connected with the first driving part via the first transmission mechanism to move along the second direction under the driving of the first driving part.

[0015] In some embodiments, the first transmission mechanism comprises:

[0016] a first gear fixedly connected with an output shaft of the first driving part;

[0017] a first rack engaged with the first gear; and

[0018] a second rack engaged with the first gear and arranged in parallel with the first rack;

[0019] one of the first connecting members is fixedly connected with the first rack, and the other of the first connecting members is fixedly connected with the second rack.

[0020] In some embodiments, the first transmission mechanism further comprises:

[0021] a pair of first guiding parts fixedly installed on the connecting column, each of the first guiding parts being arranged side by side along a moving direction of the first rack, and the first gear being located between the pair of the first guiding parts;

[0022] one of the first connecting members is slidably installed on one of the first guiding parts, and the other of the first connecting members is slidably installed on the other of the first guiding parts; one of the clamping parts is fixedly connected with one of the first connecting members, and the other of the clamping parts is fixedly connected with the other of the first connecting members.

[0023] In some embodiments, the blocking mechanism further comprises:

[0024] a second driving part installed on the first column, the second column or the connecting column; and

[0025] a second transmission mechanism drivingly connected with the second driving part to rotate under the driving of the second driving part;

[0026] the first blocking member is installed on the second transmission mechanism to rotate with the second transmission mechanism in a third direction.

[0027] In some embodiments, the second transmission mechanism comprises:

[0028] an output shaft gear fixedly connected with a power output shaft of the second driving part;

[0029] second gears arranged in pairs, one of the second gears being engaged with the output shaft gear;

[0030] half gears arranged in pairs, the half gears corresponding one-to-one to the second gears and being engaged with the second gears to rotate under the driving of the second gears; and

[0031] connecting shafts for fixedly connecting each of the half gears arranged in pairs or for fixedly connecting the two second gears;

[0032] one end of the first blocking member is fixedly connected to one of the half gears, and the other end of the first blocking member is fixedly connected to the other half gear.

[0033] In some embodiments, the second transmission mechanism further comprises:

[0034] third connecting members arranged in pairs, the third connecting members corresponding one-to-one to the half gears and being fixedly connected to the half gears; one end of the first blocking member along the second direction is fixedly connected to one of the third connecting members, and the other end of the first blocking member along the second direction is fixedly connected to the other third connecting member.

[0035] In some embodiments, the first blocking member comprises a first limit position and a second limit position;

[0036] when the first blocking member is in the first limit position, along the second direction, the first blocking member is in contact with the support member, and the first blocking member is located between the clamping portions arranged in pairs; the first blocking member is configured to push the goods out of the support member along with the movement of the sliding assembly along the first direction; or, the first blocking member is configured to block the goods to prevent the goods from falling from the support member at one end where the first blocking member is arranged;

[0037] when the first blocking member is in the second limit position, the first blocking member is located outside the movement track of each clamping portion along the second direction, and the clamping portion is movable in the second direction.

[0038] In some embodiments, the clamping mechanism further comprises:

[0039] a third driving portion mounted at the bottom of the support member; and

[0040] a third transmission mechanism drivingly connected to the third driving portion and fixedly connected to the sliding assembly; the sliding assembly is configured to move linearly along the first direction with the third transmission mechanism under the driving of the third driving portion.

[0041] In some embodiments, the third transmission mechanism comprises:

[0042] A first guide rail is fixedly installed on the support base;

[0043] A second guide part is slidably installed on the first guide rail; the sliding assembly is fixedly installed on the second guide part;

[0044] A belt wheel is fixedly connected with the output shaft of the third driving part;

[0045] A first belt is installed on the bottom of the support base; the first belt is engaged with the belt wheel; the sliding assembly is fixedly connected with the first belt.

[0046] In some embodiments, the blocking mechanism further comprises:

[0047] A fourth driving part is installed on the support member; and

[0048] A fourth transmission mechanism is drivingly connected with the fourth driving part;

[0049] The second blocking member is rotatably installed on one end of the support member along the first direction, and the fourth driving part is drivingly connected with the second blocking member to switch the second blocking member between the standing state and the lying state.

[0050] In some embodiments, the fourth transmission mechanism comprises:

[0051] A crank, one end of which is fixedly connected with the power output shaft of the fourth driving part; and

[0052] A connecting rod, one end of which is rotatably connected with the other end of the crank, and the other end of which is rotatably connected with the second blocking member;

[0053] The fourth driving part is located at the bottom of the support member, and the crank and the connecting rod are also located at the bottom of the support member.

[0054] In some embodiments, the goods access mechanism further comprises:

[0055] A limiting member is installed on the support member and located at the end of the support member away from the second blocking member.

[0056] In some embodiments, the first blocking member is provided with a receiving groove configured to avoid the limiting member; when the first blocking member is in the first limit position, the limiting member is located in the receiving groove.

[0057] In some embodiments, the goods access mechanism is configured to include the following special-shaped goods taking state:

[0058] The limiting piece is located between the first blocking piece in the first limit position and the second blocking piece in the standing state along the first direction;

[0059] The first blocking piece is located between the pair of clamping parts along the second direction;

[0060] The first blocking piece, the second blocking piece, and the pair of clamping parts jointly form a top-open storage frame.

[0061] In some embodiments, the cargo access mechanism is configured to include the following irregular cargo unloading state:

[0062] The first blocking piece in the first limit position is located between the limiting piece and the second blocking piece in the flat state along the first direction, or the first blocking piece in the first limit position accommodates the limiting piece through its own accommodating slot; the first blocking piece is located between the pair of clamping parts along the second direction;

[0063] The first blocking piece pushes the cargo located on the support out of the support along with the movement of the sliding assembly along the first direction.

[0064] In some embodiments, the cargo access mechanism includes a regular cargo taking state:

[0065] The first blocking piece is in the second limit position; along the first direction, the first blocking piece is located on the side of each clamping part away from the second blocking piece; along the second direction, the first blocking piece is located outside the movement track of the clamping part; the second blocking piece is in the flat state; the clamping part extends out of the support seat along with the movement of the sliding assembly along the first direction, and the clamping part is retracted in the second direction to clamp the cargo located outside the support.

[0066] In some embodiments, the cargo access mechanism includes a regular cargo unloading state:

[0067] The first blocking piece is in the second limit position; along the first direction, the first blocking piece is located on the side of each clamping part away from the second blocking piece; along the second direction, the first blocking piece is located outside the movement track of the clamping part; the second blocking piece is in the flat state; the clamping part is retracted in the second direction to clamp the cargo located on the support; the clamping part extends out of the support seat along with the movement of the sliding assembly along the first direction to send the clamped cargo outside the support.

[0068] In some embodiments, the cargo access mechanism includes a regular cargo unloading state:

[0069] The first blocking piece is in the first limit position; along the first direction, the first blocking piece is located between the limiting piece and the second blocking piece in the flat state, and the first blocking piece is located between a pair of clamping parts;

[0070] Wherein, the first blocking piece is pushed out of the support along with the sliding assembly moving along the first direction.

[0071] In some embodiments, the goods access mechanism is configured to cooperate with a packing machine downstream of the goods access mechanism, the packing machine being configured to receive the goods sent out from the support and pack the goods.

[0072] Embodiments of the utility model also provide a goods access robot, comprising:

[0073] A supporting arm; and

[0074] The goods access mechanism provided by any of the technical solutions of the utility model can be rotatably installed on the supporting arm.

[0075] In some embodiments, the goods access robot further comprises:

[0076] A fifth driving part is installed on the supporting arm; and

[0077] A fifth transmission mechanism is drivingly connected with the fifth driving part, and the fifth transmission mechanism is fixedly connected with the goods access mechanism, so that the goods access mechanism rotates under the driving of the fifth driving part.

[0078] In some embodiments, the fifth transmission mechanism comprises:

[0079] A third gear is fixedly connected with the power output shaft of the fifth driving part; the third gear is installed on the supporting arm; and

[0080] A fourth gear is installed on the bottom of the support seat and is engaged with the third gear.

[0081] In some embodiments, the goods access robot further comprises:

[0082] A supporting column;

[0083] A sixth driving part is installed on the supporting column; and

[0084] A sixth transmission mechanism is drivingly connected with the sixth driving part, and the sixth transmission mechanism is fixedly connected with the supporting arm, so that the goods access mechanism moves along the supporting column under the driving of the sixth driving part.

[0085] In some embodiments, the sixth transmission mechanism comprises:

[0086] a first synchronous wheel mounted at one end of the support column; the first synchronous wheel is fixedly connected with a power output shaft of the sixth driving part;

[0087] a second synchronous wheel mounted at the other end of the support column;

[0088] a synchronous belt tensioned by the first synchronous wheel and the second synchronous wheel; the goods access mechanism is mounted on the synchronous belt to ascend and descend with rotation of the synchronous belt;

[0089] a second guide rail mounted on the support column; and

[0090] a third guide part slidably mounted on the second guide rail, and the goods access mechanism is fixedly mounted on the third guide part.

[0091] In some embodiments, the goods access robot further comprises:

[0092] a walking mechanism mounted on the support column to realize walking of the support column in the medicine storage cabinet.

[0093] Embodiments of the utility model further provide a goods access system comprising the goods access robot provided by any of the technical solutions of the utility model.

[0094] In some embodiments, the goods access system further comprises:

[0095] a medicine storage cabinet comprising a first storage area and a second storage area; the first storage area is configured to clamp and store goods by the goods access robot; and the second storage area is configured to deliver goods to the goods access robot.

[0096] In some embodiments, the goods access system further comprises:

[0097] a packing machine located downstream of the medicine storage cabinet to pack the goods taken out of the medicine storage cabinet by the goods access robot.

[0098] In some embodiments, the goods access system further comprises:

[0099] a delivery cabinet located downstream of the packing machine to store the goods packed by the packing machine.

[0100] The goods storage and taking mechanism provided by the technical scheme has multiple working states, and is mainly suitable for storing and taking medicines and goods of similar size and dimension. For regular-shaped goods, a clamping part is used to clamp and take; for irregular-shaped goods, a storage frame with an open top is formed, and the irregular-shaped goods are directly pushed into the storage frame to realize taking. Moreover, the periphery of the storage frame is blocked, and the irregular-shaped goods can be firmly placed on the support, and the irregular-shaped goods are not easy to fall, and the taking operation is reliable. When storing goods, the clamping part can also be used to clamp and take regular-shaped goods to realize taking. It can be seen that the goods storage and taking mechanism can be suitable for regular-shaped goods and irregular-shaped goods, and has multiple working modes and more abundant functions. BRIEF DESCRIPTION OF DRAWINGS

[0101] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0102] Figure 1 A three-dimensional structure schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0103] Figure 2 Another three-dimensional structure schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0104] Figure 3 Still another three-dimensional structure schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0105] Figure 4 A three-dimensional structure schematic view of a sliding assembly of the goods storage and taking mechanism provided by the embodiment of the present application.

[0106] Figure 5 A schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0107] Figure 6 Another schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0108] Figure 7 A schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0109] Figure 8 A schematic view of the goods storage and taking mechanism provided by the embodiment of the present application.

[0110] Figure 9 A three-dimensional structure schematic view of the goods storage and taking robot provided by the embodiment of the present application.

[0111] Figure 10Another three-dimensional structure schematic view of the goods storage and taking robot is provided for the embodiment of the utility model.

[0112] Figure 11 A three-dimensional structure schematic view of the goods storage and taking system is provided for the embodiment of the utility model.

[0113] Figure 12 Another three-dimensional structure schematic view of the goods storage and taking system is provided for the embodiment of the utility model.

[0114] Figure 13 Still another three-dimensional structure schematic view of the goods storage and taking system is provided for the embodiment of the utility model.

[0115] Figure 14 A structure schematic view at the second storage area of the goods storage and taking system is provided for the embodiment of the utility model.

[0116] Figure 15 A goods taking and unloading method schematic view is provided for the embodiment of the utility model.

[0117] Reference signs:

[0118] 100, medicine storage cabinet; 200, packing machine; 300, express cabinet; 400, goods; 500, goods storage and taking robot;

[0119] 1, support base; 2, clamping mechanism; 3, blocking mechanism; 4, limiting piece; 5, supporting arm; 6, fifth driving part; 7, fifth transmission mechanism; 8, supporting column; 9, sixth driving part; 10, sixth transmission mechanism; 12, walking mechanism;

[0120] 11, supporting piece;

[0121] 21, sliding assembly; 22, clamping part; 23, third driving part; 24, third transmission mechanism;

[0122] 211, frame; 2121, first driving part; 2122, first transmission mechanism; 2123, first connecting piece;

[0123] 2111, first stand column; 2112, second stand column; 2113, connecting column;

[0124] 2122a, first gear; 2122b, first rack; 2122c, second rack; 2122d, first guide part;

[0125] 240, first guide rail; 241, second guide part; 242, pulley; 243, first belt;

[0126] 31, first blocking member; 32, second blocking member; 33, second driving portion; 34, second transmission mechanism; 35, fourth driving portion; 36, fourth transmission mechanism; 311, accommodating groove;

[0127] 341, second gear; 342, half gear; 343, connecting shaft; 344, third connecting member;

[0128] 360, connecting rod; 361, crank;

[0129] 71, third gear; 72, fourth gear;

[0130] 101, first synchronous wheel; 102, second synchronous wheel; 103, synchronous belt; 104, third guide portion;

[0131] 1001, first storage area; 1002, second storage area; 1003, track conveyor; 1003a, conveying belt; 1003b, partition. DETAILED DESCRIPTION

[0132] The following detailed description is provided to understand the present application. Figures 1-15 The technical solutions of the present application are described in more detail. The description of the exemplary embodiments is merely illustrative, and is in no way limiting on the present disclosure and its applications or uses. The present disclosure can be implemented in many different forms, and is not limited to the embodiments introduced here. These embodiments are provided to make the present disclosure thorough and complete, and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that: unless otherwise specified, the relative arrangement of components and steps, the composition of materials, numerical expressions and values set forth in these embodiments should be interpreted as merely exemplary, and not as limiting.

[0133] The "first", "second" and similar words used in the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different parts. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements.

[0134] In the present disclosure, when it is described that a specific device is located between a first device and a second device, there can be an intervening device between the specific device and the first device or the second device, or there can be no intervening device. When it is described that a specific device is connected to other devices, the specific device can be directly connected to other devices without an intervening device, or it can not be directly connected to other devices with an intervening device.

[0135] All of the terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by a person having ordinary knowledge in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted in the same meaning as their meanings in the context of the relevant art, and should not be interpreted in an idealized or extremely formalized sense, unless otherwise defined explicitly herein.

[0136] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail, but where appropriate, the techniques, methods, and apparatus are regarded as part of the specification.

[0137] The dimensions of the various parts shown in the drawings are not necessarily to scale. Identical structural elements or elements of the same kind are designated by the same reference numerals in the various figures and repeated description thereof is appropriately omitted.

[0138] In the following description of specific embodiments, reference is made to Figure 1 The length direction of the support 11 is defined as the first direction X, the second direction of the support 11 is defined as the second direction Y, and the moving direction of the first blocking piece 31 is defined as the third direction W. The vertical direction perpendicular to the first direction X and the second direction Y is defined as the fourth direction Z. The moving mode of the first blocking piece 31 can be linear movement or rotation. In the embodiments herein, the moving mode of the first blocking piece 31 is taken as rotation for description.

[0139] The goods storage and retrieval mechanism provided by the embodiments of the present application can be used to store and retrieve various different shaped goods 400 or similar articles, such as bagged medicine, rectangular cuboid shaped goods 400, and goods 400 of special shape. In the embodiments herein, the storage and retrieval object is taken as the goods 400. The regular shaped goods 400 herein refers to regular shaped goods 400 such as rectangular cuboid and cylinder. The irregular shaped goods 400 refers to goods 400 such as bagged medicine and toothpaste shaped goods.

[0140] Figure 1 A three-dimensional structural schematic view of the goods storage and retrieval mechanism provided by the embodiments of the present application. Figure 2 Another three-dimensional structural schematic view of the goods storage and retrieval mechanism provided by the embodiments of the present application. Figure 3 Still another three-dimensional structural schematic view of the goods storage and retrieval mechanism provided by the embodiments of the present application. Figure 4 A three-dimensional structural schematic view of the sliding assembly of the goods storage and retrieval mechanism provided by the embodiments of the present application. Figure 5 A schematic view of the goods storage and retrieval mechanism provided by the embodiments of the present application. Figure 6 Another schematic view of the goods storage and retrieval mechanism provided by the embodiments of the present application.Figure 7 A schematic view of the goods storage and taking mechanism clamping one goods 400 is shown in the figure. Figure 8 A schematic view of the goods storage and taking mechanism clamping multiple goods 400 is shown in the figure.

[0141] Referring to Figures 1-3 , the utility model provides a kind of goods storage and taking mechanism, including support seat 1, clamping mechanism 2 and blocking mechanism 3.Support seat 1 includes support piece 11.Clamping mechanism 2 includes sliding assembly 21 and the clamping portion 22 of being arranged in pairs, sliding assembly 21 is slidably installed on support piece 11 along first direction, and clamping portion 22 is movably installed on sliding assembly 21 along second direction.Blocking mechanism 3 includes second blocking piece 32 and first blocking piece 31, second blocking piece 32 is installed on support piece 11, and first blocking piece 31 is movably installed on sliding assembly 21 along third direction.Wherein, first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction and second direction.First direction is specifically X direction, and second direction is specifically Y direction.

[0142] Support seat 1 specifically adopts flat plate, and plate-shaped support piece 11 is light in weight, and bearing effect is good, and the support area of goods 400 is large.In addition, the edge of support seat 1 is connected with sliding assembly 21, and sliding assembly and clamping portion 22 installed on sliding assembly can be moved linearly in first direction relative to support seat 1 as a whole.The moving distance of sliding assembly is slightly shorter than the length of support seat 1.

[0143] Clamping mechanism 2 has two direction movements: first movement is linear movement along X direction, so that the position of clamping assembly relative to support seat 1 can be changed, so that the clamping portion 22 of clamping mechanism 2 can extend to the outside of support seat 1, as shown in Figure 5 The position of sliding assembly and clamping portion 22 is shown in the figure.Second movement is the movement of a pair of clamping portions 22 in Y direction, to change the distance of a pair of clamping portions 22 in Y direction, so that goods 400 located outside support seat 1 can be clamped, as shown in Figure 5 The position of two clamping portions 22 is shown in the figure.

[0144] Blocking mechanism 3 plays a blocking role, and blocking mechanism 3 includes first blocking piece 31 and second blocking piece 32.

[0145] The first blocking piece 31 has two extreme positions: a first extreme position and a second extreme position. When the first blocking piece 31 is in the first extreme position, the first blocking piece 31 is in abutment or substantially abutment with the top surface of the support piece 11 (herein, abutment and substantially abutment are both deemed as abutment of the first blocking piece 31 with the top surface of the support piece 11), and the first blocking piece 31 can play a blocking role to prevent the goods 400 placed on the support piece 11 from falling from the side where the first blocking piece 31 is located. At the same time, when the first blocking piece 31 is in the first extreme position, in the second direction, the first blocking piece 31 is located between the pair of clamping portions 22, and there can be a gap between the first blocking piece 31 and the two clamping portions 22. Since the two clamping portions 22 will be blocked by the first blocking piece 31 when they are closed, the two clamping portions 22 do not perform the closing movement along the second direction when the first blocking piece 31 is in the first extreme position.

[0146] When the first blocking piece 31 is in the second extreme position, the first blocking piece 31 is lifted, and the lifting can be in various ways: linear motion lifting or rotational lifting. In some embodiments herein, the rotational lifting is taken as an example. After being lifted, the first blocking piece 31 moves away from the movement trajectories of the clamping portions 22, and the clamping portions 22 can move in the second direction along the respective movement trajectories. When the two clamping portions 22 move close to each other, the distance between the two clamping portions 22 becomes smaller, and the goods 400 can be clamped. When the two clamping portions 22 move away from each other, the distance between the two clamping portions 22 becomes larger, and the goods 400 can be released. Figure 5 The bidirectional arrow S in the figure schematically shows the moving direction of the two clamping portions 22. The bidirectional arrow S is parallel to the second direction, i.e., the Y direction.

[0147] The second blocking piece 32 also has two states: a standing state and a lying state. When the second blocking piece 32 is in the standing state, the second blocking piece 32 can prevent the goods 400 placed on the support piece 11 from falling from the position where the second blocking piece 32 is located. When the second blocking piece 32 is in the lying state, the goods 400 can be moved from the second blocking piece 32 to the support piece 11, or be pushed out of the support piece 11 by the first blocking piece 31.

[0148] Continuing to refer to Figures 1-4 , in particular Figure 3 and Figure 4In some embodiments, the sliding assembly 21 comprises a frame 211, a first driving part 2121, a first transmission mechanism 2122, and a pair of first connecting members 2123. The frame 211 comprises a first upright column 2111, a second upright column 2112, and a connecting column 2113. The first upright column 2111 and the second upright column 2112 are dispersedly arranged, one end of the connecting column 2113 is fixedly connected with the first upright column 2111, and the other end of the connecting column 2113 is fixedly connected with the second upright column 2112; the first upright column 2111 slidably clamps one end of the support 11 in the second direction, and the second upright column 2112 slidably clamps the other end of the support 11 in the second direction.

[0149] Referring to Figure 3 , the frame 211 is roughly U-shaped, also known as a door-shaped frame. The first upright column 2111 and the second upright column 2112 of the door-shaped frame are arranged in parallel, and the first upright column 2111, the second upright column 2112, and the connecting column 2113 can be integrated or welded or bolted.

[0150] Referring to Figures 2-4 , the first driving part 2121 is specifically, for example, a motor. The first driving part 2121 is installed on one of the first upright column 2111, the second upright column 2112, and the connecting column 2113, and each embodiment herein takes the first driving part 2121 installed on the connecting column 2113 as an example. The first driving part 2121 is arranged at a middle position in the length direction of the connecting column 2113, as shown in Figure 4 . The first transmission mechanism 2122 is fixedly connected with the power output shaft of the first driving part 2121, and converts the rotation of the first driving part 2121 into the linear movement of the first connecting member 2123. Each first connecting member 2123 is drivingly connected with the first driving part 2121 through the first transmission mechanism 2122, so as to linearly move along the second direction under the driving of the first driving part 2121.

[0151] Continuing to refer to Figure 3 and Figure 4 , the first transmission mechanism 2122 specifically comprises a first gear 2122a, a first rack 2122b, and a second rack 2122c. The first gear 2122a is fixedly connected with the output shaft of the first driving part 2121; the first rack 2122b is engaged with the first gear 2122a; the second rack 2122c is engaged with the first gear 2122a and is arranged in parallel with the first rack 2122b. One of the first connecting members 2123 is fixedly connected with the first rack 2122b, and the other second connecting member is fixedly connected with the second rack 2122c.

[0152] When the first gear 2122a rotates in one direction, the first rack 2122b and the second rack 2122c move towards each other, the two first connecting pieces 2123 move towards each other, and the two clamping parts 22 move towards each other. When the first gear 2122a rotates in the opposite direction, the first rack 2122b and the second rack 2122c move away from each other, the two first connecting pieces 2123 move away from each other, and the two clamping parts 22 move away from each other. The first connecting piece 2123 can be a vertical plate. The top of the first connecting piece 2123 is fixedly connected with the first rack 2122b and the second rack 2122c, and the bottom of the first connecting piece 2123 is fixedly connected with the clamping part 22. The clamping part 22 and the first connecting piece 2123 move synchronously and linearly.

[0153] One of the first rack 2122b and the second rack 2122c is located above the first gear 2122a, and the other is located below the first gear 2122a. Through one first gear 2122a, the first rack 2122b and the second rack 2122c can be driven to move, and the structure is very compact and has good synchronicity.

[0154] Continuing to refer to Figure 3 and Figure 4 , in order to make the linear movement of the two clamping parts 22 more accurate and not easy to shake, in some embodiments, the first transmission mechanism 2122 further includes a pair of first guide parts 2122d, the first guide parts 2122d are fixedly installed on the connecting column 2113, each first guide part 2122d is arranged side by side along the movement direction of the first rack 2122b, and the first gear 2122a is located between the pair of first guide parts 2122d. Take the direction shown in Figure 4 as an example, one of the first guide parts 2122d is located on the left side of the first gear 2122a, and the other first guide part 2122d is located on the right side of the first gear 2122a. One of the first connecting pieces 2123 is slidably installed on one of the first guide parts 2122d, and the other first connecting piece 2123 is slidably installed on the other first guide part 2122d. The top of the first connecting piece 2123 can be provided with a groove, and the first guide part 2122d is correspondingly provided with a protrusion, and the groove and the protrusion are matched to guide the linear movement of the first connecting piece 2123.

[0155] Since the movement of the clamping part 22 and the movement of the first connecting piece 2123 are synchronous, the accurate linear movement of the first connecting piece 2123 along the Y direction can also make the movement of the clamping part 22 along the Y direction more stable and not easy to shake, and the clamping of the goods 400 is more stable and reliable.

[0156] The following describes how the clamping mechanism 2 realizes linear movement, and how the second blocking piece 32 and the first blocking piece 31 realize state switching respectively.

[0157] The first blocking member 31 rotates to switch positions by means of the second driving part 33 and the second transmission mechanism 34. The clamping mechanism 2 moves linearly by means of the third driving part 23 and the third transmission mechanism 24. The second blocking member 32 switches positions by means of the fourth driving part 35 and the fourth transmission mechanism 36.

[0158] Referring to Figures 1-3 , Figure 5 Since the state switching of the first blocking member 31 is related to whether the clamping parts 22 can approach each other, the state switching mode of the first blocking member 31 is introduced first.

[0159] In some embodiments, the blocking mechanism 3 further comprises a second driving part 33 and a second transmission mechanism 34. The second driving part 33 is mounted on the first upright 2111, the second upright 2112, or the connecting column 2113. In some embodiments, the second driving part 33 is mounted on the connecting column 2113. The second transmission mechanism 34 is drivingly connected with the second driving part 33 to rotate under the driving of the second driving part 33. The first blocking member 31 is mounted on the second transmission mechanism 34 to rotate with the second transmission mechanism 34 in the third direction.

[0160] Figure 3 The rotation direction W of the first blocking member 31 is shown. Figure 3 The state shown is that the first blocking member 31 is located between the pair of clamping parts 22. In this state, the distance between the two clamping parts 22 is the largest, and the two clamping parts 22 cannot approach each other due to the blocking of the first blocking member 31.

[0161] Figure 5 The state shown is that the first blocking member 31 is rotated to the outside of the movement track of the two clamping parts 22 along the Y direction. By lifting the first blocking member 31 first and then reducing the distance between the two clamping parts 22, the state of the two clamping parts 22 shown is obtained. Figure 5 It is to be noted that the movement of the entire clamping mechanism 2 along the X direction is achieved by means of the third driving part 23 and the third transmission mechanism 24, which will be described in detail later. Here, the focus is on the description of the approaching action of the two clamping parts 22 and the state of the lifting of the first blocking member 31.

[0162] Referring to Figure 1 , Figure 3 and Figure 5In some embodiments, the second driving part 33 is specifically an electric motor, and the second driving part 33 is fixed to the connecting column 2113. The second transmission mechanism 34 comprises an output shaft gear 340, a pair of second gears 341, a pair of half gears 342, and a connecting shaft 343. The output shaft gear 340 is fixedly connected with a power output shaft of the second driving part 33, the two second gears 341 are dispersedly arranged, and each of the two second gears 341 is fixedly connected with the first upright column 2111 and the second upright column 2112; or the two second gears 341 are fixedly installed at different positions of the connecting column 2113. One of the second gears 341 is engaged with the output shaft gear 340. The second gear 341 rotates with the power output shaft of the second driving part 33 through the output shaft gear 340. The connecting shaft 343 fixedly connects each of the pair of half gears 342, or the connecting shaft 343 fixedly connects the two second gears 341. One of the half gears 342 is engaged with the second gear 341 to rotate under the driving of the second gear 341. One end of the first blocking piece 31 is fixedly connected with one of the half gears 342, and the other end of the first blocking piece 31 is fixedly connected with the other half gear 342.

[0163] Since the first blocking piece 31 (as shown in Figure 3 ) does not need to rotate, it only needs to move to abut against the support 11 and away from the movement track of the two clamping parts 22 in the Y direction, so the half gear 342 can meet the rotation requirement of the first blocking piece 31. When the first blocking piece 31 abuts against the support 11, the first blocking piece 31 is located between the two clamping parts 22, and the distance between the two clamping parts 22 in the Y direction is the largest.

[0164] Referring to Figure 3 , in order to more conveniently connect the half gear 342 with the first blocking piece 31, in some embodiments, the second transmission mechanism 34 further comprises a pair of third connecting pieces 344, and the third connecting piece 344 is in one-to-one correspondence with and fixedly connected with the half gear 342. Each half gear 342 is fixedly connected with one third connecting piece 344, and the specific connection mode can be bolt connection. The third connecting piece 344 is specifically an L-shaped plate. The end face of each half gear 342 is provided with a first screw hole, and the third connecting piece 344 is correspondingly provided with a second screw hole, and the half gear 342 and the third connecting piece 344 are fixedly connected by penetrating the bolt through the first screw hole and the second screw hole. One end of the first blocking piece 31 along the second direction is fixedly connected with one of the third connecting pieces 344, and the other end of the first blocking piece 31 along the second direction is fixedly connected with the other third connecting piece 344. When the first blocking piece 31 rotates, it rotates around the central axis of the half gear 342. Both ends of the first blocking piece 31 have fixed positions, and the rotation is more reliable.

[0165] Continuing to refer to Figures 1-5The following describes how to achieve linear movement of the clamping mechanism 2 relative to the support 11 along the X direction.

[0166] In some embodiments, the clamping mechanism 2 further comprises a third driving part 23 and a third transmission mechanism 24. The third driving part 23 is specifically an electric motor. Figure 2 As shown, the third driving part 23 is fixedly installed at the bottom of the support 11 and at the end of the support 11 where the second blocking part 32 is not arranged. The third transmission mechanism 24 is drivingly connected with the third driving part 23 and fixedly connected with the sliding assembly. The sliding assembly is configured to move linearly along the first direction with the third transmission mechanism 24 under the driving of the third driving part 23.

[0167] The third transmission mechanism 24 has various implementation forms, such as a linear guide rail mechanism, a belt, a chain, etc., to convert the rotation of the third driving part 23 into linear movement of the sliding assembly.

[0168] The above technical solution arranges the third driving part 23 and the third transmission mechanism 24 at the bottom of the support 11, which does not occupy the support area at the top of the support 11, so that the goods storage and retrieval mechanism can take and place more goods 400, and the structure is more reasonable.

[0169] Continuing to refer to Figure 2 In order to make the movement of the clamping mechanism 2 relative to the support 11 more accurate, stable and not shaking, in some embodiments, the third transmission mechanism 24 comprises a first guide rail 240, a second guide part 241, a pulley 242 and a first belt 243. The first guide rail 240 is fixedly installed on the support base 1. The first guide rail 240 can be two, and the two first guide rails 240 are dispersedly arranged on the two sides of the support base 1. The second guide part 241 corresponds to the first guide rail 240 one by one, and the second guide part 241 is slidably installed on the first guide rail 240. The sliding assembly 21 is fixedly installed on the second guide part 241. The second guide part 241 is specifically a sliding block, and the second guide part 241 moves along the length direction of the first guide rail 240 (along the X direction). The pulley 242 is fixedly connected with the output shaft of the third driving part 23. The first belt 243 is installed at the bottom of the support base 1. The first belt 243 is engaged with the pulley 242. The sliding assembly 21 is fixedly connected with the first belt 243.

[0170] When the third driving part 23 rotates, the pulley 242 rotates synchronously, and the first belt 243 engaged with the pulley 242 rotates synchronously. Since the sliding assembly 21 is fixedly connected with the first belt 243, the sliding assembly 21 moves linearly along with the rotation of the first belt 243. Since the sliding assembly 21 is also connected with the second guide part 241, the sliding assembly 21 moves linearly along the first guide rail 240 under the guidance of the second guide part 241 and the first guide rail 240, that is, moves linearly along the X direction, so that the extension and retraction of the sliding assembly 21 relative to the support 11 are realized.

[0171] With reference to Figures 1-6 The following introduces how the second blocking part 32 realizes position switching.

[0172] In some embodiments, the blocking mechanism 3 further comprises a fourth driving part 35 and a fourth transmission mechanism 36. The fourth driving part 35 is installed on the support 11, and the fourth transmission mechanism 36 is drivingly connected with the fourth driving part 35. The second blocking part 32 is rotatably installed on one of the ends of the support 11 along the first direction, and the fourth driving part 35 is drivingly connected with the second blocking part 32 to switch the second blocking part 32 between the following positions: the standing state and the lying state.

[0173] Figures 1-3 Fig. 4 shows a schematic view of the second blocking part 32 in the lying state, Figure 6 Fig. 5 shows a schematic view of the second blocking part 32 in the standing state. The standing state can also be referred to as the lifting state.

[0174] The fourth driving part 35 can be a motor. The fourth transmission mechanism 36 converts the rotation of the fourth driving part 35 into the rotation of the second blocking part 32. The fourth transmission mechanism 36 has various implementation manners, such as gear driving, crank connecting rod mechanism, etc.

[0175] With reference to Figures 1-3 In particular Figure 2 In some embodiments, the fourth transmission mechanism 36 comprises a connecting rod 360 and a crank 361. One end of the crank 361 is fixedly connected with a power output shaft of the fourth driving part 35, and the other end of the crank 361 is rotatably connected with one end of the connecting rod 360. The other end of the connecting rod 360 is rotatably connected with the second blocking part 32. The fourth driving part 35 is located at the bottom of the support 11, and the crank 361 and the connecting rod 360 are also located at the bottom of the support 11.

[0176] When the fourth driving part 35 rotates, the other end of the crank 361 is lifted, and the second blocking part 32 rotatably connected with the other end of the crank 361 rotates around the rotatable connection between the second blocking part 32 and the support 11, the second blocking part 32 is lifted, and the lifted second blocking part 32 is as shown in Fig. 5. Figure 6The second blocking piece 32 can play a blocking role after being lifted, and the goods 400 on the support piece 11 are not easy to fall off.

[0177] Continuing to refer to Figure 3 In some embodiments, the goods access mechanism further comprises a limiting piece 4, which is specifically a block structure. The limiting piece 4 is installed on the top surface of the support piece 11, and the limiting piece 4 is located at the end of the support piece 11 away from the second blocking piece 32.

[0178] Continuing to refer to Figure 3 In some embodiments, the first blocking piece 31 is provided with a containing groove 311 configured to avoid the limiting piece 4. When the first blocking piece 31 is in the first limit position, the limiting piece 4 is located in the containing groove 311, that is Figure 3 as shown in the schematic case.

[0179] The above introduces two limit positions of the first blocking piece 31: the first limit position and the second limit position. The second blocking piece 32 includes two states: the standing state and the flat state. In cooperation with the limiting piece 4 mentioned herein, the entire goods access mechanism can realize various working states.

[0180] According to whether the goods 400 are moving to the goods access mechanism (i.e. taking goods operation) or the goods 400 are moved out of the goods access mechanism, it can be divided into two kinds of taking goods state and unloading goods state. Combined with whether the goods 400 are regular goods or irregular goods (also known as irregular goods), the goods access mechanism has four states: regular goods taking goods state, regular goods unloading goods state, irregular goods taking goods state, and irregular goods unloading goods state.

[0181] The regular goods taking goods state refers to moving the goods 400 of regular shape from outside the goods access mechanism to the goods access mechanism. In the regular goods taking goods state, the first blocking piece 31 does not need to play a role, the first blocking piece 31 is in the second limit position, and the first blocking piece 31 is lifted to avoid the clamping part 22, so that the clamping part 22 can clamp the goods 400 when it is folded along the second direction. Along the first direction, the first blocking piece 31 is located on the side of each clamping part 22 away from the second blocking piece 32. In the second direction, the first blocking piece 31 is located outside the movement track of the clamping part 22, and the clamping part 22 can be freely folded in the second direction. The second blocking piece 32 is in the flat state, and the clamping part 22 is moved along the first direction with the sliding assembly 21 to extend the support seat 1, and the clamping part 22 is folded in the second direction to clamp the goods 400 located outside the support piece 11.

[0182] In the regular goods taking state, the action process is as follows: the clamping part 22 moves along the first direction with the sliding assembly 21 to extend the support 11; then, the clamping part 22 is closed along the second direction to clamp the target goods 400. Subsequently, the clamping part 22 is retracted along the first direction with the sliding assembly 21 to the support 11, so that the goods 400 are brought to the support 11. Then, the clamping part 22 is opened along the second direction to release the goods 400, and the goods 400 are left on the support 11. The above-mentioned action is repeated to take the next goods 400. The next goods 400 will push the previous goods 400 to move further back along the first direction if the next goods 400 encounter the previous goods 400 during the process of retracting along the first direction with the clamping part 22. That is, after taking the goods 400, the taken goods 400 do not need to be placed on the innermost side of the support 11, and the next goods 400 will automatically push the previous goods 400 to move back automatically.

[0183] The regular goods taking state is a state in which the goods 400 of regular shape are moved from the goods storage and taking mechanism to the outside of the goods storage and taking mechanism. In this state, if the number of the goods 400 is one, the goods 400 can be taken out by clamping or pushing by the first blocking part 31. If the number of the goods 400 is multiple, the first blocking part 31 can push all the goods 400 out of the support 11 at one time.

[0184] For the case of taking out the goods by clamping, the first blocking part 31 is in the second limit position, that is, the first blocking part 31 is lifted. And along the first direction, the first blocking part 31 is located on the side of each clamping part 22 away from the second blocking part 32; along the second direction, the first blocking part 31 is located outside the movement track of the clamping part 22; the second blocking part 32 is in the flat state; the clamping part 22 is closed along the second direction to clamp the goods 400 on the support 11; the clamping part 22 moves along the first direction with the sliding assembly 21 to extend the support 11 to send the clamped goods 400 out of the support 11.

[0185] For the case of taking out the goods by clamping, the specific action process is as follows: the first blocking part 31 is not needed, the clamping part 22 is closed along the second direction to clamp the goods 400 on the support 11, and then the clamping part 22 moves along the first direction with the sliding assembly 21 to take the goods 400 out of the support 11. The taken goods 400 can be sent to the packing machine 200 for packing or stored in the target storage position of the first storage area 1001 of the storage cabinet 100.

[0186] For the case of pushing out the goods, the first blocking member 31 is in the first limit position. In the first direction, the first blocking member 31 in the first limit position is located between the limiting member 4 and the second blocking member 32 in the flat state, and the first blocking member 31 is located between the pair of clamping portions 22; wherein the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support 11 out of the support 11. In this mode, the clamping portion 22 does not need to move in the second direction, and the entire unloading operation mainly relies on the movement of the first blocking member 31 along the first direction to push the goods 400 out.

[0187] For the case of pushing out the goods, the specific action process is as follows: the clamping portion 22 does not need to move in the second direction, the first blocking member 31 is adjusted to the first limit position, and the limiting member 4 is avoided. Then, the first blocking member 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support 11 out of the support 11. The above operation can push all the goods 400 on the support 11 out at one time. It can also be pushed out only part of the goods 400 on the support 11 as needed, depending on when the first blocking member 31 is adjusted to the first limit position.

[0188] The special-shaped goods taking state refers to moving the irregularly shaped goods 400 from outside the goods storage and taking mechanism to the goods storage and taking mechanism. In this state, the first blocking member 31 is in the first limit position, and the second blocking member 32 is in the standing state. In the first direction, the limiting member 4 is located between the first blocking member 31 in the first limit position and the second blocking member 32 in the standing state. In the second direction, the first blocking member 31 is located between the pair of clamping portions 22. In this way, a top-open storage frame 1000 is surrounded between the first blocking member 31, the second blocking member 32, and the pair of clamping portions 22. The special-shaped goods 400 stored in the second storage area 1002 of the storage cabinet 100 are conveyed to the end by the track goods channel 1003 introduced later, and then the goods 400 fall into the top-open storage frame 1000 under the action of their own gravity, so that the taking operation of the special-shaped goods 400 is realized.

[0189] In the irregular-shaped cargo pickup state, the operation process is as follows: the first blocking piece 31 is adjusted to the first limit position, and the second blocking piece 32 is adjusted to the standing state. After the first blocking piece 31, the second blocking piece 32, and the pair of clamping parts 22 enclose the top opening storage frame 1000, the entire cargo storage and taking mechanism is moved to a position corresponding to the cargo delivery track 1003 for cargo delivery. The cargo 400 is delivered to the end edge of the cargo delivery track 1003 by the cargo delivery track 1003, and the cargo 400 falls into the storage frame 1000 under the action of inertia and its own gravity. Of course, the entire cargo storage and taking mechanism can also be moved to a position corresponding to the cargo delivery track 1003 for cargo delivery first, and then the storage frame 1000 is adjusted.

[0190] The irregular-shaped cargo unloading state refers to moving the irregular-shaped cargo 400 from the cargo storage and taking mechanism to outside the cargo storage and taking mechanism. The irregular-shaped cargo unloading state is the same as the pushing type regular cargo unloading operation. In the irregular-shaped cargo unloading state, the first blocking piece 31 is in the first limit position; along the first direction, the first blocking piece 31 is located between the limiting piece 4 and the second blocking piece 32 in the flat state. Alternatively, the first blocking piece 31 in the first limit position accommodates the limiting piece 4 through the accommodation groove 311 of the first blocking piece 31, and the first blocking piece 31 and the limiting piece 4 are in butt joint, that is Figure 3 The case is shown.

[0191] In the irregular-shaped cargo unloading state, along the second direction, the first blocking piece 31 is located between the pair of clamping parts 22. Among them, the first blocking piece 31 moves along the first direction with the sliding assembly 21 to push the cargo 400 on the support piece 11 out of the support piece 11.

[0192] In the irregular-shaped cargo unloading state, the operation process is as follows: the clamping part 22 does not need to move in the second direction, the first blocking piece 31 is adjusted to the first limit position, and the limiting piece 4 is avoided. Then, the first blocking piece 31 moves along the first direction with the sliding assembly 21 to push the cargo 400 on the support piece 11 out of the support piece 11. The above operation can push all the cargo 400 on the support piece 11 at one time. Only part of the cargo 400 on the support piece 11 can also be pushed according to needs.

[0193] For the regular cargo unloading state and the irregular-shaped cargo unloading state, the unloaded cargo 400 can be subsequently delivered to the packing machine 200 for packing, and then delivered to the express cabinet 300 for storage.

[0194] The goods storage and taking mechanism has multiple working states, for taking the regular-shaped goods 400, the clamping part 22 can be used to clamp and take the goods 400, for taking the regular single goods 400, the clamping part 22 can also be used to clamp and take the goods 400, for taking the regular multiple goods 400, the first blocking part 31 can be used to push all the goods 400 out, and the goods taking efficiency is high. For the irregular-shaped goods 400, the goods storage and taking mechanism forms the storage frame 1000 with an open top, and the irregular-shaped goods 400 can be directly moved into the storage frame 1000 by using external force (for example, the crawler track 1003), so that the goods taking is realized. In addition, the irregular-shaped goods 400 can be firmly placed on the support part 11 due to the blocking of the four sides of the storage frame 1000, and any shaped goods 400 is not easy to fall off, and the reliability is high. It can be seen that the goods storage and taking mechanism can be suitable for the regular-shaped and irregular-shaped goods 400, the goods taking and goods unloading operations can be realized, the working mode of the goods storage and taking mechanism is multiple, and the function is more abundant.

[0195] Referring to Figure 7 and Figure 8 When the clamping part 22 clamps the next goods 400, the previous goods 400 is pushed to the end of the support part 11 away from the second blocking part 32 under the pushing of the next clamped goods 400. When the goods 400 on the support part 11 are enough, if there is no blocking effect of the limiting part 4, the goods 400 can be pushed down from the other end of the support part 11. On the other hand, since the first blocking part 31 is swing movement, if the goods 400 is located on the swing path of the first blocking part 31, the first blocking part 31 cannot normally swing, and cannot normally realize the position switching. Therefore, the limiting part 4 can be arranged to avoid the above-mentioned situation. The limiting part 4 can be arranged in multiple, and the multiple limiting parts 4 are dispersedly arranged along the Y direction, so that the limit position of the goods 400 moving on the support part 11 is better limited.

[0196] Figure 9 A three-dimensional structure schematic view of the goods storage and taking robot is provided. Figure 10 Another three-dimensional structure schematic view of the goods storage and taking robot is provided.

[0197] Referring to Figure 1 , Figure 2 , Figure 9 and Figure 10 The utility model embodiment further provides a goods storage and taking robot 500, the goods storage and taking robot 500 includes the arm 5 and the goods storage and taking mechanism provided in any technical scheme of the utility model, and the goods storage and taking mechanism is rotatably installed on the arm 5.

[0198] The support arm 5 is used to install a goods accessing mechanism, and the goods accessing mechanism can rotate relative to the support arm 5 to realize the storage and taking of goods 400 from different directions.

[0199] Referring to Figure 2 , Figure 9 and Figure 10 , in some embodiments, the goods accessing robot further comprises a fifth driving part 6 and a fifth transmission mechanism 7. The fifth driving part 6 is installed on the support arm 5, and the fifth transmission mechanism 7 is drivingly connected with the fifth driving part 6 and fixedly connected with the goods accessing mechanism, so that the goods accessing mechanism rotates under the driving of the fifth driving part 6.

[0200] The fifth driving part 6 is, for example, a motor, and the fifth transmission mechanism 7 converts the rotation of the motor into the rotation of the goods accessing mechanism. The fifth transmission mechanism 7 has various implementation manners, such as a gear mechanism, a rotating seat, etc.

[0201] Continuing to refer to Figure 2 , Figure 9 and Figure 10 , in some embodiments, the fifth transmission mechanism 7 comprises a third gear 71 and a fourth gear 72. The third gear 71 is fixedly connected with the power output shaft of the fifth driving part 6, and the third gear 71 is installed on the support arm 5. The fourth gear 72 is installed on the bottom of the support seat 1 and engaged with the third gear 71.

[0202] The fifth transmission mechanism 7 of the above implementation manner is located at the bottom of the support member 11 and does not occupy the space at the top of the support member 11, and the fifth transmission mechanism 7 realizes rotation by gear engagement and can accurately control the rotation angle and rotation timing.

[0203] Continuing to refer to Figure 9 and Figure 10 , in some embodiments, the goods accessing robot further comprises a support column 8, a sixth driving part 9 and a sixth transmission mechanism 10. The sixth driving part is installed on the support column 8. The sixth transmission mechanism 10 is drivingly connected with the sixth driving part 9 and fixedly connected with the support arm 5, so that the goods accessing mechanism moves along the support column 8 under the driving of the sixth driving part 9.

[0204] The support column 8 is, for example, a vertical track, and the goods accessing mechanism moves along the support column 8 to realize the lifting of the goods accessing mechanism.

[0205] In some embodiments, the sixth transmission mechanism 10 comprises a first synchronous wheel 101, a second synchronous wheel 102, a synchronous belt (not shown in the figure), a second guide rail 104, and a third guide part (not shown in the figure). The first synchronous wheel 101 is installed at one end of the support column 8; the first synchronous wheel 101 is fixedly connected with the power output shaft of the sixth driving part 9; the second synchronous wheel 102 is installed at the other end of the support column 8. The synchronous belt is tensioned by the first synchronous wheel 101 and the second synchronous wheel 102; the goods access mechanism is fixedly installed on the synchronous belt to ascend and descend with the rotation of the synchronous belt; the second guide rail 104 is installed on the support column 8, and the third guide part (for example, a sliding block) is slidably installed on the second guide rail, and the goods access mechanism is fixedly installed on the third guide part.

[0206] The first synchronous wheel 101, the second synchronous wheel 102, and the synchronous belt realize the ascending and descending movement of the goods access mechanism, and the second guide rail 104 and the third guide part make the ascending and descending movement of the goods access mechanism more stable.

[0207] Referring to Figure 9 and Figure 10 In some embodiments, the goods access robot further comprises a walking mechanism 12 installed on the support column 8 to realize the walking of the support column 8 in the medicine storage cabinet 100.

[0208] The goods access robot is installed in the medicine storage cabinet 100, the medicine storage cabinet 100 is provided with a walking track, and the goods access robot as a whole can walk along the walking track. The walking track is, for example, a horizontal track.

[0209] Figure 11 A perspective structural schematic view of a goods access system provided by the embodiments of the present application is provided. Figure 12 Another perspective structural schematic view of a goods access system provided by the embodiments of the present application is provided. Figure 13 Still another perspective structural schematic view of a goods access system provided by the embodiments of the present application is provided.

[0210] Referring to Figures 11-14 The embodiments of the present application further provide a goods access system comprising the goods access robot provided by any of the technical solutions of the present application.

[0211] In some embodiments, the goods access system further comprises a medicine storage cabinet 100, and the medicine storage cabinet 100 comprises a first storage area 1001 and a second storage area 1002. The first storage area 1001 is configured to use the goods access robot to clamp the goods 400 to realize storage and taking of goods. The second storage area 1002 is configured to deliver the goods 400 to the goods access robot.

[0212] The first storage area 1001 is used for storing regular-shaped goods 400, and the second storage area 1002 is used for storing irregular-shaped goods 400. The first storage area 1001 adopts a layer plate type storage structure. The second storage area 1002 adopts an active goods channel, a track goods channel, etc. to realize the conveying of the goods 400. The goods are directly stored on the active goods channel or the track goods channel in the second storage area 1002. After the goods 400 are placed in the second storage area 1002, the goods 400 can be automatically moved out of the second storage area 1002 under the conveying of the active goods channel or the track goods channel.

[0213] Figure 14 Fig. 6 schematically shows a structure at the track goods channel. The track goods channel 1003 includes one or more groups of conveying belts 1003a, and each group of conveying belts 1003a includes one or more conveying belts. The conveying belts 1003a are arranged side by side and parallel to each other. Each group of conveying belts 1003a is independently driven and works independently without interference with each other. Adjacent two groups of conveying belts 1003a are separated by a partition 1003b to facilitate the storage of special-shaped goods 400. When it is necessary to replenish goods to the track goods channel 1003, the special-shaped goods 400 are manually placed on the conveying belts 1003a. When the goods storage and retrieval robot needs to take goods from the second storage area 1002, the conveying belt 1003a on which the goods to be taken is started. The conveying belt 1003a conveys the special-shaped goods 400 to the end of the conveying belt 1003a, and the special-shaped goods 400 fall into the storage frame 1000 surrounded by the goods storage and retrieval robot. Since the storage frame 1000 is surrounded by a barrier, the special-shaped goods 400 can be stably kept in the storage frame 1000 and are not easy to fall out of the storage frame 1000.

[0214] The goods storage and retrieval robot can store goods 400 in the first storage area 1001, take goods 400 from the first storage area 1001, and also receive goods 400 delivered from the second storage area 1002. The working mode of the goods storage and retrieval robot is very rich.

[0215] Continuing to refer to Figures 11-13 In some embodiments, the goods storage and retrieval system further includes a packing machine 200 located downstream of the storage cabinet 100 to pack the goods 400 taken out of the storage cabinet 100 by the goods storage and retrieval robot.

[0216] The above technical solution realizes automatic taking of goods and automatic packing, and the goods storage and retrieval system has high intelligence and high work efficiency.

[0217] In some embodiments, the goods storage and retrieval system further includes a delivery cabinet 300 located downstream of the packing machine 200 to store the goods 400 packed by the packing machine 200.

[0218] Specifically, in combination with the four states of the aforementioned cargo access mechanism (regular cargo pickup state, regular cargo drop-off state, irregular cargo pickup state, irregular cargo drop-off state), and according to the cooperation relationship between the cargo access mechanism and the medicine storage cabinet 100, the cargo access mechanism is taken as the main description object, then:

[0219] The regular cargo pickup state refers to that the cargo 400 is picked up by the cargo access mechanism from the first storage area 1001 onto the support 11 of the cargo access mechanism.

[0220] The regular cargo drop-off state refers to that the cargo 400 is pushed out or clamped out of the support 11 by the cargo access mechanism. The delivered cargo 400 can be put into the downstream packing machine 200 to realize automatic packing.

[0221] The irregular cargo pickup state refers to that the cargo 400 is actively transported out of the second storage area 1002 and falls into the storage frame 1000 formed by the cargo access mechanism.

[0222] The irregular cargo drop-off state refers to that the cargo 400 is pushed out of the support 11 by the cargo access mechanism. The delivered cargo 400 can be put into the downstream packing machine 200 to realize automatic packing.

[0223] Taking the medicine storage cabinet 100 as the main description object, the cargo access system has the following functions:

[0224] Firstly, the regular cargo 400 is stored into the first storage area 1001 of the medicine storage cabinet 100. Specifically, the cargo access robot takes the cargo 400 from the medicine taking machine, and the clamping part 22 of the cargo access mechanism clamps the cargo 400 from the medicine taking machine. The clamped cargo 400 is placed on the support 11 of the cargo access mechanism. Then the cargo access robot moves the cargo access mechanism to the target storage position of the first storage area 1001 of the medicine storage cabinet 100. The clamping part 22 of the cargo access mechanism clamps the cargo 400 on the support 11 of the cargo access mechanism and places it in the target storage position of the first storage area 1001.

[0225] Secondly, the regular cargo 400 is taken out from the first storage area 1001 of the medicine storage cabinet 100. First, the first blocking part 31 of the cargo access mechanism is adjusted to the second limit position, the clamping part 22 is extended to the target storage position of the first storage area 1001 of the medicine storage cabinet 100, and the clamping part 22 is retracted to take out the cargo 400 from the target storage position of the first storage area 1001. The taken-out cargo 400 is transported to the support 11 of the cargo access mechanism along with the movement of the clamping part 22 in the first direction. The cargo 400 taken out from the medicine storage cabinet 100 is subsequently sent to the packing machine 200 described later. After the packing machine 200 packs the cargo 400, it is transported to the express cabinet 300 described later.

[0226] Third, the irregular goods 400 is stored in the second storage area 1002 of the storage cabinet 100. Specifically, the irregular goods 400 is placed in the second storage area 1002 of the storage cabinet 100 in a manual manner.

[0227] Fourth, the irregular goods 400 is taken out from the second storage area 1002 of the storage cabinet 100. First, the goods storage and taking mechanism is adjusted to the irregular goods taking state, and then the caterpillar goods channel corresponding to the target goods in the second storage area 1002 is started. The caterpillar goods channel transports the goods 400 out of the second storage area 1002 of the storage cabinet 100, and then the goods 400 falls into the storage frame 1000 of the goods storage and taking mechanism under the action of its own gravity. The taken goods 400 is then transported to the packing machine 200 with the goods storage and taking mechanism, and then the goods storage and taking mechanism is switched to the irregular goods unloading state, and the first blocking piece 31 pushes the irregular goods 400 out of the packing machine 200. The packed goods 400 is transported to the express cabinet 300 for storage.

[0228] The above technical solution realizes automatic storage of the packed goods 400 to the express cabinet 300, and the goods storage and taking system has high intelligence and high work efficiency.

[0229] Referring to Figure 15 The utility model embodiment further provides a goods taking and unloading method, which can be realized by using the goods storage and taking system provided by any of the above technical solutions, and the goods taking and unloading method comprises the following steps:

[0230] Step S100, it is judged whether the goods storage and taking system takes goods or unloads goods.

[0231] The goods storage and taking robot of the goods storage and taking system judges whether the goods taking operation or the goods storage operation is needed according to the received instruction.

[0232] Step S200, if the goods storage and taking system takes goods, it is judged whether the shape of the goods 400 to be taken is a regular shape.

[0233] The goods 400 with a regular shape is stored in the first storage area 1001, and the goods 400 with an irregular shape is stored in the second storage area 1002. The goods 400 with different shapes correspond to different goods taking operations.

[0234] Step S300, if the shape of the goods 400 is a regular shape, the goods storage and taking mechanism is adjusted to the regular goods taking state.

[0235] When the goods accessing mechanism is in the regular goods taking state, the first blocking piece 31 is in the second limit position, the first blocking piece 31 is lifted to avoid the clamping part 22, so that the clamping part 22 can clamp the goods 400 when it is closed along the second direction. Along the first direction, the first blocking piece 31 is located on the side of each clamping part 22 away from the second blocking piece 32. In the second direction, the first blocking piece 31 is located outside the movement track of the clamping part 22, and the clamping part 22 can be freely closed in the second direction. The second blocking piece 32 is in the flat state, the clamping part 22 moves along the first direction with the sliding assembly 21 to extend the support 1, and the clamping part 22 is closed in the second direction to clamp the goods 400 located outside the support 11.

[0236] The boxed or bottled medicine is a regular-shaped goods. The goods accessing mechanism runs to the goods storage of the target layer, and the actual distance of the medicine closest to the medicine taking machine in the target storage is detected. According to the width of the medicine recorded in the system, the width of the clamping part is adjusted to the width of the gap that can be inserted into the storage, and then the clamping part is extended to the target medicine according to the detected actual distance, and then the width of the two clamping parts is adjusted to the distance that can clamp the goods, the clamping part is retracted, and the goods are taken to the support 11. The goods accessing mechanism can take one medicine at a time, or take multiple same medicines in the same column storage at a time. The goods clamped first are pushed in by the goods clamped later. For goods of different sizes, the goods are clamped in order from small to large according to the width of the goods, so as to avoid the influence of the medicine buffered on the support 11 on the adjustment of the width of the clamping part 22.

[0237] In step S400, the clamping mechanism 2 of the goods accessing system is extended to clamp the goods 400. Moving the clamping mechanism 2 clamping the goods 400 along the first direction achieves taking the goods 400 to the support 11.

[0238] In the above step S400, specifically, the clamping part 22 moves along the first direction with the sliding assembly 21 to extend the support 11; then, the clamping part 22 is closed along the second direction to clamp the target goods 400. Subsequently, the clamping part 22 is retracted along the first direction with the sliding assembly 21 to the support 11, so that the goods 400 are taken to the support 11. Then, the clamping part 22 is opened along the second direction to release the goods 400, and the goods 400 are left on the support 11. Repeating the above actions can take the next goods 400. If the next goods 400 encounters the previous goods 400 during the process of retracting along the first direction with the clamping part 22, the next goods 400 will push the previous goods 400 to move further back along the first direction. That is, after taking the goods 400 each time, the taken goods 400 does not need to be placed on the innermost side of the support 11, and the next goods 400 will automatically push the previous goods 400 to move back automatically.

[0239] In some embodiments, the method further comprises the following steps:

[0240] Step S500, if the shape of the goods 400 is irregular, the goods accessing mechanism of the goods accessing system is adjusted to an irregular goods accessing state.

[0241] When the goods accessing mechanism is in the irregular goods accessing state, referring to Figure 6 , the goods 400 are accessed. In this state, the first blocking member 31 is in the first limit position, and the second blocking member 32 is in the erected state. As viewed along the first direction, the limiting member 4 is located between the first blocking member 31 in the first limit position and the second blocking member 32 in the erected state. As viewed along the second direction, the first blocking member 31 is located between the pair of clamping portions 22. In this way, a top-open storage frame 1000 is enclosed among the first blocking member 31, the second blocking member 32, and the pair of clamping portions 22.

[0242] Step S600, the goods 400 are dropped into the storage frame 1000 formed by the goods accessing mechanism.

[0243] In the above step S600, the irregular goods 400 stored in the second storage area 1002 of the storage cabinet 100 are conveyed to the end portion by the belt conveyor 1003, and then the goods 400 fall into the top-open storage frame 1000 under the action of their own gravity, thus realizing the accessing operation of the irregular goods 400.

[0244] In some embodiments, the method further comprises the following steps:

[0245] Step S700, if the goods accessing system is to unload the goods, it is determined whether the shape of the goods 400 to be accessed is regular.

[0246] Step S800, if the shape of the goods 400 is regular, the goods accessing mechanism of the goods accessing system is adjusted to a regular goods unloading state.

[0247] As introduced above, the regular goods unloading state refers to moving the regular-shaped goods 400 from above the goods accessing mechanism to outside the goods accessing mechanism. In this state, if the number of the goods 400 is one, the goods can be unloaded by clamping or pushing by the first blocking member 31. If the number of the goods 400 is multiple, the first blocking member 31 can be used to push all the goods 400 out of the support member 11 at one time.

[0248] Step S900, the goods 400 are pushed out of the support member 11 of the goods accessing mechanism or the goods 400 are clamped out of the support member 11.

[0249] For the case of unloading by clamping, the first blocking piece 31 is in the second limit position, i.e. the first blocking piece 31 is lifted. And along the first direction, the first blocking piece 31 is located on the side of each clamping part 22 away from the second blocking piece 32; in the second direction, the first blocking piece 31 is located outside the movement track of the clamping part 22; the second blocking piece 32 is in the flat state; the clamping part 22 is folded in the second direction to clamp the goods 400 on the support 11; the clamping part 22 moves along with the sliding assembly 21 in the first direction to extend the support seat 1, so as to send the clamped goods 400 out of the support 11.

[0250] For the case of unloading by clamping, the specific action process is as follows: the first blocking piece 31 is not needed, the clamping part 22 is folded in the second direction to clamp the goods 400 on the support 11, and then the clamping part 22 moves along with the sliding assembly 21 in the first direction to take the goods 400 out of the support 11. The unloaded goods 400 can be sent to the packer 200 for packing, or stored in the target storage position of the first storage area 1001 of the storage cabinet 100.

[0251] For the case of unloading by pushing, the first blocking piece 31 is in the first limit position. Along the first direction, the first blocking piece 31 in the first limit position is located between the limiting piece 4 and the second blocking piece 32 in the flat state, and the first blocking piece 31 is located between a pair of clamping parts 22; wherein the first blocking piece 31 moves along with the sliding assembly 21 in the first direction to push the goods 400 on the support 11 out of the support 11. In this mode, the clamping part 22 does not need to move in the second direction, and the whole unloading operation mainly relies on the movement of the first blocking piece 31 in the first direction to push the goods 400 out.

[0252] For the case of unloading by pushing, the specific action process is as follows: the clamping part 22 does not need to move in the second direction, the first blocking piece 31 is adjusted to the first limit position and avoids the limiting piece 4. Then, the first blocking piece 31 moves along with the sliding assembly 21 in the first direction to push the goods 400 on the support 11 out of the support 11. The above operation can push all the goods 400 on the support 11 out at one time. It can also push only part of the goods 400 on the support 11 out according to needs, depending on when the first blocking piece 31 is adjusted to the first limit position.

[0253] In the above step S900, the goods 400 pushed out from the support 11 can be put into the downstream packer 200 for packing. The clamped goods 400 have two destinations according to different needs: the first is to be put into the downstream packer 200 for packing; the second is to be put into the target storage position of the first storage area 1001 of the storage cabinet 100.

[0254] For irregular goods 400, the following unloading operation is adopted.

[0255] Specifically, the goods taking and unloading method further comprises the following steps:

[0256] In step S1000, if the shape of the goods 400 is irregular, the goods taking and storing mechanism of the goods taking and storing system is adjusted to an irregular goods unloading state.

[0257] The irregular goods unloading state is the same as the regular goods unloading operation in a pushing manner. In the irregular goods unloading state, the first blocking piece 31 is in the first limit position; along the first direction, the first blocking piece 31 is located between the limiting piece 4 and the second blocking piece 32 in the flat state, and the first blocking piece 31 is located between the pair of clamping parts 22. Wherein, the first blocking piece 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support 11 out of the support 11.

[0258] In step S1100, the goods 400 are pushed out of the support 11 of the goods taking and storing mechanism. Specifically, the first blocking piece 31 is moved along the first direction to push the goods 400 out.

[0259] In the above step S1100, in the irregular goods unloading state, the clamping part 22 does not need to move in the second direction, the first blocking piece 31 is adjusted to the first limit position, and avoids the limiting piece 4. Then, the first blocking piece 31 moves along the first direction with the sliding assembly 21 to push the goods 400 on the support 11 out of the support 11. The above operation can push all the goods 400 on the support 11 at one time. It can also be pushed only part of the goods 400 on the support 11 according to the need, depending on when the first blocking piece 31 is adjusted to the first limit position.

[0260] After step S1100, the pushed goods 400 are transported to the packing machine 200 for packing, and the packed goods 400 are transported to the express cabinet 300 for storage.

[0261] The embodiment of the utility model provides a kind of goods taking and storing device, including memory and the processor being coupled to the memory, processor is configured to based on the instruction stored in memory, execute the taking and unloading method in any one of preceding embodiment.

[0262] The memory may, for example, include system memory, fixed non-volatile storage media, and the like. The system memory may, for example, store an operating system, application programs, a boot loader (Boot Loader), and other programs.

[0263] Some embodiments of the present disclosure also provide a computer readable storage medium having stored thereon a computer program. Wherein the program is executed by a processor to implement the cargo loading and unloading method in any of the above embodiments.

[0264] The processor described herein can include a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field

[0265] The storage medium can be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray® disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0266] Those skilled in the art will appreciate that the method embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure can take the form of a computer program product on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, and the like) having computer usable program code embodied in the medium.

[0267] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flows and / or blocks specified in the block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0268] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device that implements the function specified in the flowchart or flows and / or blocks specified in the block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0269] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart or flows and / or blocks specified in the block or blocks. Figure 1 one or more flows and / or blocks. Figure 1 one or more blocks.

[0270] In the description of the present application, it should be understood that the relative or positional relationships indicated by the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the relative or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the protection scope of the present application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0271] In the description of the present application, each technical feature can be combined with other technical features as far as possible.

[0272] It should be finally pointed out that: the above examples are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been explained in detail with reference to the foregoing examples, those skilled in the art should understand that: the technical solutions recorded in the foregoing examples can still be modified, or some technical features therein can be replaced equivalently, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model.

Claims

1. A goods access mechanism, characterized by, The utility model relates to a supporting seat (1) and clamping mechanism (2) and blocking mechanism (3) are provided, and the supporting seat (1) includes support (11), the clamping mechanism (2) includes sliding assembly (21) and the clamping part (22) of pair arrangement, sliding assembly (21) is slidably installed to support (11) along first direction, and the clamping part (22) is movably installed to sliding assembly (21) along second direction, and the blocking mechanism (3) includes first blocking piece (31) and second blocking piece (32), first blocking piece (31) is movably installed to sliding assembly (21) along third direction, and second blocking piece (32) is installed to support (11), wherein first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction. The utility model relates to a supporting seat (1) and clamping mechanism (2) and blocking mechanism (3) are provided, and the supporting seat (1) includes support (11), the clamping mechanism (2) includes sliding assembly (21) and the clamping part (22) of pair arrangement, sliding assembly (21) is slidably installed to support (11) along first direction, and the clamping part (22) is movably installed to sliding assembly (21) along second direction, and the blocking mechanism (3) includes first blocking piece (31) and second blocking piece (32), first blocking piece (31) is movably installed to sliding assembly (21) along third direction, and second blocking piece (32) is installed to support (11), wherein first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction. The utility model relates to a supporting seat (1) and clamping mechanism (2) and blocking mechanism (3) are provided, and the supporting seat (1) includes support (11), the clamping mechanism (2) includes sliding assembly (21) and the clamping part (22) of pair arrangement, sliding assembly (21) is slidably installed to support (11) along first direction, and the clamping part (22) is movably installed to sliding assembly (21) along second direction, and the blocking mechanism (3) includes first blocking piece (31) and second blocking piece (32), first blocking piece (31) is movably installed to sliding assembly (21) along third direction, and second blocking piece (32) is installed to support (11), wherein first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction. The utility model relates to a supporting seat (1) and clamping mechanism (2) and blocking mechanism (3) are provided, and the supporting seat (1) includes support (11), the clamping mechanism (2) includes sliding assembly (21) and the clamping part (22) of pair arrangement, sliding assembly (21) is slidably installed to support (11) along first direction, and the clamping part (22) is movably installed to sliding assembly (21) along second direction, and the blocking mechanism (3) includes first blocking piece (31) and second blocking piece (32), first blocking piece (31) is movably installed to sliding assembly (21) along third direction, and second blocking piece (32) is installed to support (11), wherein first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction. The utility model relates to a supporting seat (1) and clamping mechanism (2) and blocking mechanism (3) are provided, and the supporting seat (1) includes support (11), the clamping mechanism (2) includes sliding assembly (21) and the clamping part (22) of pair arrangement, sliding assembly (21) is slidably installed to support (11) along first direction, and the clamping part (22) is movably installed to sliding assembly (21) along second direction, and the blocking mechanism (3) includes first blocking piece (31) and second blocking piece (32), first blocking piece (31) is movably installed to sliding assembly (21) along third direction, and second blocking piece (32) is installed to support (11), wherein first direction and second direction are in horizontal plane and intersect, and third direction is different from first direction, second direction. ​ 2. The goods access mechanism of claim 1, wherein, ​ ​ ​ ​ ​ 3. A goods access mechanism according to claim 2, wherein, ​ ​ ​ ​ ​ 4. A goods access mechanism according to claim 3, wherein, ​ ​ One of the first connecting members (2123) is slidably mounted on one of the first guide portions (2122d), and the other first connecting member (2123) is slidably mounted on the other first guide portion (2122d); one of the clamping portions (22) is fixedly connected with one of the first connecting members (2123), and the other clamping portion (22) is fixedly connected with the other first connecting member (2123).

5. The goods access mechanism of claim 2, wherein, The blocking mechanism (3) further comprises: a second driving portion (33) mounted on the first vertical column (2111), the second vertical column (2112) or the connecting column (2113); and a second transmission mechanism (34) drivingly connected with the second driving portion (33) to rotate under the driving of the second driving portion (33); The first blocking member (31) is mounted on the second transmission mechanism (34) to rotate with the second transmission mechanism (34) in the third direction.

6. A goods access mechanism according to claim 5, wherein, The second transmission mechanism (34) comprises: an output shaft gear (340) fixedly connected with a power output shaft of the second driving portion (33); a pair of second gears (341), one of which is engaged with the output shaft gear (340); a pair of half gears (342), each of which corresponds to and is engaged with one of the second gears (341) to rotate under the driving of the second gear (341); and a connecting shaft (343) fixedly connecting each of the pair of half gears (342) or fixedly connecting the two second gears (341); one end of the first blocking member (31) is fixedly connected with one of the half gears (342), and the other end of the first blocking member (31) is fixedly connected with the other half gear (342).

7. A goods access mechanism according to claim 6, characterised in that, The second transmission mechanism (34) further comprises: a pair of third connecting members (344) corresponding to and fixedly connected with the half gears (342); one end of the first blocking member (31) along the second direction is fixedly connected with one of the third connecting members (344), and the other end of the first blocking member (31) along the second direction is fixedly connected with the other third connecting member (344).

8. The goods access mechanism of claim 1, wherein, The first blocking member (31) comprises a first limit position and a second limit position; when the first blocking member (31) is in the first limit position along the second direction, the first blocking member (31) is located between the pair of clamping portions (22); the first blocking member (31) is configured to push the goods (400) out of the support (11) along with the movement of the sliding assembly (21) in the first direction; or, the first blocking member (31) is configured to block the goods (400) to prevent the goods (400) from falling from the support (11) at one end where the first blocking member (31) is arranged; When the first blocking piece (31) is in the second limit position, the first blocking piece (31) is located outside the movement track of each clamping part (22) in the second direction, and the clamping part (22) is movable in the second direction.

9. The goods access mechanism of claim 1, wherein, The clamping mechanism (2) further comprises: A third driving part (23) is installed at the bottom of the support (11); and A third transmission mechanism (24) is drivingly connected with the third driving part (23) and fixedly connected with a sliding assembly; the sliding assembly is configured to move linearly along the first direction with the third transmission mechanism (24) driven by the third driving part (23).

10. A goods access mechanism according to claim 9, wherein, The third transmission mechanism (24) comprises: A first guide rail (240) is fixedly installed on the support seat (1); A second guide part (241) is slidably installed on the first guide rail (240); the sliding assembly (21) is fixedly installed on the second guide part (241); A pulley (242) is fixedly connected with the output shaft of the third driving part (23); A first belt (243) is installed at the bottom of the support seat (1); the first belt (243) is engaged with the pulley (242); the sliding assembly (21) is fixedly connected with the first belt (243).

11. The goods access mechanism of claim 1, wherein, The blocking mechanism (3) further comprises: A fourth driving part (35) is installed on the support (11); and A fourth transmission mechanism (36) is drivingly connected with the fourth driving part (35); The second blocking piece (32) is rotatably installed on one end of the support (11) along the first direction, and the fourth driving part (35) is drivingly connected with the second blocking piece (32) to switch the second blocking piece (32) between the following positions: a standing state and a flat state.

12. The goods access mechanism of claim 11, wherein, The fourth transmission mechanism (36) comprises: A crank (361) has one end fixedly connected with the power output shaft of the fourth driving part (35); and A connecting rod (360) has one end rotatably connected with the other end of the crank (361), and the other end of the connecting rod (360) is rotatably connected with the second blocking piece (32); The fourth driving part (35) is located at the bottom of the support (11), and the crank (361) and the connecting rod (360) are also located at the bottom of the support (11).

13. The goods retrieval mechanism of claim 1, wherein, Further comprising: A limiting piece (4) is installed on the support (11) and located at the end of the support (11) away from the second blocking piece (32).

14. A goods access mechanism according to claim 13, characterised in that, The first blocking piece (31) is provided with a containing groove (311) configured to avoid the limiting piece (4); when the first blocking piece (31) is in the first limit position, the limiting piece (4) is located in the containing groove (311).

15. The goods access mechanism of claim 13, wherein, The goods access mechanism is configured to include the following special-shaped goods taking state: Along the first direction, the limiting piece (4) is located between the first blocking piece (31) in the first limit position and the second blocking piece (32) in the standing state; Along the second direction, the first blocking piece (31) is located between a pair of clamping parts (22); Wherein, the first blocking piece (31), the second blocking piece (32) and a pair of clamping parts (22) together enclose the top opening storage frame (1000).

16. The goods access mechanism of claim 13, wherein, The goods access mechanism is configured to include the following irregular goods unloading state: Along the first direction, the first blocking piece (31) in the first limit position is located between the limiting piece (4) and the second blocking piece (32) in the flat state, or the first blocking piece (31) in the first limit position accommodates the limiting piece (4) through its own accommodating groove (311); along the second direction, the first blocking piece (31) is located between a pair of clamping parts (22); Wherein, the first blocking piece (31) moves along the first direction with the sliding assembly (21) to push the goods (400) on the support (11) out of the support (11).

17. The goods retrieval mechanism of claim 1, wherein, The goods access mechanism includes a regular goods taking state: The first blocking piece (31) is in the second limit position; and along the first direction, the first blocking piece (31) is located on the side of each clamping part (22) away from the second blocking piece (32); in the second direction, the first blocking piece (31) is located outside the movement track of the clamping part (22); The second blocking piece (32) is in the flat state, the clamping part (22) moves along the first direction with the sliding assembly (21) to extend out of the support seat (1), and the clamping part (22) is folded in the second direction to clamp the goods (400) located outside the support (11).

18. The goods retrieval mechanism of claim 1, wherein, The goods access mechanism includes a regular goods taking state: The first blocking piece (31) is in the second limit position; and along the first direction, the first blocking piece (31) is located on the side of each clamping part (22) away from the second blocking piece (32); in the second direction, the first blocking piece (31) is located outside the movement track of the clamping part (22); The second blocking piece (32) is in the flat state; the clamping part (22) is folded in the second direction to clamp the goods (400) located on the support (11); the clamping part (22) moves along the first direction with the sliding assembly (21) to extend out of the support seat (1) to send the clamped goods (400) out of the support (11).

19. The goods access mechanism of claim 13, wherein, The goods access mechanism includes a regular goods taking state: The first blocking piece (31) is in the first limit position; along the first direction, the first blocking piece (31) is located between the limiting piece (4) and the second blocking piece (32) in the flat state, and the first blocking piece (31) is located between a pair of clamping parts (22); The first blocking piece (31) is moved along with the sliding assembly (21) in a first direction to push the goods (400) on the support (11) out of the support (11).

20. A goods access mechanism according to claim 16, 18 or 19, wherein, The goods access mechanism is configured to cooperate with a packing machine (200) downstream of the goods access mechanism, and the packing machine (200) is configured to receive the goods (400) sent out from the support (11) and pack the goods (400).

21. A goods access robot, characterized by It comprises: a support arm (5); and The goods access mechanism according to any one of claims 1-20 is rotatably installed on the support arm (5).

22. The goods access robot of claim 21, wherein, It further comprises: a fifth driving part (6) installed on the support arm (5); and a fifth transmission mechanism (7) drivingly connected with the fifth driving part (6) and fixedly connected with the goods access mechanism, so that the goods access mechanism rotates under the driving of the fifth driving part (6).

23. The goods access robot of claim 22, wherein, The fifth transmission mechanism (7) comprises: a third gear (71) fixedly connected with a power output shaft of the fifth driving part (6); the third gear (71) is installed on the support arm (5); and a fourth gear (72) installed on the bottom of the support base (1) and engaged with the third gear (71).

24. The goods access robot of claim 21, wherein, It further comprises: a support column (8); a sixth driving part (9) installed on the support column (8); and a sixth transmission mechanism (10) drivingly connected with the sixth driving part (9) and fixedly connected with the support arm (5), so that the goods access mechanism moves along the support column (8) under the driving of the sixth driving part (9).

25. The goods access robot of claim 24, wherein, The sixth transmission mechanism (10) comprises: a first synchronous wheel (101) installed on one end of the support column (8); the first synchronous wheel (101) is fixedly connected with a power output shaft of the sixth driving part (9); a second synchronous wheel (102) installed on the other end of the support column (8); a synchronous belt tensioned by the first synchronous wheel (101) and the second synchronous wheel (102); the goods access mechanism is installed on the synchronous belt to rise and fall with the rotation of the synchronous belt; a second guide rail (104) installed on the support column (8); and a third guide part slidably installed on the second guide rail, and the goods access mechanism is fixedly installed on the third guide part.

26. The goods access robot of claim 24, wherein, It further comprises: a walking mechanism (12) installed on the support column (8) to realize the walking of the support column (8) in the medicine storage cabinet (100).

27. A goods access system characterised by, It comprises the goods access robot according to any one of claims 21-26.

28. The goods access system of claim 27, wherein, It further comprises: a medicine storage cabinet (100) comprising a first storage area (1001) and a second storage area (1002); the first storage area (1001) is configured to clamp and store goods by the goods access robot; and the second storage area (1002) is configured to deliver goods (400) to the goods access robot.

29. The goods access system of claim 28, wherein, It further comprises: A packing machine (200) is located downstream of the storage cabinet (100) to pack the goods (400) taken out from the storage cabinet (100) by the goods storage and taking robot.

30. The goods access system of claim 29, wherein, Further comprising: A delivery cabinet (300) is located downstream of the packing machine (200) to store the goods (400) packed by the packing machine (200).

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