Transfer equipment and cargo sorting system

Abstract

The utility model provides a transfer device and a goods sorting system. The transfer device comprises a transfer support, a conveying device and a goods sorting device, the moving frame is arranged on the transferring support and can move on the transferring support in the vertical direction; and the transferring track is arranged on the moving frame, the two opposite ends of the transferring track correspond to the sorting equipment and the conveying equipment correspondingly, and the transferring equipment is used for transferring the goods sorted by the sorting equipment to the conveying equipment and transferring the goods on the conveying equipment to the sorting equipment. According to the transfer equipment provided by the utility model, accurate and rapid transfer of goods among different equipment is realized, the accuracy and stability of goods transfer are ensured, and the risk of goods damage and loss is reduced. Meanwhile, compared with the complex scheme that multiple sets of driving links are arranged for transmission, the transfer equipment is simple in structure, unnecessary assemblies and energy consumption are reduced, the setting, maintenance and operation cost of the equipment is reduced, and large-scale application and popularization are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent warehousing technical field, specifically, relates to a transfer equipment and goods sorting system. BACKGROUND

[0002] At present, for the box type storage stereoscopic warehouse, most storage schemes are in the unit of material box, and the material box is accessed through a shuttle or a stacker, but with the continuous development of the logistics industry, the application scene is increasing, and the existing products are difficult to meet the needs, for example, for the multi-retail scene, multi-task multi-target mixed goods taking and placing, if the whole material box is accessed and sorted, it greatly wastes manpower and material resources, and the efficiency is also very low, which does not meet the development needs of warehousing intelligentization. The related technology proposes an automatic sorting device, which adopts a material box robot and a sorting mechanical arm to realize the sorting of specific products, but the mechanical arm is expensive, which is not conducive to the large-area promotion of products. At the same time, the multifunctional material box workstation in the related technology realizes the access of the material box through two groups of vertical lifting devices and multiple clamping devices, and is connected with the multi-material box robot, but this scheme has multiple original parts, which greatly affects the energy consumption and production cost.

[0003] Therefore, how to design a material box workstation with lower cost to realize the delivery of multi-target goods after sorting and the replenishment of the whole warehouse has become a problem to be solved at present. UTILITY MODEL CONTENT

[0004] The utility model aims at least solves the problem of high cost of material box workstation.

[0005] Therefore, the first aspect of the utility model provides a transfer equipment.

[0006] The second aspect of the utility model provides a goods sorting system.

[0007] Therefore, the first aspect of the utility model provides a transfer equipment.

[0008] The transfer equipment can be used for transferring goods between the sorting equipment and the conveying equipment, avoids the problem that the sorting equipment and the conveying equipment cannot be connected during the transportation of the goods. The transfer equipment comprises a transfer support, a moving frame and a transfer track. Since the moving frame can move along the vertical direction on the transfer support, the transfer track can flexibly adapt to the sorting equipment and the conveying equipment with different heights, thereby greatly improving the adaptability of the transfer of the goods, avoiding the connection problem caused by the height difference of the equipment, reducing the jam and waiting time of the goods during the transfer process, and significantly improving the transfer efficiency. The two ends of the transfer track are respectively connected with the sorting equipment and the conveying equipment, and the transfer equipment is used to realize the accurate and rapid circulation of the goods between different equipment, ensure the accuracy and stability of the transfer of the goods, and reduce the risk of damage and loss of the goods. Meanwhile, compared with the complex scheme of setting multiple original components for transfer, the transfer equipment has a simple structure, reduces unnecessary components and energy consumption, reduces the setting, maintenance and operation cost of the equipment, and is conducive to large-scale popularization and application.

[0009] According to the goods sorting system provided by the utility model, the following additional technical features can be further provided.

[0010] In some embodiments, optionally, the transfer equipment further comprises: a transfer motor; a plurality of transfer sprockets arranged on the transfer support, at least one of the transfer sprockets being drivingly connected with the transfer motor; and a transfer chain installed on the transfer sprockets, two ends of the transfer chain being respectively connected with two ends of the moving frame in the vertical direction.

[0011] In these embodiments, in order to facilitate the movement of the moving frame, the transfer motor, the plurality of transfer sprockets and the transfer chain can be further provided, and the movement of the moving frame is realized through the cooperation of the three. Specifically, the plurality of transfer sprockets can be arranged on the transfer support, the transfer motor is drivingly connected with at least one of the transfer sprockets, then the transfer chain is installed on the plurality of transfer sprockets so that the two are engaged, and finally the two ends of the transfer chain are respectively connected with two ends of the moving frame in the vertical direction. In this way, when the transfer motor drives the transfer sprockets to rotate, the moving frame can be moved in the vertical direction through the transfer chain.

[0012] The transfer motor drives the transfer sprockets to rotate and drives the transfer chain to move, thereby realizing accurate and efficient control of the vertical movement of the moving frame. The moving frame can quickly and accurately reach the specified position, ensuring the seamless connection of the transfer track with the sorting equipment and the conveying equipment, greatly improving the accuracy and stability of the transfer of the goods, and reducing the transmission failure of the goods caused by the connection deviation.

[0013] In some embodiments, the transfer device further comprises a rotating shaft, which is drivingly connected to the rotating motor, and rotating chain wheels are arranged at both ends of the rotating shaft, and the rotating chain is engaged with the rotating chain wheels at both ends of the rotating shaft.

[0014] In these embodiments, the rotating shaft is driven to rotate by the rotating motor, and the rotating chain wheels at both ends of the rotating shaft are driven to rotate synchronously, thereby ensuring that the rotating chain can be driven synchronously on both sides during the vertical movement of the moving frame. This synchronous driving force transmission mode makes the lifting and lowering process of the moving frame more stable and balanced, avoids the phenomenon of jamming or tilting caused by uneven force on one side, and greatly improves the stability and reliability during the transfer of goods.

[0015] Meanwhile, the combination of the rotating shaft and the rotating chain wheels effectively distributes the power of the rotating motor to both sides of the rotating chain, thereby enhancing the carrying capacity of the entire transmission system. Even when handling heavy goods, the device can easily cope with it, ensuring efficient operation of the transfer device and prolonging the service life of the device.

[0016] In some embodiments, the transfer device further comprises a sliding rail arranged in the vertical direction on the rotating support, and a sliding block arranged on the moving frame for cooperation with the sliding rail.

[0017] In these embodiments, the transfer device further comprises a sliding rail arranged in the vertical direction on the rotating support, and a sliding block arranged on the moving frame for cooperation with the sliding rail. The cooperation between the sliding rail and the sliding block provides precise guidance for the vertical movement of the moving frame. This ensures that the moving frame can move smoothly and smoothly along the predetermined vertical direction, avoiding deviation, shaking or jamming during movement, and greatly improving the accuracy and stability of the transfer of goods.

[0018] The second aspect of the present application provides a goods picking system, comprising: a picking device for carrying a bin and for identifying and picking goods; a conveying device for conveying goods; and a transfer device according to any one of the first aspect, which is arranged correspondingly to the conveying device and the picking device, and is used for transferring the goods picked by the picking device to the conveying device, and is used for transferring the goods on the conveying device to the picking device.

[0019] The goods picking system provided by the present application comprises a picking device, a conveying device and a transfer device according to any one of the first aspect. The picking device can carry out the bin on the goods shelf, and then pick the goods in the bin. The transfer device can transfer the goods picked by the picking device to the conveying device, and then transmit the goods through the conveying device. Similarly, the transfer device can also transfer the goods on the conveying device to the picking device, so that the picking device can put the goods into the carried bin, and then carry the bin to the goods shelf to realize the automatic restocking function.

[0020] It can be understood that, since the sorting device of the present application can carry out the bins on the shelves, and then sort the goods in the bins, multiple tasks and multiple goods can be sorted at one time. The following will be described in detail through specific order examples. The upper computer sends order instructions, for example, the order requirements are two A goods, three B goods and four C goods. Then the sorting device moves to the specified position under the instruction of the warehouse management system (WMS), carries the bin containing A goods from the shelf, then picks out two A goods and puts them into the preset position (such as an empty bin), and then puts the bin containing A goods back to the shelf, continues to control the sorting device to carry the bin containing B goods from the shelf, then picks out three B goods and puts them into the preset position, and then puts the bin containing B goods back to the shelf. In the same way, finally, the C goods are picked out and put into the empty bin. In this way, one task and multiple goods sorting is realized. Since multiple orders or multiple tasks can be executed at one time, and multiple preset positions (such as empty bins) can be set, multiple task sorting can be realized, and the goods in each task can be placed in the same bin. Therefore, when multiple orders or multiple tasks are executed, multiple task and multiple goods sorting is realized. Compared with the scheme in the related art that the bins containing different types of goods are carried out one by one and sorted manually, the present application can realize warehouse full automation from receiving order information to packaging and warehousing after order sorting is completed, greatly improves the efficiency of goods processing, reduces the waiting time between each link, and enables the entire system to quickly respond to market demand.

[0021] At the same time, the precise transfer function of the transfer device effectively avoids the confusion and errors of goods when transferring between different devices, ensures the accuracy and orderliness of the goods flow, and improves the reliability and stability of the sorting system. Moreover, since the goods sorting system provided by the present application includes the transfer device in any one of the first aspect. Therefore, the goods sorting system provided by the present application also has all the beneficial effects of the transfer device in any one of the first aspect, which will not be repeated here.

[0022] In some embodiments, optionally, the sorting device comprises: a support assembly; a fork assembly arranged on the support assembly and used for carrying the bins on the shelves; and a grabbing mechanism arranged on the support assembly and corresponding to the fork assembly, the grabbing mechanism being used for grabbing the goods in the bins carried by the fork assembly.

[0023] In the embodiments, the picking device comprises a support assembly, a fork assembly and a grabbing mechanism. The fork assembly and the grabbing mechanism are both arranged on the support assembly. The fork assembly can carry the bins on the shelves, and then the grabbing mechanism can grab the goods in the bins. In this way, multi-task and multi-item picking can be realized. For example, an order includes goods of three categories. The picking device is controlled to carry out the bin containing the goods of the first category from the shelf, and then a certain amount of goods of the first category are picked out. Then the bin containing the goods of the first category is put back to the shelf. The picking device is controlled to carry out the bin containing the goods of the second category from the shelf, and then a certain amount of goods of the second category are picked out. Then the bin containing the goods of the second category is put back to the shelf. Similarly, the goods of the third category are picked out. In this way, multi-task and multi-item picking is realized. Compared with the related art in which the bins containing goods of different categories are carried out one by one and then picked out manually, the present application can realize full automation of the warehouse from receiving the order information to packaging and warehousing after the order picking is completed. The efficiency of the goods processing is greatly improved, the waiting time between the links is reduced, and the whole system can quickly respond to market demand. Since the present application can simultaneously process multi-task and multi-item picking, the sorting efficiency is greatly improved, the energy, time and operation space are fully utilized, the cost investment is significantly reduced, and the development of the logistics industry towards high efficiency and rapidity is promoted.

[0024] Meanwhile, when replenishment is needed, the fork assembly is only controlled to carry out the bin on the shelf, the grabbing mechanism is controlled to grab the replenished goods and put them into the bin, and finally the bin is put back to the shelf. In this way, rapid automatic replenishment is realized. In addition, compared with the related art in which the goods are grabbed by a mechanical hand, the present application can reduce the manufacturing cost and maintenance cost of the device while ensuring the sorting function and efficiency, so that the device has better economic practicability and is more easily popularized and applied in the logistics industry.

[0025] In some embodiments, optionally, the picking device further comprises an identification device arranged on the grabbing mechanism and used for identifying the goods in the bin carried by the fork assembly. The grabbing mechanism can grab the goods according to the identification result of the identification device.

[0026] In the embodiments, in order to improve the accuracy of the grabbing mechanism, an identification device can be arranged on the grabbing mechanism to accurately identify the type, quantity and position of the goods, so that the grabbing mechanism can accurately grab the goods according to the information, the number of missed grabbing and missed grabbing is reduced, the picking efficiency is improved, and the picking time is shortened.

[0027] In some embodiments, optionally, the picking device further comprises a storage rack arranged on the support assembly and corresponding to the grabbing mechanism. The grabbing mechanism can place the grabbed goods on the storage rack.

[0028] In the embodiments, in order to facilitate the storage of the picked goods, a storage rack can be arranged on the support assembly, and the goods picked by the grabbing mechanism are placed on the storage rack, thereby improving the convenience and orderliness of the storage of the goods, and the goods have a clear storage position in the picking process, so as to avoid confusion and disorder, and facilitate subsequent arrangement and processing.

[0029] In some embodiments, optionally, the picking device further comprises a storage box arranged on the storage rack and corresponding to the grabbing mechanism, and the grabbing mechanism can place the picked goods in the storage box.

[0030] In the embodiments, in order to facilitate the arrangement and conveying of the picked goods, a storage box can be arranged on the storage rack, so that the picked goods are placed in the storage box. Specifically, in actual use, the goods in an order can be placed in a storage box, which can further save the arrangement time of the goods and facilitate the subsequent conveying of the goods.

[0031] In some embodiments, optionally, the storage rack comprises a first storage plate arranged on the support assembly and a second storage plate arranged on the support assembly, and a preset distance is arranged between the first storage plate and the second storage plate, the preset distance is greater than the width of the conveying track, and the preset distance is less than the length and / or width of the storage box.

[0032] In the embodiments, the storage rack can be arranged in the form of the first storage plate and the second storage plate, and a preset distance is arranged between the first storage plate and the second storage plate, so that the preset distance is greater than the width of the conveying track, and the preset distance is less than the length and / or width of the storage box. In this way, the storage box can be placed on the first storage plate and the second storage plate, and the arrangement of the storage box is realized. In addition, the arrangement can also reserve a working space for the conveying track, so that the conveying track can lift the storage box through the gap between the first storage plate and the second storage plate, and the conveying is realized.

[0033] In some embodiments, optionally, the storage rack and the grabbing mechanism are arranged on opposite sides of the support assembly along the first direction, the grabbing mechanism can move along the first direction, and the picking device further comprises a push-pull piece arranged on the grabbing mechanism, and the grabbing mechanism can drive the storage box to move through the push-pull piece when moving along the first direction.

[0034] In some embodiments, in order to facilitate the placement of the goods grabbed by the grabbing mechanism into the storage box, a push-pull piece can be arranged on the grabbing mechanism, and the push-pull piece is used to push or pull the storage box, so that the storage box is close to or away from the grabbing mechanism, thereby facilitating the placement of the goods into the storage box. Specifically, when it is needed to place the goods into the storage box, the grabbing mechanism is controlled to move in a first direction, and then the push-pull piece is used to pull the storage box to a preset position of the grabbing mechanism for facilitating the placement of the goods, and then the grabbing mechanism places the grabbed goods into the storage box. When the grabbing mechanism finishes placing the goods into the storage box, the push-pull piece is used to push the storage box to the original position, so as to prepare for the next conveying of the storage box.

[0035] In some embodiments, optionally, the plurality of storage shelves are arranged in the vertical direction on the support assembly.

[0036] In some embodiments, in order to improve the picking efficiency and avoid the disorder of the picked goods, a plurality of storage shelves can be arranged, so that one order of goods or one category of goods is placed on each storage shelf, thereby realizing the orderly placement of the goods. Meanwhile, since the storage boxes arranged on the goods shelves can be at different heights, in order to facilitate the placement of the goods grabbed at different heights by the grabbing mechanism, the plurality of storage shelves can be arranged in the vertical direction on the support assembly, so that the goods grabbed at different heights can be quickly placed into the storage boxes at the corresponding heights, thereby reducing the path and time of the goods conveying, and making the whole picking process more smooth and efficient.

[0037] In some embodiments, optionally, the grabbing mechanism comprises: a first driving device arranged on the support assembly; and a grabbing piece connected with the first driving device, and the first driving device is used to drive the grabbing piece to move in the vertical direction.

[0038] In some embodiments, the grabbing mechanism can be arranged in the form of the grabbing piece plus the first driving device, and the first driving device is used to drive the grabbing piece to move, thereby realizing the grabbing or placement of the goods. Specifically, the first driving device can be arranged on the support assembly and connected with the grabbing piece, and then the first driving device is used to drive the grabbing piece to move in the vertical direction, thereby realizing the grabbing of the goods. Since the first driving device can drive the grabbing piece to move in the vertical direction, the grabbing piece can accurately reach the positions of the storage boxes at different heights, thereby effectively grabbing the goods and greatly improving the adaptability of the picking equipment to the storage boxes at different heights on the goods shelves.

[0039] In some embodiments, optionally, the grabbing mechanism further comprises: a slide arranged in the horizontal direction on the support assembly, and the first driving device is arranged in the slide; and a second driving device connected with the first driving device and used to drive the first driving device to move along the slide.

[0040] In the embodiments, the first driving device is arranged in the slide way, and the first driving device is capable of moving in the horizontal direction along the slide way, so that the picked goods can be more accurately aligned with the entrance of the storage box, ensuring that the goods can be smoothly and accurately placed, and reducing the failure of placement or damage of the goods due to position deviation. Meanwhile, in order to facilitate the movement of the first driving device in the slide way, the second driving device can also be arranged to drive the first driving device to slide in the slide way.

[0041] It can be understood that the first driving device, the second driving device and the slide way are arranged, and the movement of the picking member in the vertical direction and the horizontal direction can be realized through the cooperation of the three, improving the flexibility and efficiency of picking, so that the picking member can quickly and accurately reach the position of the storage box or the storage box for picking or placing goods, reducing the time for adjusting the position of the equipment, and significantly improving the picking speed. Compared with the scheme of using a mechanical hand or a mechanical arm, the cost of the equipment is greatly saved.

[0042] In some embodiments, optionally, the picking device further comprises a picking support movably arranged on the support assembly and capable of moving in the vertical direction on the support assembly, and the fork assembly and the picking mechanism are arranged on the picking support.

[0043] In the embodiments, in order to facilitate the installation and movement of the fork assembly and the picking mechanism, the picking support can be arranged on the support assembly, so that the picking support can move in the vertical direction on the support assembly, and when the fork assembly and the picking mechanism are arranged on the picking support, the simultaneous movement of the two can be realized without changing the relative arrangement position of the two, thereby simplifying the structure of the equipment.

[0044] In some embodiments, optionally, the conveying device comprises a conveying track arranged corresponding to the transfer device, and an avoiding position arranged on the conveying track, the avoiding position being used for avoiding the transfer track, and the transfer track is capable of moving in the vertical direction from the avoiding position through the conveying track.

[0045] In the embodiments, the conveying device comprises the conveying track and the avoiding position. The conveying track is arranged corresponding to the transfer device, and the transfer device can place the picked goods on the conveying track, or the goods on the conveying track can be transferred to the picking device by the transfer device. The avoiding position is arranged on the conveying track, and the avoiding position is used for avoiding the transfer track. By arranging the avoiding position, the transfer track can move in the vertical direction from the avoiding position through the conveying track, and then the goods on the conveying track are lifted to realize the transfer.

[0046] In some embodiments, optionally, the support assembly is two, and the two support assemblies are symmetrically arranged, and the fork assembly and the picking mechanism are arranged between the two support assemblies.

[0047] In the embodiments, in order to improve the stability of the picking device during the working process, the support assembly can be provided as two, and the two support assemblies are symmetrically arranged, so that the fork assembly and the grabbing mechanism are arranged between the two support assemblies, so as to ensure the stability of the picking device during the working process.

[0048] In some embodiments, optionally, the picking device further comprises a moving assembly, and the support assembly is arranged on the moving assembly, and the moving assembly is used to drive the support assembly to move.

[0049] In the embodiments, in order to facilitate the picking of multi-position goods, the support assembly can be arranged on the moving assembly, and the moving assembly is used to drive the support assembly to move, so as to realize the picking of multi-position goods, thereby improving the picking efficiency and the convenience of picking.

[0050] The additional aspects and advantages of the present application will become apparent from the following description, or will be appreciated by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0051] The above and / or additional aspects and advantages of the present application will become apparent from the following description, or will be appreciated by practice of the present application, in conjunction with the accompanying drawings, wherein:

[0052] Figure 1 A structure schematic diagram of a transfer device of one embodiment of the present application is shown;

[0053] Figure 2 A partial structure schematic diagram of the transfer device of one embodiment of the present application is shown;

[0054] Figure 3 A partial structure schematic diagram of the transfer device of one embodiment of the present application is shown;

[0055] Figure 4 A structure schematic diagram of a goods picking system of one embodiment of the present application is shown;

[0056] Figure 5 A partial structure schematic diagram of the transfer device of one embodiment of the present application is shown;

[0057] Figure 6 A structure schematic diagram of a picking device of one embodiment of the present application is shown;

[0058] Figure 7 A structure schematic diagram of a goods picking system of one embodiment of the present application is shown;

[0059] Figure 8 A structure schematic diagram of a goods picking system of one embodiment of the present application is shown;

[0060] Figure 9 A structure schematic view of a fork assembly of one embodiment of the present application is shown;

[0061] Figure 10 A partial structure schematic view of a sorting equipment of one embodiment of the present application is shown;

[0062] Figure 11 A structure schematic view of a goods sorting system of one embodiment of the present application is shown;

[0063] Figure 12 A structure schematic view of a goods sorting system of one embodiment of the present application is shown.

[0064] Wherein, Figures 1 to 12 The correspondence between the reference signs and the component names is as follows:

[0065] 1, a goods sorting system, 10, a sorting equipment, 101, a support assembly, 102, a fork assembly, 1021, a chassis, 1022, a fork plate assembly, 1023, a finger mechanism, 1024, a connecting piece, 1025, a finger, 103, a grabbing mechanism, 1031, a first driving device, 1032, a grabbing piece, 1033, a slide, 1034, a second driving device, 104, an identification device, 105, a storage rack, 1051, a first storage plate, 1052, a second storage plate, 106, a storage box, 107, a push-pull piece, 108, a sorting support, 109, a moving assembly, 110, a guide device, 20, a conveying equipment, 201, a conveying track, 202, an avoiding position, 30, a transfer equipment, 301, a transfer support, 302, a moving frame, 303, a transfer track, 304, a transfer motor, 305, a transfer sprocket, 306, a transfer chain, 307, a transfer shaft, 308, a slide rail, 309, a slide block, 4, a box, 5, a shelf. DETAILED DESCRIPTION

[0066] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0067] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0068] The following description refers to the accompanying drawings, which are meant to further clarify the present application. Figures 1 to 12 The transfer equipment and the goods sorting system according to some embodiments of the present application are described.

[0069] According to one embodiment of the first aspect of the utility model, as shown in Figures 1 to 12 The first aspect of the utility model provides a transfer device 30 for transferring goods between a picking device 10 and a conveying device 20, the transfer device 30 comprising a transfer support 301, a moving frame 302 and a transfer track 303. The moving frame 302 is arranged on the transfer support 301 and can move in a vertical direction on the transfer support 301. The transfer track 303 is arranged on the moving frame 302, and opposite ends of the transfer track 303 correspond to the picking device 10 and the conveying device 20 respectively. The transfer device 30 is used to transfer the goods picked by the picking device 10 to the conveying device 20 and to transfer the goods on the conveying device 20 to the picking device 10.

[0070] The transfer device 30 provided by the utility model can be used to transfer goods between the picking device 10 and the conveying device 20, avoiding the problem that the picking device 10 and the conveying device 20 cannot be docked when goods are transported. As shown in Figure 5 The transfer device 30 comprises the transfer support 301, the moving frame 302 and the transfer track 303. Because the moving frame 302 can move in a vertical direction on the transfer support 301, the transfer track 303 can flexibly adapt to picking devices 10 and conveying devices 20 of different heights, greatly improving the adaptability of the transfer of goods, avoiding the docking problem caused by the height difference between devices, reducing the jamming and waiting time of goods during the transfer process, and significantly improving the transfer efficiency. The opposite ends of the transfer track 303 correspond to the picking device 10 and the conveying device 20 respectively, and the transfer device is used to realize the accurate and rapid circulation of goods between different devices, ensure the accuracy and stability of the transfer of goods, and reduce the risk of damage and loss of goods. At the same time, compared with the complex scheme of setting multiple original parts for transfer, the transfer device 30 is simple in structure, reduces unnecessary components and energy consumption, reduces the setting, maintenance and operation cost of the device, and is conducive to large-scale popularization and application.

[0071] In some embodiments, as shown in Figure 2 and Figure 3 The transfer device 30 further comprises a transfer motor 304, a plurality of transfer sprockets 305 arranged on the transfer support 301, at least one transfer sprocket 305 being drivingly connected to the transfer motor 304, and a transfer chain 306 installed on the transfer sprockets 305, the opposite ends of the transfer chain 306 being connected to the opposite ends of the moving frame 302 in a vertical direction respectively.

[0072] In some embodiments, to facilitate the movement of the moving frame 302, a transmission motor 304, a plurality of transmission sprockets 305, and a transmission chain 306 can also be provided, and the movement of the moving frame 302 is realized through the cooperation of the three. Specifically, the plurality of transmission sprockets 305 can be arranged on the transmission support 301, the transmission motor 304 is drivingly connected with at least one of the transmission sprockets 305, then the transmission chain 306 is installed on the plurality of transmission sprockets 305 so that the two are engaged, and finally the two ends of the transmission chain 306 are connected with the two ends of the moving frame 302 opposite in the vertical direction, so that when the transmission motor 304 drives the transmission sprocket to rotate, the moving frame 302 can be moved in the vertical direction through the transmission chain 306.

[0073] By driving the transmission sprocket 305 to rotate through the transmission motor 304, the transmission chain 306 is driven to move, realizing precise and efficient control of the vertical movement of the moving frame 302. The moving frame 302 can quickly and accurately reach the designated position, ensuring seamless docking of the transmission track 303 with the picking device 10 and the conveying device 20, greatly improving the accuracy and stability of the goods transmission, and reducing the goods transmission failure caused by docking deviation.

[0074] In some embodiments, optionally, the transfer device 30 further comprises a transmission shaft 307 drivingly connected with the transmission motor 304, and the transmission sprocket 305 is arranged at both ends of the transmission shaft 307, and the transmission chain 306 is engaged with the transmission sprocket 305 at both ends of the transmission shaft 307.

[0075] In some embodiments, by driving the transmission shaft 307 to rotate through the transmission motor 304, the transmission sprocket 305 at both ends of the shaft is driven to rotate synchronously, thereby ensuring that the transmission chain 306 can be driven synchronously on both sides during the vertical movement of the moving frame 302. This double-sided synchronous driving force transmission mode makes the rising and falling process of the moving frame 302 more stable and balanced, avoiding the jamming or tilting phenomenon caused by uneven force on one side, and greatly improving the stability and reliability during the goods transmission process.

[0076] At the same time, the combination design of the transmission shaft 307 and the transmission sprocket 305 effectively distributes the power of the transmission motor 304 to both sides of the transmission chain 306, enhancing the carrying capacity of the entire transmission system. Even when handling heavy goods, it can be easily handled, ensuring efficient operation of the transfer device 30, while prolonging the service life of the equipment.

[0077] In some embodiments, optionally, the transfer device 30 further comprises a slide rail 308 arranged in the vertical direction on the transmission support 301, and a sliding block 309 arranged on the moving frame 302 for cooperation with the slide rail 308.

[0078] In the embodiments, the transfer device 30 further comprises a slide rail 308 arranged in the vertical direction on the transfer support 301, and a slide block 309 arranged on the moving frame 302 for cooperation with the slide rail 308. The cooperation of the slide rail 308 and the slide block 309 provides accurate guidance for the vertical movement of the moving frame 302. It ensures that the moving frame 302 can move smoothly and smoothly along the predetermined vertical direction, avoiding deviation, shaking or jamming during movement, and greatly improving the accuracy and stability of the goods transfer.

[0079] As shown in Figure 8 , Figure 11 and Figure 12 , the second aspect of the present application provides a goods picking system, comprising: a picking device 10 for carrying a bin 4 and for identifying and picking goods; a conveying device 20 for conveying goods; and a transfer device 30 as in any one of the embodiments of the first aspect, which is arranged correspondingly with the conveying device 20 and the picking device 10, and which is used to transfer the goods picked by the picking device 10 to the conveying device 20, and which is used to transfer the goods on the conveying device 20 to the picking device 10.

[0080] The goods picking system provided by the present application comprises the picking device 10, the conveying device 20 and the transfer device 30 as in any one of the embodiments of the first aspect. The picking device 10 can carry the bin 4 on the goods shelf 5 out, and then pick the goods in the bin 4. The transfer device 30 can transfer the goods picked by the picking device 10 to the conveying device 20, and then transmit the goods through the conveying device 20. Similarly, the transfer device 30 can also transfer the goods on the conveying device 20 to the picking device 10, so that the picking device 10 can put the goods into the carried bin 4, and then carry the bin 4 to the goods shelf 5, realizing the automatic restocking function.

[0081] It can be understood that, since the sorting device 10 of the present application can carry out the bins 4 on the shelves 5 and then sort the goods in the bins 4, multiple tasks and multiple goods can be sorted at one time. For example, if an order includes three categories of goods, the sorting device 10 is only needed to be controlled to carry out the bin 4 containing the first category of goods from the shelf 5, then a certain amount of the first category of goods is sorted out, and then the bin 4 containing the first category of goods is put back to the shelf 5, and the sorting device 10 is controlled to carry out the bin 4 containing the second category of goods from the shelf 5, then a certain amount of the second category of goods is sorted out, and then the bin 4 containing the second category of goods is put back to the shelf 5, and similarly, the third category of goods is sorted out, so that one task and multiple goods sorting is realized. Since multiple orders can be executed at one time, when multiple orders are executed, multiple tasks and multiple goods sorting is realized. Compared with the scheme in the related art that the bins 4 containing different categories of goods are carried out one by one and sorted manually, the present application can realize full unmanned warehousing from receiving order information to packaging and warehousing after order sorting is completed, greatly improves the efficiency of goods processing, reduces the waiting time between each link, and enables the entire system to quickly respond to market demand.

[0082] At the same time, the precise transfer function of the transfer device 30 effectively avoids the confusion and errors of goods when transferred between different devices, ensures the accuracy and orderliness of the flow of goods, and improves the reliability and stability of the sorting system. Moreover, since the goods sorting system provided by the present application includes the transfer device 30 in any one of the embodiments of the first aspect, the goods sorting system provided by the present application also has all the beneficial effects of the transfer device 30 in any one of the embodiments of the first aspect, which will not be repeated here.

[0083] In some embodiments, optionally, the sorting device 10 includes a support assembly 101, a fork assembly 102 arranged on the support assembly 101 and used for carrying the bins 4 on the shelves 5, and a grabbing mechanism 103 arranged on the support assembly 101 and corresponding to the fork assembly 102, the grabbing mechanism 103 being used for grabbing the goods in the bins 4 carried by the fork assembly 102.

[0084] In the embodiments, the picking device 10 comprises a support assembly 101, a fork assembly 102 and a grabbing mechanism 103. The fork assembly 102 and the grabbing mechanism 103 are both arranged on the support assembly 101, and the fork assembly 102 can carry the bins 4 on the shelves 5, and then the grabbing mechanism 103 can grab the goods in the bins 4, so that multi-task and multi-item picking can be realized. The working process is described in detail below through a specific order example. The upper computer sends an order instruction, for example, the order requires two A goods, three B goods and four C goods, and then the picking device 10 moves to the specified position under the instruction of the warehouse management system (WMS), carries the bin containing A goods from the shelf, picks out two A goods and puts them into the preset position (for example, an empty bin), and then puts the bin containing A goods back to the shelf, continues to control the picking device 10 to carry the bin containing B goods from the shelf, picks out three B goods and puts them into the preset position, and then puts the bin containing B goods back to the shelf. Similarly, finally, the C goods are picked out and put into the empty bin, so that one task and multi-item picking are realized. Since multiple orders or multiple tasks can be executed at a time, and multiple preset positions (for example, empty bins) can be set, multi-task picking can be realized, and the goods in each task can be put into the same bin, so that when multiple orders or multiple tasks are executed, multi-task and multi-item picking are realized. Compared with the scheme in the related art that the bins 4 containing different types of goods are carried out one by one and manually picked, the present application can realize warehouse full automation from receiving order information to packaging and warehousing after order picking is completed, greatly improves the efficiency of goods processing, reduces the waiting time between each link, and enables the entire system to quickly respond to market demand. Since the present application can simultaneously process multi-task and multi-item picking, the sorting efficiency is greatly improved, energy, time and operation space are fully utilized, the cost investment is significantly reduced, and the development of the logistics industry towards high efficiency and rapidity is effectively promoted.

[0085] Meanwhile, when replenishment is needed, the fork assembly 102 only needs to be controlled to carry the bin 4 on the shelf 5, the grabbing mechanism 103 is controlled to grab the replenished goods and put them into the bin 4, and finally the bin 4 is put back to the shelf 5, so that rapid automatic replenishment is realized. In addition, compared with the scheme in the related art that the goods are grabbed by a mechanical hand, the present application reduces the manufacturing cost and maintenance cost of the device while ensuring the sorting function and efficiency, so that it has better economic practicability and is more easily popularized and applied in the logistics industry.

[0086] In some embodiments, optionally, as Figure 9As shown, the fork assembly 102 comprises a chassis 1021, a fork plate assembly 1022 arranged on the chassis 1021, the fork plate assembly 1022 being capable of moving relative to the chassis 1021 along a second direction, a poking finger mechanism 1023 arranged on the fork plate assembly 1022, the poking finger mechanism 1023 comprising a connecting piece 1024 movably arranged on the fork plate assembly 1022 and capable of acting relative to the fork plate assembly 1022, and at least two poking fingers 1025 arranged at two ends of the connecting piece 1024 along the second direction, the connecting piece 1024 being capable of driving the at least two poking fingers 1025 to act between a first position and a second position when the connecting piece 1024 acts, the poking finger mechanism 1023 being capable of moving with the fork plate assembly 1022 to push the goods when the poking finger 1025 is located at the first position.

[0087] In the embodiments, the fork assembly 102 comprises the chassis 1021, the fork plate assembly 1022 and the poking finger mechanism 1023. The fork plate assembly 1022 is arranged on the chassis 1021 and is capable of moving relative to the chassis 1021 along the second direction, so as to realize the preliminary positioning and pushing of the goods by arranging the fork plate assembly 1022 on the chassis 1021 and enabling the fork plate assembly 1022 to move relative to the chassis 1021 along the second direction. The poking finger mechanism 1023 is arranged on the fork plate assembly 1022 and comprises the connecting piece 1024 and the at least two poking fingers 1025, the at least two poking fingers 1025 being arranged at two ends of the connecting piece 1024 along the second direction, so that the goods can be pushed by the poking finger mechanism 1023 when the poking finger mechanism 1023 moves with the fork plate assembly 1022 along the second direction, and the goods are pushed onto the chassis 1021, thereby completing the carrying of the goods. The poking finger 1025 is capable of acting between the first position and the second position, the poking finger 1025 is located at the first position when the goods need to be pushed, the goods are effectively pushed by the contact with the poking finger 1025, and the goods are accurately and powerfully pushed onto the chassis 1021. When the goods do not need to be pushed, the poking finger 1025 is switched to the second position, so as to avoid the interference with the goods and reduce unnecessary collision and wear. The goods are moved by the poking finger 1025 in the application, so that the fork assembly 102 can flexibly cope with goods of different shapes and specifications, especially for goods of irregular shapes, the poking finger 1025 can better adapt to the profile of the goods, and the stability and accuracy of the grabbing are improved.

[0088] Meanwhile, since the connecting piece 1024 can drive the two poking fingers 1025 to act between the first position and the second position in the application, compared with the scheme of using independent electric cylinders to control each poking finger 1025, the application not only has a simple structure, but also can save the manufacturing cost and the later maintenance cost.

[0089] In some embodiments, the storage box 106 is optionally movable relative to the grabbing mechanism 103, and the order-picking device 10 further comprises a guiding device 110 arranged on the support assembly 101 and configured to guide the movement of the storage box 106.

[0090] In some embodiments, the guiding device 110 is arranged on the support assembly 101 to guide the movement of the storage box 106, thereby improving the reliability and stability of the movement of the storage box 106.

[0091] In some embodiments, the order-picking device 10 further comprises an identification device 104 arranged on the grabbing mechanism 103 and configured to identify the goods in the storage box 4 carried by the fork assembly 102, and the grabbing mechanism 103 is capable of grabbing according to the identification result of the identification device 104.

[0092] In some embodiments, the identification device 104 is arranged on the grabbing mechanism 103 to accurately identify the type, quantity, and position of the goods, so that the grabbing mechanism 103 can accurately grab the goods according to the identification result, thereby reducing the number of missed and missed grabs, improving the order-picking efficiency, and shortening the order-picking time.

[0093] In some embodiments, the order-picking device 10 further comprises a storage rack 105 arranged on the support assembly 101 and corresponding to the grabbing mechanism 103, and the grabbing mechanism 103 is capable of placing the grabbed goods on the storage rack 105.

[0094] In some embodiments, the storage rack 105 is arranged on the support assembly 101 to facilitate the storage of the grabbed goods, thereby improving the convenience and orderliness of the storage of the goods and providing a clear storage position for the goods during the order-picking process, avoiding confusion and disorder, and facilitating subsequent arrangement and processing.

[0095] In some embodiments, the order-picking device 10 further comprises a storage box 106 arranged on the storage rack 105 and corresponding to the grabbing mechanism 103, and the grabbing mechanism 103 is capable of placing the grabbed goods in the storage box 106.

[0096] In some embodiments, the storage box 106 is arranged on the storage rack 105 to facilitate the arrangement and transportation of the picked goods, thereby placing the picked goods in the storage box 106. Specifically, in actual use, the goods in an order can be placed in a storage box 106, which can further save the arrangement time of the goods and facilitate the subsequent transportation of the goods.

[0097] In some embodiments, optionally, as shown in Figure 1 and Figure 6 The storage rack 105 comprises a first storage plate 1051 arranged on the support assembly 101, and a second storage plate 1052 arranged on the support assembly 101. A preset distance is arranged between the first storage plate 1051 and the second storage plate 1052. The preset distance is greater than the width of the transfer track 303, and is less than the length and / or width of the storage box 106.

[0098] In these embodiments, the storage rack 105 can be arranged in the form of the first storage plate 1051 and the second storage plate 1052, and a preset distance is arranged between the first storage plate 1051 and the second storage plate 1052. The preset distance is greater than the width of the transfer track 303, and is less than the length and / or width of the storage box 106. In this way, the storage box 106 can be placed on the first storage plate 1051 and the second storage plate 1052, and the storage box 106 can be placed. In addition, this arrangement can also reserve a working space for the conveying track 201, so that the conveying track 201 can lift the storage box 106 through the gap between the first storage plate 1051 and the second storage plate 1052, and realize the transfer.

[0099] In some embodiments, optionally, the storage rack 105 and the grabbing mechanism 103 are arranged on opposite sides of the support assembly 101 along the first direction (e.g. the direction indicated by H in Figure 6 The grabbing mechanism 103 can move along the first direction. The picking device 10 further comprises a push-pull piece 107 arranged on the grabbing mechanism 103. When the grabbing mechanism 103 moves along the first direction, the push-pull piece 107 can drive the storage box 106 to move.

[0100] In these embodiments, in order to facilitate the placement of the goods grabbed by the grabbing mechanism 103 into the storage box 106, the push-pull piece 107 can also be arranged on the grabbing mechanism 103. The push-pull piece 107 pushes or pulls the storage box 106, so that the storage box 106 approaches or moves away from the grabbing mechanism 103, thereby facilitating the placement of goods into the storage box 106. Specifically, when it is necessary to place goods into the storage box 106, the grabbing mechanism 103 is controlled to move along the first direction, and then the push-pull piece 107 is used to pull the storage box 106 to a preset position close to the grabbing mechanism 103 for facilitating the placement of goods. Then, the grabbing mechanism 103 places the grabbed goods into the storage box 106. When the grabbing mechanism 103 finishes placing the goods into the storage box 106, the push-pull piece 107 is used to push the storage box 106 to the original position, thereby preparing for the next transfer of the storage box 106.

[0101] In some embodiments, optionally, the storage rack 105 is a plurality of storage racks 105, and the plurality of storage racks 105 are arranged in the vertical direction and are spaced apart on the support assembly 101.

[0102] In some embodiments, in order to improve the picking efficiency and avoid the disorder of the picked goods, a plurality of storage racks 105 can be arranged, so that each storage rack 105 is used to place the goods of an order or goods of a category, so as to realize the orderly placement of goods. At the same time, since the containers 4 placed on the shelves 5 can be at different heights, in order to facilitate the placement of the goods grabbed by the grabbing mechanism 103 at different heights, a plurality of storage racks 105 can be arranged in the vertical direction on the support assembly 101, so that the goods grabbed at different heights can be quickly placed in the corresponding height storage box 106, reducing the path and time of goods transportation, and making the whole picking process more smooth and efficient.

[0103] In some embodiments, as shown in Figure 6 and Figure 10 , the grabbing mechanism 103 comprises a first driving device 1031 arranged on the support assembly 101, and a grabbing part 1032 connected with the first driving device 1031, and the first driving device 1031 is used to drive the grabbing part 1032 to move in the vertical direction.

[0104] In some embodiments, the grabbing mechanism 103 can be arranged in the form of the grabbing part 1032 and the first driving device 1031, and the first driving device 1031 is used to drive the grabbing part 1032 to move, so as to realize the grabbing or placing of goods. Specifically, the first driving device 1031 can be arranged on the support assembly 101 and connected with the grabbing part 1032, and then the first driving device 1031 is used to drive the grabbing part 1032 to move in the vertical direction, so as to realize the grabbing of goods. Since the first driving device 1031 can drive the grabbing part 1032 to move in the vertical direction, it can accurately reach the position of the container 4 at different heights, so as to effectively grab the goods, and greatly improve the adaptability of the picking equipment 10 to the containers 4 at different heights on the shelves 5.

[0105] In some embodiments, the grabbing mechanism 103 further comprises a slide 1033 arranged in the horizontal direction on the support assembly 101, and the first driving device 1031 is arranged in the slide 1033; and a second driving device 1034 connected with the first driving device 1031, used to drive the first driving device 1031 to move along the slide 1033.

[0106] In some embodiments, the first driving device 1031 is arranged on the slide 1033, and the first driving device 1031 is arranged in the slide 1033, so that the first driving device 1031 can move in the horizontal direction along the slide 1033, so as to more accurately align the grabbed goods with the entrance of the storage box 106, ensure that the goods can be smoothly and accurately placed, and reduce the failure of placement or damage of the goods due to position deviation. At the same time, in order to facilitate the movement of the first driving device 1031 in the slide 1033, a second driving device 1034 can also be arranged to drive the first driving device 1031 to slide in the slide 1033.

[0107] It can be understood that the first driving device 1031, the second driving device 1034 and the slide 1033 are arranged, and the movement of the grabbing part 1032 in the vertical direction and the horizontal direction can be realized by cooperation of the three, which improves the flexibility and efficiency of the picking, so that the grabbing part 1032 can quickly and accurately reach the position of the storage box 4 or the storage box 106 for picking or placing goods, reduces the time for adjusting the position of the equipment, and significantly improves the picking speed. Compared with the scheme of using a mechanical hand or a mechanical arm, the cost of the equipment is greatly saved.

[0108] In some embodiments, optionally, the picking device 10 further comprises a picking support 108 movably arranged on the support assembly 101 and capable of moving in the vertical direction on the support assembly 101, and the fork assembly 102 and the grabbing mechanism 103 are arranged on the picking support 108.

[0109] In some embodiments, in order to facilitate the installation and movement of the fork assembly 102 and the grabbing mechanism 103, the picking support 108 can be arranged on the support assembly 101, so that the picking support 108 can move in the vertical direction on the support assembly 101, so that when the fork assembly 102 and the grabbing mechanism 103 are arranged on the picking support 108, the simultaneous movement of the two can be realized without changing the relative arrangement position of the two, thereby simplifying the structure of the equipment.

[0110] In some embodiments, optionally, as shown in Figure 4 and Figure 7 The conveying device 20 comprises a conveying track 201 arranged corresponding to the transfer device 30, and an avoiding position 202 arranged on the conveying track 201, the avoiding position 202 is used to avoid the transfer track 303, and the transfer track 303 can move in the vertical direction from the avoiding position 202 through the conveying track 201.

[0111] In the embodiments, the conveying device 20 comprises a conveying track 201 and an avoiding position 202. The conveying track 201 is arranged correspondingly to the transfer device 30, and the transfer device 30 can place the picked goods on the conveying track 201, or the goods on the conveying track 201 can be transferred to the picking device 10 by the transfer device 30. The avoiding position 202 is arranged on the conveying track 201, and the avoiding position 202 is used for avoiding the transfer track 303. By arranging the avoiding position 202, the transfer track 303 can pass through the conveying track 201 in the vertical direction from the avoiding position 202, so as to lift the goods on the conveying track 201 for transfer.

[0112] In some embodiments, the shelf 105 is supported on both sides and hollowed in the middle, so that the chain conveyor in the bin 4 workstation can move vertically in the shelf 105 for picking and placing the bin 4. The shelf 105 is fixed on the vertical frame and does not move with the moving frame 302.

[0113] In some embodiments, the support assembly 101 is two, and the two support assemblies 101 are symmetrically arranged, and the fork assembly 102 and the grabbing mechanism 103 are arranged between the two support assemblies 101.

[0114] In the embodiments, in order to improve the stability of the picking device 10 during the working process, the support assembly 101 can be arranged as two, and the two support assemblies 101 are symmetrically arranged, so that the fork assembly 102 and the grabbing mechanism 103 are arranged between the two support assemblies 101, which can ensure the stability of the picking device 10 during the working process.

[0115] In some embodiments, the picking device 10 further comprises a moving assembly 109, and the support assembly 101 is arranged on the moving assembly 109, and the moving assembly 109 is used to drive the support assembly 101 to move.

[0116] In the embodiments, in order to facilitate the picking of multi-position goods, the support assembly 101 can be arranged on the moving assembly 109, and the moving assembly 109 is used to drive the support assembly 101 to move, so as to realize the picking of multi-position goods, thereby improving the picking efficiency and the convenience of picking.

[0117] In some embodiments, the goods picking system 1 further comprises a bin 4 storage area, and the bin 4 storage area is provided with a goods shelf 5, the bin 4 is placed on the goods shelf 5, and the bin 4 contains the same kind of goods and is numbered by position.

[0118] According to one embodiment of the second aspect of the utility model, the second aspect of the utility model provides a kind of goods sorting system, comprising: material box storage area, sorting equipment, material box workstation (transfer equipment) and in-and-out warehouse conveying equipment (conveying equipment).Material box is placed on shelf, and the same kind of goods in material box, and its position is numbered.

[0119] Wherein, in material box storage area, goods material box is stacked on shelf, can realize the high-density storage of goods, empty material box, i.e. order material box (storage box) is located outside, can be according to order demand, quantitative release empty material box to conveying equipment, is transported to sorting equipment by material box workstation.

[0120] Sorting equipment has transportation, quantitative grabbing goods and other functions, mainly realizes the goods in the material box in shelf area is grabbed into order material box, i.e. for taking goods process, otherwise for replenishment process.Material box workstation is used to interface sorting equipment and in-and-out warehouse conveying equipment, and transfers order material box.In-and-out warehouse equipment is used to carry out in-and-out warehouse of order material box.

[0121] Sorting equipment has multiple temporary storage positions (storage rack), and each temporary storage position can place an order material box, which is taken and placed by material box workstation, in addition, it also includes mobile trolley (moving assembly) for moving to specified position.

[0122] Sorting equipment has clamping type fork (fork assembly), which is used to pull out the material box in shelf area, and the goods in the material box are grabbed by identification and grabbing mechanism (identification device plus grabbing mechanism).It should be noted that, in addition to completing goods grabbing and transferring, identification and grabbing mechanism can also transfer order material box from storage rack to taking position.

[0123] Material box workstation includes chain conveyor (transfer track) and vertical lifting frame (transfer support), one end of chain conveyor is connected with drum conveyor in in-and-out warehouse conveying equipment.It should be noted that chain conveyor can pass through drum conveyor, so that goods can be transferred between them.Chain conveyor is fixed with horizontal movement frame (moving frame), and horizontal movement frame is fixed with linear slide rail, so that it can slide along vertical direction.

[0124] In some embodiments, optionally, in-and-out warehouse conveying equipment includes multiple drum conveyors, wherein it should be noted that the middle part of conveying machine connected with material box workstation is grooved (avoiding position), so that chain conveyor can cross with drum conveyor, and the remaining drum conveyors are arranged according to actual needs.

[0125] In some embodiments, optionally, the above equipment in specific implementation scene, can increase the number of equipment according to order quantity as needed.

[0126] In some embodiments, the picking device, optionally, comprises a bottom moving assembly, a lifting mechanism, a clamping fork, an identification and grabbing mechanism, and a bin rack. The bottom moving assembly can receive an upper command and move to the position of the required bin. The lifting mechanism is used to realize the motion in the vertical plane, which adapts to the requirements of high-density storage. The clamping fork is used to pull out or put back the target bin from the rack. The identification and grabbing mechanism comprises a clamping jaw, a moving assembly, a visual identification device, an empty bin for clamping the goods of the target bin to realize picking, or clamping the goods of the empty bin into the rack bin to realize replenishment. The bin rack is used to store the empty bin when picking or the bin when replenishing.

[0127] In some embodiments, the bin workstation (transit device), optionally, comprises a vertical lifting frame and a chain conveyor (transfer track). The vertical lifting frame is used to receive the bin on the picking device. The chain conveyor (transfer track) is used to take or put the bin from the picking device.

[0128] In some embodiments, the warehouse-in and warehouse-out conveying device (conveying device), optionally, comprises a plurality of groups of roller conveyors, wherein the middle part of the conveying device that is in contact with the bin workstation is slotted to realize cross motion with the chain conveyor.

[0129] In some embodiments, the bin rack, optionally, is supported on both sides and hollowed in the middle, so that the chain conveyor in the bin workstation can move vertically in the bin rack for taking or putting the bin. The bin rack is fixed on the vertical frame and does not move with the horizontal moving frame.

[0130] In some embodiments, the bin workstation, optionally, mainly comprises a vertical lifting frame and a chain conveyor. The vertical lifting frame comprises a vertical frame, a linear sliding block sliding rail, a gear seat, a horizontal moving frame, a chain, a chain fixing joint, a lifting motor, a transmission shaft, a fixed bearing seat, a driving sprocket, and a driven sprocket. The linear sliding rail is fixed on the vertical frame, and the horizontal moving frame is fixed with the sliding block so that the horizontal moving frame can move up and down along the sliding rail. The chain fixing joint is fixed on the horizontal moving frame and connected with the two ends of the chain, respectively. The fixed gear seat is fixed on the top of the vertical frame.

[0131] In some embodiments, the transmission shaft is a stepped shaft, which is provided with three groups of driven sprockets and fixed bearings. The lifting motor drives the driving sprocket to rotate, which in turn drives the driven sprockets to rotate, which in turn drives the transmission shaft to rotate, which in turn drives the driven sprockets on both sides to rotate. Further, the two ends of the chain are respectively locked with the fixing joints on the horizontal moving frame and pass around the driven sprockets to the top fixed gear seat, that is, when the lifting motor rotates, the horizontal moving frame moves vertically.

[0132] In some embodiments, the chain conveyor is fixed on the horizontal moving frame, and the output end cooperates with the warehouse-in and warehouse-out conveying device and cooperates with the bin rack.

[0133] The warehouse-in and warehouse-out method is further described as follows. When taking goods, after the warehouse management system receives the instruction, a certain number of empty containers are transported by the roller conveyor, and are transported to the roller conveyor. The empty containers are positioned by the sensor, so that the empty containers are positioned at the designated position. At this time, the chain conveyor on the container working station is located below the roller conveyor. After the empty containers stop, the vertical lifting frame on the container working station starts to move, driving the horizontal moving frame to move upwards, and then driving the chain conveyor to move upwards. Since the chain conveyor and the roller conveyor intersect each other, the empty containers are lifted upwards. At this time, the horizontal moving frame continues to move upwards until it is slightly higher than the highest storage rack on the picking device. Further, the chain conveyor is driven to move the empty containers from the output end to the input end. At this time, the horizontal moving frame is lowered, so that the empty containers fall on the storage rack. As the horizontal moving frame continues to descend to the bottom, the roller conveyor sends the next empty container, and the above operation is repeated, so that the empty containers are transported to the storage rack. Further, the picking device starts to work. The moving chassis moves to the designated position according to the instruction, so that the clamping fork is aligned with the container on the rack. Further, the fork is driven to pull out the container on the rack. Further, the identification and picking mechanism is driven. First, the empty container on the storage rack is pulled to the picking position. Then, according to the instruction, a certain number of goods are clamped from the container in the clamping fork to the empty container. When the clamping of the goods in one container is completed, the clamping fork pushes the container back to the rack, which completes the picking of one order. The above operation is repeated to complete the picking of one order. After the picking of one order is completed, the identification and picking mechanism pushes the empty container back to the storage rack, and the above operation is repeated to complete the picking of multiple order tasks. When all order tasks are completed, the picking device moves to the container working station, and the two are connected. At this time, the chain conveyor is located at the bottom. The horizontal moving frame is driven to move the chain conveyor upwards until the container is slightly lifted. Then, the chain conveyor is driven to move the container from the input end to the output end. Then, the horizontal moving frame is lowered, so that the container falls on the roller conveyor. The roller conveyor is driven to complete the warehouse-out. The above operation is repeated to lift, move and then complete the warehouse-out of all containers. When the warehouse needs to be restocked, the working process remains unchanged. That is, the clamping direction of the identification and picking mechanism is reversed.

[0134] The beneficial technical effects of the present application are as follows:

[0135] 1. Through the picking device, the container working station (transfer device) and the warehouse-in and warehouse-out conveying device, the order end-to-end task is realized. The picking device can be launched once to execute multiple order tasks. The processed orders are temporarily stored on the storage rack. After multiple orders are completed, the container working station is connected to complete the warehouse-out at one time, which greatly improves the warehouse-in and warehouse-out efficiency of the entire order.

[0136] 2. For retail, 3C, etc. fields, the application can realize multi-item, multi-task picking, and automatic restocking of goods on the shelves.

[0137] The degree of intelligence is high, from receiving order information to packaging and warehousing after order picking is completed, and the whole warehouse can be truly unmanned.

[0138] 3. Simple structure, all using common parts on the market, reducing production cost.

[0139] The utility model also provides a kind of picking method of multi-target mixed article, using the above-mentioned equipment, realize end-to-end article picking, comprising:

[0140] When warehousing: after receiving order information, the host computer sends instructions to the moving assembly in the picking device according to the article code information, and drives the whole device to move to the required position.

[0141] The clamping fork in the picking device pulls out the required box from the shelf, and the recognition and grabbing mechanism quantitatively grabs the articles in the box and places them into the empty box (storage box), and repeats the above operation to clamp the articles in different boxes, and when the article grabbing is completed, the recognition and grabbing mechanism further pushes the empty box after picking to the shelf, and the article picking of one order is completed.

[0142] There are multiple box positions on the storage rack of the picking device, and by repeatedly executing the above command, one-time departure and multi-order picking tasks can be realized.

[0143] After the picking device completes the picking task, it is moved to the specified position and connected with the box workstation, at this time the chain conveyor in the box workstation is located at the bottom of the device, when the two are connected, the horizontal moving frame of the box workstation is lifted, and then the box is lifted through the box storage rack. Further, drive the chain conveyor to move the box from the input end to the output end, after moving, lower the horizontal moving frame, so that the box is transferred from the chain conveyor to the in-out warehouse roller conveyor, drive the roller conveyor, that is, complete the warehousing of the articles after picking, and repeat the above operation to complete the warehousing of the boxes on the storage rack in turn.

[0144] When replenishing: the system background can judge which kind of goods the inventory of which is reduced according to the outbound order, and the goods with low inventory are placed in the box, which is transported to the replenishment position through the roller conveyor and is connected with the chain conveyor, at this time, the chain conveyor is located at the bottom, at this time, the lifting and transverse frame is lifted from the roller conveyor until it is lifted to the top, the chain conveyor is moved to move the box from the output end to the input end, and then the lifting and transverse frame is lowered to make the box fall on the storage rack, and the above operation is repeated, from top to bottom, the box can be moved to the storage rack in sequence, after the moving is completed, the picking equipment moves to the specified position according to the instruction, the recognition and grabbing mechanism pulls the box from the storage rack to the negative y-axis direction position, the clamping fork pulls out the box on the storage rack, the recognition and grabbing mechanism clamps the goods in the box from the position, and the replenishment is completed, the fork puts the box back, and the above operation is repeated, that is, the replenishment of the box in the vertical warehouse is completed.

[0145] In the present application, the term "a plurality of" refers to two or more, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integrally connected; "connecting" can be directly connected, or indirectly connected through an intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0146] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "specific embodiments" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0147] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A transfer device, characterized in that, For transferring goods between picking equipment and conveying equipment, the transfer equipment includes: Transfusion stent; A movable frame, disposed on the transfer support, is capable of moving vertically on the transfer support; A transfer track is provided on the movable frame, with its opposite ends corresponding to the picking device and the conveying device, respectively. The transfer device is used to transfer goods picked by the picking device to the conveying device, and to transfer goods on the conveying device to the picking device.

2. The transfer equipment according to claim 1, characterized in that, Also includes: Transmission motor; Multiple transfer sprockets are disposed on the transfer support, and at least one of the transfer sprockets is driven by the transfer motor. A transfer chain is installed on the transfer sprocket, and the two ends of the transfer chain are respectively connected to the two opposite ends of the moving frame in the vertical direction.

3. The transfer equipment according to claim 2, characterized in that, Also includes: A transfer shaft is driven and connected to the transfer motor. Transfer sprockets are provided at both ends of the transfer shaft, and the transfer chain meshes with the transfer sprockets at both ends of the transfer shaft.

4. The transfer equipment according to any one of claims 1 to 3, characterized in that, Also includes: A slide rail is provided on the transfer support along the vertical direction; A slider is disposed on the movable frame and is used to cooperate with the slide rail.

5. A goods picking system, characterized in that, include: Picking equipment is used for moving bins and for identifying and picking goods; Conveying equipment for conveying the goods; The transfer device as described in any one of claims 1 to 4 is configured corresponding to the conveying device and the picking device, wherein the transfer device is used to transfer goods picked by the picking device to the conveying device, and the transfer device is used to transfer goods on the conveying device to the picking device.

6. The goods picking system according to claim 5, characterized in that, The picking equipment includes: Support components; A fork assembly, disposed on the support assembly, is used for moving the hopper on the shelf; A gripping mechanism is disposed on the support component and corresponding to the fork assembly. The gripping mechanism is used to grip the goods in the bin that are being transported by the fork assembly.

7. The goods picking system according to claim 6, characterized in that, The picking equipment also includes: An identification device is disposed on the gripping mechanism for identifying goods in the bin being transported by the fork assembly, and the gripping mechanism is capable of gripping based on the identification result of the identification device.

8. The goods picking system according to claim 6, characterized in that, The picking equipment also includes: A shelf is provided on the support assembly and is correspondingly provided with the gripping mechanism, which is capable of placing the gripped goods on the shelf.

9. The goods picking system according to claim 8, characterized in that, The picking equipment also includes: A storage box is provided on the shelf and is corresponding to the gripping mechanism, which is capable of placing the gripped goods into the storage box.

10. The goods picking system according to claim 9, characterized in that, The shelf includes: A first shelf is disposed on the support assembly; A second shelf is disposed on the support assembly. A preset distance is provided between the first shelf and the second shelf. The preset distance is greater than the width of the transfer track and less than the length and / or width of the storage box.

11. The goods picking system according to claim 9, characterized in that, The shelf and the gripping mechanism are respectively disposed on opposite sides of the support assembly along a first direction. The gripping mechanism is movable along the first direction. The picking device further includes: A push-pull component is provided on the gripping mechanism, which can drive the storage box to move when the gripping mechanism moves along the first direction.

12. The goods picking system according to claim 8, characterized in that, There are multiple shelves, and the multiple shelves are arranged at intervals along the vertical direction on the support assembly.

13. The goods picking system according to claim 6, characterized in that, The grasping mechanism includes: A first driving device is disposed on the support assembly; A gripper is connected to the first driving device, which drives the gripper to move vertically.

14. The goods picking system according to claim 13, characterized in that, The grasping mechanism also includes: A slide rail is horizontally disposed within the support assembly, and the first driving device is disposed within the slide rail; A second driving device is connected to the first driving device and is used to drive the first driving device to move along the slide.

15. The goods picking system according to claim 6, characterized in that, The picking equipment also includes: The picking rack is movably mounted on the support assembly and can move vertically on the support assembly. Both the fork assembly and the gripping mechanism are mounted on the picking rack.

16. The goods picking system according to claim 5, characterized in that, The conveying equipment includes: A conveyor track is provided, corresponding to the transfer equipment; A clearance position is provided on the conveying track, the clearance position is used to avoid the transfer track, and the transfer track can move vertically through the clearance position through the conveying track.

17. The goods picking system according to any one of claims 6 to 15, characterized in that, There are two support components, which are symmetrically arranged, and the fork assembly and the gripping mechanism are disposed between the two support components.

18. The goods picking system according to any one of claims 6 to 15, characterized in that, The picking equipment also includes: A movable component, wherein the support component is disposed on the movable component, and the movable component is used to drive the support component to move.

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