Warehouse system and goods retrieval mechanism

Abstract

The application provides a storage system and a goods taking mechanism. The storage system comprises a goods shelf including multiple layers of goods channels, the multiple layers of goods channels are arranged at intervals along a vertical direction, each of the multiple layers of goods channels includes multiple goods channels arranged side by side along a first horizontal direction, each of the multiple goods channels is arranged downwardly and is used for storing multiple goods, and the goods taking mechanism includes a support and a goods taking assembly. The support is movably arranged along the first horizontal direction relative to the goods shelf, the goods taking assembly is arranged on the support in a liftable manner to reach each of the multiple goods channels of the goods shelf, the goods taking assembly includes a goods taking member and a carrying device, the goods taking member is configured to take out a target goods from the goods channel and, in the case that there is an obstacle in the goods channel, the obstacle is first taken out to the carrying device to buffer the obstacle, wherein the obstacle is the goods in the goods channel located on a side close to the carrying device of the target goods. In this way, the goods taking efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of logistics technology, and in particular to a warehousing system and a pickup mechanism. Background Technology

[0002] In some warehousing systems, the aisles of the shelves are angled downwards, and the goods on the aisles are retrieved by a picking mechanism located on one side of the lower end of the aisle. This helps to increase storage density.

[0003] However, in related technologies, the picking mechanism located at the lower end of the cargo channel can only successfully retrieve the target cargo when the first cargo in the cargo channel (i.e., the cargo located at the bottom of the cargo channel) is the target cargo. It cannot retrieve the target cargo when the cargo is not the first cargo in the cargo channel (i.e., the cargo located after the first cargo in the cargo channel). This makes it difficult to meet diverse picking needs and affects picking efficiency. Utility Model Content

[0004] One of the technical problems this application aims to solve is to improve the retrieval efficiency of a warehousing system with downwardly sloping cargo channels.

[0005] To address the aforementioned technical problems, this application provides a warehousing system, comprising:

[0006] The shelving includes multiple aisles, spaced apart vertically, and each aisle includes multiple aisles arranged side-by-side along a first horizontal direction. Each aisle is angled downwards and used to store multiple goods.

[0007] The picking mechanism includes a support and a picking component. The support is movably disposed relative to the shelf in a first horizontal direction. The picking component is vertically mounted on the support to reach various aisles of the shelf. The picking component includes a picking element and a carrying device. The picking element is configured to remove the target goods from the aisle and, in the event of an obstacle in the aisle, first remove the obstacle onto the carrying device to buffer the obstacle. The obstacle is a goods in the aisle located on the side of the target goods closer to the carrying device.

[0008] In some embodiments, the carrying device is configured to carry one or more obstacles; and / or, the carrying device is configured to carry or not carry the target goods retrieved by the pickup.

[0009] In some embodiments, the carrying device includes a buffer device that does not carry the target goods and includes at least one buffer element that carries at least one obstacle to buffer the at least one obstacle; or, the carrying device includes a cargo carrier that carries multiple goods retrieved by a pickup carrier, the multiple goods retrieved by the pickup carrier including the target goods and at least one obstacle, or including multiple obstacles but not the target goods, the cargo carrier being vertically oriented and descending after each pickup carrier receives goods, so that the multiple goods retrieved by the pickup carrier are stacked on the cargo carrier to buffer the obstacles.

[0010] In some embodiments, the carrier including the buffer device further includes a cargo carrier that carries the target cargo.

[0011] In some embodiments, the buffer device is arranged side-by-side or at an angle to the cargo; and / or, the buffer device is connected to the cargo channel via the cargo, or the buffer device is directly connected to the cargo channel.

[0012] In some embodiments, the buffer device and the cargo component are arranged side by side along a first horizontal direction, and include multiple buffer components for carrying cargo. The multiple buffer components are arranged side by side along the first horizontal direction or vertical direction, and all of them are connected to the cargo channel through the cargo component; or, the buffer device and the cargo component are arranged at an angle, and include multiple buffer components for carrying cargo. The multiple buffer components are arranged at an angle, and all of them are directly connected to the cargo channel.

[0013] In some embodiments, multiple buffers and cargo components arranged side by side along the vertical direction can be raised and lowered relative to each other, so that the multiple buffers can alternately connect with the cargo channel through the cargo component; or, multiple buffers and cargo components arranged at an angle can be rotatably mounted on a support, so that the cargo component and multiple buffers can directly connect with the cargo channel by rotating relative to the support.

[0014] In some embodiments, the pickup unit removes an obstacle onto a cargo unit, the cargo unit including a conveying mechanism that conveys the obstacle on the cargo unit to a buffer device, such that the buffer device performs cargo transfer between the cargo unit and the cargo channel via the cargo unit; and / or, the pickup unit removes an obstacle onto the buffer device, such that the buffer device performs cargo transfer directly with the cargo channel.

[0015] In some embodiments, the pickup package includes only one pickup unit that removes the target goods and obstacles from the cargo channel; or, the pickup package includes multiple pickup units, some of which remove the target goods from the cargo channel and others remove obstacles from the cargo channel.

[0016] In some embodiments, the pickup device includes at least one of the following:

[0017] Picking up goods: lifting the goods from the cargo aisle;

[0018] Forks are used to remove goods from the aisle.

[0019] Clamping components use these to grip and lift goods from the cargo channel.

[0020] The actuator drives the stopper, which is located at the lower end of the cargo channel and is used to stop the goods, to move from the stopping position to the clearance position, so as to release the stopper from blocking the goods in the cargo channel and allow the goods in the cargo channel to slide out of the cargo channel.

[0021] A rolling element is used to contact goods in a cargo channel and is rotatably configured to apply frictional force to the goods in the channel during rotation.

[0022] In some embodiments, the forks include a plurality of forks arranged side by side at intervals between them, which together fork out goods from the cargo channel; and / or, a pickup slot is provided at the lower end of the cargo channel, and a pickup device extends into the pickup slot to retrieve goods from the cargo channel.

[0023] In some embodiments, the pickup slot includes multiple slots, and multiple forks of the fork extend into the multiple slots in a corresponding manner.

[0024] In some embodiments, the forks are movably disposed relative to the carrying device along a second horizontal direction intersecting the first horizontal direction to move closer to or further away from the carrying device, and the forks are vertically displaced relative to the carrying device to lift goods off the carrying device or place them onto the carrying device.

[0025] In some embodiments, the carrying device is provided with a clearance groove for the forks to pass through during lifting and lowering, so that the forks can lift and lower on the upper and lower sides of the carrying device.

[0026] In some embodiments, the pickup mechanism further includes a storage unit disposed on a support member and used to store at least one target item retrieved by the pickup unit.

[0027] In some embodiments, the carrying device includes a conveying mechanism that conveys the target goods into the storage container.

[0028] In some embodiments, the lower end of the cargo channel is provided with a stop for stopping goods. The stop is fixedly disposed at the lower end of the cargo channel, or the stop is movably disposed at the lower end of the cargo channel to switch between a stopping position and a clearance position to stop or clear goods in the cargo channel.

[0029] In some embodiments, the stop is telescopically and / or rotatably disposed at the lower end of the cargo channel to switch between a clearance position and a stop position by telescopically and / or rotating; and / or, the stop is configured to switch from the clearance position to the stop position before the cargo has completely passed.

[0030] In some embodiments, the pickup component is also configured to be at least one of the following:

[0031] After the target goods are retrieved, the obstacles that were buffered on the carrying device are stored in the cargo channel;

[0032] New goods that need to be added to the cargo channel are stored in the cargo channel to replenish the cargo channel.

[0033] In some embodiments, the pickup assembly stores obstacles and / or new goods into the cargo channel via a pickup component; or, the pickup assembly further includes a storage component movably disposed relative to the carrying device to store obstacles and / or new goods into the cargo channel.

[0034] In some embodiments, the storage item is movably disposed on the carrying device along a second horizontal direction intersecting the first horizontal direction, so as to store the obstacle and / or new goods into the cargo channel by pushing the obstacle and / or new goods.

[0035] In some embodiments, the pickup component is also configured to be at least one of the following:

[0036] During the process of storing obstacles and / or new goods into the cargo channel, an action is applied to the goods located at the bottom of the cargo channel so that the goods located at the bottom of the cargo channel are at least partially removed from the cargo channel.

[0037] In the process of storing obstacles cached on the carrier into the cargo channel, obstacles that are retrieved first are stored into the cargo channel first, and / or obstacles that are retrieved first are stored into the cargo channel later.

[0038] In some embodiments, the pickup component uses a pickup unit to act on the lowest item in the cargo channel during the process of storing obstacles and / or new goods into the cargo channel, causing the lowest item in the cargo channel to leave the cargo channel at least partially.

[0039] In some embodiments, there is a height difference between the two sides of the cargo channel along a first horizontal direction; and / or, the picking component is movably disposed on the support along a second horizontal direction intersecting the first horizontal direction to move closer to or further away from the cargo channel.

[0040] In some embodiments, the support is disposed on the ground, or suspended above the ground.

[0041] In addition, this application also provides a picking mechanism for a warehousing system according to any embodiment.

[0042] By setting the picking mechanism to remove the target goods and obstacles in front of them from the cargo channel, and by installing a buffer device in the picking mechanism to buffer the removed obstacles, the picking mechanism has a built-in obstacle buffer function. This can flexibly meet the picking needs of different situations, such as whether the target goods are the first goods in the cargo channel or not, and effectively improve the picking efficiency.

[0043] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a three-dimensional schematic diagram of the warehousing system in the first embodiment of this application.

[0046] Figure 2 This is a front view of the warehousing system in the first embodiment of this application.

[0047] Figure 3 This is a three-dimensional schematic diagram of multiple side-by-side cargo channels in the first embodiment of this application.

[0048] Figure 4 This is a top view of a single cargo channel in the first embodiment of this application.

[0049] Figure 5 This is a schematic diagram of the arrangement of goods in the cargo channel in the first embodiment of this application.

[0050] Figure 6 This is a simplified structural diagram of the pickup mechanism in the first embodiment of this application.

[0051] Figure 7 This is a simplified structural diagram from another perspective when the pickup mechanism omits the pickup item in the first embodiment of this application.

[0052] Figure 8 This is a simplified structural diagram of the picking-up component in the first embodiment of this application.

[0053] Figure 9 This is a perspective view of the picking device in the first embodiment of this application.

[0054] Figure 10 This is a simplified structural diagram of the picking device in the first embodiment of this application, omitting the storage components.

[0055] Figure 11 This is a schematic diagram of the picking process according to the first embodiment of this application.

[0056] Figure 12 This is a schematic diagram of the inventory process according to the first embodiment of this application.

[0057] Figure 13 This is a simplified structural diagram of the pickup mechanism in the second embodiment of this application.

[0058] Figure 14 This is a schematic diagram illustrating the cooperation between the picking component and the cargo channel in the second embodiment of this application.

[0059] Figure 15 This is a schematic diagram of the picking process according to the second embodiment of this application.

[0060] Figure 16 This is a schematic diagram of the inventory process according to the second embodiment of this application.

[0061] Figure 17 This is a schematic diagram of the stop member being installed on the cargo channel in the third embodiment of this application.

[0062] Figure 18 This is a schematic diagram of the picking process according to the third embodiment of this application.

[0063] Figure 19 This is a schematic diagram of the inventory process according to the third embodiment of this application.

[0064] Figure 20 This is a simplified structural diagram of the pickup mechanism in the fourth embodiment of this application.

[0065] Figure 21 This is a schematic diagram of the operation of the pickup mechanism in the fifth embodiment of this application.

[0066] Figure 22 This is a simplified structural diagram of the pickup mechanism in the sixth embodiment of this application.

[0067] Figure 23 This is a schematic diagram of the state when the pickup mechanism is preparing to pick up goods, as shown in the sixth embodiment of this application.

[0068] Figure 24 This is a schematic diagram of the state when the picking mechanism retrieves multiple goods in the sixth embodiment of this application.

[0069] Figure 25 This is a schematic diagram of the cargo channel arrangement in the seventh embodiment of this application.

[0070] Explanation of reference numerals in the attached figures:

[0071] 100. Warehousing system;

[0072] 10. Picking mechanism; 20. Shelf; 201. Aisle; 202. Picking slot; 203. Slot; 204. Base plate; 205. Side plate; 206. Stop; 30. Aisle; 40. Goods; 401. Target goods; 402. Obstacles;

[0073] 1. Supporting components; 11. Columns;

[0074] 2. Picking components; 21. Storage and retrieval device; 22. Lifting mechanism; 23. Mounting base;

[0075] 3. Picking component; 31. Picking device; 32. Picking component; 34. Picking finger; 35. Actuator; 36. Fork; 37. Fork body;

[0076] 4. Load-bearing device; 41. Load-bearing platform; 42. Unloading mechanism;

[0077] 5. Cache device; 51. Cache component;

[0078] 6. Cargo load; 61. Baffle; 62. Conveying mechanism; 63. Conveyor belt; 64. Conveyor roller; 65. Drive belt; 66. Clearance groove; 67. Guide rail;

[0079] 7. Inventory items; 71. Push plate;

[0080] 8. Storage items;

[0081] X, first horizontal direction; Y, second horizontal direction; Z, up and down direction. Detailed Implementation

[0082] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0083] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0084] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0085] In the description of this application, it should be understood that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0086] In this application, unless otherwise stated, "multiple (layers)" means at least two (layers), that is, including cases with two (layers) and at least three (layers).

[0087] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0088] In order to improve the picking efficiency of a warehousing system with downwardly inclined aisles, this application provides a warehousing system and its picking mechanism, control method, controller, computer-readable storage medium and computer program product.

[0089] Figures 1-25 The warehousing system and picking mechanism of this application are illustrated by way of example. Some structures are omitted in some of the figures.

[0090] See Figures 1-2 The warehousing system 100 includes shelves 20 and a picking mechanism 10.

[0091] The shelving 20 is used to store goods 40. To improve storage density, the storage system 100 typically includes multiple shelving units 20, which are spaced apart, forming aisles 30 between adjacent shelving units 20. Each shelving unit 20 has multiple aisles 201, which are spaced apart along the vertical direction Z, and each includes multiple aisles 201 arranged side-by-side along a first horizontal direction X (perpendicular to the vertical direction Z, which is also typically the length direction of the aisle 30 and perpendicular to the width direction of the aisle 30). Each aisle 201 can store multiple goods 40. The two ends of the aisle 201 along its length are close to and away from the aisle 30, respectively, and can also be referred to as the front end and rear end of the aisle 201. The multiple goods 40 on the aisle 201 are arranged side-by-side along the length direction of the aisle 201, that is, along the direction from the rear end to the front end of the aisle 201 (or along the direction from the front end to the rear end of the aisle 201).

[0092] The picking mechanism 10 is used to remove goods 40 from the shelf 20 to perform picking and other functions. The picking mechanism 10 typically operates in the aisle 30 and includes a support 1 and a picking component 3. The support 1 is movably disposed relative to the shelf 20 in a first horizontal direction X, and the picking component 3 is vertically movable (i.e., movably disposed in the vertical direction Z) on the support 1. In this way, the picking component 3 can reach each aisle 201 of the shelf 20 by moving together with the support 1 in the first horizontal direction X and by being vertically movable relative to the support 1, and remove the goods 40 from each aisle 201.

[0093] In a traditional warehousing system 100, the aisles 201 are horizontally arranged, meaning that the length of the aisles 201 is roughly parallel to the horizontal plane, or roughly parallel to the width of the aisles 30. In this case, the goods 40 on the aisles 201 are usually not arranged tightly enough and cannot automatically fill in the gaps. After the goods 40 in front are taken out, the goods 40 behind remain in their original positions and do not automatically move forward to fill in the gaps. Therefore, in order to access the goods 40 deeper in the aisles 201, the picking mechanism 10 needs to have a large picking depth (i.e., the extension distance in the width direction of the aisles 30). However, this means that the width of the aisles 30 needs to be large, and the adjacent shelves 20 are not arranged compactly enough. Under the same floor area, only a few shelves 20 can be arranged, resulting in a low storage density.

[0094] To address the issue of low storage density caused by the horizontally arranged aisles 201, some storage systems 100 have modified their aisles 201 to be angled. For details, see... Figures 1-5When the cargo channel 201 is inclined, its length direction (or depth direction) is no longer parallel to the horizontal plane, but rather inclined relative to it, forming an angle. The end of the cargo channel 201 closest to the aisle 30 (i.e., the front end of the cargo channel 201) is lower than the end of the cargo channel 201 furthest from the aisle 30 (i.e., the rear end of the cargo channel 201). Simultaneously, a stop 206 is provided at the lower end of the cargo channel 201 (i.e., the end of the cargo channel 201 closest to the aisle 30, or in other words, the front end of the cargo channel 201) to stop the goods 40 in the cargo channel 201. In this case, see [reference needed]. Figure 5 The aisle 201 is inclined downwards, and the goods 40 in the aisle 201 can be closely arranged in the aisle 201 under the action of gravity. After the goods 40 in front are taken out, the goods 40 behind can automatically slide down under the action of gravity to fill the gap. In this way, the picking mechanism 10 does not need to extend a long distance, but only needs to be located at the lower side of the aisle 201 to take out the first goods 40 in the aisle 201. The goods behind can then move down to fill the gap. This allows the first goods 40 of the remaining goods 40 in the aisle 201 to be taken out when needed. Therefore, it is beneficial to reduce the picking depth of the picking mechanism 10 and the width of the aisle 30, so that more shelves 20 can be arranged in the same area, thereby effectively increasing the storage density.

[0095] It is evident that by setting the aisles 201 of the warehousing system 100 to be inclined downwards, the density of goods 40 on each aisle 201 and the density of the shelving 20 can be increased, thereby effectively improving the storage density.

[0096] While the storage system 100 with downwardly sloping aisles 201 has the advantage of high storage density, the related art of the storage system 100 with downwardly sloping aisles 201 suffers from low retrieval efficiency. This is because, in the related art, the retrieval mechanism 10 of the storage system 100 with downwardly sloping aisles 201 can only retrieve the target goods 401 (i.e., the goods 40 specified in the order, etc.) when it is the first goods 40 in the aisle (i.e., the goods 40 located at the bottom of the aisle 201, or the goods 40 at the front of the aisle 201). However, if the target goods 401 are not the first goods 40 in the aisle 201, but are located after the first goods 40, it cannot be retrieved smoothly. Therefore, it is difficult to meet the retrieval needs of target goods 401 located further back in the aisle 201, resulting in poor retrieval flexibility and affecting retrieval efficiency.

[0097] In response to the above situation, in order to ensure that the warehousing system 100 not only has high storage density but also high retrieval efficiency, see [reference needed]. Figures 1-25This application not only sets the shelving 20 of the storage system 100 to have a downwardly inclined aisle 201, but also improves the picking mechanism 10 of the storage system 100.

[0098] Figures 6-25 The structure of the picking mechanism 10 is further illustrated.

[0099] See Figures 6-25 and combined Figures 1-5 In this application, the picking mechanism 10 includes a support member 1 and a picking component 2. The support member 1 is movably disposed relative to the shelf 20 along a first horizontal direction X, and the picking component 2 is vertically and vertically disposed on the support member 1 to reach each aisle 201 of the shelf 20. The picking component 2 includes a picking element 3 and a carrying device 4. The picking element 3 is configured to remove the target goods 401 from the aisle 201, and if there is an obstacle 402 in the aisle 201, to first remove the obstacle 402 onto the carrying device 4 to buffer the obstacle 402.

[0100] The obstacle 402 refers to the cargo 40 located in the cargo channel 201 on the side of the target cargo 401 closest to the carrying device 4, that is, the cargo 40 located in front of (or below) the target cargo 401 in the cargo channel 201. The obstacle 402 will prevent the target cargo 401 from being retrieved. If the obstacle 402 is not removed, the picking mechanism 10 will have difficulty retrieving the target cargo 401 located behind the obstacle 402 without increasing the picking depth.

[0101] The picking mechanism 10 in the related technology does not have an obstacle buffering function. As a result, when the target cargo 401 is not the first cargo 40 in the cargo channel 201, the picking mechanism 10 cannot remove the obstacle 402 in front of the target cargo 401 to buffer it, and cannot remove the obstacle 402 from the target cargo 401. Therefore, the picking mechanism 10 can only pick up the target cargo 401 that is the first cargo 40, and cannot pick up the target cargo 401 that is not the first cargo 40. The picking flexibility is poor and the picking efficiency is low.

[0102] Based on the above findings, this application constructs the picking mechanism 10 as a picking component 2 including a picking element 3 and a carrying device 4. The picking element 3 is configured to not only pick up the target goods 401, but also, when the target goods 401 is not the first goods 40 in the cargo channel 201, remove the obstacle 402 in front of the target goods 401. The carrying device 4 is configured to buffer the removed obstacle 402. This gives the picking mechanism 10 a built-in obstacle buffering function, thus enabling it to buffer obstacles even when the target goods 401 is the first goods 40. The system can directly retrieve the target goods 401, and when the target goods 401 is not the first goods 40, it can first remove the obstacle 402 in front of the target goods 401 and temporarily store it on the picking mechanism 10, thus removing the obstacle 402 from the target goods 401, and then retrieve the target goods 401. That is, it adopts the reverse inventory method to retrieve the target goods 401 that is not the first goods 40, thereby flexibly meeting the retrieval needs of both the target goods 401 that is the first goods 40 and the target goods 401 that is not the first goods 40, effectively improving the retrieval efficiency.

[0103] It can be seen that by setting the picking component 3 of the picking mechanism 10 to remove the target goods 401 and the obstacle 402 in front of the target goods 401 from the cargo channel 201, and by setting a carrying device 4 in the picking mechanism 10 to buffer the removed obstacle 402, the picking mechanism 10 has a built-in obstacle buffering function, which can flexibly meet the picking needs of different situations such as whether the target goods 401 is the first goods 40 in the cargo channel 201 or not, and effectively improve the picking efficiency.

[0104] The carrier device 4, which can buffer the obstacle 402, can be configured in various ways.

[0105] For example, the carrying device 4 can carry only one obstacle 402, or it can carry multiple obstacles 402. When the carrying device 4 is configured to carry only one obstacle 402, the picking component 2 can only buffer one obstacle 402, enabling the retrieval of the target goods 401 for the first or second goods 40. For target goods 401 for subsequent goods 40 (e.g., the third, fourth, etc.), retrieval is not possible. In this case, compared to the related art where the picking mechanism 10 can only retrieve the target goods 401 for the first goods 40, this enhances picking flexibility and improves picking efficiency to a certain extent. When the carrying device 4 is configured to carry multiple obstacles 402, the picking mechanism 10 can buffer more obstacles 402, enabling the retrieval of not only the target goods 401 for the first or second goods 40, but also for subsequent goods 401 (e.g., the third, fourth, etc.). Therefore, it more effectively enhances picking flexibility and improves picking efficiency.

[0106] For example, the carrying device 4 may not carry the target goods 401 retrieved by the picking item 3, or it may carry the target goods 401 retrieved by the picking item 3. When the carrying device 4 does not carry the target goods 401 retrieved by the picking item 3, the carrying device 4 does not carry the retrieved obstacle 402 at the same time as carrying the retrieved target goods 401. That is to say, the carrying device 4 does not have both obstacle buffering function and target goods storage function. In this case, the retrieved target goods 401 can be held by the picking item 3 until it is transported to downstream equipment such as the packaging mechanism, or it can be directly placed into the storage item 8 (which will be mentioned later) by the picking item 3 for storage, waiting to be sent to downstream equipment such as the packaging mechanism. When the carrying device 4 carries the target goods 401 retrieved by the picking item 3, the carrying device 4 carries both the retrieved obstacle 402 and the retrieved target goods 401. That is to say, the carrying device 4 has both obstacle buffering function and target goods storage function. In this case, after the target goods 401 are retrieved, they can be directly placed on the carrying device 4 by the picking item 3 and wait to be sent to downstream equipment such as the packaging mechanism. Alternatively, they can first enter the storage item 8 through the carrying device 4 and then wait to be sent to downstream equipment such as the packaging mechanism. This is more conducive to quickly relieving the target goods 401 from occupying the picking item 3, so that the picking item 3 can be put into the next picking process more quickly. Therefore, it is more conducive to improving picking efficiency.

[0107] As an example of the support device 4, see Figures 6-21The carrying device 4 includes a buffer device 5, which does not carry the target cargo 401, and includes at least one buffer element 51 that carries at least one obstacle 402 to buffer the obstacle 402. In this case, the carrying device 4 achieves buffering of at least one obstacle 402 through the buffer device 5. Since the buffer device 5 does not simultaneously carry both the obstacle 402 and the target cargo 401, but only specifically carries the obstacle 402, the obstacle 402 and the target cargo 401 are easier to distinguish and less likely to be confused. This facilitates subsequent different operations on the obstacle 402 and the target cargo 401, such as returning the obstacle 402 to the cargo channel 201 and storing the target cargo 401 in the storage component 8.

[0108] When the carrying device 4 includes the aforementioned buffer device 5, the carrying device 4 may only include the buffer device 5, without additionally including the structure for carrying the target cargo 401. In this case, the carrying device 4 does not carry the removed obstacle 402 while simultaneously carrying the removed target cargo 401; or, see... Figures 6-21 The carrying device 4 may also include a buffer device 5 and a cargo carrier 6, which carries the target cargo 401. In this way, the carrying device 4 carries both the removed obstacle 402 and the removed target cargo 401, integrating the functions of obstacle buffering and target cargo storage into one, making the functions more comprehensive. Moreover, since the obstacle 402 and the target cargo 401 are carried by the buffer device 5 and the cargo carrier 6 respectively, they are less likely to be confused, making it easier to perform different operations on the obstacle 402 and the target cargo 401 in the future.

[0109] When the carrying device 4 includes both the buffer device 5 and the cargo component 6, the arrangement between the buffer device 5 and the cargo component 6 can be varied. For example, the relative positional relationship between the buffer device 5 and the cargo component 6 is not limited; they can be arranged side by side or at an angle (i.e., not collinear, but at an angle).

[0110] As an example, see Figures 6-20 In some embodiments, the buffer device 5 and the cargo 6 are arranged side by side along the first horizontal direction X, and include a plurality of buffers 51 for carrying cargo 40. These buffers 51 are arranged side by side along the first horizontal direction X or the vertical direction Z, and are all connected to the cargo channel 201 through the cargo 6.

[0111] Based on the above configuration, the buffer device 5 can buffer multiple obstacles 402 through multiple buffer components 51. The relative positional relationship between the buffer device 5 and the cargo carrier 6 is that they are arranged side by side in the first horizontal direction X. At the same time, the buffer device 5 connects with the cargo channel 201 through the cargo carrier 6 to transport the cargo 40. The term "connection" here and thereafter mainly emphasizes the cooperative relationship that enables cargo transport, and does not necessarily mean that the two are in contact; there may also be a gap between them.

[0112] In particular, since the buffer device 5 can buffer multiple obstacles 402, it can more flexibly meet the retrieval needs of the target goods 401 when they are at different depths of the cargo channel 201, thus improving the retrieval efficiency.

[0113] Furthermore, since the buffer device 5 and the cargo 6 are arranged side by side in the first horizontal direction X, and the buffer components 51 of the buffer device 5 are arranged side by side along the first horizontal direction X or the vertical direction Z, and the first horizontal direction X and the vertical direction Z are the length and height directions of the aisle 30, respectively, the arrangement between the buffer device 5 and the cargo 6, as well as the arrangement between the buffer components 51 of the buffer device 5 itself, does not occupy the width of the aisle 30. Therefore, it is beneficial to make the aisle 30 narrower and increase the storage density. Moreover, since the dimensions of the aisle 30 in the first horizontal direction X and the vertical direction Z are relatively large, it can better meet the arrangement requirements of more buffer components 51. Therefore, it is also beneficial to increase the buffer capacity without affecting the storage density, better meet the picking needs of goods 40 deeper in the aisle 201, and more effectively improve the efficiency of cargo flow.

[0114] Furthermore, since the buffer device 5 does not directly connect to the cargo channel 201, but connects to the cargo channel 201 through the cargo carrier 6, the goods 40 that need to be transferred between the buffer device 5 and the cargo channel 201 (such as the obstacle 402 and the new goods that need to be added to the cargo channel 201 during the replenishment process mentioned below) are transferred through the cargo carrier 6. Therefore, it is only necessary to set up a mechanism for the goods 40 to enter and exit the cargo channel 201 on the cargo carrier 6 (such as the picker 31 of the picker 3 and the storage unit 7 mentioned below), and it is not necessary to set up a picker 31 and a storage unit 7 on the buffer device 5 to set up a mechanism for the goods 40 to enter and exit the cargo channel 201. In particular, when the buffer device 5 includes multiple buffers 51, it is not necessary to set up a picker 31 and a storage unit 7 on each buffer 51 to set up a mechanism for the goods 40 to enter and exit the cargo channel 201. Therefore, it is beneficial to simplify the structure and reduce equipment costs.

[0115] It is evident that by configuring the buffer device 5 to include multiple buffer components 51 arranged side by side along the first horizontal direction X or the vertical direction Z, and by arranging the buffer device 5 as a whole alongside the cargo 6 in the first horizontal direction X, and by connecting the cargo 6 with the cargo channel 201, it is beneficial to further improve storage density and logistics efficiency, simplify the structure, and reduce costs.

[0116] Among them, see Figures 6-19 When the buffer device 5 and the cargo carrier 6, as well as the multiple buffer units 51 of the buffer device 5, are arranged side-by-side along the first horizontal direction X, and the buffer device 5 is connected to the cargo channel 201 through the cargo carrier 6, goods 40 can be sequentially transferred between the cargo carrier 6 and each buffer unit 51. In particular, adjacent buffer units 51 can cooperate in transferring goods 40, so that a buffer unit 51 can transfer goods to the cargo carrier 6 through other buffer units 51. Specifically, a buffer unit 51 far from the cargo carrier 6 can receive goods 40 transferred from the cargo carrier 6, or transfer goods 40 to the cargo carrier 6, through a buffer unit 51 close to the cargo carrier 6. For example, during the process of the buffer device 5 receiving the removed obstacle 402, goods 40 can be transferred from the cargo channel 201. Obstacles 402 reaching the cargo 6 can be sequentially transferred from the cargo 6 to buffers 51 near the cargo 6 and away from the cargo 6, thus buffering multiple obstacles 402 in front of the target cargo 401. For example, during the process of storing cargo 40 on the buffer device 5 into the cargo channel 201, cargo 40 can be transferred from the buffer 51 away from the cargo 6 to the cargo 6 via the buffer 51 near the cargo 6, and then enter the cargo channel 201 from the cargo 6. In this case, the buffer device 5 and the cargo 6 do not need to change their relative positional relationship through relative movement to realize cargo transfer. Not only is the structure relatively simple, but the cargo transfer process is also relatively simple and efficient, which is conducive to improving efficiency and reducing costs more effectively.

[0117] When the buffer device 5 and the cargo carrier 6 are arranged side-by-side along the first horizontal direction X, and the multiple buffer components 51 of the buffer device 5 are arranged side-by-side along the vertical direction Z, and the buffer device 5 is connected to the cargo channel 201 via the cargo carrier 6, see [reference needed]. Figure 20In some embodiments, multiple buffers 51 arranged side by side along the vertical direction Z can be raised and lowered relative to the cargo carrier 6 so that the multiple buffers 51 can be switched to dock with the cargo channel 201 via the cargo carrier 6. In this configuration, the cargo carrier 6 and the buffer device 5 can not only rise and fall together on the support 1 to reach the height of different cargo channels 201, but also rise and fall relative to each other. This allows the cargo carrier 6 to reach the height of each buffer component 51 of the buffer device 5 by rising and falling relative to the buffer device 5, and to transfer goods with each buffer component 51. For example, it can transfer obstacles 402 removed from the cargo channel 201 to each buffer component 51, or receive goods 40 that need to be stored in the cargo channel 201 from each buffer component 51. This eliminates the need for the buffer components 51 to transfer goods 40 between each other, but only to switch between docking with the cargo carrier 6 to transfer goods. This effectively meets the needs of the buffer device 5 to transfer goods by docking with the cargo channel 201 through the cargo carrier 6 when the buffer device 5 and the cargo carrier 6 are arranged side by side along the first horizontal direction X, and when the multiple buffer components 51 of the buffer device 5 are arranged side by side along the vertical direction Z. This achieves a stacked buffer configuration.

[0118] Furthermore, as mentioned earlier, the relative positional relationship between the buffer device 5 and the cargo 6 is not limited to a side-by-side arrangement, but can also be arranged at an angle. For an example of an angled arrangement between the buffer device 5 and the cargo 6, see [link to relevant documentation]. Figure 21 In some embodiments, the buffer device 5 is arranged at an angle to the cargo 6 and includes multiple buffer elements 51, which are all directly connected to the cargo channel 201. Based on this, the buffer device 5 can buffer multiple obstacles 402 through the multiple buffer elements 51. The relative positional relationship between the buffer device 5 and the cargo 6 is at an angle. Furthermore, the buffer device 5 does not connect to the cargo channel 201 through the cargo 6, but directly connects to the cargo channel 201 for cargo 40 transfer. In this case, since the buffer device 5 can still buffer multiple obstacles 402, it still helps to improve storage density and retrieval efficiency. Moreover, since the buffer device 5 directly connects to the cargo channel 201, the cargo 40 does not need to pass through the cargo 6 to be transferred between the buffer device 5 and the cargo channel 201. The cargo transfer path between the buffer device 5 and the cargo channel 201 is shorter, and the risk of error is lower. Therefore, it also helps to improve the reliability of cargo transfer between the buffer device 5 and the cargo channel 201.

[0119] To achieve direct docking of the angled cargo components 6 and multiple buffer components 51 with the cargo channel 201, see [link to relevant documentation]. Figure 21In some embodiments, multiple buffer units 51 arranged at an angle and the cargo unit 6 are rotatably mounted on the support unit 1, so that the cargo unit 6 and the multiple buffer units 51 can directly dock with the cargo channel 201 by rotating relative to the support unit 1. Based on this, the cargo unit 6 and each buffer unit 51 can rotate together around the support unit 1, so that the cargo unit 6 and each buffer unit 51 can rotate alternately to the position of docking with the cargo channel 201. In this way, the direct docking of the angled cargo unit 6 and each buffer unit 51 with the cargo channel 201 can be easily realized, realizing rotational buffering. While effectively improving storage density and retrieval efficiency, it also improves the reliability of the cargo transfer process between the buffer device 5 and the cargo channel 201.

[0120] As described above, the relative positional relationship between the buffer device 5 and the cargo carrier 6 is not limited, nor is the cargo transfer relationship. The buffer device 5 can connect to the cargo channel 201 via the cargo carrier 6, or it can connect directly to the cargo channel 201 without using the cargo carrier 6. Connecting the buffer device 5 to the cargo channel 201 via the cargo carrier 6 simplifies the structure and reduces costs; while connecting the buffer device 5 directly to the cargo channel 201 improves the reliability of the cargo transfer process between the buffer device 5 and the cargo channel 201.

[0121] When the buffer device 5 is connected to the cargo channel 201 via the cargo 6, in order to transfer the obstacle 402 from the cargo channel 201 to the buffer device 5, see [reference needed]. Figures 6-20 In some embodiments, the picking component 3 removes the obstacle 402 onto the carrying component 6. The carrying component 6 includes a conveying mechanism 62, which conveys the obstacle 402 on the carrying component 6 to the buffer device 5, enabling the buffer device 5 to transfer goods 40 between itself and the cargo channel 201 via the carrying component 6. At this time, the carrying component 6 not only receives the target goods 401 but also the obstacle 402, and conveys the obstacle 402 to the buffer device 5 via its own conveying mechanism 62. This effectively meets the requirement for the buffer device 5 to transfer the obstacle 402 from the cargo channel 201 to the buffer device 5 when the buffer device 5 is connected to the cargo channel 201 via the carrying component 6. The conveying mechanism 62 can have various structural forms; for example, it can be a belt conveyor mechanism including a conveyor belt 63 (see...). Figure 9 ) or a roller conveyor mechanism including conveyor roller 64 (see Figure 14Various conveying mechanisms, such as [list of mechanisms], are used. Furthermore, when goods 40 on the buffer device 5 (e.g., obstacles 402 and new goods needing to be added to the conveyor 201) need to be stored in the conveyor 201 via the cargo carrier 6, the buffer device 5 may also include a conveying mechanism 62. This conveying mechanism 62 facilitates the transfer of goods 40 from the buffer device 5 to the cargo carrier 6, making it easier for the buffer device 5 to transfer goods 40 to the cargo carrier 6. The conveying mechanism 62 of the buffer device 5 can also adopt various structural forms, and its structure can be the same as or different from the conveying mechanism 62 of the cargo carrier 6. When the conveying mechanism 62 of the buffer device 5 and the conveying mechanism 62 of the cargo carrier 6 have the same structure, not only is the structure simpler, but it also facilitates a more efficient and reliable transfer of goods 40 between the buffer device 5 and the cargo carrier 6.

[0122] When the buffer device 5 is directly connected to the cargo channel 201, in order to transfer the obstacle 402 from the cargo channel 201 to the buffer device 5, see [reference needed]. Figure 21 In some embodiments, the picking device 3 removes the obstacle 402 onto the buffer device 5, allowing the buffer device 5 to directly transfer goods 40 with the cargo channel 201. In this case, the carrying device 6 only receives the target goods 401 and no longer receives or transfers the obstacle 402 to the buffer device 5. The buffer device 5 directly retrieves the obstacle 402 from the cargo channel 201 via the picking device 3, effectively meeting the requirement for transferring the obstacle 402 from the cargo channel 201 to the buffer device 5 when the buffer device 5 is directly connected to the cargo channel 201.

[0123] Some examples of the carrier device 4 have been introduced above, but it should be understood that the carrier device 4 is not limited to the examples introduced above. For example, as a variation, the carrier device 4 may also not include the buffer device 5 in the foregoing embodiments.

[0124] As an example where the carrier device 4 does not include the aforementioned cache device 5, see Figures 22-24 The carrying device 4 includes a cargo carrier 6, which carries multiple goods 40 taken out by the pickup carrier 3. The multiple goods 40 taken out by the pickup carrier 3 include a target goods 401 and at least one obstacle 402, or include multiple obstacles 402 but not the target goods 401. The cargo carrier 6 is vertically detachable and descends after receiving each goods 40 taken out by the pickup carrier 3, so that the multiple goods 40 taken out by the pickup carrier 3 are stacked on the cargo carrier 6 to buffer the obstacles 402.

[0125] Based on the above configuration, the carrying device 4 does not need to include the buffer device 5 in the aforementioned embodiments, but only needs to include a liftable cargo carrier 6. By lowering the cargo carrier 6 to make way, the obstacle 402 can be buffered. In this case, the carrying device 4 implements a lifting and lowering buffering method. In this lifting and lowering buffering method, it is only necessary to control the cargo carrier 6 to lower after receiving each retrieved goods 40 to buffer the obstacle 402. This is simple and convenient. In particular, it can easily buffer multiple obstacles 402, and / or, while buffering obstacles 402, receive and carry the target goods 401. Moreover, since the goods 40 on the cargo carrier 6 are stacked in the corresponding lifting and lowering buffering method, occupying only the height space, it does not increase the width of the aisle 30. Therefore, it is also beneficial to improve the storage density. Specifically, when the cargo 40 carried by the cargo carrier 6 includes a target cargo 401 and at least one obstacle 402, it means that the carrying device 4 can not only buffer the at least one obstacle 402, but also carry the target cargo 401. For example, when the cargo 40 carried by the cargo carrier 6 includes a target cargo 401 and multiple obstacles 402, it means that the carrying device 4 can not only buffer the multiple obstacles 402, but also carry the target cargo 401. Conversely, when the cargo 40 carried by the cargo carrier 6 includes multiple obstacles 402, but does not include the target cargo 401, it means that the carrying device 4 can buffer the multiple obstacles 402, but does not carry the target cargo 401.

[0126] It should be noted that the cargo component 6 in the above-described lifting and buffering method can have the same or different structure as the cargo component 6 in the previous embodiments. For example, in the lifting and buffering method, the cargo component 6 can be the same as the cargo component 6 in the previous embodiments, also having its own conveying mechanism 62, which both receives and transports the goods 40. Alternatively, it can be different from the cargo component 6 in the previous embodiments, no longer having its own conveying mechanism 62, but instead being a cargo platform without conveying function, only receiving the goods 40 without transporting them.

[0127] As an improvement to the foregoing embodiments, see Figures 6-24The picking mechanism 10 further includes a storage unit 8, which is disposed on the support member 1 and is used to store at least one target item 401 retrieved by the picking unit 3. Thus, the picking mechanism 10 can not only retrieve the target item 401 through the picking unit 3, but also store the target item 401 through the storage unit 8. In particular, it can store multiple target items 401 through the storage unit 8, facilitating centralized processing of the retrieved items after retrieval. This reduces the occupation of the picking unit 3 by the target items 401, allowing for timely release of the picking unit 3, and also reduces the number of trips the picking mechanism 10 makes between the shelf 20 and the packaging mechanism, all of which contribute to improved efficiency.

[0128] In this case, the target goods 401 can be directly transferred from the picking device 3 to the storage device 8. For example, in some embodiments, after the picking device 3 takes out the target goods 401, it actively puts the target goods 401 into the storage device 8. In other embodiments, after the picking device 3 takes out the target goods 401, the target goods 401 automatically falls into the storage device 8 under the action of gravity. For yet another example, the storage device 8 is equipped with a picking mechanism such as a fork or a robotic arm, which actively picks up the target goods 401 taken by the picking device 3 and puts it into the storage device 8. In this case, the target goods 401 can enter the storage device 8 without passing through the carrying device 4.

[0129] Alternatively, the target cargo 401 can also reach the storage container 8 via the carrying device 4. For example, in some embodiments, the carrying device 4 includes a conveying mechanism 62, which conveys the target cargo 401 to the storage container 8. In this case, the target cargo 401 retrieved by the retrieval container 3 first reaches the carrying device 4, and then enters the storage container 8 under the action of the conveying mechanism 62. The target cargo 401 needs to pass through the carrying device 4 before entering the storage container 8. Here, the conveying mechanism 62 of the carrying device 4 can be the same conveying mechanism as the aforementioned conveying mechanism 62 of the cargo container 6, or they can be two different conveying mechanisms. When the conveying mechanism 62 of the carrying device 4 is the same conveying mechanism as the aforementioned conveying mechanism 62 of the cargo container 6, the corresponding conveying mechanism 62 has multiple functions, serving both the function of conveying goods to the buffer device 5 and the function of conveying goods to the storage container 8, resulting in richer functions and a simpler structure.

[0130] In addition, the specific form of the storage component 8 is not limited and can be set according to the different types of goods 40 to meet the storage needs of different types of goods 40 such as shoe boxes or material boxes.

[0131] The pickup unit 3 in the aforementioned embodiments is used to pick up both the target goods 401 and obstacles 402. The structural form of the pickup unit 3 can be varied.

[0132] As an example of pickup item 3, see Figures 6-20 as well as Figures 22-24 The pickup unit 3 includes only one pickup device 31, which retrieves the target goods 401 and the obstacle 402 from the conveyor 201. In this case, the target goods 401 and the obstacle 402 are retrieved by the same pickup device 31, resulting in fewer pickup devices, a simpler structure, and lower cost. This method is particularly suitable for situations where the aforementioned carrying device 4 includes only one of the buffer device 5 and the cargo carrier 6, and for situations where the aforementioned carrying device 4 includes both the buffer device 5 and the cargo carrier 6, but the buffer device 5 is connected to the conveyor 201 via the cargo carrier 6. For example, see... Figures 6-20 In cases where the carrying device 4 includes both a buffer device 5 and a cargo carrier 6, but the buffer device 5 is connected to the cargo channel 201 via the cargo carrier 6, the retrieval device 3 may consist only of a retrieval device 31 mounted on the cargo carrier 6 to remove the target cargo 401 and the obstacle 402 from the cargo channel 201; for example, see... Figures 22-24 In the case where the carrying device 4 does not include the buffer device 5, but includes the aforementioned cargo 6 which adopts a lifting and buffering method, the picking device 3 may only include a picking device 31 that can be lifted and lowered relative to the cargo 6 to remove the target cargo 401 and the obstacle 402 from the cargo channel 201.

[0133] As another example of pickup item 3, see Figure 21 The pickup unit 3 includes multiple pickup units 31. Some of these pickup units 31 remove the target goods 401 from the conveyor 201, while others remove the obstacle 402 from the conveyor 201. In this case, the target goods 401 and the obstacle 402 are removed by different pickup units 31. This method is particularly suitable for situations where the aforementioned buffer device 5 is directly connected to the conveyor 201, for example, see... Figure 21 In the case of the aforementioned rotating buffer, the retrieval unit 3 may include a retrieval device 31 disposed on the cargo carrier 6 and a retrieval device 31 disposed on each buffer 51, so as to retrieve the target goods 401 by means of the retrieval device 31 disposed on the cargo carrier 6 and to retrieve the obstacle 402 onto each buffer 51 by means of the retrieval device 31 disposed on each buffer 51.

[0134] In the aforementioned embodiments, the structure of the pickup device 31 can also be varied.

[0135] As an example of pickup device 31, see Figures 6-12 as well as Figures 22-24In some embodiments, the retrieval device 31 includes a picking component 32 that lifts goods 40 from the cargo channel 201. Since the cargo channel 201 is downwardly inclined, after the picking component 32 lifts goods 40 from the cargo channel 201 where there are no obstacles 402 in front, the corresponding goods 40 can slide out of the cargo channel 201 under gravity, thus achieving the retrieval of goods 40. In this case, after being lifted, the goods 40 can slide out of the cargo channel 201 under their own gravity. The requirements for the retrieval device 31 are relatively low. For example, the picking component 32 only needs to apply a force to the first goods 40 in the cargo channel 201 to lift the goods 40 above the stop 206 to achieve the retrieval of the corresponding goods 40. The requirements for the magnitude of the force applied by the picking component 32, the structural strength of the picking component 32, and the complexity of the movement of the picking component 32 are all low, which helps to simplify the structure and reduce costs.

[0136] As another example of pickup device 31, see Figures 17-19In some embodiments, the pickup device 31 includes an actuator 35 that drives a stop 206 disposed at the lower end of the cargo channel 201 to move from a stopping position to a clearance position, so as to release the stop 206 from blocking the cargo 40 in the cargo channel 201, allowing the cargo 40 in the cargo channel 201 to slide out of the cargo channel 201. At this time, the stop 206 is not immovably set on the cargo channel 201, but is movably set on the cargo channel 201, so that the stop 206 not only has a stopping state that stops the goods 40 in the stopping position, but also a yielding state that yields the goods 40 in the yielding position. When in the stopping state, the stop 206 can prevent the goods 40 in the cargo channel 201 from accidentally slipping down, so as to achieve reliable storage of the goods 40. When in the yielding state, the stop 206 no longer blocks the goods 40 in the cargo channel 201, so the goods 40 can slide down the downward inclined cargo channel 201 to the outside of the cargo channel 201 under the action of gravity. Therefore, when a stop 206 that can move between the stopping position and the yielding position is provided, an actuator 35 is provided to drive the stop 206 to move from the stopping position to the yielding position, so that the goods 40 can slide out of the cargo channel 201 under its own gravity, so as to realize the retrieval of the goods 40. In this scenario, since the stop 206 can avoid the cargo 40 during its removal, the cargo 40 can leave the cargo channel 201 entirely under its own weight, without the need for an additional mechanism to actively apply force to the cargo 40. Therefore, the retrieval difficulty is lower, and the structure is simpler. Moreover, since the stop 206 moves under the drive of the actuator 35, and is actively acted upon by the actuator 35 of the retrieval mechanism 10 rather than being directly controlled by the controller, the movement of the stop 206 is not limited by the network signal. It will not fail to respond or move incorrectly due to poor network signal. Therefore, the success rate is higher, the reliability is stronger, and a safer and more reliable retrieval process can be achieved.

[0137] It is understood that the movable stop 206 can move in various ways between the stop position and the avoidance position. For example, in some embodiments, the stop 206 is telescopically and / or rotatably disposed at the lower end of the channel 201 to switch between the avoidance position and the stop position by telescopically and / or rotating. Accordingly, the actuator 35 can adopt various structural forms to drive the stop 206 to switch between the stop position and the avoidance position. For example, in some embodiments, the stop 206 switches between the stop position and the avoidance position by rotation, and the actuator 35 includes a push rod that drives the stop 206 to move between the stop position and the avoidance position by pushing the stop 206 to rotate.

[0138] In addition, to more reliably prevent the goods 40 located behind the goods 40 from accidentally falling during the process of retrieving the goods 40 by means of the actuator 35, in some embodiments, the movable stop 206 is configured to switch from the avoidance position to the stop position before the goods 40 has completely passed by. In this way, during the retrieval process, the stop 206 can be used to block the goods 40 after the first goods 40 to prevent the rear goods 40 from sliding out, thus achieving a safer and more reliable retrieval process. In particular, when the retrieval is abnormal and the retrieval action cannot be completed normally, the stopping effect of the stop 206 can prevent further losses.

[0139] Furthermore, as another example of pickup device 31, see [link to relevant documentation]. Figures 13-16 In some embodiments, the picking device 31 includes forks 36, which fork out the goods 40 from the conveyor 201. Thus, the picking device 31 can use a fork-lifting method to retrieve the goods 40. Using a corresponding fork-lifting method facilitates more reliable control of the goods 40 retrieval process. For example, by configuring the forks 36 to actively place the goods 40 onto the carrying device 4 after forking out the goods 40, the goods 40 no longer need to rely entirely on their own gravity to slide onto the carrying device 4. This allows for more reliable control of the retrieved goods 40 accurately reaching the carrying device 4, effectively preventing the retrieved goods 40 from accidentally falling outside the carrying device 4, and achieving a more accurate and reliable retrieval process.

[0140] The fork 36 can have various structural forms.

[0141] For example, the forks 36 can be set horizontally or tilted.

[0142] For example, the fork 36 may include only one fork body 37, or it may include multiple fork bodies 37. When the fork 36 includes multiple fork bodies 37, see [link to relevant documentation]. Figure 14 In some embodiments, the multiple forks 37 of the fork 36 are arranged side by side at intervals and together fork the goods 40 out of the carriage 201. This allows the goods 40 to be removed more smoothly and reliably compared to the case where the fork 36 includes only one fork 37.

[0143] For example, the forks 36 may be movably or immovably mounted relative to the carrying device 4. As an example where the forks 36 are immovably mounted relative to the carrying device 4, the forks 36 are inclined on the carrying device 4 so that by inserting them between the bottom surface of the cargo 40 and the cargo channel 201, the cargo 40 can be lifted, and the inclined surface allows the lifted cargo 40 to slide downwards along the forks 36, thus removing the cargo 40. As an example where the forks 36 are movably mounted relative to the carrying device 4, see [link to relevant documentation]. Figures 13-16The forks 36 are movably arranged relative to the carrying device 4 along the second horizontal direction Y to move closer to or further away from the carrying device 4 from the conveyor 201. The forks 36 are also vertically adjustable relative to the carrying device 4 to lift the goods 40 away from or onto the carrying device 4. In this configuration, the forks 36 can achieve goods transfer between the conveyor 201 and the carrying device 4 through vertical adjustment relative to the carrying device 4 and movement along the second horizontal direction Y. This completes the retrieval of the goods 40 from the conveyor 201 and its active placement on the carrying device 4 during the retrieval process, as well as the storage process (described later) involving the retrieval of the goods 40 from the carrying device 4 and its active placement on the conveyor 201. Because the corresponding goods transfer process is more proactive and controllable, it facilitates a more accurate and efficient retrieval and storage process. Moreover, in this configuration, the forks 36 can perform the storage process entirely on their own, eliminating the need for a separate storage component 7 (mentioned later). Therefore, it also simplifies the structure and reduces costs. Wherein, the second horizontal direction Y is the direction that intersects with the first horizontal direction X. In some embodiments, the second horizontal direction Y is perpendicular to the first horizontal direction X. In this case, the second horizontal direction Y is along the width direction of the tunnel 30.

[0144] When the forks 36 are vertically movable relative to the carrier 4, the forks 36 can move up and down either only on the side above the carrier 4 or on both the upper and lower sides of the carrier 4. For example, see Figures 14-16 In some embodiments, the carrying device 4 is provided with a clearance groove 66, which allows the forks 36 to pass through during lifting and lowering, so that the forks 36 can lift and lower on both the upper and lower sides of the carrying device 4. Based on this, during the process of placing the goods 40 on the carrying device 4, the forks 36 can descend from the upper side to the lower side of the carrying device 4, so that the goods 40 are obstructed by the carrying device 4 and detach from the forks 36, falling completely onto the carrying device 4. This achieves a complete transfer of the goods 40 between the forks 36 and the carrying device 4. After the transfer is completed, the forks 36 can be completely hidden under the carrying device 4. This makes it easier to use the conveying mechanism 62 of the carrying device 4 mentioned above to further transport the goods 40 on the carrying device 4 to other places (e.g., from the cargo carrier 6 to the buffer device 5 or the storage device 8).

[0145] The number of clearance slots 66 that cooperate with the forks 36 is unlimited and can be one or more. For example, when the forks 36 include only a single fork body 37, only a single clearance slot 66 can be provided to cooperate with the forks 36. This not only simplifies the structure but also allows the carrying device 4 to retain more area for contact with the goods 40, thus more stably and reliably carrying and transporting the goods 40. As another example, when the forks 36 include multiple fork bodies 37, only a single clearance slot 66 can be provided, or multiple clearance slots 66 can be provided to cooperate with the forks 36. When multiple clearance slots 66 are provided to cooperate with the forks 36, and the multiple clearance slots 66 correspond one-to-one with the multiple fork bodies 37 of the forks 36, it is more conducive to the stable and reliable carrying and transporting of the goods 40 by the carrying device 4.

[0146] Of course, the picking device 31 is not limited to adopting the aforementioned picking component 32, fork 36 and actuator 35, but can also have other variations.

[0147] For example, in some embodiments not shown, the retrieval device 31 includes a clamping member that grips the goods 40 in the cargo channel 201. In this case, the retrieval device 31 can use a gripping method to retrieve the goods 40 from the cargo channel 201. This gripping method applies a clamping force to the goods 40, thus enabling more reliable retrieval of the goods 40 and facilitating a more stable and reliable transfer of the goods 40 to the carrying device 4 and the storage unit 8. It is understood that the specific gripping method of the clamping member is not limited; it can grip the upper and lower sides and / or sides of the goods 40.

[0148] For example, in some other embodiments not shown, the pickup device 31 includes a rolling element for contacting the goods 40 in the cargo channel 201 and is rotatably configured to apply friction to the goods 40 in the cargo channel 201 during rotation. In this case, the pickup device 31 can use a rolling friction method to retrieve the goods 40. This rolling friction pickup method is beneficial for efficiently and reliably retrieving the goods 40.

[0149] For example, in some embodiments, the pickup device 31 includes other goods picking components such as suction cups, or the pickup device 31 does not include only one of the aforementioned picking component 32, actuator 35, fork 36, clamping component, rolling component and suction cup, but includes a combination of two or more of the aforementioned picking component 32, actuator 35, fork 36, clamping component, rolling component and suction cup, so that the goods 40 leave the cargo channel 201 under multiple forces, further improving the picking efficiency and picking reliability.

[0150] For the convenience of the pickup device 31 in retrieving the goods, see [link / reference] Figures 3-16In some embodiments, a picking slot 202 is provided at the lower end of the cargo channel 201. The picking device 31 extends into the picking slot 202 to remove the goods 40 from the cargo channel 201. The picking slot 202 makes it easier for the picking device 31, especially the aforementioned picking component 32 and fork 36, to contact the goods 40 in the cargo channel 201 and apply force to the goods 40 to remove them.

[0151] The picking slot 202 may include one or more slots 203. For example, see Figures 3-12 In some embodiments, the picking slot 202 includes only one slot 203, which cooperates with the picking component 32 to retrieve the goods 40. For example, see... Figures 14-16 In some embodiments, the picking slot 202 includes a plurality of slots 203, which correspond one-to-one with a plurality of forks 37 of the fork 36, so that the plurality of forks 37 of the fork 36 extend into the plurality of slots 203 in a one-to-one correspondence to pick up the goods 40.

[0152] The picking mechanism 10 in the aforementioned embodiments has both picking function and obstacle buffering function, which can effectively meet more diverse picking needs and improve picking efficiency.

[0153] As a further improvement to the aforementioned embodiments, the picking mechanism 10 is configured to not only have picking and obstacle buffering functions, but also storage functions.

[0154] For example, see Figures 6-24 In some embodiments, the pickup component 2 is further configured to be at least one of the following:

[0155] After the pickup 3 retrieves the target goods 401, the obstacle 402, which is buffered on the carrying device 4, is stored in the cargo channel 201.

[0156] The new goods 40 that need to be added to the cargo channel 201 are stored in the cargo channel 201 to replenish the cargo channel 201.

[0157] When the picking component 2 is configured to store the obstacle 402 cached on the carrying device 4 into the cargo channel 201 after the picking component 3 takes out the target goods 401, the picking mechanism 10 can put the obstacle 402 cached on the carrying device 4 back into the cargo channel 201 after taking out the target goods 401, and wait for it to be taken out again when needed later. In this case, the picking mechanism 10 not only has the picking function and obstacle caching function, but also the storage function, and the storage function at this time is the obstacle return function.

[0158] By storing the cached obstacle 402 back into the cargo channel 201 after the target cargo 401 is retrieved, the retrieval requirements of the target cargo 401 can be met without affecting the normal retrieval operation of the obstacle 402. Moreover, after the target cargo 401 is retrieved, the obstacle 402 will no longer occupy the retrieval mechanism 10, allowing the retrieval mechanism 10 to perform other tasks as soon as possible.

[0159] Although the obstacle return function, which returns obstacle 402 to the cargo channel 201, can also be implemented by other mechanisms besides the picking mechanism 10, using the picking mechanism 10 to implement the obstacle return function has several advantages. First, it effectively enriches the functions of the picking mechanism 10, making it multi-functional and meeting more diverse cargo flow needs. Second, since obstacle 402 is placed on the picking mechanism 10 before being returned, the picking mechanism 10 only needs to follow the reverse steps of retrieving obstacle 402 to return it to the cargo channel 201, without requiring any other mechanisms besides the picking mechanism 10 and the cargo channel 201. The obstacle 402 is transferred between the picking mechanism 10 and the cargo channel 201, making the entire obstacle return process simpler and more convenient. Furthermore, since the obstacle 402 does not need to be transferred between other mechanisms besides the picking mechanism 10 and the cargo channel 201 during the return process, errors in transfer between these mechanisms will not affect the smooth progress of the return process. Therefore, this also helps improve the efficiency and success rate of the obstacle return process. On the other hand, since there is no need to set up other mechanisms for obstacle return outside the picking mechanism 10, it also helps simplify the structure of the warehousing system 100 and saves the floor space required for setting up other mechanisms for obstacle return outside the picking mechanism 10, thus increasing storage density.

[0160] It is evident that using the picking mechanism 10 to implement the obstacle return function can achieve a simpler, more efficient, and higher success rate obstacle return process based on a simpler structure. Furthermore, it can meet more diverse picking needs and improve storage density.

[0161] When the picking component 2 is configured to store new goods 40 that need to be added to the goods lane 201 into the goods lane 201 to replenish the goods lane 201, if the goods 40 in the goods lane 201 are insufficient and replenishment is required, the picking mechanism 10 will put the new goods 40 that need to be added into the goods lane 201 into the goods lane 201. In this case, the picking mechanism 10 not only has the picking function and obstacle buffering function, but also the storage function, and the storage function at this time is the replenishment function.

[0162] In related technologies, the picking mechanism 10 does not have a replenishment function. Instead, a replenishment device is usually set up separately outside the picking mechanism 10. The replenishment device puts the new goods 40 into the inclined channel 201 from the upper side (or rear side). The new goods 40 slide down the downward inclined channel 201 under the action of gravity, thereby realizing the replenishment function. In other words, the operation mode adopted is that the picking mechanism picks up the goods in front and the replenishment device replenishes the goods in the back. Or, it is a "front picking and rear replenishment" method based on the picking mechanism and the replenishment device.

[0163] By configuring the picking mechanism 10 to have a replenishment function, the operation mode changes to the picking mechanism picking up and replenishing goods in advance, or in other words, it becomes a "front-picking and front-replenishing" mode based on the picking mechanism. In this case, on the one hand, since there is no need to set up a replenishment device to realize the replenishment function, the structure of the warehousing system 100 can be simplified, and the floor area originally occupied by the replenishment device can be saved, thereby increasing the storage density. On the other hand, the functions of the picking mechanism 10 can be effectively enriched, enabling the picking mechanism 10 to meet more diverse cargo flow needs.

[0164] When the picking component 2 can both retrieve the target goods 401 from the picking component 3 and store the obstacle 402 buffered on the carrying device 4 into the channel 201, and store the new goods 40 that need to be added to the channel 201 into the channel 201 to replenish the channel 201, the storage function that the picking mechanism 10 can realize includes both obstacle return function and replenishment function, which is more functional and more conducive to simplifying the structure of the storage system 100 and improving storage density.

[0165] To enable the picking mechanism 10 to have an inventory function, the picking component 2 can be configured in various ways.

[0166] For example, in some embodiments, the picking component 2 stores the obstacle 402 and / or new goods 40 into the cargo channel 201 via the picking component 3. In this case, the picking component 3 is used not only for picking up goods but also for storing them. Based on the picking component 3, the picking component 2 can achieve the storage function (obstacle return and / or replenishment function). No additional mechanism is needed in the picking component 2 to achieve the storage function, thus simplifying the structure. This method of achieving the storage function by relying on the picking component 3 is particularly suitable when the picking component 3 includes components such as the aforementioned clamping parts or forks capable of bidirectional goods handling.

[0167] For example, see Figures 6-12 as well as Figures 17-24In some embodiments, the picking component 2 includes not only the picking component 3 and the carrying device 4, but also the storage component 7. The storage component 7 is movably arranged relative to the carrying device 4 to store obstacles 402 and / or new goods 40 into the cargo channel 201. In this case, the picking component 3 no longer has a storage function, and the picking component 2 no longer achieves the storage function through the picking component 3, but through the separately provided storage component 7. In this case, since the picking component 3 only needs to meet the picking requirements and does not need to meet the storage requirements, it is beneficial to reduce the requirements for the picking component 3. This allows the picking component 3 to be free from being limited to the aforementioned clamping components or forks that can bidirectionally transport goods, but can also adopt other structural forms such as the aforementioned picking component 32, effectively enriching the product range. The available structural form of the picking item 3, and since the picking item 3 and the storage item 7 each perform their own functions, the risk of error is low, and a more reliable picking and storage process can be achieved. At the same time, it is also convenient for the picking item 3 to act on the goods 40 in the channel 201 during the storage process of the storage item 7, for example, by acting on the first goods 40 in the channel 201 (i.e. the goods 40 located at the bottom of the channel 201), so that the corresponding first goods 40 leaves the channel 201 at least partially, thereby assisting in storage, reducing the difficulty of storage, and improving the success rate of storage.

[0168] It should be noted that the operation of causing the first item 40 in the storage channel 201 to leave the storage channel 201 at least partially is not limited to being carried out by the picking component 3, but can also be carried out by the storage component 7 or other mechanisms. In fact, when the picking component 2 is configured to act on the item 40 at the bottom of the storage channel 201 during the process of storing the obstacle 402 and / or the new item 40 into the storage channel 201, so that the item 40 at the bottom of the storage channel 201 leaves the storage channel 201 at least partially, the storage resistance can be reduced, the storage difficulty can be reduced, and the storage success rate can be improved. The advantage of using the storage component 7 to store the goods and using the retrieval component 3 to at least partially remove the first item 40 from the channel 201 is that the retrieval component 3 is an existing structure of the retrieval component 2, and the retrieval component 3 is already capable of removing the first item 40 from the channel 201. Therefore, using the retrieval component 3 to remove the first item 40 from the channel 201 at least partially during the storage process is simpler and more convenient.

[0169] The storage component 7 performs its storage function by moving relative to the carrying device 4. The specific form of movement of the storage component 7 relative to the carrying device 4 is not limited; it can be movement and / or rotation. Furthermore, the force exerted by the storage component 7 on the goods 40 to be stored in the storage channel 201 is not limited; it can be a pushing force and / or a pulling force. For example, see... Figures 6-12 as well as Figures 17-24In some embodiments, the storage component 7 is movably mounted on the carrier 4 along the second horizontal direction Y to store the obstacle 402 and / or the new goods 40 into the cargo channel 201 by pushing the obstacle 402 and / or the new goods 40. In this case, the storage component 7 achieves the obstacle storage and / or replenishment function by moving relative to the carrier 4 along the second horizontal direction Y and applying a pushing force to the obstacle 402 and / or the new goods 40. Alternatively, the storage component 7 achieves the storage function by moving relative to the carrier 4 along the second horizontal direction Y and pushing the goods 40. In this case, the storage component 7 uses a pushing storage method, which is simple, convenient, and has a high storage success rate.

[0170] In the aforementioned embodiments, the retrieval component 2 with storage function can adopt different storage methods such as first-out-last-return and / or first-out-first-return to realize the obstacle return storage function. Among them, the first-out-last-return storage method means that the cached obstacles 402 are put back into the storage channel 201 in the reverse order of their retrieval. That is, the obstacles 402 retrieved later are stored in the storage channel 201 first, and the obstacles 402 retrieved earlier are stored in the storage channel 201 later. In this case, after the multiple cached obstacles 402 are retrieved and returned to the storage channel 201, their order remains unchanged. The obstacles 402 that were originally in front are still in front, and the obstacles 402 that were originally behind are still behind. The first-out-first-return (FIFO) inventory method means that the cached obstacles 402 are returned to the storage channel 201 in the order they were retrieved. That is, the obstacles 402 retrieved first are stored in the storage channel 201 first, and the obstacles 402 retrieved later are stored in the storage channel 201 later. In this case, after the multiple cached obstacles 402 are retrieved and returned to the storage channel 201, their order changes. The obstacles 402 that were originally in front become later, and the obstacles 402 that were originally behind become in front.

[0171] In most cases, the multiple obstacles 402 that are removed do not need to change their position after returning to the storage lane 201. Therefore, the first-out, first-back inventory method can meet most of the obstacle return requirements. However, in some special cases, it may be necessary for the multiple obstacles 402 that are removed to change their position after returning to the storage lane 201. For example, before being returned to the storage lane 201, an obstacle 402 that was originally in front may become an unsaleable item, and the probability of it being removed again in the near future is reduced. In this case, if the corresponding obstacle 402 can be placed in a later position during the process of being put back into the storage lane 201, it may be more conducive to the efficient removal of other goods 40. Therefore, the first-out, first-back inventory method can meet the obstacle return requirements in these special cases.

[0172] Of course, the picking component 2 is not limited to only one of the first-out-last-return and first-out-first-return inventory methods. It can also use both first-out-last-return and first-out-first-return inventory methods. This can better meet different inventory needs. For example, when the front and back positions of obstacles 402 that need to be picked up and those that do not need to be picked up are changed after returning to the channel 201, the first-out-first-return and first-out-last-return inventory methods can be selected respectively. Alternatively, when only some of the picked-up obstacles 402 need to be moved backward, the first-out-last-return and first-out-first-return inventory methods can be switched when putting these obstacles 402 back. Specifically, only the part of the obstacles 402 that need to be moved backward can be put into the channel 201 first, while the other obstacles 402 are still put into the channel 201 in the first-out-last-return manner.

[0173] The corresponding first-out-last-return storage method can be implemented based on the aforementioned side-by-side buffering (the buffer components 51 of the buffer device 5 are arranged side-by-side along the first horizontal direction X), stacked buffering (the buffer components 51 of the buffer device 5 are arranged vertically), or rotating buffering (the multiple buffer components 51 of the buffer device 5 are arranged at an angle and can all rotate around the support member 1). The first-out-first-return storage method is more suitable for the aforementioned stacked buffering and rotating buffering methods because, in these methods, the buffer components 51 do not need to sequentially transfer obstacles 402. Therefore, it is more convenient to flexibly change the return order of the obstacles 402 according to the actual situation to achieve first-out-first-return.

[0174] In the foregoing embodiments, the support member 1 used to move the picking-up component 2 along the first horizontal direction X can adopt various structural forms. For example, the support member 1 can be suspended above the ground, or, see [link to previous embodiment]. Figures 1-24 It can also be installed on the ground. When the support 1 is installed on the ground, the support 1 can obtain more stable support, and since it does not need to be supported by the shelf 20 or other devices, it does not need to be connected to the shelf 20 or other devices, so the structure is simpler.

[0175] In the aforementioned embodiments, the picking component 2 can be movably mounted on the support member 1 along the second horizontal direction Y to move closer to or further away from the cargo channel 201. This facilitates better docking of the picking component 2 with the cargo channel 201 for cargo transfer.

[0176] As a further improvement to the foregoing embodiments, see Figure 25There is a height difference between the two sides of the cargo channel 201 along the first horizontal direction X. Based on this, the two sides of the cargo channel 201 are not of equal height in the width direction, but one side is higher and the other side is lower. This allows the goods 40 in the cargo channel 201 to be placed against the lower side of the two sides of the width direction of the cargo channel 201. In particular, it allows goods 40 of different sizes in the cargo channel 201 to be placed against the lower side of the two sides of the width direction of the cargo channel 201, which facilitates the operation of the corresponding goods 40.

[0177] Based on the warehousing system 100 of the foregoing embodiments, this application also provides a control method, which includes:

[0178] Determine if there is an obstacle 402 in cargo channel 201;

[0179] If there is an obstacle 402 in the cargo channel 201, the picking item 3 is controlled to first remove the obstacle 402 in the cargo channel 201 and place it on the carrying device 4 to buffer the obstacle 402.

[0180] After all obstacles 402 in the cargo channel 201 have been removed, the picking unit 3 is then controlled to retrieve the target cargo 401 from the cargo channel 201.

[0181] Furthermore, in some embodiments, the control method further includes:

[0182] After the pickup component 3 retrieves the target goods 401 from the cargo channel 201, the pickup component 2 controls the obstacle 402 that is cached on the carrier device 4 to be stored in the cargo channel 201.

[0183] In some embodiments, during the process of controlling the picking component 2 to store the obstacle 402 cached on the carrier 4 into the cargo channel 201, the picking component 2 may store the obstacle 402 that is retrieved first into the cargo channel 201 first, and / or store the obstacle 402 that is retrieved first into the cargo channel 201 later.

[0184] The control methods of the foregoing embodiments can be implemented under the control of a controller. The corresponding controller includes a memory and a processor coupled to the memory, the processor being configured to execute the control method of any embodiment based on instructions stored in the memory.

[0185] In addition, this application also provides a computer-readable storage medium and a computer program product. The computer-readable storage medium stores computer instructions, which are executed by a processor using the control method of any embodiment. The computer program product includes a computer program that, when executed by a processor, implements the control method of any embodiment.

[0186] The following will provide further details. Figures 1-25 The various embodiments shown.

[0187] First, an introduction Figures 1-12 The first embodiment shown.

[0188] like Figures 1-12 As shown, in this embodiment, the warehousing system 100 includes a picking mechanism 10 and a plurality of shelves 20.

[0189] Among them, by Figures 1-3 As can be seen, in this embodiment, the plurality of shelves 20 includes at least two shelves 20 arranged at intervals along a second horizontal direction Y perpendicular to the first horizontal direction X. An aisle 30 is formed between two adjacent shelves 20 arranged at intervals along the second horizontal direction Y. Each shelf 20 includes multiple layers of aisles 201, and each layer of aisles 201 includes multiple aisles 201 arranged side by side along the first horizontal direction X.

[0190] Furthermore, by Figures 3-5 As can be seen, in this embodiment, each cargo channel 201 is used to store at least three goods 40, and the end closer to the aisle 30 is lower, forming the lower end of the cargo channel 201, while the end farther from the aisle 30 is higher, forming the upper end of the cargo channel 201. In this way, the cargo channel 201 is inclined downward, and the goods 40 in the cargo channel 201 can be closely arranged along the length of the cargo channel 201 under the action of gravity, and the goods 40 on the rear side can automatically move forward to fill the position after the goods 40 on the front side are taken out.

[0191] The cargo aisle 201 includes a base plate 204 that supports the goods 40. Two side plates 205 are spaced apart along the width of the cargo aisle 201 to block the goods 40 in the width direction of the cargo aisle 201. Two adjacent cargo aisles 201 on the same floor share one side plate 205.

[0192] The lower end of the cargo channel 201 is provided with a picking slot 202 and a stop 206. The picking slot 202 is used to cooperate with the picking component 3 of the picking mechanism 10 to achieve the purpose of picking up goods. Figure 2 and Figure 4 As shown, in this embodiment, the picking slot 202 includes a single slot 203 that penetrates the bottom plate 204, allowing the picking component 3 of the picking mechanism 10 to extend into it for picking up goods. The stop 206 is used to stop and limit the goods 40 in the conveyor 201 to prevent the goods 40 from accidentally slipping out of the conveyor 201. Figure 3 and Figure 4 As shown, in this embodiment, the stop 206 is immovably disposed at the lower end of the cargo channel 201 and includes two baffles. These two baffles are fixed on the cargo channel 201 and are immovable. They are located on both sides of the picking slot 202 along the width direction of the cargo channel 201 to avoid the picking slot 202. This allows the picking item 3 to be inserted into the picking slot 202 for picking up goods while preventing the goods 40 in the cargo channel 201 from accidentally sliding out.

[0193] The picking mechanism 10 is used to take out the goods 40 from the cargo channel 201 and to store the goods 40 back into the cargo channel 201. In other words, in this embodiment, the picking mechanism 10 is used to store and retrieve the goods 40 in the cargo channel 201. In this case, the picking mechanism 10 can also be called a storage and retrieval mechanism.

[0194] like Figures 1-12 As shown, in this embodiment, the picking mechanism 10 is located on the side of the shelf 20 facing the aisle 30, in the aisle 30, and includes a support 1, a picking component 2, and a storage component 8.

[0195] The support member 1 is installed in the aisle 30 and is movably mounted on the ground along the first horizontal direction X to support the picking component 2 and the storage component 8, and to drive the picking component 2 and the storage component 8 to move along the first horizontal direction X. Specifically, by Figure 6 and Figure 7 As can be seen, in this embodiment, the support member 1 is a walking mechanism in the form of a stacker crane column. Its column 11 extends in the vertical direction Z, which not only supports the picking component 2 and the storage component 8, but also guides the picking component 2 and the storage component 8 to rise and fall.

[0196] Both the picking component 2 and the storage component 8 are mounted on the support component 1 and connected to the support component 1 via the lifting mechanism 22, so as to move up and down synchronously along the column 11. In this way, the picking component 2 can reach each aisle 201 of the shelf 20 to store and retrieve goods in the aisle 201, and can conveniently deliver multiple target goods 401 to the storage component 8 for storage, so as to be transported to the packaging mechanism and other equipment for packaging and other processing.

[0197] like Figure 6 and Figure 7 As shown, in this embodiment, the picking mechanism 10 includes two picking components 2, which are arranged opposite to each other on both sides of the support member 1 along the second horizontal direction Y, respectively storing and retrieving goods 40 in each aisle 201 of the two shelves 20 on both sides of the aisle 30. Both picking components 2 are connected to the support member 1 through a telescopic mechanism (not shown) so that they can move closer to the aisle 201 and better connect with it under the action of the telescopic mechanism. The storage container 8 is an order basket, which, along with the two picking components 2, is located on both sides of the support member 1 along the first horizontal direction X, and is located below the two picking components 2 in the vertical direction Z, so as to conveniently receive the target goods 401 retrieved by the two picking components 2.

[0198] In this embodiment, the two picking components 2 have the same structure, each including a picking component 3, a carrying device 4, and a storage component 7.

[0199] The carrying device 4 is used to receive and carry the retrieved target cargo 401 and obstacle 402. For example... Figures 7-9 As shown, in this implementation, the carrying device 4 includes at least three (four are shown in the figure, but this is not a limitation; there can be two or more) carrying platforms 41. These carrying platforms 41 are arranged side by side along the first horizontal direction X. The carrying platform 41 closest to the storage unit 8 serves as the cargo carrier 6, used to receive and carry the retrieved target goods 401 and obstacles 402. The remaining carrying platforms 41 farther away from the storage unit 8 serve as buffers 51, and together they form the buffer device 5 for buffering multiple obstacles 402. Furthermore, each carrying platform 41 has the same structure, including a baffle 61 and a conveying mechanism 62. The conveying mechanism 62 includes a conveyor belt 63, and the conveying direction is along the first horizontal direction X to convey goods 40 to the storage unit 8 and adjacent carrying platforms 41. The baffle 61 is provided on the side of the conveying mechanism 62 away from the cargo channel 201 to block the goods 40 on the conveying mechanism 62 and prevent the goods 40 on the conveying mechanism 62 from falling off.

[0200] Based on the above configuration, the carrying device 4 in this embodiment includes a cargo carrier 6 and a buffer device 5. The cargo carrier 6 and the buffer device 5 are arranged sequentially in the first horizontal direction X along the direction away from the storage carrier 8. The buffer device 5 includes a plurality of buffer elements 51 arranged side by side along the first horizontal direction X. The cargo carrier 6 and each buffer element 51 include a conveying mechanism 62 for conveying goods 40 along the first horizontal direction X, so that the cargo carrier 6 and all the buffer elements 51 together can realize bidirectional goods conveying to both sides of the first horizontal direction X. In this case, the buffer device 5 connects to the cargo channel 201 through the cargo carrier 6 to convey goods 40. During the process of retrieving the target cargo 401 located behind multiple obstacles 402, the first obstacle 402 in the cargo channel 201 is first retrieved and placed onto the cargo carrier 6. Then, the cargo carrier 6 is conveyed by the conveying mechanism 62 to the buffer unit 5 closest to the cargo carrier 6. Under the action of the conveying mechanism 62 of the corresponding buffer unit 51, it continues to move away from the cargo carrier 6 to make room for the obstacle 402 that is retrieved. This process continues until all obstacles 402 in front of the target cargo 401 have been conveyed onto the buffer unit 51. Then, the target cargo 401 can be retrieved and placed onto the cargo carrier 6. The conveying mechanism 62 of the cargo carrier 6 then conveys the corresponding target cargo 401 in the opposite direction to the storage unit 8, thereby realizing the retrieval and storage of the target cargo 401, as well as the retrieval and buffering of the obstacles 402 in front of the target cargo 401.

[0201] Pickup item 3 is used to retrieve goods 40 from cargo channel 201. For example... Figures 8-12As shown, in this embodiment, the pickup unit 3 includes only one pickup device 31, which is disposed on the cargo unit 6 at one end of the cargo unit 6 near the conveyor 201. The pickup device 31 includes a picking component 32, which is obliquely disposed at one end of the cargo unit 6 near the conveyor 201, and is approximately T-shaped, with its top end positioned above the surface of the cargo unit 6 supporting the goods 40 (in this embodiment, the upper surface of the conveying mechanism 62 of the cargo unit 6). Thus, the picking component 32 is configured as a picking finger 34, used to extend through the pickup slot 202 into the conveyor 201 to pick up the first goods 40 in the conveyor 201, allowing the first goods 40 in the conveyor 201 to slide onto the cargo unit 6 by gravity. In this embodiment, both the target goods 401 and the obstacle 402 in the conveyor 201 are picked up and removed by the same picking finger 34.

[0202] Storage component 7 is used to store goods 40 from the carrying device 4 into the cargo channel 201. For example... Figures 8-12 As shown, in this embodiment, the storage component 7 is disposed on the carrying component 6 and includes a pusher plate 71. The pusher plate 71 can move relative to the carrying component 6 along the second horizontal direction Y. Thus, by moving the pusher plate 71 relative to the carrying component 6 along the second horizontal direction Y toward the direction closer to the conveyor 201, the goods 40 on the carrying component 6 can be pushed into the conveyor 201, thereby realizing the storage function. During the storage process, the goods 40 to be stored on the carrying component 6 may be new goods 40 that were not originally in the conveyor 201 but need to be added to the conveyor 201 to realize the replenishment function, or they may be obstacles 402 buffered on the buffer device 5 to realize the obstacle return function. The new goods 40 can be placed on the carrying component 6 manually or by other mechanisms, while the obstacles 402 on the buffer device 5 can be conveyed to the carrying component 6 by the conveying mechanism 62 of the buffer component 51. In this embodiment, the pusher plate 71 can push one item 40 back into the cargo channel 201 at a time. Therefore, the items 40 that need to be pushed back into the cargo channel 201 can reach the cargo carrier 6 in sequence and be pushed into the cargo channel 201 one by one by the pusher plate 71.

[0203] As can be seen, in this embodiment, neither the picking item 3 nor the storage item 7 is set on the buffer device 5 of the carrying device 4, but only on the carrying item 6 of the carrying device 4. In other words, only the carrying item 6 is equipped with the picking item 3 and the storage item 7, while the buffer device 5 is not equipped with the picking item 3 and the storage item 7. In this case, the carrying item 6, the picking item 3 and the storage item 7 can be collectively referred to as the storage and retrieval device 21, and the corresponding workstation is called the storage and retrieval position. The workstation corresponding to each buffer item 51 of the buffer device 5 is called the buffer position. Thus, the picking component 2 of this embodiment includes one storage and retrieval position and multiple buffer positions, which are used for goods storage and retrieval and obstacle buffering, respectively.

[0204] Based on the aforementioned structural configuration, the picking mechanism 10 in this embodiment not only has a picking function but also an obstacle buffering function, enabling it to retrieve the target goods 401 located further back in the cargo aisle 201 using a reverse loading method. It also has a storage function, which includes both obstacle return and replenishment functions. The corresponding picking and storage processes are as follows: Figure 11 and Figure 12 As shown.

[0205] Depend on Figure 11 As can be seen, the picking process of the picking mechanism 10 in this embodiment is roughly as follows:

[0206] (1) When the picking piece 32 is lower than the lower end of the cargo channel 201, the picking component 2 first moves closer to the cargo channel 201 under the action of the telescopic mechanism, so that the picking piece 32 is located below the picking slot 202.

[0207] (2) Move the picking component 32 upward (the entire picking component 2 moves upward, or the picking component 32 moves upward relative to the carrying device 4) to pick up the first cargo 40 in the cargo channel 201, so that the corresponding cargo 40 passes over the stop 206 and slides down under the action of gravity.

[0208] (3) The sliding goods 40 fall onto the conveying mechanism 62 of the cargo 6, while the picking piece 32 remains inserted in the picking slot 202 to stop the following goods 40 and prevent the following goods 40 from sliding out.

[0209] (4) Move the picking component 32 downward (the entire picking component 2 moves downward, or the picking component 32 moves downward relative to the carrying device 4), release the blocking effect of the picking component 32 on the goods 40 in the channel 201, and then the goods 40 that were originally located behind the goods 40 that were picked up in the channel 201 can slide downward to fill the gap and become the first goods 40 in the channel 201, which is stopped and limited by the blocking component 206.

[0210] The aforementioned goods 40 that are removed and placed on the cargo carrier 6 could be either the target goods 401 or an obstacle 402. Regardless of whether it is the target goods 401 or the obstacle 402, it can be handled according to... Figure 11 The above-described process of taking out goods differs only in the way they are handled after falling onto the cargo carrier 6. When the goods 40 falling onto the cargo carrier 6 are obstacles 402, the corresponding goods 40 will be transported by the conveying mechanism 62 to the target buffer 51 for buffering. When the goods 40 falling onto the cargo carrier 6 are target goods 401, the corresponding goods 40 will be transported by the conveying mechanism 62 of the cargo carrier 6 to the storage container 8 for storage.

[0211] In addition, by Figure 12 It can be seen that the inventory process of the picking mechanism 10 in this embodiment is roughly as follows:

[0212] (1) The storage component 7 pushes the goods 40 on the loading component 6 toward the cargo channel 201, and the picking component 32 moves upward to pick up the first goods 40 in the cargo channel 201. At this time, the bottom surface of the goods 40 to be stored is higher than the stop component 206.

[0213] (2) The stored item 7 continues to push the goods 40 toward the cargo channel 201, so that the corresponding goods 40 crosses the stop 206 and enters the cargo channel 201;

[0214] (3) The picking piece 32 is lowered and removed from the goods 40, while the storage piece 7 continues to push the goods 40;

[0215] (4) The stored item 7 is withdrawn, and the goods 40 pushed into the cargo channel 201 automatically slide down to the stop 206 by gravity, completing the storage operation of the current goods 40.

[0216] The goods 40 stored in the cargo channel 201 may be either obstacles 402 or new goods 40. Whether it is the target goods 401 or the obstacle 402, it can be handled according to... Figure 12 The above process is stored in the cargo channel 201, except that the two can be transferred to the cargo carrier 6 in different ways. When the stored goods 40 are obstacles 402, the corresponding goods 40 are transported to the cargo carrier 6 by the conveying mechanism 62 of the buffer 51. When the stored goods 40 are new goods 40, the corresponding goods 40 can be placed in advance on the buffer 51 and transported to the cargo carrier 6 by the conveying mechanism 62 of the buffer 51. Alternatively, they can be placed directly on the cargo carrier 6 by humans or other mechanisms.

[0217] As can be seen, the warehousing system 100 in this embodiment has a simple structure, high storage density, flexible access, and high access efficiency.

[0218] Next, we will introduce... Figures 13-16 The second embodiment is shown.

[0219] like Figures 13-16As shown, the main difference between this embodiment and the aforementioned first embodiment is that the structure of the picker 31 of the picking item 3 has changed. It no longer includes the picking item 32, but instead includes a fork 36. The fork 36 is vertically movable and horizontally movable along the second horizontal direction Y on the load item 6. The fork 36 is a horizontally arranged comb fork, which includes multiple fork bodies 37 spaced apart along the first horizontal direction X. Correspondingly, the conveying mechanism 62 of the load item 6 where the picking item 3 is located no longer includes a conveyor belt 63. Instead, it includes multiple conveying rollers 64 driven and connected by a transmission belt 65. A clearance groove 66 is formed between adjacent conveying rollers 64. The clearance groove 66 corresponds one-to-one with multiple fork bodies 37 of the fork 36 to allow the fork 36 to lift and pass through, thereby realizing the lifting and lowering of the fork 36 on the upper and lower sides of the cargo 6. Moreover, the picking slot 202 at the lower end of the cargo channel 201 no longer includes only a single slot 203, but includes multiple slots 203. These multiple slots 203 correspond one-to-one with multiple fork bodies 37 of the fork 36, making the lower end of the cargo channel 201 comb-shaped.

[0220] Based on the above configuration, the comb-shaped forks 36 can cooperate with the comb-shaped picking slots 202 and the roller conveyor mechanism of the cargo 6 to transfer goods and realize the storage and retrieval of goods. The process is roughly as follows: Figure 15 and Figure 16 As shown.

[0221] Depend on Figure 15 As can be seen, the picking process of the picking mechanism 10 in this embodiment is roughly as follows:

[0222] (1) The pickup component 2 first moves to the pickup location where the goods are ready to be picked up;

[0223] (2) The forks 36 extend so that the forks 36 are positioned below the comb-shaped picking slot 202;

[0224] (3) Raise the forks 36 to contact the bottom surface of the first cargo 40 in the cargo channel 201, lift the first cargo 40, and the cargo slides down during the process;

[0225] (4) The forks 36 continue to rise, eventually fully supporting the cargo 40;

[0226] (5) Retract the forks 36 and lower them to the underside of the conveying mechanism 62 of the cargo 6, so that the removed cargo 40 falls onto the cargo 6.

[0227] When the retrieved goods 40 are obstructions 402, they can still be transported to the buffer 51 by the conveying mechanism 62 of the cargo 6, and transferred between the buffers 51 under the action of the conveying mechanism 62 of each buffer 51.

[0228] Depend on Figure 14It is understood that in this embodiment, the conveying mechanism 62 of each buffer 51 no longer includes a conveyor belt 63, but includes a conveyor roller 64. In this way, the conveying mechanism 62 of the buffer 51 and the conveying mechanism 62 of the cargo 6 are of the same type, both being roller conveying mechanisms, which is more conducive to the coordinated cooperation of these conveying mechanisms 62 to stably transport the goods 40.

[0229] like Figure 16 As shown, the inventory process of the picking mechanism 10 in this embodiment is roughly as follows:

[0230] (1) The picking component 2 first moves to the storage location where the goods are to be stored (which may be the same as or different from the aforementioned picking location);

[0231] (2) Raise the forks 36 so that the forks 36 rise above the conveying mechanism 62 of the cargo 6 and lift the cargo 40 off the cargo 6.

[0232] (3) The forks 36 extend to engage with multiple slots 203 of the picking slot 202 and push the goods 40 toward the conveyor 201;

[0233] (4) Continue to push the cargo 40 so that the cargo 40 crosses the stop 206 and enters the cargo channel 201;

[0234] (5) Retract the fork. The goods pushed into the cargo channel 201 automatically slide down to the stop 206 by gravity, completing the storage operation of the current goods 40.

[0235] Among them, such as Figures 14-16 As shown, in this embodiment, each fork 36 of the fork body 37 is approximately L-shaped. The horizontal part of the fork body 37 supports the goods 40, and the vertical part is connected to the end of the horizontal part away from the channel 201 and extends upward from the horizontal part. In this way, when the fork 36 pushes the goods 40 into the channel 201, the vertical part of the fork body 37 can block the goods 40, preventing the goods 40 from being unable to continue moving after being blocked by the goods 40 in the channel 201. Therefore, it is beneficial to achieve a smoother inventory process.

[0236] As can be seen, the forks 36 can not only pick up goods, but also store them. The storage process can be completed without the need for a separate storage component 7. Therefore, there are fewer parts and the structure is simpler.

[0237] Next, we will introduce... Figures 17-19 The third embodiment shown.

[0238] like Figures 17-19As shown, in this embodiment, the stop 206 on the cargo channel 201 is no longer fixed, but becomes movable, moving between a stop position and a clearance position to stop or release the goods in the cargo channel 201. Correspondingly, in this embodiment, the picker 31 of the picking item 3 no longer includes a picking item 32 or a fork 36, but includes an actuator 35. The actuator 35 is telescopically disposed at the end of the carrying item 6 facing the cargo channel 201, and drives the stop 206 from the stop position to the clearance position during the picking process, so that the goods 40 slide out of the cargo channel 201 under gravity, realizing the picking process. And by driving the stop 206 to switch between the clearance position and the stop position during the storage process, it cooperates with the storage item 7 to realize the storage process. The corresponding picking process and storage process are as follows: Figure 18 and Figure 19 As shown.

[0239] Depend on Figure 18 As can be seen, the picking process of the picking mechanism 10 in this embodiment is roughly as follows:

[0240] (1) The pickup component 2 first moves to the pickup location where the goods are ready to be picked up;

[0241] (2) The actuator 35 extends and triggers the stop 206, causing the stop 206 to move from the stop position to the avoidance position;

[0242] (3) The first cargo 40 in cargo channel 201 slides downwards due to gravity;

[0243] (4) Before the goods 40 have completely passed the stop 206, retract the actuator 35 to make the stop 206 move toward the stop position to stop the remaining goods 40 in the cargo channel 201 and prevent the goods 40 behind from sliding out.

[0244] (5) The removed goods 40 fall completely onto the cargo 6, and the goods 40 in the cargo channel 201 slide down to fill the gap under the action of gravity.

[0245] In addition, by Figure 19 It can be seen that the inventory process of the picking mechanism 10 in this embodiment is roughly as follows:

[0246] (1) The picking component 2 first moves to the storage location where the goods are to be stored;

[0247] (2) The storage component 7 of the cargo component 6 pushes the goods 40 on the cargo component 6 toward the cargo channel 201. Before the goods 40 reach the cargo channel 201, the actuator 35 extends and triggers the stop component 206, so that the stop component 206 moves from the stop position to the avoidance position to reduce the pushing resistance and facilitate the further pushing of the goods.

[0248] (3) Continue to push the goods 40 into the cargo channel 201, and retract the actuator 35 before the goods 40 has completely passed the stop 20, so that the stop 206 moves to the stop position to prevent the goods 40 from slipping.

[0249] (4) Push the goods 40 completely into the cargo channel 201;

[0250] (5) Inventory item 7 is retrieved, and goods 40 are stopped by stop item 206, thus completing the current goods storage process.

[0251] Since the stop 206 in this embodiment can be opened and closed, the difficulty of storing and retrieving goods can be reduced. Moreover, since the actuator 35 actively controls the opening and closing of the stop 206 mechanically, instead of the controller directly controlling the opening and closing of the stop 206 by signal, the opening and closing control process is not affected by network signals, making it safer and more reliable.

[0252] Next, we will introduce... Figure 20 The fourth embodiment shown.

[0253] In the first three embodiments, the buffer device 5 and the cargo 6, as well as the buffer units 51 of the buffer device 5, are arranged side by side along the first horizontal direction X. However, as... Figure 20 As shown, in this embodiment, although the buffer device 5 is still arranged side by side with the cargo 6 along the first horizontal direction X, the buffer components 51 of the buffer device 5 are no longer arranged side by side along the first horizontal direction X, but rather side by side along the vertical direction Z. This allows for a stacked buffering method, and by configuring the cargo 6 to be able to rise and fall relative to each buffer component 51, the cargo 6 can reach different buffer components 51, enabling the transfer of goods 40 from different buffer components 51 to the conveyor 201, or from the conveyor 201 to different buffer components 51. In this case, the storage component 8 and the buffer device 5 can be located on both sides of the cargo 6 along the first horizontal direction X, facilitating the cargo 6 to transfer goods 40 to the buffer components 51 and the storage component 8 respectively by reverse conveying of goods 40.

[0254] Although Figure 20 Although not shown, it can be understood that any of the aforementioned pickup unit 3 and storage unit 7 can still be provided on the cargo carrier 6 in this embodiment to meet the needs of cargo storage and retrieval.

[0255] Next, we will introduce... Figure 21 The fifth embodiment shown.

[0256] like Figure 21As shown, in this embodiment, the buffer device 5 and the cargo 6, as well as the buffer components 51 of the buffer device 5, are no longer arranged side by side along the first horizontal direction X, but are arranged at an angle to each other and can rotate synchronously around the support member 1. In this way, the cargo 6 and each buffer component 51 can rotate and change position, and switch to dock with the cargo channel 201 to transfer goods, thus realizing the rotation buffer method.

[0257] It should be noted that, although Figure 21 Not shown, but in this embodiment, not only is the cargo carrier 6 equipped with any of the aforementioned pickup 3 and storage 7, but each buffer 51 is also equipped with any of the aforementioned pickup 3 and storage 7. In this way, after the cargo carrier 6 and each buffer 51 are connected to the cargo channel 201, the storage and retrieval of goods 40 can be realized smoothly.

[0258] Next, we will introduce... Figures 22-24 The sixth embodiment shown.

[0259] like Figures 22-24 As shown, in this embodiment, the carrying device 4 no longer includes the aforementioned buffer device 5, but instead includes a cargo carrier 6 that can be raised and lowered relative to the picking device 3. The cargo carrier 6 is configured to carry the target cargo 401 and multiple obstacles 402, and lowers to make way after receiving each cargo 40, thus realizing a raising and lowering buffering method. Based on this, during the process of retrieving the target cargo 401 that is further back in the cargo channel 201, the picking device 3 can first remove the obstacles 402 onto the cargo carrier 6, and the cargo carrier 6 can lower after receiving each obstacle 402 until the target cargo 401 is retrieved onto the cargo carrier 6. Then, using the unloading mechanism 42 provided separately from the cargo carrier 6, the target cargo 401 that is stacked on top of the multiple cargoes 40 located on the cargo carrier 6 can be delivered to the storage device 8 by various methods such as pushing and / or pulling.

[0260] Depend on Figure 22 As can be seen, in this embodiment, in order to realize the lifting and lowering of the cargo 6 relative to the retrieval 3, both the cargo 6 and the retrieval 3 are mounted on the mounting base 23 connected to the support member 1 through the lifting mechanism 22, and the mounting base 23 is provided with a vertical guide rail 67. The cargo 6 slides along the guide rail 67. Thus, the lifting and lowering of the cargo 6 relative to the retrieval 3 can be realized by making the cargo 6 slide along the guide rail 67.

[0261] Additionally, it should be noted that, although Figures 22-24 The picking component 3 shown is the picking component 32, but in fact, the structure of the picking component 3 in this embodiment is not limited to this, but can also adopt other structural forms such as the fork 36 and clamping components mentioned above.

[0262] Next, we will introduce... Figure 25 The seventh embodiment shown.

[0263] In the six embodiments illustrated above, the two sides of the cargo channel 201 in the width direction are located on the same horizontal plane; however, as... Figure 25 As shown, in this embodiment, the two sides of the cargo channel 201 in the width direction are no longer on the same horizontal plane, but have a height difference. In this way, the goods 40 can be stored on one side of the cargo channel 201, which makes it more convenient to store goods 40 of different sizes and subsequent operations.

[0264] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A warehousing system (100), characterized in that, include: A shelf (20) includes multiple aisles (201) spaced at intervals along a vertical direction (Z), and each aisle includes multiple aisles (201) arranged side-by-side along a first horizontal direction (X), each aisle (201) being arranged at a downward angle and used to store multiple goods (40); and The picking mechanism (10) includes a support (1) and a picking component (2). The support (1) is movably disposed relative to the shelf (20) along the first horizontal direction (X). The picking component (2) is vertically disposed on the support (1) to reach each aisle (201) of the shelf (20). The picking component (2) includes a picking element (3) and a carrying device (4). The picking element (3) is configured to remove the target goods (401) from the aisle (201) and, if there is an obstacle (402) in the aisle (201), first remove the obstacle (402) onto the carrying device (4) to buffer the obstacle (402). The obstacle (402) is the goods (40) in the aisle (201) located on the side of the target goods (401) closer to the carrying device (4).

2. The warehousing system (100) according to claim 1, characterized in that, The carrying device (4) is configured to carry one or more of the obstacles (402); and / or, the carrying device (4) is configured to carry or not carry the target goods (401) retrieved by the pickup item (3).

3. The warehousing system (100) according to claim 1, characterized in that, The carrying device (4) includes a buffer device (5), which does not carry the target goods (401) and includes at least one buffer element (51) that carries at least one obstacle (402) to buffer the obstacle (402); or, the carrying device (4) includes a cargo carrier (6), which carries multiple goods (40) taken out by the pickup carrier (3), the multiple goods (40) taken out by the pickup carrier (3) including the target goods (401) and at least one obstacle (402), or including multiple obstacles (402) but not the target goods (401), the cargo carrier (6) is vertically detachable and descends after receiving each goods (40) taken out by the pickup carrier (3) so that the multiple goods (40) taken out by the pickup carrier (3) are stacked on the cargo carrier (6) to buffer the obstacle (402).

4. The warehousing system (100) according to claim 3, characterized in that, The carrying device (4), which includes the buffer device (5), also includes a cargo carrier (6) that carries the target cargo (401).

5. The warehousing system (100) according to claim 4, characterized in that, The buffer device (5) is arranged side by side or at an angle to the cargo (6); and / or, the buffer device (5) is connected to the cargo channel (201) through the cargo (6), or the buffer device (5) is directly connected to the cargo channel (201).

6. The warehousing system (100) according to claim 5, characterized in that, The buffer device (5) and the cargo carrier (6) are arranged side by side along the first horizontal direction (X), and include a plurality of buffer components (51) for carrying goods (40). The plurality of buffer components (51) are arranged side by side along the first horizontal direction (X) or the vertical direction (Z), and all of them are connected to the cargo channel (201) through the cargo carrier (6); or, the buffer device (5) and the cargo carrier (6) are arranged at an angle, and include a plurality of buffer components (51) for carrying goods (40). The plurality of buffer components (51) are arranged at an angle, and all of them are directly connected to the cargo channel (201).

7. The warehousing system (100) according to claim 6, characterized in that, The multiple buffers (51) arranged side by side along the vertical direction (Z) and the cargo carrier (6) can be raised and lowered relative to each other, so that the multiple buffers (51) can alternately dock with the cargo channel (201) through the cargo carrier (6); or, the multiple buffers (51) arranged at an angle and the cargo carrier (6) can be rotatably mounted on the support (1), so that the cargo carrier (6) and the multiple buffers (51) can directly dock with the cargo channel (201) by rotating relative to the support (1).

8. The warehousing system (100) according to claim 5, characterized in that, The picking device (3) removes the obstacle (402) onto the carrying device (6), which includes a conveying mechanism (62). The conveying mechanism (62) of the carrying device (6) conveys the obstacle (402) on the carrying device (6) to the buffer device (5), so that the buffer device (5) can transfer goods (40) between itself and the cargo channel (201) via the carrying device (6); and / or, the picking device (3) removes the obstacle (402) onto the buffer device (5), so that the buffer device (5) can directly transfer goods (40) with the cargo channel (201).

9. The warehousing system (100) according to claim 1, characterized in that, The pickup item (3) includes only one pickup device (31) that removes the target goods (401) and the obstacle (402) from the cargo channel (201); or, the pickup item (3) includes multiple pickup devices (31), some of which remove the target goods (401) from the cargo channel (201) and others remove the obstacle (402) from the cargo channel (201).

10. The warehousing system (100) according to claim 9, characterized in that, The pickup device (31) includes at least one of the following: Pick up the goods (40) in the cargo channel (201) (32); Forks (36) fork out goods (40) from the cargo channel (201); The clamping component clamps up the goods (40) in the cargo channel (201); The actuator (35) drives the stop (206) provided at the lower end of the cargo channel (201) to move from the stop position to the avoidance position, so as to release the stop (206) from blocking the cargo (40) in the cargo channel (201) and allow the cargo (40) in the cargo channel (201) to slide out of the cargo channel (201); A rolling element is provided for contacting the goods (40) in the cargo channel (201) and is rotatably configured to apply frictional force to the goods (40) in the cargo channel (201) during rotation.

11. The warehousing system (100) according to claim 10, characterized in that, The fork (36) includes a plurality of fork bodies (37) arranged side by side at intervals, which together fork out the goods (40) in the cargo channel (201); and / or, the lower end of the cargo channel (201) is provided with a picking slot (202), and the picking device (31) extends into the picking slot (202) to pick out the goods (40) in the cargo channel (201).

12. The warehousing system (100) according to claim 11, characterized in that, The picking slot (202) includes multiple slots (203), and the multiple forks (37) of the forks (36) extend into the multiple slots (203) in a corresponding manner.

13. The warehousing system (100) according to claim 10, characterized in that, The forks (36) are movably arranged relative to the carrying device (4) along a second horizontal direction (Y) intersecting the first horizontal direction (X) to move closer to or further away from the cargo channel (201) relative to the carrying device (4), and the forks (36) are vertically and vertically arranged relative to the carrying device (4) to lift the cargo (40) away from the carrying device (4) or lower it onto the carrying device (4).

14. The warehousing system (100) according to claim 13, characterized in that, The bearing device (4) is provided with a clearance groove (66) for the forks (36) to pass through during the lifting process, so that the forks (36) can lift and lower on the upper and lower sides of the bearing device (4).

15. The warehousing system (100) according to claim 1, characterized in that, The picking mechanism (10) further includes a storage unit (8), which is disposed on the support (1) and is used to store at least one target item (401) taken out by the picking unit (3).

16. The warehousing system (100) according to claim 15, characterized in that, The carrying device (4) includes a conveying mechanism (62), which conveys the target cargo (401) into the storage container (8).

17. The warehousing system (100) according to claim 1, characterized in that, The lower end of the cargo channel (201) is provided with a stop (206) for stopping the goods (40). The stop (206) is fixedly provided at the lower end of the cargo channel (201), or the stop (206) is movably provided at the lower end of the cargo channel (201) to switch between a stopping position and a yielding position to stop or yield the goods (40) in the cargo channel (201).

18. The warehousing system (100) according to claim 17, characterized in that, The stop (206) is telescopically and / or rotatably disposed at the lower end of the cargo channel (201) to switch between a clearance position and a stop position by telescopically and / or rotating; and / or, the stop (206) is configured to switch from the clearance position to the stop position before the cargo (40) has completely passed.

19. The warehousing system (100) according to any one of claims 1-18, characterized in that, The pickup component (2) is also configured to be at least one of the following: After the pickup unit (3) retrieves the target goods (401), the obstacle (402) that was cached on the carrying device (4) is stored in the cargo channel (201); New goods (40) that need to be added to the cargo channel (201) are stored in the cargo channel (201) to replenish the cargo channel (201).

20. The warehousing system (100) according to claim 19, characterized in that, The picking component (2) stores the obstacle (402) and / or the new goods (40) into the cargo channel (201) via the picking component (3); or, the picking component (2) further includes a storage component (7) which is movably disposed relative to the carrying device (4) to store the obstacle (402) and / or the new goods (40) into the cargo channel (201).

21. The warehousing system (100) according to claim 20, characterized in that, The storage item (7) is movably disposed on the carrying device (4) along a second horizontal direction (Y) intersecting the first horizontal direction (X) to store the obstacle (402) and / or the new cargo (40) into the cargo channel (201) by pushing the obstacle (402) and / or the new cargo (40).

22. The warehousing system (100) according to claim 20, characterized in that, The pickup component (2) is also configured to be at least one of the following: During the process of storing the obstacle (402) and / or new cargo (40) into the cargo channel (201), an action is applied to the cargo (40) located at the bottom of the cargo channel (201) so that the cargo (40) located at the bottom of the cargo channel (201) is at least partially removed from the cargo channel (201); During the process of storing the obstacle (402) cached on the carrier (4) into the cargo channel (201), the obstacle (402) that is taken out first is stored into the cargo channel (201) first, and / or the obstacle (402) that is taken out first is stored into the cargo channel (201) later.

23. The warehousing system (100) according to claim 22, characterized in that, The picking component (2) acts on the lowest item (40) in the cargo channel (201) during the process of storing the obstacle (402) and / or new goods (40) into the cargo channel (201), so that the lowest item (40) in the cargo channel (201) is at least partially removed from the cargo channel (201).

24. The warehousing system (100) according to any one of claims 1-18, characterized in that, There is a height difference between the two sides of the cargo channel (201) along the first horizontal direction (X); and / or, the picking component (2) is movably disposed on the support (1) along a second horizontal direction (Y) intersecting the first horizontal direction (X) to move closer to or further away from the cargo channel (201).

25. The warehousing system (100) according to any one of claims 1-18, characterized in that, The support (1) is placed on the ground or suspended above the ground.

26. A picking mechanism (10) for a warehousing system (100) as described in any one of claims 1-25.

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