Picking mechanism and picking system

Abstract

This application discloses a picking mechanism and a picking system comprising a lifting frame, a picking device, and sorting means. The picking device is movably connected to the lifting frame by a moving means. The sorting means is connected to the lifting frame and includes a plurality of sorting hoppers. The picking device is arranged to pick up goods from a shelf and transport the goods to one of the plurality of sorting hoppers.

Description

Cross-reference ,

[0001] This disclosure claims priority to a Chinese patent application with application number 202410703275.5, titled "Picking Mechanism and Picking System", filed on May 31, 2024. The entire content of the Chinese patent application is incorporated herein by reference.

Technical Field

[0002] This application relates to the field of warehouse logistics technology, specifically to a picking mechanism and a picking system including the picking mechanism.

Background Art

[0003] With the rapid development of warehouse logistics technology, in order to improve the storage and transportation efficiency of materials, more and more devices are being used for the storage and transportation of materials. However, there is a further need to improve the picking efficiency of the picking mechanism in the prior art.

Summary of the Invention

[0004] According to a first aspect, an embodiment of the present application provides a picking mechanism including a lifting frame, a picking device movably connected to the lifting frame by moving means, and sorting means connected to the lifting frame and including a plurality of sorting hoppers. The picking device is arranged to pick up goods on a shelf and convey the goods to any one of the plurality of sorting hoppers.

[0005] According to a second aspect, an embodiment of the present application provides a picking system including the above picking mechanism.

Brief Description of the Drawings

[0006] FIG. 1 is a perspective schematic view of the picking system according to an embodiment of the present application viewed from one perspective. FIG. 2 is a perspective schematic view of the picking system according to an embodiment of the present application viewed from another perspective. Figure 3 is a schematic perspective view of the picking mechanism of an embodiment of the present invention. Figure 4 is a schematic perspective view of the sorting means of an embodiment of the present invention. Figure 5 is a schematic diagram showing that the trigger member of the sorting mechanism is located between the push-up member and the push-down member of the workstation. Figure 6 is a schematic perspective view of a workstation according to an embodiment of the present application. Figure 7 is a schematic perspective view of the buffer means of an embodiment of the present application. Figure 8 is a schematic perspective view of a buffer hopper according to an embodiment of the present invention. Figure 9 is a schematic perspective view of a confluence hopper according to an embodiment of the present application. Figure 10 is a schematic perspective view showing the picking device of the present embodiment applied to a shelf. Figure 11 is a schematic perspective view of a picking device according to an embodiment of the present application. Figure 12 is a schematic diagram of a portion of the picking mechanism in an embodiment of the present invention. Figure 13 is a schematic diagram of the picking mechanism of the embodiment of the present application, viewed from a different perspective. Figure 14 is a schematic perspective view of a guide member according to an embodiment of the present application. Figure 15 is a schematic perspective view of Figure 13 with the guide member omitted. Figure 16 shows a cargo aisle assembly in which the picking means and positioning means are located on different levels. [Modes for carrying out the invention]

[0007] Embodiments will be described in detail below with reference to the drawings. However, the embodiments can be carried out in various forms and should not be understood as being limited to the embodiments described herein. Rather, by providing these embodiments, the present application becomes complete and comprehensive, and the idea of ​​the embodiments can be fully conveyed to those skilled in the art. In the drawings, the same reference numerals indicate the same or similar structures, and their detailed descriptions are omitted.

[0008] Furthermore, the terms “including” and “having” in the embodiments of this application, and any variations thereof, should be understood as intended to be non-exclusive. For example, a process, method, system, product, or device comprising a series of steps or units may include, but is not limited to, steps or units not listed, or other steps or means specific to these processes, methods, products, or devices.

[0009] As shown in Figures 1 and 2, the picking system of the embodiment of the present application includes a picking mechanism 300, a travel mechanism 400, and a workstation 500. The picking mechanism 300 is connected to the travel mechanism 400 so as to be able to move up and down in a first direction D11, where the first direction D11 is vertical in the embodiment of the present application. The workstation 500 is placed on the ground and packs the sorted goods. The travel mechanism 400 is positioned to be movable on the ground and moves along a third direction D33 between a position close to the workstation 500 and a position away from it.

[0010] During picking, the traveling mechanism 400 moves the picking mechanism 300 in the third direction D33 to near the shelf, and the picking mechanism 300 is raised and lowered in the first direction D11 to ensure that the picking mechanism 300 is aligned with the target cargo. After the picking mechanism 300 takes the cargo from the shelf and places it inside the picking mechanism 300, the traveling mechanism 400 moves the picking mechanism 300 again to near the workstation 500, and the picking mechanism 300 transports the cargo to the workstation 500.

[0011] Here, the running mechanism 400 includes the upright columns 410. Note that, for the sake of simplifying the drawings, only a portion of the upright columns 410 of the running mechanism 400 are shown in Figures 1 and 2, and other structures are omitted. For other structures of the running mechanism 400, existing products in the prior art can be referenced, and redundant explanations are not repeated in this application.

[0012] As shown in Figure 3, the picking mechanism 300 in this embodiment includes a lifting frame 310, a picking device 100, and a sorting means 320. The lifting frame 310 is connected to the vertical column 410 of the traveling mechanism 400 so as to be able to move up and down in a first direction D11, where the axial direction of the vertical column 410 is parallel to the first direction D11. The picking device 100 is connected to the lifting frame 310 so as to be able to move by a moving means 330. The sorting means 320 is connected to the lifting frame 310 and includes a plurality of sorting hoppers 321. Here, the picking device 100 is arranged to pick up goods from a shelf and transport the goods to one of the plurality of sorting hoppers 321.

[0013] In the embodiment of the present invention, during picking, the picking mechanism 300 first picks up the first target item and then transfers it to one of the sorting hoppers 321. Subsequently, the picking mechanism 100 picks up the second target item. If the second target item is close to the first target item, the second target item can be picked up simply by moving the picking mechanism 100 relative to the lifting frame 310 without driving the travel mechanism 400 to move and / or driving the lifting frame 310 to move. Subsequently, the second target item is transferred to one of the other available sorting hoppers 321. Once all sorting hoppers 321 are filled with goods, the travel mechanism 400 is driven again to return to the picking mechanism 300 to transfer all the goods in the picking mechanism 300 to the workstation 500.

[0014] As described above, in the embodiment of the present invention, the picking mechanism 300 has a picking device 100 that is movably connected to the lifting frame 310 by a moving means 330, and a sorting means 320 that includes a plurality of sorting hoppers 321 for storing cargo. By moving the picking device 100 slightly relative to the lifting frame 310, the picking device 100 can pick up a plurality of cargo and store each in the plurality of sorting hoppers 321. This significantly improves the picking efficiency of the picking mechanism 300.

[0015] As shown in Figure 3, the moving means 330 includes a first moving unit 330a and a second moving unit 330b. The first moving unit 330a moves the picking device 100 in a first direction D11. The second moving unit 330b moves the picking device 100 in a second direction D22. Here, the first direction D11, the second direction D22, and the third direction D33 are orthogonal to each other. Multiple sorting hoppers 321 are arranged in parallel in the first direction D11 or the second direction D22.

[0016] For example, the first moving unit 330a and the second moving unit 330b are linear sliding platforms. For instance, the first moving unit 330a includes a first slide rail 331 and a first slider 332. The first slide rail 331 is connected to the lifting frame 310, and the longitudinal direction of the first slide rail 331 is parallel to the first direction D11. The first slider 332 is movably connected to the first slide rail 331 in the first direction D11.

[0017] The second moving unit 330b includes a second slide rail 333 and a second slider 334. The second slide rail 333 is connected to the first slider 332, and the longitudinal direction of the second slide rail 333 is parallel to the second direction D22. The second slider 334 is movably connected to the second slide rail 333 in the second direction D22. The picking device 100 is connected to the second slider 334.

[0018] Of course, in other embodiments, the first moving unit 330a and the second moving unit 330b may be other linear drive mechanisms. We will not repeat redundant explanations here.

[0019] Furthermore, the movement path of the picking device 100 relative to the lifting frame 310 by the moving means 330 does not have to be a straight line; for example, it may be an arc. It is sufficient that the picking device 100 can pick up different target goods by moving relative to the lifting frame 310.

[0020] As shown in FIG. 3, the lifting frame 310 includes two first vertical beams 311 spaced apart in the second direction D22. A plurality of sorting hoppers 321 are connected to the two first vertical beams 311 and are arranged in parallel in the first direction D11. Here, the area between the two first vertical beams 311 is partitioned into a plurality of first windows 311a by the plurality of sorting hoppers 321, and the plurality of first windows 311a respectively correspond to the plurality of sorting hoppers 321.

[0021] For example, after the picking device 100 picks up the first target cargo, by the cooperative movement of the first moving unit 330a and the second moving unit 330b, the picking device 100 is aligned with any one of the first windows 311a, so that the first target cargo in the picking device 100 passes through the first window 311a and slides into any one of the sorting hoppers 321.

[0022] As shown in FIG. 4, each sorting hopper 321 has a first outlet 321a for the cargo to slide out. The sorting means 320 further includes a shielding member 322. The shielding member 322 is movably connected to the lifting frame 310 between a first position and a second position. The shielding member 322 has a plurality of second windows 322a. When the shielding member 322 is in the first position, the shielding member 322 closes the plurality of first outlets 321a simultaneously. When the shielding member 322 is in the second position, the plurality of second windows 322a communicate with the plurality of first outlets 321a respectively.

[0023] During the picking operation of the picking device 100, by positioning the shielding member 322 at the first position, the shielding member 322 closes the plurality of first outlets 321a of the plurality of sorting hoppers 321, preventing the cargo from sliding out from the first outlets 321a of the sorting hoppers 321. When the picking device 100 finishes picking and the picking mechanism 300 returns to the workstation 500 by the traveling mechanism 400, by positioning the shielding member 322 at the second position, the cargo in each sorting hopper 321 passes through the second window 322a corresponding to the sorting hopper 321 and automatically slides into the workstation 500.

[0024] As an example, the shielding member 322 is movably connected to the lifting frame 310 in the lifting direction (the first direction D11) of the lifting frame 310. Since the first direction D11 is the vertical direction, the shielding member 322 can move from the second position to the first position by its own weight.

[0025] The sorting means 320 is connected to the lifting frame 310 and the shielding member 322, and further includes an elastic member 323 that applies an elastic force to move the shielding member 322 to the first position. By installing the elastic member 323, it is ensured that the shielding member 322 is held at the first position during the picking operation of the picking mechanism 300, and it is possible to prevent the shielding member 322 from unintentionally opening the first outlet 321a of the sorting hopper 321 and the goods in the sorting means 320 from slipping down.

[0026] In one embodiment, the elastic member 323 may be a tension spring, but is not limited thereto.

[0027] As shown in FIG. 5, a trigger member 322b is provided on the upper part of the shielding member 322. The workstation 500 has a pushing member 501. The pushing member 501 and the trigger member 322b have a first projection whose respective orthographic projections overlap on the target plane. Here, the target plane is perpendicular to the lifting direction (the first direction D11) of the lifting frame 310. When the lifting frame 310 descends, the pushing member 501 pushes up the trigger member 322b so as to move the shielding member 322 from the first position to the second position.

[0028] In the embodiment of the present invention, when the traveling mechanism 400 moves the picking mechanism 300 closer to the workstation 500, the trigger member 322b is positioned above the push-up member 501. The push-up member 501 and the trigger member 322b have a first projection in which their respective orthogonal projections overlap on the target plane. When the lifting frame 310 lowers the picking mechanism 300, the push-up member 501 pushes up the trigger member 322b so as to move the shielding member 322 from the first position to the second position. As a result, by installing the push-up member 501 and the trigger member 322b, when the lifting frame 310 is lowered, the shielding member 322 can automatically open the first outlet 321a of the sorting hopper 321, allowing the cargo in the sorting hopper 321 to slide down into the workstation 500.

[0029] As shown in Figure 5, the workstation 500 further includes a push-down member 502. The push-down member 502 and the trigger member 322b have a second projection in which their respective orthogonal projections overlap on the target plane. When the lifting frame 310 rises, the push-down member 502 stops the trigger member 322b.

[0030] Once all the cargo in the sorting hopper 321 has slid down to the workstation 500, the travel mechanism 400 causes the picking mechanism 300 to perform the next picking operation. Normally, when the trigger member 322b separates from the push-up member 501, the shielding member 322 moves from the second position to the first position due to its own weight and / or the elastic force of the elastic member 323. However, in abnormal circumstances, for example, if the shielding member 322 does not slide smoothly against the lifting frame 310, the shielding member 322 may get stuck and be unable to move to the first position due to its own weight and / or elastic force. As a result, the first outlet 321a of the sorting hopper 321 remains open, and if a picking operation is performed at that time, the cargo will slide out of the first outlet 321a of the sorting hopper 321.

[0031] In the embodiment of the present invention, by installing the push-down member 502, it is possible to avoid a situation in which the shielding member 322 cannot return to the first position due to an abnormal situation, and to ensure that the next picking operation can be performed normally. As shown in Figure 5, the push-down member 502 and the push-up member 501 are positioned opposite each other in the first direction D11, and the push-down member 502 and the push-up member 501 have a third projection on the target plane where their respective orthogonal projections overlap.

[0032] In the first direction D11, at least a portion of the trigger member 322b is located between the push-down member 502 and the push-up member 501. To ensure the normal raising and lowering of the lifting frame 310 and to avoid interference with the push-down member 502, the operation of the travel mechanism 400 and the lifting frame 310 is performed in stages.

[0033] In the process of returning to the workstation 500, the travel mechanism 400 moves the picking mechanism 300 to the third position. When the picking mechanism 300 is in the third position, the trigger member 322b is located outside the space enclosed by the push-up member 501 and the push-down member 502, that is, the orthogonal projections of the trigger member 322b and the push-up member 501 on the target plane do not overlap. Subsequently, the travel mechanism 400 translates in the third direction D33 to move the picking mechanism 300 to the fourth position. When the picking mechanism 300 is in the fourth position, at least a portion of the trigger member 322b is located between the push-up member 501 and the push-down member 502. Finally, the lifting frame 310 lowers the picking mechanism 300 to the fifth position. As the picking mechanism 300 moves from the fourth position to the fifth position, the push-up member 501 pushes up the trigger member 322b, moving the shielding member 322 from the first position to the second position.

[0034] In the process of performing a picking operation away from the workstation 500, the picking mechanism 300 moves from the fifth position to the fourth position. If the shielding member 322 is not caught due to an abnormal situation, the shielding member 322 automatically returns to the first position. Subsequently, the traveling mechanism 400 should translate in the third direction D33 so as to move the trigger member 322b out of the space enclosed by the push-up member 501 and the push-down member 502. If the shielding member 322 gets caught in a certain position on the lifting frame 310 due to an abnormal situation, in the process of the picking mechanism 300 moving from the fifth position to the fourth position, the push-down member 502 pushes down the trigger member 322b, and the shielding member 322 is returned to the first position by the pushing force. This prevents the first outlet 321a of the sorting hopper 321 from remaining open. Subsequently, the travel mechanism 400 should translate in the third direction D33 so as to move the trigger member 322b out of the space enclosed by the push-up member 501 and the push-down member 502.

[0035] As shown in Figure 6, the workstation 500 in the embodiment of the present invention includes a packing means 530, an abnormality processing means 540, a buffer means 510, and a merging means 520. The buffer means 510 includes a buffer frame 511 and a plurality of buffer hoppers 512 attached to the buffer frame 511 to receive cargo transported by the picking mechanism 300. The number of buffer hoppers 512 is equal to or greater than the number of sorting hoppers 321. The merging means 520 is movably connected to the buffer frame 511 by a movable means 550 and is arranged to receive cargo in at least one of the plurality of buffer hoppers 512, transport at least one cargo to the packing means 530, and transport abnormal cargo to the abnormality processing means 540.

[0036] Here, "abnormal cargo" refers to cargo that has been mistakenly picked up by the picking mechanism 300, or one or more cargo items corresponding to an order returned by a customer.

[0037] The abnormality handling means 540 handles abnormal cargo. For example, in one embodiment, the abnormality handling means 540 may be a slide chute capable of transporting abnormal cargo to a predetermined location.

[0038] Of course, in other embodiments, the abnormality handling means 540 may be a device for collecting abnormal cargo.

[0039] In the embodiment of the present invention, after the picking mechanism 300 retrieves goods from the shelf, the traveling mechanism 400 moves the picking mechanism 300 closer to the workstation 500 and transfers all the goods in the multiple sorting hoppers 321 of the picking mechanism 300 to the multiple buffer hoppers 512 of the buffer means 510. Then, depending on whether the goods are abnormal, the merging means 520 transports the goods to the packing means 530 or the abnormality handling means 540. At this time, since the goods in the sorting hoppers 321 of the picking mechanism 300 have already been transferred, the traveling mechanism 400 can return the picking mechanism 300 to the shelf and perform the next picking operation without waiting for the merging means 520 to complete the transfer of goods.

[0040] As described above, the workstation 500 in the embodiment of the present invention includes a buffer means 510 for temporarily storing goods transported from the picking mechanism 300, and a consolidation means 520 for transporting goods transported from the buffer means 510 to a packing means 530 or an error handling means 540. While the consolidation means 520 is transporting goods, the picking mechanism 300 can perform the next picking operation without having to wait in place. This significantly improves picking efficiency and effectively enhances the order processing capacity of the workstation 500.

[0041] As shown in Figures 6 and 9, the movable means 550 may, for example, be a linear slide table. For example, the movable means 550 includes a third slide rail 551 and a third slider 552. The third slide rail 551 is connected to a buffer frame 511, and the longitudinal direction of the third slide rail 551 is parallel to the height direction (first direction D11) of the buffer frame 511. The third slider 552 is movably connected to the third slide rail 551. The merging means 520 is connected to the third slider 552.

[0042] Of course, in other embodiments, the movable means 550 may be other linear drive mechanisms. We will not repeat redundant explanations here.

[0043] Furthermore, the movement path of the merging means 520 relative to the buffer frame 511 by the movable means 550 does not have to be a straight line; for example, it may be an arc. It is sufficient that the merging means 520 can pick up target cargo in different buffer hoppers 512 by moving relative to the buffer frame 511.

[0044] As shown in Figure 6, the buffer frame 511 includes two frames 5111 spaced apart in the longitudinal direction (third direction D33) of the buffer frame 511, and each frame 5111 is connected to a plurality of buffer hoppers 512 spaced apart in the height direction (first direction D11) of the buffer frame 511. The number of buffer hoppers 512 connected to the same frame 5111 is greater than or equal to the number of sorting hoppers 321. In the height direction (first direction D11) of the buffer frame 511, the merging means 520 is movably positioned between the two frames 5111.

[0045] For the sake of simplifying the drawings, in Figure 1, the picking mechanism 300 is installed in only one of the two frames 5111, and not in the other frame 5111. In reality, the picking mechanism 300 may be installed in each of the two frames 5111 in this application. That is, the two frames 5111 of the workstation 500 each correspond to two sets of picking mechanisms 300 and travel mechanisms 400, and the picking mechanism 300 is connected to the corresponding travel mechanism 400 so as to be able to move up and down. Along the third direction D33, the two travel mechanisms 400 can move toward or away from each other. The two travel mechanisms 400 can each drive two picking mechanisms 300 to pick up goods on two shelves at different positions.

[0046] In the embodiment of the present invention, frames 5111 are provided on both sides of the third direction D33 of the confluence means 520, and a plurality of buffer hoppers 512 are provided on each frame 5111. This allows the confluence means 520 to receive cargo from buffer hoppers 512 on different frames 5111 and transport these cargo to the packing means 530 for packing.

[0047] For example, if two items corresponding to one order are located on different shelves, two travel mechanisms 400 must drive two picking mechanisms 300 to retrieve the two items and transfer them to buffer hoppers 512 on two frames 5111.

[0048] In the embodiment of the present invention, each frame 5111 is provided with three buffer hoppers 512. For the sake of clarity, the three buffer hoppers 512 on one of the frames 5111 are numbered "1", "2", and "3", respectively, and the three buffer hoppers 512 on the other frame 5111 are numbered "4", "5", and "6", respectively. When two goods corresponding to one order are transported to "1" and "6" respectively by two picking mechanisms 300, the merging means 520 can sequentially receive the goods at "1" and "6", and after merging, the two goods can be simultaneously transported to the packing means 530 for packing.

[0049] As shown in Figure 6, the packaging means 530 includes a packaging machine 531 for packaging cargo and a buffering platform 532 which is positioned to buffer cargo transported from the consolidation means 520 and transport the cargo to the packaging machine 531.

[0050] In the embodiment of the present invention, the cushioning platform 532 cushions the cargo, preventing the impact from becoming too large when the cargo slides out of the confluence means 520, which could damage the packaging machine 531.

[0051] In one embodiment, the buffer platform 532 may be a conveyor belt mechanism, a conveyor roller mechanism, or the like, but the present application is not particularly limited thereto.

[0052] As shown in Figure 7, each frame 5111 includes two second longitudinal beams 5111a that are spaced apart. Between the two second longitudinal beams 5111a, a plurality of guide members 5112 are connected, spaced apart in the height direction (first direction D11) of the buffer frame 511. Each of the plurality of guide members 5112 corresponds to a plurality of buffer hoppers 512 within the frame 5111, and each guide member 5112 has a guide slope 5112a that guides cargo to slide down from the picking mechanism 300 into the buffer hopper 512. The plurality of sorting hoppers 321 of the picking mechanism 300 can each correspond to a plurality of guide members 5112 provided on one frame 5111, so that cargo slides down from the sorting hopper 321 into the buffer hopper 512 via the guide members 5112.

[0053] In one embodiment, a push-up member 501 and a push-down member 502 are provided on the upper part of each frame 5111.

[0054] As shown in Figure 8, the buffer hopper 512 includes a hopper body 5121 connected to a buffer frame 511 and having a second outlet 5121a, and a first cover means 5122 connected to the hopper body 5121 and opening and closing the second outlet 5121a. When the first cover means 5122 is closed, it can prevent cargo in the hopper body 5121 from sliding out of the second outlet 5121a.

[0055] As an example, the first cover means 5122 includes a first cover plate 5122a, a first link 5122b, a second link 5122c, and a third motor 5122d. The first cover plate 5122a is rotatably connected to the hopper body 5121 and opens and closes the second outlet 5121a. One end of the first link 5122b is hinged to the side of the first cover plate 5122a. One end of the second link 5122c is hinged to the other end of the first link 5122b. The third motor 5122d is connected to the hopper body 5121, and the output shaft of the third motor 5122d is connected to the other end of the second link 5122c.

[0056] As shown in Figure 9, the confluence means 520 includes a confluence hopper 521 having a third outlet 5211 and being movably connected to the buffer frame 511 by a movable means 550, and a second cover means 522 connected to the confluence hopper 521 and opening and closing the third outlet 5211. When the second cover means 522 is closed, it is possible to prevent cargo in the confluence hopper 521 from sliding out of the third outlet 5211.

[0057] As an example, the second cover means 522 includes a second cover plate 5221, a third link 5222, a fourth link 5223, and a fourth motor 5224. The second cover plate 5221 is rotatably connected to the confluence hopper 521 and opens and closes the third outlet 5211. One end of the third link 5222 is hinged to the side of the second cover plate 5221. One end of the fourth link 5223 is hinged to the other end of the third link 5222. The fourth motor 5224 is connected to the confluence hopper 521, and the output shaft of the fourth motor 5224 is connected to the other end of the fourth link 5223.

[0058] As shown in Figure 16, the picking device 100 in the embodiment of the present invention can take goods placed on the shelf 200 from the shelf 200.

[0059] As shown in Figures 10 and 16, the picking device 100 in the embodiment of the present application includes a frame 120, a picking hopper 130 attached to the frame 120, picking means 110 connected to the frame 120 for guiding cargo to slide into the picking hopper 130, and positioning means 190 connected to the frame 120 for positioning the picking device 100 in a predetermined position on the shelf 200.

[0060] As shown in Figure 16, the shelf 200 includes multiple cargo aisle (cargo column) assemblies 200a, which are spaced apart in the height direction of the shelf 200 and in which cargo is stored. The positioning means 190 positions the picking device 100 to a predetermined cargo aisle assembly 200a. Here, the picking means 110 and the positioning means 190 of the picking device 100 correspond to two cargo aisle assemblies 200a located on different levels, respectively.

[0061] Specifically, when picking, if the picking means 110 needs to retrieve cargo from one cargo aisle assembly 200a, the positioning means 190 positions the picking device 100 to a cargo aisle assembly 200a below that cargo aisle assembly 200a, thereby enabling picking across levels. For example, the picking means 110 and the positioning means 190 may correspond to two adjacent cargo aisle assemblies 200a, or they may correspond to cargo aisle assemblies 200a on either side of one cargo aisle assembly 200a.

[0062] The positioning means 190 can position the picking device 100 to a predetermined cargo aisle assembly 200a using code scanning technology or image recognition technology. For example, the positioning means 190 may be a camera or a digital camera, and if a barcode or QR code is provided on the cargo aisle assembly 200a, the positioning means 190 can acquire the corresponding information from the barcode or QR code, thereby moving the picking device 100 to the predetermined cargo aisle assembly 200a, and consequently moving the picking means 110 to correspond to the predetermined cargo aisle assembly 200a to be picked.

[0063] As shown in Figure 10, the cargo aisle assembly 200a includes a plurality of shelves 210 arranged at intervals. Each shelf 210 is installed at an angle, and cargo is placed on it. A stopper 230 is provided at the front of each shelf 210 to prevent cargo from sliding off the shelf 210 due to its own weight. A notch 211 is further provided at the front of each shelf 210, and two adjacent notches 211 on adjacent shelves 210 form one opening 212. Each shelf 210 is further provided with a partition plate 220, and two adjacent partition plates 220 on adjacent shelves 210 form one cargo storage space, which stores a plurality of cargo arranged in parallel in the direction of the inclination of the shelf 210. Due to gravity, two adjacent cargoes come into contact with each other, and the lowest cargo among the plurality comes into contact with the stopper 230.

[0064] While the picking device 100 is performing a picking operation, the picking means 110 moves to the bottom of the shelf 210, moves from bottom to top and passes through the opening 212, thereby picking up the lowest item among the multiple items, sliding it over the stopper 230 into the picking means 110, and further sliding it into the picking hopper 130 via the picking means 110.

[0065] As shown in Figure 11, the frame 120 includes a first crossbeam 121, two second crossbeams 122, two third vertical beams 123, and a back plate 124. The longitudinal direction of the first crossbeam 121 is parallel to the left-right direction D1 (the direction indicated by the arrow is left, and the opposite direction is right), the longitudinal direction of the second crossbeams 122 is parallel to the front-back direction D2 (the direction indicated by the arrow is front, and the opposite direction is rear), and the longitudinal direction of the third vertical beams 123 is parallel to the up-down direction D3 (the direction indicated by the arrow is up, and the opposite direction is down). Both ends of the first crossbeam 121 in the left-right direction D1 are connected to the front ends of the two second crossbeams 122, and the lower ends of the two third vertical beams 123 are connected to the rear ends of the two second crossbeams 122. The back plate 124 is connected to the two third vertical beams 123 and is located on the rear side of the two third vertical beams 123. Here, the left-right direction D1, the front-back direction D2, and the up-down direction D3 are orthogonal to each other.

[0066] The frame 120 further includes two support beams 125. The longitudinal direction of each support beam 125 is parallel to the vertical direction D3, and the two support beams 125 are each connected to two second crossbeams 122.

[0067] In this embodiment, the picking device 100 includes two picking means 110. The two picking means 110 are arranged opposite each other in the left-right direction D1 and are each connected to two support beams 125. The two picking means 110 are also connected to a back plate 124.

[0068] The picking hopper 130 is located within the space enclosed by the first crossbeam 121 and the two second crossbeams 122, and the picking hopper 130 is connected to the two picking means 110.

[0069] Of course, in other embodiments, the number of picking means 110 may be one, three, or any other number. The picking hopper 130 may be connected to the first crossbeam 121 and the second crossbeam 122.

[0070] As shown in Figure 11, the picking hopper 130 has a fourth outlet 131 for the cargo to slide out. The picking device 100 further includes an opening / closing means 140 for opening and closing the fourth outlet 131.

[0071] As an example, the opening / closing mechanism 140 includes a drive mechanism 141 and a door member 142. The door member 142 is movable between a first position that closes the fourth outlet 131 and a second position that opens the fourth outlet 131. The drive mechanism 141 is connected to the picking hopper 130 and also to the door member 142, and drives the door member 142 to move. By installing the opening / closing mechanism 140, it is possible to control when the cargo inside the picking hopper 130 slides out of the picking hopper 130.

[0072] The drive mechanism 141 may be a motor (defined as a second motor), an electric actuator, etc., but is not limited thereto in this application.

[0073] As shown in Figures 12 and 13, the picking means 110 in the embodiment of the present invention includes a slope 111, a guide member 112, a rotating unit 113, and a first motor 114. The slope 111 has an edge 1111. The guide member 112 is connected to the slope 111, and at least a portion of the guide member 112 protrudes from the edge 1111. The rotating unit 113 is rotatably connected to the portion of the guide member 112 protruding from the edge 1111, and generates friction with the cargo to slide the cargo into the slope 111 via the guide member 112. The first motor 114 is connected to the rotating unit 113 and rotates the rotating unit 113.

[0074] As shown in Figure 10, in the embodiment of the present invention, during the picking operation, at least a portion of the guide member 112 and the rotating unit 113 passes through the opening 212 from bottom to top, the first motor 114 rotates the rotating unit 113, and the frictional force between the rotating unit 113 and the cargo is used to slide the cargo into the slope 111 via the guide member 112. As described above, the picking means 110 in the embodiment of the present invention can pick up cargo by utilizing the frictional force generated between the rotating unit 113 and the cargo due to the rotation of the rotating unit 113, thus significantly improving picking efficiency. Furthermore, during the process in which cargo slides into the picking means 110, not only the weight of the cargo but also the frictional force acts on it, so the success rate of cargo sliding into the picking means 110 is significantly improved.

[0075] Here, the ramp 111 has a certain angle with respect to the horizontal plane, meaning that the ramp 111 is installed at an incline. The ramp 111 has a bottom plate 1115 and two side plates 1116, with the two side plates 1116 connected to each side of the bottom plate 1115 in the front-rear direction D2. By installing the side plates 1116, it is possible to prevent cargo on the ramp 111 from sliding off the sides of the ramp 111. The bottom plate 1115 of the ramp 111 has an edge 1111.

[0076] Continuing to refer to Figures 12 and 13, the rotating unit 113 includes two rotating members 1131 and one endless member 1132. For ease of explanation, the two rotating members 1131 are defined as the first rotating member 1131a and the second rotating member 1131b, respectively. The first rotating member 1131a is connected to the output shaft of the first motor 114, and the second rotating member 1131b is rotatably connected to a portion of the guide member 112 that protrudes from the edge 1111. The endless member 1132 is wrapped around the outer circumference of the two rotating members 1131, creating friction between the cargo and the outer surface of the endless member 1132. When the first motor 114 is operated, the first rotating member 1131a is rotationally driven, causing the first rotating member 1131a to rotate the endless member 1132, which in turn drives the second rotating member 1131b. As the endless member 1132 rotates, it generates a frictional force between the outer surface of the endless member 1132 and the cargo, and this frictional force can be used to pull the cargo from the shelf 200 into the ramp 111.

[0077] As an example, the inner surface of the endless member 1132 is provided with a first tooth structure, and the outer surface of each rotating member 1131 is provided with a second tooth structure, and the first tooth structure and the second tooth structure mesh together. In other words, in the embodiment of the present application, the rotating unit 113 is a timing belt structure. Here, if the rotating unit 113 is a timing belt structure, the first rotating member 1131a is a timing pulley, the second rotating member 1131b is a driven pulley, and the endless member 1132 is a timing belt.

[0078] Of course, the rotating unit 113 is not limited to a timing belt structure. For example, in other embodiments, the rotating unit 113 includes a friction wheel and a motor, the friction wheel being rotatably connected to a portion of the guide member 112 that protrudes from the edge 1111, and the motor being connected to the friction wheel, which rotates the friction wheel to create friction between the friction wheel and the cargo, causing the cargo to slide into the ramp 111 via the guide member 112.

[0079] Continuing to refer to Figures 12 and 13, the bottom plate 1115 of the ramp 111 further has a ramp surface 1112 that guides the sliding of cargo and a back surface 1114 located on the opposite side of the ramp surface 1112. One side of the ramp surface 1112 is an edge 1111, and the guide member 112 is positioned along the ramp surface 1112. The first rotating member 1131a and the first motor 114 are both located on the side with the back surface 1114, and at least a portion of the second rotating member 1131b is located higher than the ramp surface 1112. In one embodiment, the first motor 114 is fixedly connected to the bottom plate 1115 of the ramp 111. In other embodiments, the first motor 114 may be fixedly connected to the frame 120. Because the first motor 114 is located on the side of the ramp 111 with the back surface 1114, it does not obstruct the sliding of cargo on the ramp surface 1112.

[0080] As shown in Figures 13 and 14, the guide member 112 includes a connecting portion 1121 and a pair of arms 1122. The connecting portion 1121 is connected to the slope 111 and is positioned along the slope surface 1112. The pair of arms 1122 are connected to the connecting portion 1121 and at least a portion of them protrudes from the edge 1111. Here, at least a portion of the rotating unit 113 is rotatably connected between the pair of arms 1122.

[0081] In the embodiment of the present invention, the second rotating member 1131b is rotatably connected between a pair of arms 1122, and at least a portion of the endless member 1132 is located between the pair of arms 1122. By providing the second rotating member 1131b rotatably between the pair of arms 1122, the rotational stability of the second rotating member 1131b, and consequently the rotational stability of the endless member 1132, can be increased, allowing for stable retrieval of cargo.

[0082] The connecting portion 1121 and the slope 111 may be separate structures or integrated structures.

[0083] A reinforcing portion 1124 is provided at one end of the arm 1122 that is connected to the connecting portion 1121. The reinforcing portion 1124 and the connecting portion 1121 are located on opposite sides of the slope 111 in the thickness direction, and an engagement groove 1125 is formed between the reinforcing portion 1124 and the connecting portion 1121 into which the slope 111 is inserted. Specifically, the connecting portion 1121 is located on the side of the bottom plate 1115 of the slope 111 that has the slope surface 1112, and the reinforcing portion 1124 is located on the side of the bottom plate 1115 that has the back surface 1114. When assembling the guide member 112 and the slope 111, the side of the slope 111 that has the edge 1111 is inserted into the engagement groove 1125 formed by the reinforcing portion 1124 and the connecting portion 1121.

[0084] When cargo slides down onto the guide member 112, the arm 1122 of the guide member 112 is cantilevered, and therefore the arm 1122 may bend downward due to the weight of the cargo. In the embodiment of the present invention, the structural strength of the entire guide member 112 can be improved by installing the reinforcing part 1124. If the arm 1122 tends to bend downward, the reinforcing part 1124 can contact the bottom plate 1115 of the slope 111, thereby maintaining the stability of the guide member 112.

[0085] As shown in Figures 13 and 14, at one end of each arm 1122 away from the connecting portion 1121, a stopper portion 1123 is provided that protrudes from the arm 1122 in the thickness direction of the connecting portion 1121, and also protrudes to the left and downward to receive cargo.

[0086] As shown in Figure 10, when the guide member 112 passes through the opening 212 from bottom to top and lifts the lowest cargo, that cargo slides down the slope 111 due to its own weight and the frictional force between the endless member 1132 and the cargo. At this time, the remaining cargo automatically moves towards the stopper 230 due to its own weight.

[0087] In the embodiment of the present invention, when the remaining cargo automatically slides down the shelf 210, the stopper 1123 catches the cargo before the stopper 230. When the picking device 100 moves away from the opening 212, the remaining cargo continues to slide until it is stopped by the stopper 230. In other words, there are two stages from when the picking device 100 picks up one piece of cargo until the remaining cargo slides down to the stopper 230, which shortens the sliding distance of the cargo at each stage and prevents the cargo from sliding too far and flying over the stopper 230 due to inertia.

[0088] As shown in Figure 15, the edge 1111 of the slope 111 is provided with an opening 1113 that penetrates the slope surface 1112 and the back surface 1114. The endless member 1132 is movably inserted through the opening 1113.

[0089] In the embodiment of the present invention, since the endless member 1132 is movably inserted through the opening 1113 of the slope 111, the length overhanging the guide member 112 from the edge 1111 of the slope 111 can be reduced, thereby reducing costs and avoiding the guide member 112 having a long cantilever structure.

[0090] In other embodiments, the picking means 110 may have a different structure. For example, the picking means 110 may be a forklift, which moves to the bottom of the shelf 210, passes through the opening 212 from bottom to top, lifts the lowest item among the multiple items, and slides it over the stopper 230 into the picking hopper 130.

[0091] As described above, the picking mechanism and picking system in the embodiments of the present application have at least the following advantages and effects:

[0092] In the embodiment of the present invention, the picking mechanism 300 has a picking device 100 that is movably connected to a lifting frame 310 by a moving means 330, and a sorting means 320 that includes a plurality of sorting hoppers 321 for storing goods, and by moving the picking device 100 slightly relative to the lifting frame 310, the picking device 100 can pick up a plurality of goods and store each in the plurality of sorting hoppers 321. This significantly improves the picking efficiency of the picking mechanism 300.

[0093] Furthermore, the various embodiments / models provided in this application can be combined with each other, as long as they do not create a contradiction. We will not provide individual examples here.

[0094] In the embodiments of this application, the terms “first,” “second,” and “third” are for illustrative purposes only and should not be understood as indicating or suggesting relative importance. The term “plural” refers to two or more unless otherwise specified. Terms such as “attachment,” “connection,” “joining,” and “fixing” should be understood broadly; for example, “connection” may be a fixed connection, a removable connection, or a single connection. “Connecting” may be a direct connection or an indirect connection via an intermediate medium. Those skilled in the art will be able to understand the specific meaning of the above terms in the embodiments of this application depending on the specific circumstances.

[0095] In the description of the embodiments of this application, the directions or positional relationships indicated by terms such as "up," "down," "left," "right," "front," and "back" are directions or positional relationships based on the drawings and are merely for the purpose of facilitating the description of the embodiments and simplifying the explanation. They do not indicate or suggest that the devices or units mentioned have a particular orientation or must be configured or operated in a particular orientation. Therefore, these terms should not be understood as limiting the embodiments of this application.

[0096] In this specification, terms such as “one embodiment,” “several embodiments,” and “specific embodiments” mean that the specific features, structures, materials, or properties described in relation to that embodiment or embodiment are included in at least one embodiment or embodiment of the present application. In this specification, illustrative descriptions of the above terms do not necessarily refer to the same embodiment or embodiment. Furthermore, the specific features, structures, materials, or properties described may be combined in appropriate ways in any one or more embodiments or embodiments.

[0097] The above are merely preferred embodiments of the embodiments of the present application and do not limit the embodiments of the present application. Various modifications and variations are possible for those skilled in the art. All modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of the present application should be included within the scope of protection of the embodiments of the present application.

Claims

1. Lifting frame (310) and A picking device (100) is movably connected to the lifting frame (310) by means of a moving means (330), A sorting means (320) is connected to the aforementioned lifting frame (310) and includes a plurality of sorting hoppers (321), A picking mechanism including, The picking device (100) is a picking mechanism configured to take goods from a shelf (200) and transport the goods to one of the plurality of sorting hoppers (321).

2. The aforementioned means of transport (330) is A first moving unit (330a) moves the picking device (100) in a first direction (D1), The picking device (100) includes a second moving unit (330b) that moves the picking device (100) in a second direction (D2) perpendicular to the first direction (D1), The lifting frame (310) moves up and down in the first direction (D1), and the plurality of sorting hoppers (321) are arranged in parallel in the first direction (D1) or the second direction (D2). The picking mechanism according to claim 1.

3. The first moving unit (330a) includes a first slide rail (331) connected to a lifting frame (310), and a first slider (332) connected to the first slide rail (331) so as to be movable in the first direction (D1), The second moving unit (330b) includes a second slide rail (333) connected to the first slider (332), and a second slider (334) connected to the second slide rail (333) so as to be movable in the second direction (D2), The picking device (100) is connected to the second slider (334), The picking mechanism according to claim 2.

4. The lifting frame (310) includes two first vertical beams (311) spaced apart in the second direction (D2), and the plurality of sorting hoppers (321) are connected to the two first vertical beams (311) and arranged in parallel in the first direction (D1). The region between the two first vertical beams (311) is divided into multiple first windows (311a) by multiple sorting hoppers (321), each of which corresponds to one of the multiple sorting hoppers (321). The picking mechanism according to claim 2.

5. Each sorting hopper (321) has a first outlet (321a) for the cargo to slide out. The sorting means (320) further includes a shielding member (322) having a plurality of second windows (322a), which is movably connected to the lifting frame (310) between a first position and a second position, and when the shielding member (322) is in the first position, the shielding member (322) simultaneously closes a plurality of first exits (321a), and when the shielding member (322) is in the second position, each of the plurality of second windows (322a) communicates with a plurality of first exits (321a). The picking mechanism according to claim 1.

6. The sorting means (320) further includes an elastic member (323) connected to the lifting frame (310) and the shielding member (322), which applies an elastic force to the shielding member (322) to move it to the first position. The picking mechanism according to claim 5.

7. The picking device (100) is Frame (120) and, A picking hopper (130) connected to the frame (120) transports the cargo to one of the multiple sorting hoppers (321), Includes picking means (110) connected to the frame (120) and guiding the cargo to slide down into the picking hopper (130), The picking mechanism according to any one of claims 1 to 6.

8. The picking means (110) is A slope (111) having an edge (1111), A guide member (112) is connected to the slope (111) and at least a portion of it protrudes from the edge (1111), A rotating unit (113) is rotatably connected to the portion of the guide member (112) that protrudes from the edge (1111), and generates friction with the cargo, thereby causing the cargo to slide into the slope (111) via the guide member (112). Includes a first motor (114) connected to the rotating unit (113) and used to rotate the rotating unit (113), The picking mechanism according to claim 7.

9. The aforementioned rotating unit (113) Two rotating members (1131), one of which is connected to the output shaft of the first motor (114), and the other which is rotatably connected to the portion of the guide member (112) that protrudes from the edge (1111), The system includes an endless member (1132) that is wrapped around the outer circumference of the two rotating members (1131) and whose outer surface generates friction with the cargo, The picking mechanism according to claim 8.

10. The guide member (112) is The connecting portion (1121) connected to the aforementioned slope (111), It includes a pair of arms (1122) connected to the connecting portion (1121), with at least a portion of them extending from the edge (1111), At least a portion of the rotating unit (113) is rotatably connected between a pair of the arms (1122), The picking mechanism according to claim 8.

11. Each arm (1122) is provided with a stopper portion (1123) at one end away from the connecting portion (1121), which protrudes from the arm (1122) in the thickness direction of the connecting portion (1121) and is used to stop the cargo. The picking mechanism according to claim 10.

12. A reinforcing portion (1124) is provided at one end of the arm (1122) connected to the connecting portion (1121), and the reinforcing portion (1124) and the connecting portion (1121) are located on both sides of the slope (111) in the thickness direction, and an engagement groove (1125) into which the slope (111) is inserted is formed between the reinforcing portion (1124) and the connecting portion (1121). The picking mechanism according to claim 10.

13. The picking device (100) includes two picking means (110) arranged opposite each other. The picking mechanism according to claim 7.

14. A picking system comprising a picking mechanism according to any one of claims 1 to 13.

15. The lifting frame (310) further includes a traveling mechanism (400) having a vertical column (410) to which it is connected so as to be able to move up and down. The picking system according to claim 14.

16. The shielding member (322) of the picking mechanism is connected to the lifting frame (310) so as to be movable in the lifting direction of the lifting frame (310), and the shielding member (322) has a trigger member (322b). The picking system further includes a workstation (500), the workstation (500) having a push-up member (501), and the push-up member (501) and the trigger member (322b) have a first projection in which their respective orthogonal projections overlap on a target plane perpendicular to the vertical direction of the lifting frame (310). When the lifting frame (310) descends, the push-up member (501) pushes up the trigger member (322b) so as to move the shielding member (322) from the first position to the second position. The picking system according to claim 14.

17. The workstation (500) further includes a pressing member (502), In the vertical direction of the lifting frame (310), at least a portion of the trigger member (322b) is located between the push-down member (502) and the push-up member (501), and the push-down member (502) and the trigger member (322b) have a second projection on the target plane in which their respective orthogonal projections overlap. When the lifting frame (310) rises, the pushing member (502) stops the trigger member (322b). The picking system according to claim 16.

18. The picking system further includes a shelf (200), the shelf (200) including a plurality of cargo aisle assemblies (200a) spaced apart in the height direction of the shelf (200), The picking device (100) of the picking mechanism includes positioning means (190) for positioning the picking device (100) on a predetermined cargo passage assembly (200a), The picking means (110) and positioning means (190) of the picking device (100) correspond to two cargo aisle assemblies (200a) located on different levels. The picking system according to claim 14.

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