Picking system

Abstract

A picking system, comprising a shelf (200), a workstation (500), a moving mechanism (400), and a retrieval mechanism (300). The shelf is used for storing goods. The workstation is arranged on the ground and comprises a packing assembly (530). The moving mechanism is movable between a first position close to the shelf and a second position close to the workstation. The retrieval mechanism is connected to the moving mechanism in a manner of capable of being raised and lowered and configured to retrieve the goods located on the shelf when the moving mechanism is located at the first position, and convey the retrieved goods to the workstation when the moving mechanism is located at the second position, so that the packing assembly packs the normal goods.

Description

Picking system

[0001] Cross-referencing

[0002] This disclosure claims priority to Chinese patent application No. 202410703365.4, filed on May 31, 2024, entitled "Picking System," the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of warehousing and logistics technology, and more specifically, to a picking system. Background Technology

[0004] A picking system is a system that retrieves, transfers, and packs goods in a warehouse based on order information. The efficiency and accuracy of picking systems in the overall order processing workflow still need further improvement. Summary of the Invention

[0005] The picking system of this application embodiment includes a shelf, a workstation, a traveling mechanism, and a picking mechanism; the shelf is used to store goods; the workstation is arranged on the ground and includes a packing assembly; the traveling mechanism is movable between a first position near the shelf and a second position near the workstation; the picking mechanism is vertically connected to the traveling mechanism and configured to retrieve goods located on the shelf when the traveling mechanism is in the first position, and to transport the retrieved goods to the workstation when the traveling mechanism is in the second position, so that the packing assembly can pack the goods normally. Attached Figure Description

[0006] Figure 1 shows a partial perspective view of the shelf according to an embodiment of this application.

[0007] Figure 2 shows a schematic diagram of four storage units connected to a crossbeam.

[0008] Figure 3 shows a partial schematic diagram of two storage units.

[0009] Figure 4 shows a partial schematic diagram of one end of a storage unit.

[0010] Figure 5 shows a partial schematic diagram of the other end of a storage unit.

[0011] Figure 6 shows a cross-sectional view along section line AA in Figure 4.

[0012] Figure 7 shows a perspective view of the walking mechanism according to an embodiment of this application.

[0013] Figure 8 shows a magnified view of the area at X1 in Figure 7.

[0014] Figure 9 shows a magnified view of the area at X2 in Figure 7.

[0015] Figure 10 shows a schematic diagram of the first walking seat according to an embodiment of this application.

[0016] Figure 11 shows a schematic diagram of the second traveling seat according to an embodiment of this application.

[0017] Figure 12 shows a perspective view of the pickup mechanism and workstation in an embodiment of this application.

[0018] Figure 13 shows a perspective view of the pickup mechanism and workstation of an embodiment of this application from another angle.

[0019] Figure 14 shows a perspective view of the pickup mechanism according to an embodiment of this application.

[0020] Figure 15 shows a perspective view of the sorting component according to an embodiment of this application.

[0021] Figure 16 shows a schematic diagram of the sorting component's trigger located between the workstation's abutment and pressure member.

[0022] Figure 17 shows a perspective view of the pickup device according to an embodiment of this application.

[0023] Figure 18 shows a perspective view of the pickup device according to an embodiment of this application from another angle.

[0024] Figure 19 shows a three-dimensional schematic diagram of the pickup unit without the pickup component.

[0025] Figure 20 shows a schematic diagram of the positional relationship between the lens surfaces of the third and fourth information acquisition units and the vertical plate.

[0026] Figure 21 shows a schematic diagram of the positional relationship between the lens surface of the fifth information acquisition unit and the slide plate along its length.

[0027] Figure 22 shows a perspective view of the pickup device applied to the shelf according to an embodiment of this application.

[0028] Figure 23 shows a perspective view of the pickup device according to an embodiment of this application.

[0029] Figure 24 shows a partial schematic diagram of the pickup component according to an embodiment of this application.

[0030] Figure 25 shows a partial schematic diagram of the pickup component of an embodiment of this application from another perspective.

[0031] Figure 26 shows a perspective view of the guide component according to an embodiment of this application.

[0032] Figure 27 shows a three-dimensional schematic diagram omitting the guide component in Figure 25.

[0033] Figure 28 shows a perspective view of a workstation according to an embodiment of this application.

[0034] Figure 29 shows a perspective view of the cache component according to an embodiment of this application.

[0035] Figure 30 shows a perspective view of the buffer hopper according to an embodiment of this application.

[0036] Figure 31 shows a perspective view of the merging hopper according to an embodiment of this application.

[0037] Figure 32 shows the pickup components and locators corresponding to two cargo channel assemblies located on different layers. Detailed Implementation

[0038] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this application will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0039] It is understood that the terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0040] As shown in Figures 1 to 31, this application provides a picking system including a shelf 200, a workstation 500, a traveling mechanism 400, and a picking mechanism 300. The shelf 200 can be arranged on the ground for storing goods; the workstation 500 is arranged on the ground and includes a packing assembly 530 and an exception handling assembly 540; the traveling mechanism 400 is movable between a first position near the shelf 200 and a second position near the workstation 500; the picking mechanism 300 is vertically connected to the traveling mechanism 400 and configured to retrieve goods located on the shelf 200 when the traveling mechanism 400 is in the first position, and to transport the retrieved goods to the workstation 500 when the traveling mechanism 400 is in the second position, so that the packing assembly 530 packs normal goods or the exception handling assembly 540 rejects abnormal goods.

[0041] In this embodiment, when the walking mechanism 400 moves the picking mechanism 300 to the first position, the picking mechanism 300 retrieves the goods located on the shelf 200 and holds the goods within the picking mechanism 300. When the walking mechanism 400 moves the picking mechanism 300 to the second position, the picking mechanism 300 can transport the retrieved goods to the workstation 500 and process the goods using the packaging component 530 and the exception handling component 540. When the goods are normal goods, the packaging component 530 packages the normal goods; when the goods are abnormal goods, the exception handling component 540 rejects the abnormal goods.

[0042] Therefore, the picking system of this application embodiment, with the coordinated action of workstation 500, walking mechanism 400 and picking mechanism 300, can pick up, transfer and pack goods on shelf 200. In addition, it can also remove abnormal goods, ensuring the accuracy and timeliness of delivery, and guaranteeing the efficiency and error-free operation of the entire order processing process.

[0043] The following sections provide detailed descriptions of the shelf 200, workstation 500, traveling mechanism 400, and picking mechanism 300.

[0044] As shown in Figure 1, the shelf 200 of this embodiment includes a frame 210 and multiple aisle assemblies 200a. The multiple aisle assemblies 200a are installed on the frame 210 and arranged along the height direction of the frame 210 for storing goods.

[0045] As shown in Figure 2, each cargo channel assembly 200a includes multiple storage units 220 and crossbeams 250. The multiple storage units 220 are connected to the crossbeams 250 and arranged along the length of the frame 210. The length direction of the frame 210 is perpendicular to the height direction. The two ends of the crossbeams 250 along the length direction are connected to the frame 210 so that the multiple storage units 220 can be installed on the frame 210.

[0046] It is understandable that, for the sake of simplicity, Figure 2 only shows four storage units 220 arranged side by side, and should not be considered as such.

[0047] In one embodiment, each cargo channel assembly 200a includes two crossbeams 250, which are spaced apart along the length of the storage unit 220, but are not limited thereto.

[0048] As shown in Figures 2 and 3, each storage unit 220 includes a support plate 221, a baffle 222, and a partition 223 for supporting goods 260. The support plate 221 is arranged at an angle relative to the frame 210. The two ends of the support plate 221 along its length are a first end 2211 and a second end 2212, respectively. The height of the first end 2211 from the ground is less than the height of the second end 2212 from the ground. The baffle 222 is connected to the first end 2211 and is used to stop the goods 260 located on the support plate 221. The partition 223 is connected to the support plate 221 and extends from the first end 2211 to the second end 2212. Two adjacent partitions 223 in two adjacent storage units 220 constitute a storage space 230 for storing goods 260.

[0049] In this embodiment of the application, the shelf 200 has a support plate 221 arranged at an angle relative to the frame 210, and a baffle 222 for stopping the goods 260 is provided at the first end 2211 of the support plate 221. On the one hand, because the support plate 221 is arranged at an angle, the storage space 230 can store more goods 260, thereby improving the space utilization rate of the shelf 200. On the other hand, when picking up goods, after the goods 260 in contact with the baffle 222 are taken out, the remaining goods 260 can automatically slide down under their own gravity, so as to replenish the supply of goods in time for the next picking action, thereby improving the picking efficiency.

[0050] As shown in Figure 2, two adjacent baffles 222 in two adjacent storage units 220 stop the same goods 260 in the storage space 230.

[0051] In this embodiment of the application, a cargo 260 in the storage space 230 is simultaneously stopped by two adjacent baffles 222 in two adjacent storage units 220, which can make the stopping force on the cargo 260 more balanced, avoid the cargo 260 from tilting due to force on one side, and thus prevent the cargo 260 from getting stuck in the storage space 230 due to tilting and unable to slide down automatically.

[0052] Of course, in other embodiments, the goods 260 may also be stopped by a baffle 222 in a storage unit 220, while the baffle 222 of the storage unit 220 adjacent to the storage unit 220 does not stop the goods 260.

[0053] As shown in Figures 3 and 6, the support plate 221 includes a base plate 2213 and two wing plates 2214. The base plate 2213 has a first end 2211 and a second end 2212 at its two ends along its length, and a partition plate 223 is perpendicularly connected to the upper surface of the base plate 2213. The two wing plates 2214 are respectively connected to both sides of the base plate 2213 in its width direction and extend along the length direction of the base plate 2213. The upper surface of the wing plates 2214 is flush with the upper surface of the base plate 2213, and the thickness of the wing plates 2214 is less than the thickness of the base plate 2213.

[0054] In this embodiment of the application, the support plate 221 is thick in the middle and thin on both sides. While ensuring that the goods 260 are supported, the weight of the support plate 221 is reduced and the cost is saved.

[0055] As an example, the substrate 2213 has a hollow structure, which further reduces the weight of the support plate 221 and saves costs.

[0056] As shown in Figure 6, the partition 223 has an orthographic projection on the upper surface of the substrate 2213; along the width direction of the substrate 2213, the orthographic projection is located at the middle position of the upper surface of the substrate 2213.

[0057] In other words, along the width direction of the substrate 2213, the partition 223 divides the substrate 2213 into two equally spaced portions so that the multiple storage spaces 230 are of equal size.

[0058] Of course, in other embodiments, the sizes of the multiple storage spaces 230 may not be equal.

[0059] As shown in Figure 3, the end of the wing plate 2214 near the baffle 222 forms a notch 225 with the base plate 2213; two adjacent notches 225 in two adjacent storage units 220 form a gap 226, and part of the goods 260 located in the storage space 230 and abutting against the baffle 222 is exposed on the lower surface of the wing plate 2214 through the gap 226.

[0060] In this embodiment of the application, a notch 226 is formed between two adjacent storage units 220. The notch 226 allows a retrieval tool to pass through from bottom to top, so that the retrieval tool can lift up the goods 260 that are in contact with the baffle 222. When the bottom surface of the goods 260 is higher than the upper edge of the baffle 222, the goods 260 can slide out from the storage space 230 under the action of its own weight, thus completing the retrieval.

[0061] As shown in Figure 3, the side of the baffle 222 facing away from the support plate 221 has an identification part 2221, which records information about the goods 260 so that the picking tool can find the storage unit 220 corresponding to the goods 260 by identifying the identification part 2221.

[0062] In one embodiment, the identification unit 2221 can be a QR code, barcode, etc.

[0063] As shown in Figure 4, the baffle 222 is attached to the end face of the first end 2211, and an acute angle α is formed between the baffle 222 and the upper surface of the substrate 2213. In one embodiment, the baffle 222 is parallel to the height direction of the frame 210.

[0064] The baffle 222 is connected not only to the first end 2211 of the support plate 221, but also to the partition 223. In this way, the structural strength of the baffle 222 can be enhanced.

[0065] As shown in Figure 5, each storage unit 220 also includes a rear plate 224, which is connected to both the base plate 2213 and the two wing plates 2214, and at least a portion of the rear plate 224 extends out of the lower surface of the base plate 2213.

[0066] Understandably, each storage unit 220 is provided with a back plate 224, at least a portion of which extends out of the lower surface of the base plate 2213. When the connection structure between the storage unit 220 and the crossbeam 250 fails and the storage unit 220 slides down, the back plate 224 can cooperate with the crossbeam 250 to stop and prevent the storage unit 220 and the goods 260 from falling off the frame 210.

[0067] As shown in Figure 1, the shelving 200 also includes a platform 240, which is connected to the frame 210 and located on the side where the second end 2212 of the support plate 221 is located. The platform 240 provides a platform for operators to stand on in order to replenish the storage unit 220 or to perform maintenance on the shelving 200.

[0068] For example, when an operator stands on platform 240, goods can be replenished into storage space 230 from the second end 2212 of support plate 221. The newly replenished goods 260 can automatically slide down to the first end 2211 under their own weight.

[0069] As shown in Figure 7, the walking mechanism 400 of this embodiment can move along the overhead track 402 and the ground track 401. The ground track 401 is arranged on the ground, and the overhead track 402 and the ground track 401 are arranged opposite each other in the vertical direction.

[0070] For ease of explanation, the direction of movement of the walking mechanism 400 is defined as the first direction D1, the length direction of the column 410 is defined as the second direction D2, the first direction D1 is perpendicular to the second direction D2, and the direction perpendicular to the first direction D1 and the second direction D2 is defined as the third direction D3.

[0071] The walking mechanism 400 of this application embodiment includes a first walking seat 420, a second walking seat 430, a column 410, and a drive assembly 440. The first walking seat 420 is movably connected to a ground rail 401. The second walking seat 430 is movably connected to a ceiling rail 402. The axial ends of the column 410 are respectively connected to the first walking seat 420 and the second walking seat 430. The drive assembly 440 includes a third motor 441, a transmission shaft 442, a first drive part 443 connected to the first walking seat 420, and a second drive part 444 connected to the second walking seat 430. The axial ends of the transmission shaft 442 are respectively connected to the first drive part 443 and the second drive part 444. The third motor 441 is connected to the first walking seat 420 and is drivenly connected to the first drive part 443. The first drive part 443 is used to drive the first walking seat 420 to move along the ground rail 401. The second drive part 444 is used to drive the second walking seat 430 to move along the ceiling rail 402.

[0072] In the walking mechanism 400 of this application embodiment, a third motor 441 is drivenly connected to a first drive unit 443. The first drive unit 443 is connected to one axial end of a transmission shaft 442, and the other axial end of the transmission shaft 442 is connected to a second drive unit 444. This allows the power of the third motor 441 to drive both the first drive unit 443 and the second drive unit 444 via the transmission shaft 442. The arrangement of the transmission shaft 442 effectively improves the synchronization between the first drive unit 443 and the second drive unit 444, thereby ensuring the accuracy of the walking mechanism 400.

[0073] The traveling mechanism 400 also includes a first transmission member 450 and a second transmission member 460. The first transmission member 450 is adjacent to and fixedly disposed relative to the ground rail 401. For example, the ground rail 401 is fixedly disposed on the ground. The second transmission member 460 is adjacent to and fixedly disposed relative to the overhead rail 402. A first drive unit 443 is drivably connected to the first transmission member 450, and a second drive unit 444 is drivably connected to the second transmission member 460.

[0074] In this embodiment, the first drive unit 443 is drivenly connected to the first transmission member 450. Since the first transmission member 450 is fixedly disposed relative to the ground rail 401, the first drive unit 443 can move relative to the first transmission member 450, thereby enabling the first traveling seat 420 to move along the ground rail 401. The second drive unit 444 is drivenly connected to the second transmission member 460. Since the second transmission member 460 is fixedly disposed relative to the ceiling rail 402, the second drive unit 444 can move relative to the second transmission member 460, thereby enabling the second traveling seat 430 to move along the ceiling rail 402.

[0075] As shown in Figure 8, the first drive unit 443 includes a first steering mechanism 4431 and a first rotating member 4432. The first steering mechanism 4431 is fixedly connected to the first travel base 420 and has a first input shaft, a first output shaft, and a second output shaft. The first input shaft is connected to the third motor 441, and the first output shaft is connected to one axial end of the transmission shaft 442. The first rotating member 4432 is connected to the second output shaft and is driven by the first transmission member 450. Through the arrangement of the first steering mechanism 4431, the power of the third motor 441 can be transmitted to the first output shaft and the second output shaft respectively, thereby realizing that the third motor 441 simultaneously drives the first rotating member 4432 and the transmission shaft 442 to rotate.

[0076] In one embodiment, the axis of the first input shaft is parallel to the first direction D1, the axis of the first output shaft is parallel to the second direction D2, and the axis of the second output shaft is parallel to the third direction D3, but this is not a limitation.

[0077] As shown in Figure 9, the second drive unit 444 includes a second steering mechanism 4441 and a second rotating member 4442. The second steering mechanism 4441 is fixedly connected to the second travel seat 430 and has a second input shaft and a third output shaft. The second input shaft is connected to the other axial end of the transmission shaft 442. The second rotating member 4442 is connected to the third output shaft and is drivenly connected to the second transmission member 460. By providing the second steering mechanism 4441, the power of the transmission shaft 442 can be transmitted to the second rotating member 4442.

[0078] In one embodiment, the axis of the second input shaft is parallel to the second direction D2, and the axis of the third output shaft is parallel to the third direction D3, but this is not a limitation.

[0079] The first transmission member 450 covers at least a portion of the outer periphery of the first rotating member 4432. In one embodiment, the first transmission member 450 and the first rotating member 4432 are a synchronous belt and synchronous pulley structure. For example, the first transmission member 450 is a synchronous belt and has a first tooth structure, and the outer periphery of the first rotating member 4432 has a second tooth structure, the first tooth structure meshing with the second tooth structure.

[0080] The second transmission member 460 covers at least a portion of the outer periphery of the second rotating member 4442. In one embodiment, the second transmission member 460 and the second rotating member 4442 are a synchronous belt and synchronous pulley structure. For example, the second transmission member 460 is a synchronous belt and has a third tooth structure, and the outer periphery of the second rotating member 4442 has a fourth tooth structure, with the third tooth structure meshing with the fourth tooth structure.

[0081] In the embodiments of this application, the first transmission member 450 and the first rotating member 4432, and the second transmission member 460 and the second rotating member 4442 are all synchronous belt and synchronous pulley structures. Since the transmission is achieved by meshing between teeth, on the one hand, the transmission efficiency is high and the energy loss is effectively reduced; on the other hand, during the transmission process, it is not easy for slippage to occur between the first transmission member 450 and the first rotating member 4432, and between the second transmission member 460 and the second rotating member 4442, thereby maintaining high transmission accuracy and improving the acceleration of the walking mechanism 400.

[0082] As shown in Figure 8, the first traveling seat 420 includes a first base 422, two traveling wheels 423, and a plurality of first rollers 424. A first steering mechanism 4431 is fixedly connected to the first base 422. The two traveling wheels 423 are rotatably connected to both ends of the first base 422 along a first direction D1, for rolling contact with the surface of the ground rail 401 facing the overhead rail 402. The rotation axis of each traveling wheel 423 is parallel to a third direction D3. The plurality of first rollers 424 are rotatably connected to both sides of the first base 422 along a third direction D3, for rolling contact with both sides of the ground rail 401 along a third direction D3. The rotation axis of each first roller 424 is parallel to a second direction D2.

[0083] The first traveling bracket 420 also includes a first pressure roller 421 rotatably connected to the first base 422. The rotation axis of the first pressure roller 421 is parallel to the rotation axis of the first rotating member 4432 and presses against the first transmission member 450 to increase the wrap angle between the first transmission member 450 and the first rotating member 4432. By setting the first pressure roller 421, the length of the contact arc between the first transmission member 450 and the first rotating member 4432 can be increased, thereby improving transmission stability.

[0084] As shown in Figure 9, the second traveling mount 430 includes a second base 432 and a plurality of second rollers 433. A second steering mechanism 4441 is fixedly connected to the second base 432. The plurality of second rollers 433 are rotatably connected to both sides of the second base 432 along a third direction D3, for rolling contact with the two side surfaces of the overhead track 402 along the third direction D3. The rotation axis of each second roller 433 is parallel to the second direction D2.

[0085] The second traveling bracket 430 includes a second pressure roller 431 rotatably connected to the second base 432. The rotation axis of the second pressure roller 431 is parallel to the rotation axis of the second rotating member 4442 and presses against the second transmission member 460 to increase the wrap angle between the second transmission member 460 and the second rotating member 4442. By providing the second pressure roller 431, the length of the contact arc between the second transmission member 460 and the second rotating member 4442 can be increased, thereby improving transmission stability.

[0086] As shown in Figure 10, a first trigger 471 is provided on one of the ground rail 401 and the first traveling seat 420, and a first sensor 472 is provided on the other of the ground rail 401 and the first traveling seat 420. The first trigger 471 is used to trigger the first sensor 472 so that the first sensor 472 generates a first verification signal.

[0087] In one embodiment, the ground rail 401 is provided with a first trigger 471, and the first traveling seat 420 is provided with a first sensor 472; in another embodiment, the ground rail 401 is provided with a first sensor 472, and the first traveling seat 420 is provided with a first trigger 471.

[0088] As shown in Figure 11, a second trigger 481 is provided on one of the overhead track 402 and the second traveling seat 430, and a second sensor 482 is provided on the other of the overhead track 402 and the second traveling seat 430. The second trigger 481 is used to trigger the second sensor 482 so that the second sensor 482 generates a second verification signal.

[0089] In one embodiment, the ceiling track 402 is provided with a second trigger 481, and the second traveling seat 430 is provided with a second sensor 482; in another embodiment, the ceiling track 402 is provided with a second sensor 482, and the second traveling seat 430 is provided with a second trigger 481.

[0090] It is understandable that during zero-point calibration, the first sensor 472 and the second sensor 482 can be triggered simultaneously, thereby simultaneously emitting the first verification signal and the second verification signal.

[0091] If one of the first sensor 472 and the second sensor 482 sends a verification signal while the other sensor does not send a verification signal, it indicates that a tooth skipping has occurred between the first transmission member 450 and the first rotating member 4432 and / or between the second transmission member 460 and the second rotating member 4442. The tooth skipping phenomenon will affect the synchronization of the movement of the first traveling seat 420 and the second traveling seat 430.

[0092] In this embodiment of the application, by setting a first trigger 471 and a first sensor 472, as well as a second trigger 481 and a second sensor 482, by determining whether the first verification signal and the second verification signal are generated simultaneously, it is possible to know whether the synchronous belt structure has skipped teeth, and then repair the synchronous belt structure in a timely manner to ensure the synchronicity of walking.

[0093] It is understood that this application does not limit the types of the first sensor 472 and the second sensor 482.

[0094] As shown in Figures 12 and 13, the picking mechanism 300 of this embodiment is vertically and vertically connected to the walking mechanism 400 along the second direction D2.

[0095] During the retrieval process, the traveling mechanism 400 moves the retrieval mechanism 300 along the first direction D1 to the vicinity of the shelf. The retrieval mechanism 300 then moves up and down along the second direction D2 to ensure that it is aligned with the goods to be retrieved. After the retrieval mechanism 300 removes the goods from the shelf and places them inside, the traveling mechanism 400 again moves the retrieval mechanism 300 to the vicinity of the workstation 500, so that it can transport the goods to the workstation 500.

[0096] It should be noted that, for the sake of simplifying the view, only part of the column 410 of the walking mechanism 400 is shown in Figures 1 and 2, while other structures are omitted.

[0097] As shown in Figure 14, the picking mechanism 300 of this embodiment includes a lifting frame 310, a picking device 100, and a sorting assembly 320. The lifting frame 310 is vertically and vertically connected to the column 410 of the traveling mechanism 400 along a second direction D2. The axial direction of the column 410 is parallel to the second direction D2. The picking device 100 is movably connected to the lifting frame 310 via a moving assembly 330. The sorting assembly 320 is connected to the lifting frame 310 and includes a plurality of sorting hoppers 321. The picking device 100 is configured to remove goods located on a shelf and transport the goods to any one of the plurality of sorting hoppers 321.

[0098] In this embodiment of the application, when the picking mechanism 300 picks up goods, the picking device 100 picks up the first item and transfers it to one of the sorting hoppers 321. Then, the picking device 100 continues to pick up the second item. If the second item is very close to the first item, the picking device 100 only needs to move relative to the lifting frame 310 to pick up the second item, without needing to move the traveling mechanism 400 or raise / lower the lifting frame 310. The second item is then transferred to one of the remaining empty sorting hoppers 321. When all sorting hoppers 321 are filled, the traveling mechanism 400 is driven back to transfer all the goods in the picking mechanism 300 to the workstation 500.

[0099] As can be seen, in the picking mechanism 300 of this application embodiment, the picking device 100 is movably connected to the lifting frame 310 via the moving component 330, and the sorting component 320 includes a plurality of sorting hoppers 321 for accommodating goods. By making a slight movement of the picking device 100 relative to the lifting frame 310, the picking device 100 can take out a plurality of goods and put them into a plurality of sorting hoppers 321 respectively, thus significantly improving the picking efficiency of the picking mechanism 300.

[0100] As shown in Figure 14, the moving assembly 330 includes a first moving unit 330a and a second moving unit 330b. The first moving unit 330a is used to move the picker 100 along the second direction D2. The second moving unit 330b is used to move the picker 100 along the third direction D3. Multiple sorting hoppers 321 are arranged side by side along the second direction D2 or the third direction D3.

[0101] As an example, the first moving unit 330a and the second moving unit 330b are linear slides. 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 length direction of the first slide rail 331 is parallel to the second direction D2. The first slider 332 is movably connected to the first slide rail 331 along the second direction D2.

[0102] 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 length direction of the second slide rail 333 is parallel to the third direction D3. The second slider 334 is movably connected to the second slide rail 333 along the third direction D3; the picker 100 is connected to the second slider 334.

[0103] Of course, in other embodiments, the first moving unit 330a and the second moving unit 330b may also be other linear drive mechanisms, which will not be described in detail here.

[0104] Furthermore, the movement path of the pickup device 100 relative to the lifting frame 310 via the moving component 330 does not have to be a straight line; for example, it can be an arc, as long as it can pick up different goods by moving the pickup device 100 relative to the lifting frame 310.

[0105] As shown in Figure 14, the lifting frame 310 includes two first longitudinal beams 311 arranged at intervals along a third direction D3, and a plurality of sorting hoppers 321 connected to the two first longitudinal beams 311 and arranged side by side along a second direction D2; wherein, the area between the two first longitudinal beams 311 is divided into a plurality of first windows 311a by the plurality of sorting hoppers 321, and the plurality of first windows 311a correspond to the plurality of sorting hoppers 321 respectively.

[0106] For example, after the pickup device 100 picks up the first item, through the coordinated movement of the first moving unit 330a and the second moving unit 330b, the pickup device 100 can be aligned with one of the first windows 311a, so that the first item in the pickup device 100 passes through the first window 311a and slides into one of the sorting hoppers 321.

[0107] As shown in Figure 15, each sorting hopper 321 has a first outlet 321a for goods to slide out; the sorting assembly 320 also includes a blocking member 322, which is movably connected to the lifting frame 310 between a third position and a fourth position. The blocking member 322 has multiple second windows 322a. When the blocking member 322 is in the third position, it simultaneously closes multiple first outlets 321a. When the blocking member 322 is in the fourth position, the multiple second windows 322a are respectively connected to multiple first outlets 321a.

[0108] During the picking process, the blocking member 322 is in the third position, so that the blocking member 322 closes the multiple first outlets 321a of the multiple sorting hoppers 321, preventing the goods from sliding out of the first outlets 321a of the sorting hoppers 321. After the picking device 100 finishes picking and the traveling mechanism 400 drives the picking mechanism 300 back to the workstation 500, the blocking member 322 is in the fourth position, and the goods in each sorting hopper 321 automatically slide down to the workstation 500 through the second window 322a corresponding to that sorting hopper 321.

[0109] As an example, the blocking member 322 is movably connected to the lifting frame 310 along the lifting direction (second direction D2). Since the second direction D2 is vertical, the blocking member 322 can move from the fourth position to the third position by its own weight.

[0110] The sorting assembly 320 also includes an elastic element 323 connected to the lifting frame 310 and the blocking element 322, which provides an elastic force to the blocking element 322 to move it to a third position. By providing the elastic element 323, it is ensured that the blocking element 322 remains in the third position during the picking process of the picking mechanism 300, preventing the goods in the sorting assembly 320 from slipping out due to the blocking element 322 accidentally opening the first outlet 321a of the sorting hopper 321.

[0111] In one embodiment, the elastic element 323 may be a tension spring, but is not limited thereto.

[0112] As shown in Figure 16, the top of the blocking member 322 has a trigger member 322b. The workstation 500 has a stop member 501, and the orthographic projections of the stop member 501 and the trigger member 322b on a target plane have overlapping first projections. The target plane is perpendicular to the lifting direction (second direction D2) of the lifting frame 310. When the lifting frame 310 descends, the stop member 501 stops the trigger member 322b, causing the blocking member 322 to move from a third position to a fourth position.

[0113] In this embodiment, when the walking mechanism 400 moves the picking mechanism 300 to the vicinity of the workstation 500, the trigger 322b is positioned above the abutment 501. The abutment 501 and the trigger 322b have overlapping first projections on a target plane. When the lifting frame 310 lowers the picking mechanism 300, the abutment 501 abuts against the trigger 322b, causing the blocking member 322 to move from the third position to the fourth position. Therefore, by setting the abutment 501 and the trigger 322b, when the lifting frame 310 lowers, the blocking member 322 can automatically open the first outlet 321a of the sorting hopper 321, allowing the goods in the sorting hopper 321 to slide down to the workstation 500.

[0114] As shown in Figure 16, the workstation 500 also has a pressing member 502. The pressing member 502 and the trigger member 322b have overlapping second projections on the target plane. When the lifting frame 310 rises, the pressing member 502 is used to stop the trigger member 322b.

[0115] After all the goods in the sorting hopper 321 have slid into the workstation 500, the traveling mechanism 400 will drive the picking mechanism 300 to perform the next picking action. Under normal circumstances, after the trigger 322b leaves the abutment 501, the blocking member 322 will move from the fourth position to the third position under the action of its own weight and / or the elastic force of the elastic member 323. However, under abnormal circumstances, such as when the blocking member 322 does not slide smoothly relative to the lifting frame 310, the blocking member 322 is prone to jamming and cannot move to the third position under the action of gravity and / or elastic force, causing the first outlet 321a of the sorting hopper 321 to remain open. If a picking action is performed at this time, the goods will slide out from the first outlet 321a of the sorting hopper 321.

[0116] In this embodiment of the application, by setting the pressing member 502, it is possible to prevent the blocking member 322 from failing to reset to the third position due to abnormal conditions, thereby ensuring that the next picking action is carried out normally.

[0117] As shown in Figure 16, the pressing member 502 and the abutting member 501 are arranged opposite each other in the second direction D2, and the orthogonal projections of the pressing member 502 and the abutting member 501 on the target plane have overlapping third projections.

[0118] It should be noted that, in the second direction D2, at least a portion of the trigger 322b is located between the pressing member 502 and the abutting member 501. To ensure the normal lifting and lowering of the lifting frame 310 and to avoid interference from the pressing member 502, the movement of the traveling mechanism 400 and the lifting frame 310 is carried out in stages:

[0119] During the return to workstation 500, the traveling mechanism 400 moves the picking mechanism 300 to the second position. When the picking mechanism 300 is in the first intermediate position, the trigger 322b is located outside the space enclosed by the abutment 501 and the pressing member 502, meaning that the orthographic projections of the trigger 322b and the abutment 501 on the target plane do not overlap. Then, the traveling mechanism 400 translates along the first direction D1 to move the picking mechanism 300 to the second intermediate position. When the picking mechanism 300 is in the second intermediate position, at least a portion of the trigger 322b is located between the abutment 501 and the pressing member 502. Finally, the lifting frame 310 lowers the picking mechanism 300 and moves it to the third intermediate position. During the movement of the picking mechanism 300 from the second intermediate position to the third intermediate position, the abutment 501 abuts against the trigger 322b, causing the blocking member 322 to move from the third position to the fourth position.

[0120] During the retrieval process after leaving workstation 500, the retrieval mechanism 300 moves from the third intermediate position to the second intermediate position. If the blocking member 322 is not stuck due to any abnormality, it will automatically reset from the fourth position to the third position. Then, the traveling mechanism 400 translates along the first direction D1, moving the trigger member 322b out of the space enclosed by the abutment member 501 and the pressing member 502. If the blocking member 322 is stuck at a certain position on the lifting frame 310 due to an abnormality, the pressing member 502 will press against the trigger member 322b during the movement of the retrieval mechanism 300 from the third intermediate position to the second intermediate position, causing the blocking member 322 to reset to the third position under the pressure, preventing the first outlet 321a of the sorting hopper 321 from remaining open. Then, the traveling mechanism 400 translates along the first direction D1, moving the trigger member 322b out of the space enclosed by the abutment member 501 and the pressing member 502.

[0121] As shown in Figures 17 and 18, the pickup unit 100 of this embodiment includes a frame 120, a pickup unit 100a, and multiple information acquisition units 150. The pickup unit 100a is mounted on the frame 120 and includes a pickup assembly 110 and a pickup hopper 130 made of transparent material. The pickup assembly 110 is used to retrieve goods stored on the shelf and transport them into the pickup hopper 130. Multiple information acquisition units 150 are arranged around the pickup hopper 130 to acquire preset information about the goods located within the pickup hopper 130.

[0122] The picking device 100 of this embodiment has multiple information collection units 150 arranged around the picking hopper 130. When the picking component 110 transports goods to the picking hopper 130, the multiple information collection units 150 can promptly collect the preset information of the goods to further determine whether the goods are correct. If the goods are correct, subsequent packaging operations are performed; if the goods are incorrect, they are treated as abnormal goods. This avoids affecting order processing efficiency due to picking the wrong goods. In addition, the picking device of this embodiment includes multiple information collection units 150, each of which can capture the preset information of the goods, effectively improving the success rate of the information collection units 150 in obtaining the preset information of the goods, thereby improving the verification efficiency.

[0123] It is understandable that the information collection unit 150 can acquire the preset information of the goods in various ways, such as by scanning technology, image recognition technology, OCR (Optical Character Recognition) text recognition technology, electronic tag technology, etc.

[0124] In addition, the preset information for the target goods can be product information, such as including but not limited to: product number, manufacturer code, global trade item code, production date, batch number, etc.

[0125] The following description uses the information acquisition unit 150 as an image acquisition device as an example to illustrate the cargo pickup device of this application. The image acquisition device can be a camera, digital camera, scanner, etc. The image acquisition device can obtain preset information about the goods through barcodes, QR codes, or product appearance features on the target goods; this application does not limit this information.

[0126] As shown in Figure 32, the pickup unit 100 also includes a locator 190, which is connected to the frame 120 and used to position the pickup unit 100 at a designated location on the shelf 200. Specifically, the locator 190 is used to position the pickup unit 100 to a designated aisle assembly 200a. The pickup component 110 of the pickup unit 100 and the locator 190 correspond to two aisle assemblies 200a located on different levels.

[0127] Specifically, during pickup, if the pickup component 110 needs to retrieve goods located on a channel assembly 200a, the locator 190 positions the pickup device 100 to a channel assembly 200a below that channel assembly 200a, enabling cross-level pickup. For example, the pickup component 110 and the locator 190 may correspond to two adjacent channel assemblies 200a, or the pickup component 110 and the locator 190 may correspond to the channel assemblies 200a on both sides of one of the channel assemblies 200a.

[0128] Understandably, the locator 190 can use barcode scanning technology, image recognition technology, etc., to locate the pickup device 100 to the designated cargo channel assembly 200a. For example, the locator 190 can be a camera or a digital camera, and the cargo channel assembly 200a has a barcode or QR code. By obtaining the information corresponding to the barcode or QR code through the locator 190, the pickup device 100 can be moved to the designated cargo channel assembly 200a, thereby enabling the pickup component 110 to move to the designated cargo channel assembly 200a where the goods are to be picked up.

[0129] As shown in Figure 17, the pickup unit 100 of this application embodiment includes two pickup components 110. The two pickup components 110 are arranged opposite each other in the left and right direction along the frame 120, which can improve the pickup efficiency.

[0130] The picking component 110 is connected to the frame 120, and the picking hopper 130 is connected to the two picking components 110. Of course, in other embodiments, the picking hopper 130 may also be directly connected to the frame 120, and this application does not limit this.

[0131] As shown in Figure 19, the picking hopper 130 includes an inclined sliding plate 132 and two upright plates 133. The two upright plates 133 are respectively connected to both sides of the sliding plate 132 in the width direction Dr2, and form a fourth outlet 131 for goods to slide out.

[0132] The multiple information acquisition units 150 include a first information acquisition unit 151, a second information acquisition unit 152, a third information acquisition unit 153, a fourth information acquisition unit 154, a fifth information acquisition unit 155, and a sixth information acquisition unit 156.

[0133] The first information acquisition unit 151 and the second information acquisition unit 152 are located on opposite sides of the thickness direction Dr3 of the slide plate 132, with their lens surfaces facing the slide plate 132. The third information acquisition unit 153 and the fourth information acquisition unit 154 are located on opposite sides of the two upright plates 133, with their lens surfaces facing their respective upright plates 133. The fifth information acquisition unit 155 is located on the side of the fourth outlet 131 of the hopper 130, with its lens surface facing the fourth outlet 131. The sixth information acquisition unit 156 is located on the side of the hopper 130 along the length direction Dr1 away from the fourth outlet 131, with its lens surface facing the space between the two upright plates 133. The length direction Dr1, the width direction Dr2, and the thickness direction Dr3 are all perpendicular to each other.

[0134] As can be seen from this embodiment, information collection units 150 are arranged at both ends of the length direction Dr1, both sides of the thickness direction Dr3, and both sides of the width direction Dr2 of the picking hopper 130. That is, information collection units 150 are arranged on all six sides of the picking hopper 130. This allows multiple information collection units 150 to basically cover the outer surface of the goods, which significantly improves the success rate of the information collection units 150 capturing the preset information of the goods, and further improves the verification efficiency.

[0135] It is understandable that the picking hopper 130 is made of transparent material so that light can pass through the picking hopper 130, thereby preventing the picking hopper 130 from blocking the information collection unit 150 located on the outside of the upright plate 133 and the bottom of the slide plate 132 and thus preventing the acquisition of the preset information of the goods.

[0136] This application does not limit the type of transparent material, as long as light can pass through it. For example, transparent materials include, but are not limited to, glass, acrylic, and polycarbonate.

[0137] As shown in Figures 17 and 19, the number of information collection units 150 arranged on each of the six sides of the material hopper 130 can be one or more. For example, there are two first information collection units 151 on the upper surface of the slide plate 132, arranged along the width direction Dr2; there is one second information collection unit 152 on the lower surface of the slide plate 132; there are two third information collection units 153 and two fourth information collection units 154, arranged along the thickness direction Dr3; there are two fifth information collection units 155, arranged along the width direction Dr2, and corresponding to the positions of the two vertical plates 133 along the length direction Dr1; and there is one sixth information collection unit 156.

[0138] The lens surfaces of both the first information acquisition unit 151 and the second information acquisition unit 152 are parallel to the slide plate 132. Since the first information acquisition unit 151 and the second information acquisition unit 152 are respectively arranged on both sides of the thickness direction Dr3 of the slide plate 132, and the lens surfaces of both information acquisition units are parallel to the slide plate 132, the shooting range of each information acquisition unit can cover as much of the slide plate 132 as possible, improving the success rate of taking pictures.

[0139] As shown in Figure 20, there are two third information acquisition units 153 and two fourth information acquisition units 154. The lens surface of one third information acquisition unit 153 is parallel to the corresponding upright plate 133, and the lens surface of the other third information acquisition unit 153 forms a first target angle α1 with the corresponding upright plate 133. The lens surface of one fourth information acquisition unit 154 is parallel to the corresponding upright plate 133, and the lens surface of the other fourth information acquisition unit 154 forms a second target angle α2 with the corresponding upright plate 133.

[0140] In this embodiment, two third information acquisition units 153 are located outside one of the upright plates 133. The shooting surfaces of the two third information acquisition units 153 are not parallel but have an angle, allowing the two third information acquisition units 153 to capture images of goods in different postures. For example, when goods fall onto the skateboard 132, their QR code is parallel to the upright plate 133, and the third information acquisition unit 153 with its lens surface parallel to the upright plate 133 can acquire the QR code of the goods. If, when goods fall onto the skateboard 132, there is an angle between the QR code and the upright plate 133, the third information acquisition unit 153 with its lens surface at an angle to the upright plate 133 can acquire the QR code of the goods.

[0141] Similarly, the two fourth information acquisition units 154 are located outside the other upright plate 133. The shooting surfaces of the two fourth information acquisition units 154 are not parallel but have an angle, allowing the two fourth information acquisition units 154 to photograph goods in different postures. For example, when the goods fall onto the skateboard 132, its QR code is parallel to the upright plate 133, and the fourth information acquisition unit 154, whose lens surface is parallel to the upright plate 133, can acquire the QR code of the goods. If the goods fall onto the skateboard 132 and there is an angle between the QR code and the upright plate 133, the fourth information acquisition unit 154, whose lens surface is at an angle to the upright plate 133, can acquire the QR code of the goods.

[0142] As shown in Figure 21, there are two fifth information acquisition units 155. The lens surfaces of the two fifth information acquisition units 155 are perpendicular to the slide plate 132, and the lens surface of each fifth information acquisition unit 155 forms a third target angle α3 with the length direction Dr1 of the slide plate 132. By designing the lens surface of the fifth information acquisition unit 155 to have a third target angle α3 with the length direction Dr1 of the slide plate 132, the arrangement of the fifth information acquisition unit 155 ensures that it is obliquely facing the goods without affecting the normal sliding out of the fourth exit 131, thereby improving the success rate of taking pictures.

[0143] As shown in Figure 22, the picking component 110 of this application embodiment can pick up goods placed on the shelf 200 from the shelf 200 and guide the goods to slide into the picking hopper 130.

[0144] When the picking component 110 picks up goods, it moves to the bottom of the support plate 221 and moves from bottom to top through the opening 226 so that the picking component 110 picks up the goods located at the bottom among multiple goods and causes the goods to flip over the baffle 222 and slide down into the picking component 110, and then slide down into the picking hopper 130 through the picking component 110.

[0145] As shown in Figure 23, the frame 120 includes a first crossbeam 121, two second crossbeams 122, two third longitudinal beams 123, and a back plate 124. The length direction of the first crossbeam 121 is parallel to the left-right direction (the direction indicated by the arrow is left, and the opposite direction is right). The length direction of the second crossbeams 122 is parallel to the front-back direction (the direction indicated by the arrow is front, and the opposite direction is back). The length direction of the third longitudinal beams 123 is parallel to the up-down direction (the direction indicated by the arrow is up, and the opposite direction is down). The two ends of the first crossbeam 121 along the left-right direction are respectively connected to the front ends of the two second crossbeams 122, and the lower ends of the two third longitudinal beams 123 are respectively connected to the rear ends of the two second crossbeams 122. The back plate 124 is connected to the two third longitudinal beams 123 and is located behind the two third longitudinal beams 123. The left-right, front-back, and up-down directions are all perpendicular to each other.

[0146] The frame 120 also includes two support beams 125, each of which is parallel to the vertical direction in the length direction, and the two support beams 125 are respectively connected to two second crossbeams 122.

[0147] The pickup device 100 in this embodiment includes two pickup components 110, which are arranged opposite each other in the left-right direction and are respectively connected to two support beams 125. The two pickup components 110 are also connected to the back plate 124.

[0148] 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 components 110.

[0149] Of course, in other embodiments, the number of picking components 110 may be one, three, or other quantities. The picking hopper 130 may be connected to the first crossbeam 121 and the second crossbeam 122.

[0150] As shown in Figure 23, the picking hopper 130 has a fourth outlet 131 for goods to slide out. The picking device 100 also includes an opening and closing assembly 140 for opening or closing the fourth outlet 131.

[0151] As an example, the opening / closing assembly 140 includes a drive mechanism 141 and a door component 142, which is movable between a first position where the fourth outlet 131 is closed and a second position where the fourth outlet 131 is open. The drive mechanism 141 is connected to the hopper 130 and to the door component 142 for driving the door component 142 to move. It is understood that by configuring the opening / closing assembly 140, it is possible to control when goods in the hopper 130 slide out of the hopper 130.

[0152] The door component 142 is made of a transparent material, allowing the fifth information acquisition unit 155 to photograph the goods inside the retrieval hopper 130 through the door component 142. The transparent material may include, but is not limited to, glass, acrylic, polycarbonate, etc.

[0153] It is understood that the drive mechanism 141 can be a motor (defined as a second motor), an electric actuator, etc., and this application does not limit it.

[0154] As shown in Figures 24 and 25, the picking component 110 of this embodiment includes a ramp 111, a guide 112, a rotating unit 113, and a first motor 114. The ramp 111 has an edge 1111. The guide 112 is connected to the ramp 111, and at least a portion of the guide 112 extends beyond the edge 1111. The rotating unit 113 is rotatably connected to the portion of the guide 112 extending beyond the edge 1111, and is used to generate friction with the goods to drive the goods through the guide 112 and slide into the ramp 111. The first motor 114 is connected to the rotating unit 113 and is used to drive the rotating unit 113 to rotate.

[0155] As shown in Figure 22, when the picking component 110 of this application picks up goods, at least part of the guide 112 and the rotating unit 113 pass through the opening 226 from bottom to top. The first motor 114 drives the rotating unit 113 to rotate. Using the friction between the rotating unit 113 and the goods, the goods are driven to slide into the ramp 111 through the guide 112.

[0156] Therefore, it can be seen that the picking component 110 of this application embodiment can pick up goods by rotating the rotating unit 113 and utilizing the friction force generated between the rotating unit 113 and the goods, thus significantly improving the picking efficiency. Furthermore, during the process of the goods sliding into the picking component 110, they are subjected not only to their own weight but also to friction, which significantly improves the success rate of the goods sliding into the picking component 110.

[0157] The ramp 111 has a target angle relative to the horizontal surface, meaning it is inclined. The ramp 111 has a base plate 1115 and two side plates 1116, with the two side plates 1116 connected to both sides of the base plate 1115 in the front-rear direction. The side plates 1116 prevent goods on the ramp 111 from slipping off the sides. The base plate 1115 of the ramp 111 has this edge 1111.

[0158] Please refer to Figures 24 and 25. The rotating unit 113 includes two rotating parts 1131 and an annular part 1132. For ease of explanation, the two rotating parts 1131 are defined as the first rotating part 1131a and the second rotating part 1131b. The first rotating part 1131a is connected to the output shaft of the first motor 114, and the second rotating part 1131b is rotatably connected to the portion of the guide member 112 extending from the edge 1111. The annular part 1132 is arranged around the outer periphery of the two rotating parts 1131, and its outer surface is used to generate friction with the goods. When the first motor 114 is working, it drives the first rotating part 1131a to rotate, which in turn drives the annular part 1132 to rotate, thereby driving the second rotating part 1131b to follow suit. During the rotation of the annular part 1132, the outer surface of the annular part 1132 can generate friction with the goods, thereby using the friction to pull the goods from the shelf 200 into the ramp 111.

[0159] As an example, the inner surface of the annular member 1132 has a first tooth structure, and the outer surface of each rotating member 1131 has a second tooth structure, with the first tooth structure meshing with the second tooth structure. That is, in the embodiments of this application, the rotating unit 113 is a synchronous belt structure. Wherein, when the rotating unit 113 is a synchronous belt structure, the first rotating member 1131a is a synchronous pulley, the second rotating member 1131b is a driven pulley, and the annular member 1132 is a synchronous belt.

[0160] Of course, the rotating unit 113 is not limited to a synchronous belt structure. For example, in other embodiments, the rotating unit 113 includes a friction wheel and a motor. The friction wheel is rotatably connected to the part of the guide 112 that extends out of the edge 1111. The motor is connected to the friction wheel and is used to drive the friction wheel to rotate so that the friction wheel rubs against the goods, thereby driving the goods to slide into the ramp 111 through the guide 112.

[0161] Referring again to Figures 24 and 25, the base plate 1115 of the ramp 111 further has a slope 1112 for guiding the sliding of goods and a back surface 1114 opposite to the slope 1112. One side of the slope 1112 is an edge 1111, and the guide member 112 is attached to the slope 1112. The first rotating member 1131a and the first motor 114 are both located on the side where the back surface 1114 is located, and at least a portion of the second rotating member 1131b is higher than the slope 1112. In one embodiment, the first motor 114 is fixedly connected to the base plate 1115 of the ramp 111. In other embodiments, the first motor 114 may also be fixedly connected to the frame 120. The first motor 114 is located on the side where the back surface 1114 of the ramp 111 is located, and will not affect the sliding of goods on the slope 1112.

[0162] As shown in Figures 25 and 26, the guide member 112 includes a connecting portion 1121 and a pair of cantilever arms 1122. The connecting portion 1121 is connected to the ramp 111 and conforms to the ramp surface 1112. The pair of cantilever arms 1122 are connected to the connecting portion 1121 and at least partially extend beyond the edge 1111; wherein at least a portion of the rotating unit 113 is rotatably connected between the pair of cantilever arms 1122.

[0163] In this embodiment, the second rotating member 1131b is rotatably connected between a pair of cantilever arms 1122, and at least a portion of the annular member 1132 is located between the pair of cantilever arms 1122. By rotatably disposing the second rotating member 1131b between the pair of cantilever arms 1122, the rotational stability of the second rotating member 1131b can be improved, thereby improving the rotational stability of the annular member 1132, achieving the effect of stably retrieving goods.

[0164] It is understandable that the connecting part 1121 and the ramp 111 can be either separate structures or an integral structure.

[0165] A reinforcing part 1124 is provided at one end of the cantilever 1122 that connects to the connecting part 1121. The reinforcing part 1124 and the connecting part 1121 are located on opposite sides of the slope 111 in the thickness direction, and a slot 1125 for the slope 111 to be inserted is formed between the reinforcing part 1124 and the connecting part 1121. In detail, the connecting part 1121 is located on the side of the slope surface 1112 of the bottom plate 1115 of the slope 111, and the reinforcing part 1124 is located on the side of the back surface 1114 of the bottom plate 1115. When the guide member 112 is assembled with the slope 111, the side of the edge 1111 of the slope 111 is inserted into the slot 1125 formed by the reinforcing part 1124 and the connecting part 1121.

[0166] When goods slide onto the guide 112, the cantilever 1122 of the guide 112 is suspended in the air, and may bend downwards under the weight of the goods. In this embodiment, the overall structural strength of the guide 112 is improved by providing a reinforcing part 1124. When the cantilever 1122 tends to bend downwards, the reinforcing part 1124 can abut against the bottom plate 1115 of the ramp 111 to maintain the stability of the guide 112.

[0167] As shown in Figures 25 and 26, each cantilever 1122 has a stop 1123 at one end away from the connecting part 1121. The stop 1123 protrudes from the cantilever 1122 along the thickness direction of the connecting part 1121 and protrudes to the left and downward, and is used to stop the goods.

[0168] As shown in Figure 22, when the guide member 112 lifts the lowest cargo from bottom to top through the notch 226, the cargo slides onto the ramp 111 under its own weight and the friction between the ring member 1132 and the cargo. At this time, the remaining cargo will automatically move towards the baffle 230 under its own weight.

[0169] In this embodiment, when the remaining goods slide down the support plate 221 automatically, the stop part 1123 will stop the goods before the baffle 222. After the pickup device 100 moves away from the notch 226, the remaining goods will continue to slide down until they are blocked by the baffle 222. That is, after the pickup device 100 takes away one item, the remaining goods slide to the baffle 222 in two stages. This shortens the sliding distance of the goods in each stage and avoids the goods from having too much inertia and rushing out of the baffle 222 due to excessive sliding distance.

[0170] As shown in Figure 27, the edge 1111 of the slope 111 has an opening 1113, which penetrates the slope surface 1112 and the back surface 1114, and the annular member 1132 is movably inserted into the opening 1113.

[0171] In the embodiments of this application, the annular member 1132 is movably inserted through the opening 1113 of the ramp 111, which reduces the length of the guide member 112 extending out of the edge 1111 of the ramp 111, saving costs and preventing the guide member 112 from forming a long cantilever structure.

[0172] It is understood that in other embodiments, the picking component 110 may also be other structures, such as a fork that moves to the bottom of the support plate 221 and moves from bottom to top through the notch 226 so that the fork picks up the lowest item among multiple items and causes the item to slide into the picking hopper 130.

[0173] As shown in Figure 28, the workstation 500 in this embodiment further includes a buffer component 510 and a merging component 520. The buffer component 510 includes a buffer rack 511 and a plurality of buffer hoppers 512, which are mounted on the buffer rack 511 for receiving goods conveyed by the picking mechanism 300. The number of buffer hoppers 512 is greater than or equal to the number of sorting hoppers 321. The merging component 520 is movably connected to the buffer rack 511 via a movable component 550 and is configured to receive goods in at least one of the plurality of buffer hoppers 512, convey at least one item to the packing component 530, and convey abnormal goods to the abnormality handling component 540.

[0174] Abnormal goods refer to goods that were mistakenly picked up by the picking agency 300, or one or more goods corresponding to an order that was cancelled by the customer.

[0175] The anomaly handling component 540 is used to handle abnormal goods. For example, in one embodiment, the anomaly handling component 540 can be a chute that can transport abnormal goods to a designated location.

[0176] Of course, in other embodiments, the anomaly handling component 540 may also be a device for collecting abnormal goods.

[0177] In this embodiment, after the picking mechanism 300 retrieves goods from the shelf, the traveling mechanism 400 moves the picking mechanism 300 to the vicinity of the workstation 500, and all the goods in the multiple sorting hoppers 321 of the picking mechanism 300 are transferred to the multiple buffer hoppers 512 of the buffer component 510. Then, depending on whether the goods are abnormal, the merging component 520 transports the goods to the packaging component 530 or the abnormality handling component 540. At this time, since the goods in the sorting hoppers 321 of the picking mechanism 300 have been transferred, the traveling mechanism 400 can drive the picking mechanism 300 back to the shelf for the next picking action, without waiting for the merging component 520 to complete the goods transfer before returning to the shelf to perform the next picking action.

[0178] As can be seen, the workstation 500 in this embodiment includes a cache component 510 and a merging component 520. The cache component 510 can be used to temporarily store goods delivered by the picking mechanism 300. The merging component 520 can transport the goods delivered by the cache component 510 to the packing component 530 or the exception handling component 540. When the merging component 520 is transferring goods, the picking mechanism 300 can perform the next picking action without waiting in place. This can significantly improve picking efficiency and effectively enhance the order processing capability of the workstation 500.

[0179] As shown in Figures 28 and 29, as an example, the movable component 550 can be a linear slide. For example, the movable component 550 includes a third slide rail 551 and a third slider 552. The third slide rail 551 is connected to the buffer frame 511, and the length direction of the third slide rail 551 is parallel to the height direction (second direction D2) of the buffer frame 511. The third slider 552 is movably connected to the third slide rail 551, and the confluence component 520 is connected to the third slider 552.

[0180] Of course, in other embodiments, the movable component 550 may also be other linear drive mechanisms, which will not be described in detail here.

[0181] Furthermore, the movement path of the merging component 520 relative to the buffer rack 511 via the movable component 550 does not have to be a straight line; for example, it can be an arc, as long as it can pick up goods in different buffer hoppers 512 by moving the merging component 520 relative to the buffer rack 511.

[0182] As shown in Figure 28, the buffer rack 511 includes two frames 5111 spaced apart along the length direction (first direction D1) of the buffer rack 511. Each frame 5111 is connected to a plurality of buffer hoppers 512 spaced apart along the height direction (second direction D2) of the buffer rack 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. Along the height direction (second direction D2) of the buffer rack 511, the merging assembly 520 is movably located between the two frames 5111.

[0183] It should be noted that, for the sake of simplifying the view, only one of the two frames 5111 in Figure 12 is equipped with a picking mechanism 300, while the other frame 5111 is not equipped with a picking mechanism 300. In fact, both frames 5111 in this application can be equipped with picking mechanisms 300. That is, the two frames 5111 of the workstation 500 correspond to two sets of picking mechanisms 300 and traveling mechanisms 400, respectively, with the picking mechanism 300 being vertically and vertically connected to the corresponding traveling mechanism 400. Along the first direction D1, the two traveling mechanisms 400 can move towards or away from each other. The two traveling mechanisms 400 can respectively drive the two picking mechanisms 300 to pick up goods from two shelves located at different positions.

[0184] In this embodiment of the application, the merging component 520 is provided with frames 5111 on both sides along the first direction D1, and each frame 5111 is provided with multiple buffer hoppers 512. In this way, the merging component 520 can receive the goods in the buffer hoppers 512 located on different frames 5111 and transport these goods to the packaging component 530 for packaging.

[0185] For example, if two goods corresponding to an order are located on different shelves, two walking mechanisms 400 are needed to drive two picking mechanisms 300 to pick up the two goods and transfer them to the buffer hoppers 512 on the two frames 5111 respectively.

[0186] In this embodiment of the application, each frame 5111 is provided with three buffer hoppers 512. For ease of explanation, the three buffer hoppers 512 in one frame 5111 are numbered 1, 2, and 3, respectively, and the three buffer hoppers 512 in the other frame 5111 are numbered 4, 5, and 6, respectively. If two goods corresponding to an order are transferred to 1 and 6 by two picking mechanisms 300 respectively, the goods in 1 and 6 can be received sequentially by the merging component 520. After merging, the two goods are simultaneously transported to the packaging component 530 for packaging.

[0187] As shown in Figure 28, the packing assembly 530 includes a packing machine 531 and a buffer table 532. The packing machine 531 is used to pack goods; the buffer table 532 is configured to buffer the goods conveyed by the merging assembly 520 and convey the goods to the packing machine 531.

[0188] In this embodiment of the application, the buffer table 532 can buffer the goods to prevent the packing machine 531 from being damaged due to excessive momentum when the goods slide out of the confluence component 520.

[0189] In one embodiment, the buffer platform 532 may be a conveyor belt assembly, a conveyor roller assembly, etc., and this application does not make any special limitation thereto.

[0190] As shown in Figure 29, each frame 5111 includes two spaced-apart second longitudinal beams 5111a. Multiple guide members 5112, spaced-apart along the height direction (second direction D2) of the buffer frame 511, are connected between the two second longitudinal beams 5111a. Each guide member 5112 corresponds to a multiple buffer hopper 512 within the frame 5111. Each guide member 5112 has a guide ramp 5112a for guiding goods from the picking mechanism 300 into the buffer hopper 512. Multiple sorting hoppers 321 of the picking mechanism 300 can each correspond to a multiple guide member 5112 provided in one frame 5111, allowing goods to slide from the sorting hopper 321 into the buffer hopper 512 via the guide members 5112.

[0191] In one embodiment, each frame 5111 has a top abutment 501 and a bottom pressure member 502.

[0192] As shown in Figure 30, the buffer hopper 512 includes a hopper body 5121 and a first cover assembly 5122. The hopper body 5121 is connected to the buffer frame 511 and has a second outlet 5121a. The first cover assembly 5122 is connected to the hopper body 5121 and is used to close or open the second outlet 5121a. When the first cover assembly 5122 is in the closed state, it can be used to prevent the goods in the hopper body 5121 from sliding out of the second outlet 5121a.

[0193] As an example, the first cover assembly 5122 includes a first cover plate 5122a, a first connecting rod 5122b, a second connecting rod 5122c, and a third motor 5122d. The first cover plate 5122a is rotatably connected to the hopper body 5121 for opening or closing the second outlet 5121a; one end of the first connecting rod 5122b is hinged to the side of the first cover plate 5122a; one end of the second connecting rod 5122c is hinged to the other end of the first connecting rod 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 connecting rod 5122c.

[0194] As shown in Figure 31, the merging assembly 520 includes a merging hopper 521 and a second cover assembly 522. The merging hopper 521 is movably connected to the buffer frame 511 via a movable component 550 and has a third outlet 5211. The second cover assembly 522 is connected to the merging hopper 521 and is used to close or open the third outlet 5211. When the second cover assembly 522 is in the closed state, it can prevent the goods in the merging hopper 521 from sliding out of the third outlet 5211.

[0195] As an example, the second cover assembly 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 merging hopper 521 for opening or closing 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 merging hopper 521, and the output shaft of the fourth motor 5224 is connected to the other end of the fourth link 5223.

[0196] In summary, the picking system of this application embodiment has at least the following advantages and beneficial effects:

[0197] The picking system of this application embodiment, with the coordinated action of workstation 500, walking mechanism 400 and picking mechanism 300, can pick up, transfer and pack goods on shelf 200. In addition, it can also remove abnormal goods, ensuring the accuracy and timeliness of delivery, and guaranteeing the efficiency and error-free operation of the entire order processing process.

[0198] It is understood that the various embodiments / implementations provided in this application can be combined with each other without creating contradictions, and will not be described one by one here.

[0199] In the embodiments of this application, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise expressly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0200] In the description of the embodiments of the application, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the application.

[0201] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the claims. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0202] The above are merely preferred embodiments of the application examples and are not intended to limit the application examples. For those skilled in the art, the application examples can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the application examples should be included within the protection scope of the application examples.

Claims

1. A picking system, wherein, include: Shelves (200) are used for storing goods; A workstation (500) is placed on the ground and includes a packaging assembly (530); The traveling mechanism (400) is movable between a first position near the shelf (200) and a second position near the workstation (500); as well as A picking mechanism (300) is vertically connected to the traveling mechanism (400) and configured to pick up goods located on the shelf (200) when the traveling mechanism (400) is in the first position, and to transport the picked-up goods to the workstation (500) when the traveling mechanism (400) is in the second position, so that the packing assembly (530) can pack the normal goods.

2. The order picking system of claim 1, wherein, The workstation (500) also includes: The buffer assembly (510) includes a buffer rack (511) and a plurality of buffer hoppers (512), wherein the plurality of buffer hoppers (512) are mounted on the buffer rack (511) for receiving goods conveyed by the picking mechanism (300); wherein the number of buffer hoppers (512) is greater than or equal to the number of sorting hoppers (321) of the picking mechanism (300); The merging assembly (520), movably connected to the buffer rack (511) via a movable assembly (550), is configured to receive goods from at least one of the buffer hoppers (512) and to convey at least one of the normal goods to the packing assembly (530).

3. The order picking system of claim 2, wherein, The movable component (550) includes a third slide rail (551) and a third slider (552). The length direction of the third slide rail (551) is parallel to the height direction of the buffer rack (511) and is connected to the buffer rack (511). The third slider (552) is movably connected to the third slide rail (551). The merging assembly (520) is connected to the third slider (552).

4. The order picking system of claim 2, wherein, The buffer rack (511) includes two frames (5111) spaced apart along the length of the buffer rack (511), each frame (5111) being connected to a plurality of buffer hoppers (512) spaced apart along the height of the buffer rack (511); the number of the plurality of buffer hoppers (512) connected to the same frame (5111) is greater than or equal to the number of the sorting hoppers (321); Along the height direction of the cache rack (511), the merging assembly (520) is movably located between the two frames (5111).

5. The order picking system of claim 4, wherein, Each frame (5111) includes two second longitudinal beams (5111a), and a plurality of guides (5112) are connected between the two second longitudinal beams (5111a) and spaced apart along the height direction of the buffer frame (511). The plurality of guides (5112) correspond to a plurality of buffer hoppers (512) within the frame (5111), and each guide (5112) has a guide ramp (5112a) for guiding the goods from the picking mechanism to slide into the buffer hopper (512).

6. The order picking system of claim 2, wherein, The workstation (500) also includes an anomaly handling component (540), and the merging component (520) is configured to transport abnormal goods to the anomaly handling component (540).

7. The order picking system of claim 1, wherein, The pickup mechanism (300) includes: The lifting frame (310) is vertically connected to the traveling mechanism (400); The pickup unit (100) is movably connected to the lifting frame (310) via a movable component (330); and The sorting assembly (320) is connected to the lifting frame (310) and includes a plurality of sorting hoppers (321); The pickup device (100) is configured to remove goods located on the shelf (200) and transport the goods to any one of the plurality of sorting hoppers (321).

8. The order picking system of claim 7, wherein, The moving component (330) includes: A first moving unit (330a) is used to move the pickup device (100) along a second direction; and The second moving unit (330b) is used to move the pickup device (100) along a third direction; the second direction is perpendicular to the third direction; The lifting frame (310) moves up and down along the second direction, and the multiple sorting hoppers (321) are arranged side by side along the second direction or the third direction.

9. The order picking system of claim 8, wherein, 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 first slider (332) is movably connected to the first slide rail (331) along the second direction. 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 second slider (334) is movably connected to the second slide rail (333) along the third direction; The pickup device (100) is connected to the second slider (334).

10. The order picking system of claim 7, wherein, Each of the sorting hoppers (321) has a first outlet (321a) for the cargo to slide out; The sorting assembly (320) further includes a shield (322), which is movably connected to the lifting frame (310) between a third position and a fourth position. The shield (322) has a plurality of second windows (322a). When the shield (322) is in the third position, the shield (322) simultaneously closes a plurality of first outlets (321a). When the shield (322) is in the fourth position, the plurality of second windows (322a) are respectively connected to the first outlets (321a) of a plurality of sorting hoppers (321).

11. The order picking system of claim 10, wherein, The sorting assembly (320) further includes an elastic element (323) connected to the lifting frame (310) and the blocking element (322) for providing an elastic force to the blocking element (322) to move toward the third position.

12. The order picking system of claim 10, wherein, The blocking member (322) is movably connected to the lifting frame (310) along the lifting direction of the lifting frame (310); the blocking member (322) has a trigger member (322b); The workstation (500) has a stop (501), and the stop (501) and the trigger (322b) have overlapping first projections on a target plane; the target plane is perpendicular to the lifting direction of the lifting frame (310); When the lifting frame (310) descends, the abutting member (501) abuts against the trigger member (322b) to move the blocking member (322) from the third position to the fourth position.

13. The order picking system of claim 12, wherein, The workstation (500) also has a pressing component (502); Along the lifting direction of the lifting frame (310), at least a portion of the trigger (322b) is located between the pressing member (502) and the abutting member (501); the pressing member (502) and the trigger (322b) have overlapping second projections on the target plane. When the lifting frame (310) rises, the pressing member (502) is used to stop the trigger member (322b).

14. The order picking system of claim 1, wherein, The pickup mechanism (300) includes: Rack (120); A picking unit (100a), mounted on the rack (120), includes a picking assembly (110) and a picking hopper (130) made of transparent material, the picking assembly (110) for retrieving goods stored on the shelf (200) and conveying them into the picking hopper (130); and Multiple information acquisition units (150) are arranged around the picking hopper (130) to acquire preset information of the goods located in the picking hopper (130).

15. The order picking system of claim 14, wherein, The picking hopper (130) includes an inclined sliding plate (132) and two upright plates (133). The two upright plates (133) are respectively connected to both sides of the sliding plate (132) in the width direction and form a fourth outlet (131) for the goods to slide out. The plurality of information acquisition units (150) are image acquisition devices, and include a first information acquisition unit (151), a second information acquisition unit (152), a third information acquisition unit (153), a fourth information acquisition unit (154), a fifth information acquisition unit (155), and a sixth information acquisition unit (156). The first information acquisition unit (151) and the second information acquisition unit (152) are located on both sides of the thickness direction of the slide plate (132), and the lens surfaces of the first information acquisition unit (151) and the second information acquisition unit (152) are facing the slide plate (132). The third information acquisition unit (153) and the fourth information acquisition unit (154) are respectively located on opposite sides of the two upright plates (133), and the lens surfaces of the third information acquisition unit (153) and the fourth information acquisition unit (154) are respectively facing the corresponding upright plate (133). The fifth information acquisition unit (155) is located on the side of the fourth outlet (131) of the picking hopper (130), and the lens surface of the fifth information acquisition unit (155) faces the fourth outlet (131). The sixth information acquisition unit (156) is located on the side of the picking hopper (130) away from the fourth outlet (131) in the length direction, and the lens surface of the sixth information acquisition unit (156) faces the space between the two upright plates (133).

16. The order picking system of claim 14, wherein, The number of the picking components (110) is two, which are arranged opposite each other in the left and right directions of the frame (120).

17. The order picking system of claim 1, wherein, The pickup mechanism (300) includes a pickup component (110), which includes: The slope (111) has an edge (1111); A guide (112) is connected to the ramp (111), and at least a portion of the guide (112) extends out of the edge (1111); A rotating unit (113), rotatably connected to the portion of the guide (112) extending beyond the edge (1111), is used to generate friction with the cargo to drive the cargo through the guide (112) and into the ramp (111); and A first motor (114) is connected to the rotating unit (113) and is used to drive the rotating unit (113) to rotate.

18. The order picking system of claim 17, wherein, The rotating unit (113) includes: Two rotating members (1131), one of which is connected to the output shaft of the first motor (114), and the other of which is rotatably connected to the portion of the guide member (112) extending beyond the edge (1111); and An annular component (1132) is disposed around the outer periphery of the two rotating components (1131), and the outer surface of the annular component (1132) is used to generate friction with the cargo.

19. The order picking system of claim 17, wherein, The guide (112) includes: Connecting part (1121), connected to the slope (111); and A pair of cantilever arms (1122) are connected to the connecting portion (1121) and extend at least partially beyond the edge (1111); At least a portion of the rotating unit (113) is rotatably connected between a pair of cantilever arms (1122).

20. The order picking system of claim 19, wherein, Each of the cantilever arms (1122) has a stop (1123) at one end away from the connecting portion (1121). The stop (1123) protrudes from the cantilever arm (1122) along the thickness direction of the connecting portion (1121) and is used to stop the cargo.

21. The picking system according to claim 19, wherein, The cantilever (1122) is provided with a reinforcing part (1124) at one end connected to the connecting part (1121). The reinforcing part (1124) and the connecting part (1121) are located on both sides of the thickness direction of the slope (111), and a slot (1125) for the slope (111) to be inserted is formed between the reinforcing part (1124) and the connecting part (1121).

22. The picking system according to claim 1, wherein, The walking mechanism (400) includes: The first traveling seat (420) is movably connected to a ground rail (401); The second traveling seat (430) is movably connected to a first track (402); A column (410), the two axial ends of which are respectively connected to the first traveling seat (420) and the second traveling seat (430); the picking mechanism (300) is vertically connected to the column (410); and The drive assembly (440) includes a third motor (441), a transmission shaft (442), a first drive unit (443) connected to the first traveling seat (420), and a second drive unit (444) connected to the second traveling seat (430). The axial ends of the transmission shaft (442) are respectively connected to the first drive unit (443) and the second drive unit (444). The third motor (441) is connected to the first traveling seat (420) and is drivenly connected to the first drive unit (443). The first drive unit (443) is used to drive the first traveling seat (420) to move along the ground track (401), and the second drive unit (444) is used to drive the second traveling seat (430) to move along the overhead track (402).

23. The picking system according to claim 22, wherein, Also includes: The first transmission member (450) is fixedly disposed relative to the ground rail (401) and is drivenly connected to the first drive unit (443); and The second transmission component (460) is fixedly disposed relative to the overhead track (402) and is drivenly connected to the second drive unit (444).

24. The picking system according to claim 23, wherein, The first drive unit (443) includes: The first steering gear (4431) has a first input shaft, a first output shaft and a second output shaft. The first input shaft is connected to the third motor (441) and the first output shaft is connected to one axial end of the transmission shaft (442). The first rotating component (4432) is connected to the second output shaft and is driven to connect to the first transmission component (450).

25. The picking system according to claim 23, wherein, The second drive unit (444) includes: The second steering gear (4441) has a second input shaft and a third output shaft, the second input shaft being connected to the other axial end of the drive shaft (442); The second rotating component (4442) is connected to the third output shaft and is driven to connect to the second transmission component (460).

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