Goods pickup mechanism, goods pickup apparatus, and goods pickup method

Abstract

A goods pickup mechanism, a goods pickup apparatus, and a goods pickup method. The goods pickup mechanism comprises goods pickup parts (12) and vibrating members (15). Each goods pickup part (12) is configured to act with the bottom of goods (300) to lift up the goods (300) and pick up same. Each vibrating member (15) is configured to apply vibration to the corresponding goods pickup part (12). The goods pickup method comprises: on the basis of goods pickup information, moving the goods pickup mechanism to a target goods pickup position, so that each goods pickup part is located below a storage chute where target goods is located; the goods pickup part lifting up the target goods, so that the target goods slides downward; and if a vibration starting condition is satisfied, applying vibration to the goods pickup part (12).

Description

Goods taking mechanism, goods taking device and goods taking method

[0001] The present application claims priority to the Chinese patent application No. 202411118098.0, filed on August 14, 2024, to the Chinese Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of logistics, for example to a goods taking mechanism, a goods taking device and a goods taking method. BACKGROUND

[0003] With the rapid development of warehousing technology, intelligent warehousing systems that use intelligent handling robots to realize automatic taking and handling of goods are becoming more and more widespread, which greatly improves the efficiency of warehousing and reduces the labor cost required for warehousing.

[0004] The related art provides a logistics system, which includes a multi-layer shelf and a goods taking device. Each layer of the multi-layer shelf is provided with a partition layer, and a plurality of rows of storage chutes are formed on the partition layer. The storage chutes are inclined from top to bottom, and the lower end of the chute is provided with a stop component capable of stopping the goods from sliding out of the storage chute. A plurality of goods can be arranged side by side in the storage chute along the extension direction thereof. The goods taking device includes a walking mechanism and a goods taking mechanism. The goods taking mechanism is provided with a goods taking chute for taking goods. The walking mechanism realizes the horizontal and vertical movement of the goods taking mechanism. When taking goods is needed, the goods taking device moves to the front side of the target goods through the aisle between the two shelves, and the goods taking mechanism moves to the lower end of the chute corresponding to the storage chute where the target goods are located. The taking component at the upper end of the goods taking chute lifts the goods upward, so that the goods can overcome the stop component and fall into the goods taking chute under the action of gravity.

[0005] In some cases, for example, when the downward pressure applied to the target goods is small due to the small amount of goods in the storage chute, or when the friction between the goods and the bottom of the storage chute is large, or when the weight of the goods is light, the goods may be stuck in the storage chute and cannot slide down, or the goods may slide down slowly, resulting in low taking efficiency and affecting the normal taking of goods. SUMMARY

[0006] The embodiments of the present application provide a goods taking mechanism, a goods taking device and a goods taking method to improve the smoothness and efficiency of taking goods and reduce the probability of taking failure.

[0007] A goods taking mechanism includes a taking component and a vibrating member. The taking component is arranged to act on the bottom of the goods to lift the goods for taking. The vibrating member is arranged to apply vibration to the taking component.

[0008] As a kind of technical scheme of taking mechanism, further comprising taking chute, wherein the taking component is arranged on the upper end of the taking chute.

[0009] As a kind of technical scheme of taking mechanism, the vibration member is installed on the taking chute or the taking component;

[0010] And / or, the vibration member includes vibration motor.

[0011] As a kind of technical scheme of taking mechanism, the taking chute includes the chute bottom plate arranged obliquely and the chute side plate arranged on the opposite sides of the chute bottom plate, and the vibration member is installed on the back side of the chute bottom plate or the outer side of the chute side plate.

[0012] As a kind of technical scheme of taking mechanism, the taking mechanism further comprises taking frame, the taking chute is installed on the taking frame, and damping structure is arranged between the taking frame and the taking chute.

[0013] A taking device, comprising a walking mechanism, further comprising the taking mechanism as described above, and the walking mechanism drives the taking mechanism to move.

[0014] A taking method, using the taking device as described above to take, the taking method comprising:

[0015] Based on taking information, the taking mechanism is moved to target taking position, so that the taking component is located below the target goods in the storage chute;

[0016] Performing taking operation: the taking component picks up the target goods upward, so that the target goods slides downward;

[0017] If vibration starting condition is met, vibration is applied to the taking component.

[0018] As a kind of technical scheme of taking method, applying vibration to the taking component includes: controlling vibration member to act directly on the taking component;

[0019] Or, the taking mechanism has taking chute, the taking component is arranged on the upper end of the taking chute, and applying vibration to the taking component includes: controlling vibration member to act on the taking chute so that the vibration is transmitted to the taking component.

[0020] As a kind of technical scheme of taking method, the vibration starting condition includes:

[0021] The taking component contacts the target goods;Or,

[0022] In the preset time after the taking component contacts the target goods, it is always detected that goods pass through the preset detection position.

[0023] the taking component starts upward movement to start the taking operation; or

[0024] the number of goods in the storage chute where the target goods are located is less than or equal to a preset number.

[0025] As a technical solution of the taking method, the taking method further comprises: after the vibration is started, if a vibration end condition is met, the vibration is stopped.

[0026] The vibration end condition comprises: detecting that the target goods pass through a preset detection position, or the vibration duration is greater than or equal to a first preset duration.

[0027] As a technical solution of the taking method, the taking method further comprises: within the first preset duration of the vibration, if no goods are detected to pass through the preset detection position, an abnormality warning alarm is sent.

[0028] As a technical solution of the taking method, the taking method further comprises: based on the weight of the target goods or the pressure applied by the target goods to the taking component, the frequency of the vibration is controlled; or

[0029] When the vibration is started, the vibration member applies a frequency to the taking component at an initial frequency, and if no goods are detected to pass through the preset detection position within a second preset duration of the vibration, the vibration frequency of the vibration member is increased. BRIEF DESCRIPTION OF DRAWINGS

[0030] FIG. 1 is a partial structural schematic diagram of a logistics system according to an embodiment of the present application;

[0031] FIG. 2 is a side view of the structure in FIG. 1;

[0032] FIG. 3 is a partial enlarged view of I in FIG. 2;

[0033] FIG. 4 is a structural schematic diagram of a goods shelf according to an embodiment of the present application;

[0034] FIG. 5 is a partial enlarged view of J in FIG. 4;

[0035] FIG. 6 is a structural schematic diagram of a goods shelf and a taking device according to an embodiment of the present application;

[0036] FIG. 7 is a partial structural schematic diagram of a taking device according to an embodiment of the present application;

[0037] FIG. 8 is a partial enlarged view of K in FIG. 7;

[0038] FIG. 9 is a structural schematic diagram of a taking mechanism according to an embodiment of the present application from a first perspective;

[0039] Fig. 10 is an enlarged view of the portion at L in Fig. 9;

[0040] Fig. 11 is a structure schematic view of the taking mechanism provided by the embodiment one of the present application from a second perspective;

[0041] Fig. 12 is a partial structure schematic view of the taking mechanism provided by the embodiment one of the present application.

[0042] Fig. 100, taking device; 200, shelf; 201, stand; 202, floor assembly; 2021, support; 20211, support plate part; 20212, partition plate part; 2022, storage chute; 2023, stop part; 2024, taking gap; 2025, crossbeam; 300, goods; 1, taking mechanism; 11, taking chute; 111, chute bottom plate; 112, chute side plate; 12, taking part; 121, taking main body; 122, goods stopping part; 13, temporary storage chute; 14, taking frame; 141, mounting frame; 142, support frame part; 15, vibrating part; 16, force applying assembly; 161, force applying driving part; 162, driven pulley; 163, driving pulley; 164, transmission belt; 17, baffle assembly; 171, movable baffle; 172, baffle driving part; 18, identification device; 19, mounting seat; 2, walking mechanism; 21, lifting column; 3, horizontal adjustment module; 31, horizontal adjustment guide rail; 32, horizontal adjustment sliding block; 4, vertical adjustment module; 41, vertical adjustment guide rail; 42, vertical adjustment sliding block; 43, vertical adjustment driving assembly; 5, temporary storage assembly; 51, temporary storage space; 6, lifting frame. DETAILED DESCRIPTION

[0043] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrated; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the meaning of the above terms in the present application can be understood according to the situation.

[0044] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature is "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature is "under", "below" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0045] In the description of the present embodiment, the terms "upper", "lower", "right", "left", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in description, and have no special meaning.

[0046] Embodiment one

[0047] As shown in FIGS. 1-3, the present embodiment provides a logistics system, which includes a shelf 200, a picking device 100 and a control system, the shelf 200 is arranged to store goods 300, the picking device 100 can move to the position of the target goods 300 to pick up the target goods 300 on the shelf 200; the control system controls the operation of the picking device 100.

[0048] As shown in FIGS. 1-5, the shelf 200 includes a plurality of layer assemblies 202 arranged at intervals along the height direction, each layer assembly 202 is provided with a plurality of storage slots 2022 side by side along the first direction, the storage slots 2022 are arranged inclined downward from the storage end to the picking end, wherein the goods 300 enter the storage slots 2022 from the storage end and slide out from the picking end. The lower end of the storage slot 2022 is provided with a stop component 2023, which can stop the goods 300 in the storage slot 2022 from sliding out of the storage slot 2022.

[0049] The shelf 200 includes two stands 201 arranged at intervals along the first direction, and each storage area is formed between two adjacent stands 201, each storage area is provided with a plurality of layer assemblies 202 arranged at intervals along the height direction, and the layer assemblies 202 of adjacent two storage areas are arranged one by one in the height direction. The two ends of the layer assembly 202 along the first direction are connected with the two stands 201 respectively.

[0050] As shown in FIG. 4 and FIG. 5, in order to improve the versatility of the shelf 200, each shelf layer assembly 202 comprises a plurality of support members 2021 arranged side by side along the first direction and a cross beam 2025 extending along the first direction, both ends of the cross beam 2025 are connected with two stands 201 respectively, and the bottom of all support members 2021 are detachably connected with the cross beam 2025. The support member 2021 comprises a support plate part 20211 and a partition plate part 20212 connected at an angle, the partition plate parts 20212 of two adjacent support members 2021 form a storage chute 2022, and the support plate part 20211 forms the bottom of the storage chute 2022. In this way, the width of the storage chute 2022 can be adjusted by changing the distance between two adjacent support members 2021, so that the shelf 200 can meet the storage of different types of goods 300. The cross beam 2025 is arranged at intervals along the extension direction of the support member 2021, so as to ensure the stability and reliability of the arrangement of the support member 2021.

[0051] The shelf 200 is arranged at intervals along the second direction, and the storage chutes 2022 of two adjacent shelves 200 form a lane for the movement of the goods taking device 100, and the second direction is perpendicular to the first direction.

[0052] As shown in FIG. 5 and FIG. 6, the goods taking device 100 comprises a walking mechanism 2 and a goods taking mechanism 1, and the walking mechanism 2 can realize the walking of the goods taking device 100 on the ground. The walking mechanism 2 can move along the first direction, so that the goods taking mechanism 1 can be opposite to any column of storage chutes 2022; the walking mechanism 2 can drive the goods taking mechanism 1 to ascend and descend along the vertical direction, so that the goods taking mechanism 1 can be opposite to any row of goods taking chutes 11, thereby realizing the taking of the goods 300 in any goods taking chute 11 of the shelf 200 by the goods taking mechanism 1.

[0053] The structure of the walking mechanism 2 can be arranged according to related technologies, and the structure and walking mode of the walking mechanism 2 are not limited in the embodiment.

[0054] As shown in FIG. 5 to FIG. 12, the goods taking mechanism 1 comprises a goods taking component 12 arranged to act on the bottom of the goods 300 to pick up the goods 300 for taking. The bottom of the storage chute 2022 is provided with a taking gap 2024, and the taking gap 2024 is in communication with the lower end of the storage chute 2022. When the goods taking device 100 is used for taking, the goods taking component 12 is first moved to the lower side of the corresponding storage chute 2022, and then the goods taking component 12 can pass through the taking gap 2024 from bottom to top to abut against the bottom of the goods 300 in the storage chute 2022, so as to drive the lower end of the goods 300 to be lifted, so that the goods 300 can slide to the goods taking mechanism 1 by overcoming the stop component 2023.

[0055] That is, in the present embodiment, the stop component 2023 is fixedly arranged at the lower end of the storage chute 2022 and is higher than the bottom of the storage chute 2022, and the stop component 2023 stops the goods 300 from sliding out of the storage chute 2022 downward when the goods 300 are not picked up by the picking component 12. Such arrangement can simplify the structure of the stop component 2023, thereby reducing the overall cost of the shelf 200 and the storage system. The lower end of each partition plate portion 20212 is connected with the stop component 2023, and the stop component 2023 extends outward beyond the partition plate portion 20212 along both sides in the first direction, thereby simplifying the arrangement of the stop component 2023.

[0056] The structural arrangement of the shelf 200 is only an exemplary arrangement, and the shelf 200 structure with the inclined storage chute 2022 to achieve storage and inclined falling picking can be applied to the present application, and the present application does not limit the structure of the shelf 200.

[0057] In order to improve the smoothness of picking, in the present embodiment, the picking mechanism 1 further comprises a vibrating member 15 arranged to apply vibration to the picking component 12.

[0058] The picking mechanism 1, the picking device 100 and the logistics system provided by the present embodiment can drive the picking component 12 to vibrate through the vibrating member 15 when the picking mechanism 1 picks up the goods 300 in the storage chute 2022, thereby reducing the friction between the goods 300 and the picking component 12, reducing the jamming of the goods 300 with the picking component 12 and the storage chute 2022, promoting the goods 300 to move downward under the action of gravity into the picking mechanism 1, improving the smoothness of the goods 300 sliding from the storage chute 2022 into the picking mechanism 1, thereby reducing the probability of picking failure, improving the picking reliability, and improving the picking efficiency, thereby improving the operation efficiency of the entire logistics system.

[0059] In the present embodiment, in order to improve the reliability and smoothness of picking, the picking mechanism 1 further comprises a picking chute 11 inclined downward in a direction away from the picking component 12, and the picking component 12 is arranged at the upper end of the picking chute 11. When the picking component 12 picks up the goods 300, the picking component 12 extends outward beyond the picking chute 11. By arranging the picking chute 11 and arranging the picking component 12 at the upper end of the picking chute 11, the goods 300 fall into the picking chute 11 along the picking component 12 after the picking component 12 picks up the goods 300, and fall into the specific position of the picking mechanism 1 through the picking chute 11, thereby better guiding the goods 300 to fall into the picking mechanism 1, reducing the risk of the goods 300 falling during picking, and improving the picking safety.

[0060] In order to better realize the temporary storage of the goods, the goods taking device 100 further has a temporary storage assembly 5, the temporary storage assembly 5 is provided with a temporary storage space 51, and the lower end of the goods taking chute 11 is in butt joint with the temporary storage space 51, so that the goods 300 falling into the goods taking chute 11 can slide into the temporary storage space 51, and the temporary storage of the goods 300 in the goods taking device 100 is realized.

[0061] In other embodiments, the goods taking mechanism 1 can also not be provided with the goods taking chute 11 but only be provided with the temporary storage assembly 5 with the temporary storage space 51, and the lower end of the goods taking component 12 is in butt joint with the temporary storage space 51, so that the goods falling from the goods taking component 12 directly fall into the temporary storage space 51 for temporary storage.

[0062] In other embodiments, the goods taking component 12 can be provided separately from the goods taking chute 11, for example, the goods taking mechanism 1 includes a goods taking frame 14, and the goods taking component 12 and the goods taking chute 11 are both provided on the goods taking frame 14, and the upper end of the goods taking component 12 extends out of the upper end of the goods taking chute 11, so as to guide the goods picked up by the goods taking component 12 to fall into the goods taking chute 11.

[0063] In the embodiment, the vibration piece 15 is installed on the goods taking chute 11, which is beneficial to realize the installation of the vibration piece 15, ensure the structural strength of the installation space and installation position of the vibration piece 15, and reduce the influence of the setting of the vibration piece 15 on the size of the goods taking component 12. In other embodiments, the vibration piece 15 can also be installed on the goods taking component 12. In other embodiments, the vibration piece 15 can also be installed on the goods taking frame 14 and arranged close to the goods taking chute 11.

[0064] The goods taking chute 11 includes an inclined chute bottom plate 111 and two chute side plates 112 connected to opposite sides of the chute bottom plate 111, and the two chute side plates 112 are upwardly protruding from the chute bottom plate 111. The vibration piece 15 is installed on the back side of the chute bottom plate 111 or the outer side of the chute side plate 112. In this way, it is beneficial to simplify the installation structure of the vibration piece 15 and reduce the installation difficulty of the vibration piece 15.

[0065] In order to improve the installation convenience of the vibration piece 15, the outer side of the goods taking chute 11 is provided with a mounting seat 19, and the vibration piece 15 is installed on the mounting seat 19; the mounting seat 19 is detachably connected with the goods taking chute 11, and / or the vibration piece 15 is detachably connected with the mounting seat 19.

[0066] The vibration piece 15 is a vibration motor, and the structure and principle of realizing vibration of the vibration motor can be set according to related technologies, and the structure and type of the vibration motor are not limited in the embodiment. The size and model of the vibration motor can be adaptively selected according to the size and type of the goods 300.

[0067] In the embodiment, the lower end of the taking component 12 is connected with the chute bottom plate 111, the upper end of the taking component 12 extends out of the taking chute 11, and the extension direction of the taking component 12 is the same as the extension direction of the taking chute 11. That is, in the embodiment, the upper end of the taking component 12 always extends out of the taking chute 11. In other embodiments, the taking component 12 can be movably installed on the chute bottom plate 111, and when the taking component 12 is not needed for taking, the taking component 12 is located inside the taking chute 11 or below the taking chute 11.

[0068] The taking component 12 includes a taking body 121 and a blocking component 122. The taking body 121 extends downwardly and upwardly, and one end of the blocking component 122 is connected to the upper end of the taking body 121, and the other end of the blocking component 122 extends downwardly. In this way, when the taking component 12 takes the goods 300, the taking body 121 is in contact with the bottom of the goods 300, and the blocking component 122 can abut against the goods 300 behind the goods 300 to be taken, so as to prevent the goods 300 behind from sliding down and causing jam, thereby improving the safety and reliability of taking. Meanwhile, the blocking component 122 can also help to enhance the structural strength and rigidity of the upper end of the taking component 12, and reduce the probability of deformation and damage of the taking component 12.

[0069] The width of the blocking component 122 is greater than the width of the upper end of the taking body 121 at least partially, so as to increase the contact area between the blocking component 122 and the goods 300, thereby enhancing the blocking effect of the blocking component 122 on the goods 300.

[0070] In the embodiment, the taking device 100 further includes a lifting frame 6, the lifting frame 6 is connected with the traveling mechanism 2, and the taking mechanism 1 and the temporary storage assembly 5 are both installed on the lifting frame 6, so that the lifting of the lifting frame 6 drives the taking mechanism 1 and the temporary storage assembly 5 to lift synchronously. In the embodiment, the temporary storage assembly 5 is installed on the side of the lifting column 21 of the lifting frame 6 away from the traveling mechanism 2, and the lifting frame 6 is located between the lifting column 21 and the temporary storage assembly 5, thereby improving the rationality of the structural layout of the taking device 100, reducing the size of the taking device 100 in the second direction, and thus reducing the width requirement of the aisle between two adjacent racks 200, and improving the storage density.

[0071] The two taking-out slide grooves 11 extend obliquely from top to bottom along the second direction, and the temporary storage slide groove 13 and the temporary storage slide groove 13 extend obliquely from top to bottom along the first direction towards the temporary storage assembly 5.

[0072] The two taking-out slide grooves 11 extend obliquely from top to bottom along the second direction, and the temporary storage slide groove 13 and the temporary storage slide groove 13 extend obliquely from top to bottom along the first direction towards the temporary storage assembly 5.

[0073] In other embodiments, the temporary storage slide groove 13 can not be provided, and the temporary storage space 51 can be provided between the lower ends of the two taking-out slide grooves 11.

[0074] As shown in FIGS. 7 and 8, in the embodiment, the temporary storage assembly 5 includes at least two temporary storage spaces 51 arranged in the vertical direction, and the taking-out device 100 further includes a vertical adjustment module 4. The vertical adjustment module 4 drives the taking-out mechanism 1 to move up and down relative to the walking mechanism 2 in the vertical direction, so as to adjust the position of the lower end of the temporary storage slide groove 13, so that the lower end of the temporary storage slide groove 13 can be opposite to any temporary storage space 51, and the temporary storage of the goods 300 in any temporary storage space 51 is realized. With such a design, the temporary storage amount of the goods 300 can be increased, so as to improve the taking-out efficiency of the taking-out device 100. Meanwhile, the vertical adjustment module 4 is provided, so that when the taking-out component 12 moves upward to pick up the goods 300, the taking-out mechanism 1 can be moved by the vertical adjustment module 4, so as to reduce the driving cost and control difficulty. The taking-out mechanism 1 is connected with the lifting frame 6 through the vertical adjustment module 4, so that the vertical adjustment module 4 drives the taking-out mechanism 1 to move up and down relative to the lifting frame 6.

[0075] The taking device 100 further comprises a horizontal adjustment module 3 connected between the vertical adjustment module 4 and the taking mechanism 1, the horizontal adjustment module 3 drives the taking mechanism 1 to move along the second direction so as to make the taking component 12 close to or away from the shelf 200. The horizontal adjustment module 3 is arranged to finely adjust the position of the taking component 12 and the shelf 200 in the second direction without moving the walking mechanism 2, so as to ensure that the upper end of the taking component 12 can be arranged opposite to the taking gap 2024 and can pass through the taking gap 2024 upward, avoid the problem that the taking component 12 is too far away from the shelf 200 and the taking component 12 is difficult to effectively push the goods 300, and avoid the problem that the upper end of the taking component 12 collides with the shelf 200 due to the taking component 12 being too close to the shelf 200, so as to ensure the safety and reliability of taking.

[0076] The vertical adjustment module 4 comprises a vertical adjustment driving assembly 43 and a vertical guide assembly, the vertical guide assembly comprises a vertical adjustment guide rail 41 mounted on the lifting frame 6 and a vertical adjustment sliding block 42 slidingly arranged on the vertical adjustment guide rail 41, the vertical adjustment driving assembly 43 drives the vertical adjustment sliding block 42 to slide along the vertical direction; the horizontal adjustment module 3 comprises a horizontal adjustment driving assembly and a horizontal guide assembly, the horizontal guide assembly comprises a horizontal adjustment guide rail 31 extending along the second direction and a horizontal adjustment sliding block 32 slidingly arranged on the horizontal adjustment guide rail 31, the horizontal adjustment guide rail 31 is connected with the vertical adjustment sliding block 42, the horizontal adjustment sliding block 32 is connected with the taking frame 14 of the taking mechanism 1, and the horizontal adjustment assembly drives the horizontal adjustment sliding block 32 to slide along the horizontal adjustment guide rail 31.

[0077] The structures of the vertical adjustment module 4 and the horizontal adjustment module 3 can be arranged according to related technologies, which will not be described herein.

[0078] In other embodiments, the horizontal adjustment module 3 can not be arranged, and only the vertical adjustment module 4 and the temporary storage assembly 5 with a plurality of temporary storage spaces 51 are arranged. In other embodiments, the vertical adjustment module 4 can not be arranged, and only the horizontal adjustment module 3 is arranged to realize accurate alignment of the taking component 12 and the target storage chute 2022. In this arrangement, the temporary storage space 51 can be arranged only one, or the temporary storage space 51 is arranged with a plurality of temporary storage assemblies 5 fixed relative to the lifting column 21.

[0079] In order to adjust the position of the taking component, the taking device 100 further comprises an identification device 18, and the front end of each stop component 2023 on the shelf 200 is provided with an electronic tag code, which carries the coordinate position of the corresponding storage chute 2022 and the information of the stored goods 300. The identification device 18 is configured to scan and identify the electronic tag code, so as to confirm and review the coordinate position of the storage chute 2022. The control system controls the vertical adjustment module 4 and / or the horizontal adjustment module 3 to act according to the information obtained by the identification device 18, so as to accurately adjust the position of the taking component 12 and ensure the reliability of taking. The identification device 18 can be a code scanner or a camera capable of identifying the electronic tag code.

[0080] As shown in FIGS. 9-12, in order to improve the convenience of arranging the temporary storage chute 13 and the taking chute 11, in the embodiment, the taking chute 11 further comprises a taking frame 14, the taking frame 14 is installed on the walking mechanism 2, and the taking chute 11 is installed on the taking frame 14. The taking frame 14 is detachably installed on the horizontal adjustment sliding block 32. The taking frame 14 comprises a mounting frame 141 and two support frame portions 142 connected to the opposite sides of the mounting frame 141, the mounting frame 141 is connected with the horizontal adjustment sliding block 32, the two taking chutes 11 are respectively installed on the two support frame portions 142, and the temporary storage chute 13 is located between the two mounting frames 141 and connected with the two support frame portions 142 at the upper ends of the opposite sides.

[0081] A elastic damping structure is arranged between the support frame portion 142 and the bottom of the taking chute 11, so that the vibration of the taking chute 11 is reduced or slowed down when transmitted to the support frame portion 142, thereby reducing the vibration of the taking mechanism 1 while realizing the vibration of the taking component 12, improving the operation reliability and safety of the taking device 100, and prolonging the overall service life of the taking device 100. The elastic damping structure is an elastic pad arranged on the upper side of the support frame portion 142 or the lower side of the chute bottom plate 111, or a plurality of elastic damping blocks arranged between the support frame portion 142 and the chute bottom plate 111.

[0082] In some embodiments, the taking mechanism 1 further comprises a force applying assembly 16, the force applying assembly 16 comprises a force applying driving member 161 and a force applying component rotatably sleeved on the upper end of the taking component 12, the force applying component is capable of contacting the bottom of the goods 300, and the force applying driving member 161 drives the force applying component to rotate, so as to apply a force to the goods 300 to move towards the taking chute 11. By arranging the force applying assembly 16, the goods 300 supported on the taking component 12 can be driven to move in the direction towards the taking chute 11, thereby improving the smoothness and reliability of taking.

[0083] The force applying driving member 161 comprises a force applying motor, the force applying assembly 16 further comprises a driving pulley 163 rotatably sleeved on a motor shaft of the force applying motor, a driven pulley 162 rotatably installed on an upper end of the taking device 12, and a transmission belt 164 wound around the driving pulley 163 and the driven pulley 162, the driving pulley 163, the force applying motor and a part of the transmission belt 164 are located below the taking chute 11, and a part of the transmission belt 164 sleeved on the driven pulley 162 forms a force applying member. In other embodiments, the force applying member can also adopt a roller structure, and the force applying driving member 161 drives the roller structure to rotate, so as to apply a friction force to the taking chute 11 through relative movement between the force applying member and the bottom of the goods 300.

[0084] In order to detect whether the goods 300 pass through the taking chute 11, so as to judge whether the taking is successful, in the embodiment, a detection sensor is further arranged on the taking chute 11, and the detection sensor and the vibration member 15 are both in communication connection with the taking controller. The arrangement of the detection sensor is beneficial to control the taking process.

[0085] In the embodiment, the detection sensor is installed on an outer side of a chute side plate 112, and a detection opening is formed on the chute side plate 112, and a detection end of the detection sensor is arranged opposite to the detection opening, so as to detect whether the goods 300 pass through the taking chute 11 through the detection opening. The detection sensor is an optical sensor, so as to realize non-contact detection, and the detection precision is high.

[0086] The temporary storage chute 13 comprises a guide bottom plate portion and two side baffle portions connected to opposite sides of the guide bottom plate portion, and the guide bottom plate portion and the two side baffle portions jointly form the temporary storage chute 13. The two side baffle portions are respectively connected to the two support frame portions 142.

[0087] The taking mechanism 1 further comprises a baffle assembly 17, the baffle assembly 17 comprises a movable baffle 171 and a baffle driving member 172, the baffle driving member 172 drives the movable baffle 171 to switch between a stopping state and a avoiding state, when the movable baffle 171 is in the stopping state, the movable baffle 171 spans in the temporary storage chute 13 and is higher than a chute bottom of the temporary storage chute 13, so as to stop the goods 300 in the temporary storage chute 13 from moving to the temporary storage space 51. In this way, when the temporary storage space 51 is full of goods or the temporary storage chute 13 fails to be properly connected to the temporary storage space 51, the goods 300 can be prevented from sliding out of the temporary storage chute 13 and falling, and the taking safety is improved.

[0088] Embodiment two

[0089] The embodiment provides a taking method, so as to improve the taking efficiency and the taking success rate, and improve the logistics efficiency.

[0090] The taking method provided by the embodiment comprises the following steps.

[0091] Based on the picking information, the picking mechanism 1 is moved to the target picking position, so that the picking part 12 of the picking mechanism 1 is located below the storage chute 2022 where the target goods 300 are located.

[0092] The present scheme is aimed at the principle of picking up the goods 300 by the picking part 12 to make the goods 300 slide over the front blocking part. The picking part 12 below the storage chute 2022 refers to the general below, which can be obliquely below or directly below, as long as the position of the picking part 12 contacting the target goods 300 by lifting or extending is met.

[0093] Performing the picking operation: the picking part 12 picks up the target goods 300 upward, so that the target goods 300 slide downward.

[0094] If the vibration starting condition is met, the picking part 12 is vibrated.

[0095] The picking part 12 is vibrated in order to make the picking part 12 contact the target goods 300, pick up the target goods 300 to realize the goods sliding, and the picking part 12 is in a vibrating state, so as to promote the target goods 300 to slide out. The time node of starting the vibration can be any time before the completion of picking, as long as the vibration can play a promoting role when the goods are picked up to make the target goods 300 slide. The vibration applying step is not the last step in the method.

[0096] The picking method provided by the embodiment can apply vibration to the picking part 12 when the vibration starting condition is met. When the picking part 12 picks up the goods 300 in the storage chute 2022, the vibration part 15 can drive the picking part 12 to vibrate, so as to reduce the friction between the goods 300 and the picking part 12, reduce the jamming of the goods 300 with the picking part 12 and the storage chute 2022, promote the goods 300 to move downward under the action of gravity to the picking mechanism 1, improve the smoothness of the goods 300 sliding from the storage chute 2022 to the picking mechanism 1, reduce the probability of picking failure, improve the picking reliability, and improve the picking efficiency, thereby improving the operation efficiency of the entire logistics system.

[0097] The understanding of the vibration start condition should be extensive and not limited, such as position, instruction, machine self-check qualified to operate, time, communication normal, etc. For the position, the possible situation is that when the picking component 12 reaches the picking position (i.e. below the goods), the vibration start condition is met; for the machine self-check, it is possible that the self-check device is normal when the device starts or starts to move, at which time the start condition is met for the vibration start condition; for the communication normal, the device needs to communicate with the upstream system to detect, and the normal communication can be used for the device operation, which can be used as the vibration start condition; for the instruction, it belongs to a relatively direct control scene, when the control system issues a vibration instruction, it can be regarded as meeting the vibration start condition. Various conditions can be combined or single, that is, one condition can be used as a basis alone, or multiple conditions can be met to be regarded as meeting the condition.

[0098] In the embodiment, the structure of the shelf 200 and the picking device 100 can refer to the structure in Embodiment 1, and the structure of the shelf 200 and the picking device 100 will not be limited in this embodiment.

[0099] In the embodiment, the vibration applied to the picking component 12 includes: controlling the vibration piece 15 to act on the upper end of the picking chute 11 to make the vibration transmitted to the picking component 12. As long as the vibration can be applied to the picking chute 11, the setting is beneficial to the installation of the vibration piece 15, and simplifies the structure of the picking component 12, avoids the interference between the picking component 12 and the storage chute 2022 due to the oversize of the picking component 12.

[0100] In other embodiments, the vibration applied to the picking component 12 can also include: controlling the vibration piece 15 to directly act on the picking component 12. The setting ensures that the vibration acts on the picking component 12, and reduces the range of the vibration spreading to other positions.

[0101] In the embodiment, the vibration start condition includes: the picking component 12 starts to move upward to start the picking operation. When the picking component 12 moves to the position directly below the picking chute 11 where the target goods 300 are located and starts to move upward, the vibration piece 15 starts to vibrate. The setting can avoid detecting the relative position of the picking component 12 and the vibration piece 15, simplify the control logic, and reduce the control difficulty.

[0102] In the embodiment, the moving of the picking mechanism 1 to the target picking position includes:

[0103] Based on the picking information, the position information of the target storage chute 2022 where the target goods 300 are located is obtained; based on the position information, the walking mechanism 2 is controlled to walk along the ground to the front side of the target storage chute 2022; the picking mechanism 1 is controlled to be lifted until the picking component 12 is located directly below the target storage chute 2022; the identification device 18 scans and identifies the electronic tag information at the front end of the target storage chute 2022 to obtain the check position coordinates of the target storage chute 2022; based on the check position coordinates, the horizontal adjustment module 3 and / or the vertical adjustment module 4 are controlled to act so that the picking component 12 is located directly below the picking gap 2024 of the target storage chute 2022.

[0104] The picking operation includes: controlling the picking mechanism 1 to be lifted until the picking component 12 passes through the picking gap 2024 upward and abuts against the goods 300, until the picking component 12 lifts the lower end of the goods 300 by a preset height.

[0105] In this embodiment, the picking method further includes: after the vibration is started, if the vibration end condition is met, the vibration is stopped; the vibration end condition includes: detecting that the target goods 300 pass through the preset detection position, or the vibration duration is greater than or equal to the first preset duration.

[0106] By setting the vibration end condition, the application of the vibration can be stopped in time, thereby avoiding structural damage caused by long-time vibration of the picking component 12 or the picking mechanism 1, and improving the use safety and reliability of the picking device 100. When it is detected that the target goods 300 pass through the preset detection position, it means that the picking has been successfully performed, so there is no need to perform vibration again; if it is determined that the vibration duration is greater than or equal to the first preset duration, the vibration member 15 can be prevented from continuously vibrating invalidly after the vibration picking fails, thereby reducing the operation cost of the picking mechanism 1 and the picking device 100.

[0107] In this embodiment, the preset detection position is located at the picking chute 11, and in other embodiments, the preset detection position can also be located at the temporary storage chute 13.

[0108] The first preset duration is 5s-40s, which can be 10s, 15s, 20s, 25s, 30s, 35s, etc. The value of the first preset time can be set according to the type, weight and required picking efficiency of the goods 300. For example, the average time of the goods 300 falling into the picking chute 11 when the vibration member 15 vibrates can be obtained through testing, and a first preset duration greater than the average time is determined based on the average time.

[0109] The picking method further includes: if no goods 300 are detected passing through the preset detection position within the first preset duration of the vibration, an abnormality warning alarm is issued.

[0110] That is, when the vibration lasts for the first preset duration, and there is still no goods 300 passing through the preset detection position, it is determined that the goods taking fails, and the success probability of taking goods through continuous vibration is small. In this case, the vibration member 15 may be malfunctioning, or there may be a jamming member in the storage chute 2022, or other abnormal conditions may occur, so when the goods taking fails, an abnormal reminder alarm is sent, which helps the staff to troubleshoot the abnormal condition and better ensure the smooth progress of the next goods taking.

[0111] Embodiment Three

[0112] The embodiment provides a goods taking method, and the goods taking method provided in the embodiment is basically same to the goods taking method provided in the embodiment two, only partial settings are different, and the embodiment will not repeat the same content as the embodiment two.

[0113] In the embodiment, the vibration starting condition comprises that the goods taking member 12 is in contact with the target goods 300. That is, in the embodiment, the vibration starts when the goods taking member 12 is in contact with the target goods 300.

[0114] Whether the goods taking member 12 is in contact with the goods 300 can be determined by position recognition of the goods taking member 12, or a pressure sensor is arranged at the upper end of the goods taking member 12, and whether the goods taking member 12 is in contact with the goods 300 is determined by the detection value of the pressure sensor. In other embodiments, other ways can also be used to determine whether the goods taking member 12 is in contact with the goods 300.

[0115] Embodiment Four

[0116] The embodiment provides a goods taking method, and the goods taking method provided in the embodiment is basically same to the goods taking method provided in the embodiment two, only partial settings are different, and the embodiment will not repeat the same content as the embodiment two.

[0117] In the embodiment, the goods taking method comprises: if it is always detected that there is no goods 300 passing through the preset detection position within a preset time after the goods taking member 12 is in contact with the target goods 300, it is determined that the vibration starting condition is met.

[0118] In the embodiment, the preset detection position is located at the goods taking chute 11, and in other embodiments, the preset detection position can also be located at the temporary storage chute 13.

[0119] Under this setting, a detection sensor needs to be arranged at the preset detection position to detect whether the goods 300 pass through the preset detection position.

[0120] That is, under this kind of setting, the frequent start of the vibration member 15 can be avoided, and the start is only performed when the goods taking fails or is slow, thereby avoiding the problem of short service life caused by long time vibration of the goods taking chute 11 and the goods taking component 12.

[0121] The preset time is 2s-20s, for example, 3s-10s.

[0122] Embodiment five

[0123] The embodiment provides a goods taking method, and the goods taking method provided in the embodiment is basically the same as the goods taking method provided in the embodiment two, only the partial setting is different, and the embodiment will not repeat the same content as the embodiment two.

[0124] In the embodiment, the goods taking method comprises the following steps: when the number of goods in the storage chute 2022 where the target goods 300 are located is less than or equal to a preset number, and the goods taking component 12 is in contact with the target goods 300, it is determined that the vibration start condition is met.

[0125] Because in the goods taking process, when the number of goods in the storage chute 2022 is small, the pressure of the goods 300 applied to the frontmost goods 300 is reduced, thereby reducing the force of the goods 300 in the direction of the goods taking chute 11, and the problem of easy goods taking failure occurs. Therefore, in the embodiment, when the number of goods in the storage chute 2022 is small, if the goods taking component 12 is in contact with the target goods 300, vibration is applied to the goods taking component 12, so as to ensure that the goods 300 can smoothly move to the goods taking chute 11 through the goods taking component 12, and the frequent start of the vibration member 15 is avoided.

[0126] The preset number can be one to four.

[0127] Embodiment six

[0128] The embodiment provides a goods taking method, and the goods taking method provided in the embodiment is based on the description of the goods taking method provided in the embodiment two, and the embodiment will not repeat the same content as the embodiment two.

[0129] In the embodiment, the goods taking method further comprises: controlling the frequency of vibration based on the weight of the target goods 300 or the pressure applied by the target goods 300 to the goods taking component 12.

[0130] For different types and sizes of goods 300, the gravity and friction experienced by the goods 300 when sliding from the storage chute 2022 to the taking chute 11 are different, and therefore, by controlling the frequency of vibration based on the weight of the target goods 300 or the pressure applied by the target goods 300 to the taking component 12, it is possible to avoid the effect of the smaller vibration frequency of the goods 300, which results in less guiding of the goods 300 to slide downward, and also avoid the effect of the larger vibration frequency, which results in the vibration spreading to other positions or causing the goods 300 to be shaken out of the taking chute 11 and fall, achieving smoothness of taking while improving the safety and reliability of taking, and also facilitating the versatility of the taking device 100 for different types of goods 300.

[0131] The vibration frequency corresponding to the goods 300 can be obtained by testing, and the present embodiment does not limit the vibration frequency corresponding to each type of goods 300.

[0132] In the present embodiment, a plurality of vibration gears can be provided, each vibration gear corresponding to a different vibration frequency, and each vibration gear corresponding to goods 300 of different weights, thereby facilitating the simplification of the adjustment and control of vibration.

[0133] Embodiment Seven

[0134] The present embodiment provides a taking method, which is based on the description of the taking method provided in Embodiment Two, and the present embodiment will not repeat the same content as Embodiment Two.

[0135] In the present embodiment, the taking method comprises: when the vibration is started, controlling the vibration member 15 to apply a frequency to the taking component 12 at an initial frequency, and if no goods 300 are detected passing through the preset detection position within a second preset duration of the vibration, increasing the vibration frequency of the vibration member 15.

[0136] That is, in the present embodiment, if the vibration applied at the initial frequency still has the problem of unsuccessful taking, the vibration frequency is increased to enhance the promoting effect of the goods 300 sliding downward, thereby being able to successfully take the goods while reducing the cost of taking and reducing the probability of the vibration spreading to other positions.

[0137] The control system has a plurality of frequency gears preset therein, and the initial frequency is the lowest frequency gear, and when the vibration is applied at a lower frequency gear and the taking fails, the vibration frequency is adjusted to the adjacent high frequency gear, thereby facilitating the adjustment.

Claims

1. A picking mechanism, comprising a picking component (12) configured to act on a bottom of a target object (300) to pick up the target object (300), and a vibration device (15) configured to apply vibration to the picking component (12).

2. The goods retrieval mechanism of claim 1, further comprising a retrieval chute (11), wherein, The picking component (12) is arranged at an upper end of the picking chute (11). 3.The picking mechanism according to claim 2, satisfying at least one of the following conditions: The vibration device (15) is mounted on the picking chute (11) or the picking component (12) ; The vibration device (15) comprises a vibration motor.

4. The article retrieval mechanism of claim 3, wherein, The picking chute (11) comprises a chute bottom plate (111) arranged obliquely and chute side plates (112) arranged on opposite sides of the chute bottom plate (111), and the vibration device (15) is mounted on a back side of the chute bottom plate (111) or an outer side of the chute side plate (112). 5.The picking mechanism according to any one of claims 2-4, further comprising a picking frame (14), wherein the picking chute (11) is mounted on the picking frame (14), and a damping structure is arranged between the picking frame (14) and the picking chute (11). 6.A picking device, comprising a walking mechanism (2) and a picking mechanism according to any one of claims 1-5, wherein the walking mechanism (2) drives the picking mechanism to move. 7.A picking method, applied to the picking device according to claim 6, comprising: Based on picking information, moving the picking mechanism of the picking device to a target picking position, so that a picking component of the picking mechanism is located below a storage chute where a target object is located; The picking component picks up the target object upward, so that the target object slides downward; In response to satisfying a vibration starting condition, applying vibration to the picking component. 8.The picking method according to claim 7, wherein: The vibration applied to the picking component comprises controlling a vibration device of the picking mechanism to act directly on the picking component; or The picking mechanism has a picking chute, the picking component is arranged at an upper end of the picking chute, and the vibration applied to the picking component comprises controlling a vibration device of the picking mechanism to act on the picking chute so that the vibration is transmitted to the picking component.

9. The method of claim 7, wherein, The vibration starting condition comprises one of the following conditions: The picking component is in contact with the target object; Within a preset time after the picking component is in contact with the target object, the target object is always detected to pass through a preset detection position; The picking component starts to move upward to start the picking operation; The number of objects in the storage chute where the target object is located is less than or equal to a preset number. 10.The picking method according to any one of claims 7-9, further comprising: In response to satisfying a vibration ending condition after the vibration starts, controlling the vibration to stop; The vibration ending condition comprises one of the following conditions: detecting that the target object passes through a preset detection position, or the vibration duration is greater than or equal to a first preset duration.

11. The method of claim 10, further comprising: in response to no detection of the target goods passing through the preset detection position within the first preset duration of the vibration, issuing an abnormality reminding alarm.

12. The method of any one of claims 7-9, further comprising: controlling the frequency of the vibration based on the weight of the target goods or the pressure applied by the target goods to the goods taking component; or, in response to the vibration starting, controlling the vibration member to apply a frequency to the goods taking component at an initial frequency, and in response to no detection of the target goods passing through the preset detection position within a second preset duration of the vibration, increasing the vibration frequency of the vibration member. ​

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