CN110589337A

CN110589337A - Movable replenishment device

Info

Publication number: CN110589337A
Application number: CN201911017748.1A
Authority: CN
Inventors: 傅强; 朱辰; 未杏龙
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2019-10-24
Filing date: 2019-10-24
Publication date: 2019-12-20
Anticipated expiration: 2039-10-24

Abstract

The embodiment of the application discloses portable replenishment device belongs to storage letter sorting field. This portable replenishment device includes: the device comprises a controller, a lifting assembly, a chassis assembly, a telescopic mechanism, a clamping mechanism and a navigation assembly; the telescopic mechanism is fixed on the chassis component, the lifting component is fixed on the telescopic mechanism, the clamping mechanism is fixed on the lifting component, and the telescopic mechanism, the clamping mechanism, the lifting component and the chassis component are all electrically connected with the controller; the telescopic mechanism is used for driving the clamping mechanism to move into the first goods shelf and/or the second goods shelf under the control of the controller, the clamping mechanism is used for clamping goods in the first goods shelf under the control of the controller, and is also used for placing the goods in the second goods shelf under the control of the controller; the navigation assembly is fixed on the chassis assembly. Through the portable replenishment device that this application provided, can solve the big problem that surpasses the retailer human cost height of cargo allocation personnel intensity of labour with the merchant.

Description

Movable replenishment device

Technical Field

The embodiment of the application relates to the field of warehousing and sorting, in particular to a movable replenishment device.

Background

In the merchant retail industry, after goods on shelves are sold, the goods need to be taken from a storage container by a goods distributor and then replenished on the shelves. For example, when the bread on the shelf is sold out, the distributor needs to take the bread from the storage cabinet to replenish the bread on the shelf. However, on one hand, the labor intensity of the distribution personnel in the process of taking the goods from the storage container to the goods shelf is very high, and on the other hand, the super retailer needs to arrange special distribution personnel to replenish the goods shelf, so that the labor cost is increased. Therefore, it is desirable to provide a movable replenishment device to solve the above problems.

Disclosure of Invention

The embodiment of the application provides a portable replenishment device, can solve the big problem with the merchant of the super retailer human cost height of cargo allocation personnel intensity of labour. The technical scheme is as follows:

provided is a movable replenishment device including: the device comprises a controller, a lifting assembly, a chassis assembly, a telescopic mechanism, a clamping mechanism and a navigation assembly;

the telescopic mechanism is fixed on the chassis assembly, the lifting assembly is fixed on the telescopic mechanism, the clamping mechanism is fixed on the lifting assembly, and the telescopic mechanism, the clamping mechanism, the lifting assembly and the chassis assembly are all electrically connected with the controller;

the chassis assembly is used for moving between a first goods shelf and a second goods shelf under the control of the controller, the first goods shelf is a goods shelf for storing inventory goods, the second goods shelf is a goods shelf for storing selling goods, the lifting assembly is used for driving the clamping mechanism to move up and down under the control of the controller so as to drive the clamping mechanism to move to the height of the first goods shelf and/or the second goods shelf, the telescopic mechanism is used for driving the clamping mechanism to move into the first goods shelf and/or the second goods shelf under the control of the controller, the clamping mechanism is used for clamping goods in the first goods shelf under the control of the controller, and is also used for placing the goods in the second goods shelf under the control of the controller;

the navigation assembly is fixed on the chassis assembly, electrically connected with the controller and used for acquiring position information and sending the position information to the controller so as to navigate the chassis assembly.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least can comprise:

in the embodiment of the application, firstly, lifting unit can remove fixture to the height of first goods shelves, later, telescopic machanism can remove fixture to in the first goods shelves and automatic centre gripping goods, next, this portable replenishment device can move to the second goods shelves from first goods shelves automatically under the effect of chassis subassembly, after portable replenishment device reachs the second goods shelves, lifting unit can remove fixture to the height of second goods shelves, telescopic machanism can remove fixture to in the second goods shelves and transfer the goods of centre gripping in first goods shelves. That is, the movable replenishment device may automatically replenish the second rack with the items. Compared with a mode of replenishing goods to the second goods shelf through the goods distributor, the labor intensity of the goods distributor is greatly reduced, and the labor cost of the merchant beyond retailers is also reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a movable replenishment device provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a lift assembly provided in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of another lifting assembly provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of another movable replenishment device provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of another movable replenishment device provided in the embodiment of the present application;

fig. 6 is a schematic structural diagram of another movable replenishment device provided in the embodiment of the present application.

Reference numerals:

1: a lifting assembly; 2: a chassis assembly; 3: a telescoping mechanism; 4: a clamping mechanism; 5: a navigation component; 6: a goods detection assembly;

11: a lifting mechanism; 12: a lifting platform; 13: a first limit sensor; 14: a second limit sensor; 15: an origin sensor; 16: a self-locking assembly; 17: a rotation mechanism; 31: a sliding mechanism; 32: mounting a plate; 51: a navigation sensor; 52: a magnetic strip; 53: a first navigation camera; 54: a marking strip; 55: a second navigation camera;

111: a mounting frame; 112: a linear module; 113: a motor;

1121: a slide rail assembly; 1122: a slide block.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a movable replenishment device provided in an embodiment of the present application. Referring to fig. 1, the movable replenishment device may include: the device comprises a controller, a lifting assembly 1, a chassis assembly 2, a telescopic mechanism 3, a clamping mechanism 4 and a navigation assembly 5; the telescopic mechanism 3 is fixed on the chassis component 2, the lifting component 1 is fixed on the telescopic mechanism 3, the clamping mechanism 4 is fixed on the lifting component 1, and the telescopic mechanism 3, the clamping mechanism 4, the lifting component 1 and the chassis component 2 are all electrically connected with the controller 1; the chassis component 2 is used for moving between a first goods shelf and a second goods shelf under the control of the controller 1, the first goods shelf is a goods shelf for storing inventory goods, the second goods shelf is a goods shelf for storing selling goods, the lifting component 1 is used for driving the clamping mechanism 4 to move up and down under the control of the controller so as to drive the clamping mechanism 4 to move to the height of the first goods shelf and/or the second goods shelf, the telescopic mechanism 3 is used for driving the clamping mechanism 4 to move into the first goods shelf and/or the second goods shelf under the control of the controller 1, the clamping mechanism 4 is used for clamping goods in the first goods shelf under the control of the controller 1 and is also used for placing the goods in the second goods shelf under the control of the controller 1; navigation subassembly 5 is fixed on chassis subassembly 2, and navigation subassembly 5 is connected with controller 1 electricity, and navigation subassembly 5 is used for gathering positional information and sends positional information to controller 1 to navigate chassis subassembly 2.

Because the lifting component 1 is fixed on the telescopic mechanism 3, the lifting component 1 is used for driving the clamping mechanism 4 to move up and down under the control of the controller so as to drive the clamping mechanism 4 to move to the height of the first goods shelf and/or the second goods shelf, namely, the movable replenishment device has the function of automatically moving the clamping mechanism 4 to the height of the first goods shelf and/or the second goods shelf. In addition, because fixture 4 is fixed on lifting unit 1, telescopic machanism 3 is used for driving fixture 4 to the first goods shelves in under the control of controller 1, and fixture 4 is used for the goods in the centre gripping first goods shelves under the control of controller 1, therefore, this portable replenishment device possesses the function of automatic centre gripping goods in first goods shelves under the control of controller 1. In addition, because telescopic machanism 3 is fixed on chassis subassembly 2, chassis subassembly 2 is used for moving between first goods shelves and second goods shelves under controller 1's control, again because navigation assembly 5 is fixed on chassis subassembly 2, navigation assembly 5 is used for gathering positional information and sending positional information to controller 1 to navigate chassis subassembly 2, therefore, after fixture 4 centre gripping goods in first goods shelves, controller 1 can be under navigation of navigation assembly 51 control chassis subassembly 2 and reach second goods shelves department. That is, the movable replenishment device has a function of automatically moving from the first rack to the second rack. After the movable replenishment device reaches the second shelf, since the holding mechanism 4 is also used for placing the goods in the second shelf under the control of the controller 1, that is, the movable replenishment device has a function of automatically placing the goods held in the first shelf in the second shelf.

To sum up, in this application embodiment, first, lifting unit 1 can remove fixture 4 to the height of first goods shelves, and later, telescopic machanism 3 can remove fixture 4 to the first goods shelves in and automatic centre gripping goods, and then, this portable benefit goods device can move to the second goods shelves from first goods shelves automatically under the effect of chassis subassembly 2, and after portable benefit goods device reachs the second goods shelves, lifting unit 1 can remove fixture 4 to the height of second goods shelves, and telescopic machanism 3 can remove fixture 4 to the second goods shelves in and transfer the goods of centre gripping in first goods shelves. That is, the movable replenishment device may automatically replenish the second rack with the items. Compared with a mode of replenishing goods to the second goods shelf through the goods distributor, the labor intensity of the goods distributor is greatly reduced, and the labor cost of the merchant beyond retailers is also reduced.

Specifically, controller 1 is after receiving the replenishment order, can be based on the positional information that navigation subassembly 5 gathered, control chassis subassembly 2 and remove to first goods shelves department, treat after chassis subassembly 2 reachs first goods shelves, navigation subassembly 5 can send third signal to controller 1, after controller 1 received the third signal, can control lifting unit 1 and drive fixture 4 and remove the height to first goods shelves, later control telescopic machanism 3 and drive fixture 4 and remove to first goods shelves in, and control fixture 4 centre gripping goods in first goods shelves. After fixture 4 accomplished the action of centre gripping goods, controller 1 is based on the positional information that navigation subassembly 5 gathered, control chassis subassembly 2 removes to the second goods shelves, treat after chassis subassembly 2 reachs the second goods shelves, navigation subassembly 5 can send fourth signal to controller 1, after controller 1 received the fourth signal, can control lifting unit 1 and drive fixture 4 and remove the height to the second goods shelves, later control telescopic machanism 3 and drive fixture 4 and remove to the second goods shelves in, and control fixture 4 and transfer goods in the second goods shelves. So far, the work of automatically clamping goods from the first shelf, automatically conveying the goods to the second shelf and automatically transferring the clamped goods to the second shelf is finished. That is, the function of automatically replenishing the second shelf with the goods is completed.

It is noted that the third signal is used to indicate that the chassis assembly 2 reaches the first shelf and the fourth signal is used to indicate that the chassis assembly 2 reaches the second shelf. It is also worth noting that in the embodiment of the present application, for the sake of understanding, the first shelf may be understood as a stock cabinet for storing stock goods, and the second shelf may be understood as a shelf for storing sold goods, so that the process of automatically holding goods from the first shelf to the second shelf may be understood as a process of automatically replenishing goods from the stock cabinet to the shelf. Of course, based on different application scenarios, the first shelf and the second shelf may be other devices for storing goods, such as containers, storage bins, and the like, which is not specifically limited in the embodiment of the present application.

It should be noted that the telescopic mechanism 3 may be fixed on the chassis assembly 2 by screws, or may be fixed on the chassis assembly 2 by other manners, which is not specifically limited in the embodiment of the present application. In addition, the clamping mechanism 4 may also be fixed to the lifting assembly 1 by screws, and of course, may also be fixed to the lifting assembly 1 by other manners, which is not specifically limited in the embodiment of the present application. In addition, the lifting assembly 1 can be fixed on the telescopic mechanism 3 through screws, and certainly, can also be fixed on the telescopic mechanism 3 through other modes, which is not specifically limited in the embodiment of the present application.

When the controller 1 controls the gripping mechanism 4 to perform the gripping action, there is a case where the gripping mechanism 4 is not gripping the article, and when the gripping mechanism 4 is not gripping the article, obviously, it will be useless to proceed to the next action, and therefore, in some embodiments, referring to fig. 1, the movable restocking device may further include: an item detection assembly 6. Goods determine module 6 fixes on fixture 4, and goods determine module 6 is connected with controller 1 electricity, and goods determine module 6 is used for sending first signal to controller 1 when detecting fixture 4 centre gripping has the goods to and when detecting fixture 4 does not have the centre gripping to have the goods, send the second signal to controller 1. Like this, after controller 1 control fixture 4 carries out the operation of centre gripping goods, can detect whether there is the goods on the fixture 4 through goods detection component 6, if goods detection component 6 detects when the centre gripping has the goods on fixture 4, then can send first signal to controller 1, after controller 1 received first signal, can control this portable replenishment device and carry out next action. If the goods detecting component 6 detects that goods are not clamped on the clamping mechanism 4, the second signal can be sent to the controller 1, and after the controller 1 receives the second signal, the clamping mechanism 4 can be controlled to continue clamping until the goods detecting component 6 detects that goods are clamped on the clamping mechanism 4.

It should be noted that the goods detecting assembly 6 may be fixed on the clamping mechanism 4 by screws, or may be fixed on the clamping mechanism 4 by other manners, which is not specifically limited in the embodiment of the present application. It is also noted that the item detection assembly 6 may be a correlation sensor. Other electronic components having a function of detecting whether or not a good is present on the clamping mechanism 4 may be used, and this embodiment of the present application is not particularly limited.

It is noted that shelves typically include multiple levels of product placement positions, and that the heights of the multiple levels of product placement positions are typically different. Therefore, through lifting unit 1 alright with remove fixture 4 to not co-altitude goods locating place department, and then realize not co-altitude goods locating place centre gripping or transfer goods.

In some embodiments, referring to fig. 1, the lifting assembly 1 may comprise: a lifting mechanism 11 and a lifting platform 12; elevating system 11 is fixed on telescopic machanism 3, and elevating platform 12 sets up on elevating system 11, and fixture 4 is fixed on elevating platform 12, and elevating system 11 is connected with the controller electricity, and elevating system 11 can control elevating platform 12 along elevating system 11 up-and-down motion under the effect of controller to drive fixture 4 and remove the height to first goods shelves and/or second goods shelves.

Therefore, the lifting platform 12 can be controlled by the lifting mechanism 11 to move up and down along the lifting mechanism 11, and the clamping mechanism 4 fixed on the lifting platform 12 is driven to move to the height of the first goods shelf and/or the second goods shelf.

It should be noted that the clamping mechanism 4 may be fixed on the lifting platform 12 by screws, or may be fixed on the lifting platform 12 by other manners, which is not specifically limited in the embodiment of the present application. In addition, the lifting mechanism 11 may be fixed to the telescopic mechanism 3 by screws, or may be fixed to the telescopic mechanism 3 by other methods, which is not specifically limited in the embodiments of the present application.

In some embodiments, referring to fig. 2, the lifting mechanism 11 may include: the mounting frame 111, the linear module 112 and the motor 113, wherein the linear module 112 includes a sliding rail component 1121 and a sliding block 1122; the bottom end of the mounting frame 111 is fixed on the telescopic mechanism 3, the slide rail component 1121 is vertically fixed on the mounting frame 111, the motor 113 is fixed at one end of the slide rail component 1121, the slider 1122 is installed on the slide rail component 1121, the lifting platform 12 is fixed on the slider 1122, the motor 113 is electrically connected with the controller 1, and the motor 113 is used for driving the slider 1122 to move up and down along the slide rail component 1121 under the control of the controller 1 so as to drive the lifting platform 12 to move up and down.

Thus, the motor 113 can drive the slider 1122 to move up and down under the control of the controller 1. Since the lifting platform 12 is fixed on the sliding block 1122, the motor 73 can drive the lifting platform 12 to move up and down under the control of the controller 1. In addition, since the clamping mechanism 4 is fixed on the lifting platform 12, it is obvious that the motor 113 can drive the clamping mechanism 4 to move to the height of the first shelf and/or the second shelf under the control of the controller 1.

It should be noted that the bottom end of the mounting frame 111 may be fixed to the telescopic mechanism 3 by a screw, or may be fixed to the telescopic mechanism 3 by other methods, which is not specifically limited in the embodiment of the present application.

Because the sliding rail assemblies 1121 are vertically fixed on the mounting frame 111, the sliding blocks 1122 are mounted on the sliding rail assemblies 1121, and the lifting platform 12 is fixed on the sliding blocks 1122, in some scenarios, after the motor 113 loses power, the lifting platform 12 may move downward under the action of gravity, so that the motor shaft of the motor 113 starts to rotate.

Based on this, in some embodiments, referring to fig. 3, the lifting assembly 1 may further include: a self-locking assembly 16; the first end of self-locking assembly 16 is connected with motor 113, and the second end of self-locking assembly 16 is connected with one end of slide rail assembly 1121, and self-locking assembly 16 is used for preventing motor shaft of motor 113 from rotating after losing power. Thus, the rotation of the motor shaft of the motor 113 after the power loss of the motor 113 can be avoided.

Wherein, in some embodiments, the self-locking assembly 16 is a motor brake. Of course, the self-locking assembly 16 may also be other components capable of preventing the motor shaft from rotating after the motor 113 loses power, which is not specifically limited in the embodiment of the present application.

In the process that the motor 113 drives the slider 1122 to move up and down along the sliding rail component 1121, assuming that two ends of the sliding rail component 1121 from top to bottom are a first end and a second end, respectively, when the motor rotates forward, the slider 1122 can be driven to move toward the first end of the sliding rail component 1121, and when the motor rotates backward, the slider 1122 can be driven to move toward the second end of the sliding rail component 1121.

Based on the above assumptions, it can be understood that when the slider 1122 reaches the first end of the sliding rail assembly 1121, in order to avoid the slider 1122 colliding with the first end of the sliding rail assembly 1121, the motor should be reversed to move the slider 1122 toward the second end of the sliding rail assembly 1121. Similarly, when the slider 1122 reaches the second end of the sliding rail assembly 1121, in order to avoid the slider 1122 colliding with the second end of the sliding rail assembly 1121, the motor should rotate forward to drive the slider 1122 to move toward the first end of the sliding rail assembly 1121. That is, slider 1122 should move between the first and second ends of slide rail assembly 1121.

However, in some embodiments, after the slider 1122 reaches the first end of the sliding rail assembly 1121, the motor 113 still continues to rotate forward so that the slider 1122 collides with the first end of the sliding rail assembly 1121, or after the slider 1122 reaches the second end of the sliding rail assembly 1121, the motor 113 still continues to rotate backward so that the slider 1122 collides with the second end of the sliding rail assembly 1121.

Based on this, in some embodiments, referring to fig. 3, the lifting assembly 1 may further include: a first limit sensor 13 and a second limit sensor 14; the first limit sensor 13 and the second limit sensor 14 are sequentially fixed at two ends of the sliding rail assembly 1121 from top to bottom, and in the process that the lifting platform 12 moves up and down along the lifting mechanism 11, the first limit sensor 13 and the second limit sensor 14 are used for limiting the sliding block 1122 between the two ends of the sliding rail assembly 1121.

Thus, continuing to connect the above embodiment, when first limit sensor 13 detects slider 1122, it may send a fifth signal to the controller, and after receiving the fifth signal, controller 1 may control motor 73 to rotate in reverse direction, so that slider 1122 moves downward, and when second limit sensor 14 detects slider 1122, it may send a sixth signal to the controller, and after receiving the sixth signal, controller 1 may control motor 73 to rotate in forward direction, so that slider 1122 moves upward, and thus, it may be possible to avoid the situation that slider 1122 collides with both ends of slide rail assembly 1121.

Wherein, first spacing sensor 13 and the spacing sensor 14 of second all can be fixed at the both ends of slide rail assembly 1121 from last to down in proper order through the screw, of course, first spacing sensor 13 and the spacing sensor 14 of second also all can be fixed at the both ends of slide rail assembly 1121 from last to down in proper order through other modes, and this application embodiment does not do specific restriction to this. In addition, the fifth signal is used to indicate that the slider 1122 reaches the position of the first limit sensor 13, and the sixth signal is used to indicate that the slider 1122 reaches the position of the second limit sensor 14.

In the process that the motor 113 drives the slider 1122 to move up and down along the sliding rail component 1121, the moving precision of the motor 113 directly affects the usability of the mobile replenishment device. However, when the motor 113 is used, a "displacement error" may occur, for example, in the last operation, the theoretical moving distance of the slider 1122 driven by the motor 113 is 10cm, whereas the actual moving distance of the slider 1122 driven by the motor 113 is 9.5cm, that is, the "displacement error" is generated by the motor 113. In this way, in the next operation, it is assumed that the slider 1122 needs to be moved by 5cm to reach the preset position, however, since the motor 113 has an error of 5cm in the previous operation, the motor 113 drives the slider 1122 to move by 5cm and cannot reach the preset position.

In order to eliminate the "displacement error" left by the last operation, in some embodiments, referring to fig. 3, the lifting assembly 1 may further include: an origin sensor 15; the origin sensor 15 is fixed on the sliding rail component 1121 and located between the first limit sensor 13 and the second limit sensor 14, and the origin sensor 15 is used for indicating the starting position of the motor 113. Thus, in a possible implementation manner, the position of the origin sensor 15 may be found first when the motor 113 is powered on each time, and the position of the origin sensor 15 is determined as the starting position of the motor 113, that is, the fixed position may be used as the starting position after the motor 113 is powered on each time, so that the phenomenon that the operation of this time is affected by the "displacement error" generated in the last operation of the motor 113 may be avoided.

The origin sensor 15 may be fixed to the sliding rail component 1121 by a screw, or may be fixed to the sliding rail component 1121 by other methods, which is not specifically limited in this embodiment of the application.

In some embodiments, referring to fig. 1, the telescopic mechanism 3 comprises: a slide mechanism 31 and a mounting plate 32; the sliding mechanism 31 is fixed on the chassis component 2, the mounting plate 32 is arranged on the sliding mechanism 31, and the lifting component 1 is fixed on the mounting plate 32; the sliding mechanism 31 is electrically connected with the controller, and the sliding mechanism 31 is used for driving the mounting plate 32 to move along the sliding mechanism 31 under the control of the controller so as to drive the clamping mechanism 4 to move into the first shelf and/or the second shelf.

The sliding mechanism 31 may be fixed to the chassis assembly 2 by screws, and certainly, may also be fixed to the chassis assembly 2 by other manners, which is not specifically limited in this embodiment of the present application.

In some embodiments, referring to fig. 4, the lifting assembly 1 may comprise: a lifting mechanism 11, a lifting platform 12 and a rotating mechanism 17; the rotating mechanism 17 comprises a fixed end and a rotating end, the fixed end is connected with the telescopic mechanism 3, the rotating end is connected with the lifting mechanism 11, the lifting platform 12 is arranged on the lifting mechanism 11, the clamping mechanism 4 is fixed on the lifting platform 12, the lifting mechanism 11 and the rotating mechanism 17 are both electrically connected with the controller, the lifting mechanism 11 can control the lifting platform 12 to move up and down along the lifting mechanism 11 under the action of the controller so as to drive the clamping mechanism 4 to move to the height of the first goods shelf and/or the second goods shelf, and the rotating mechanism 17 can rotate under the action of the controller so as to drive the clamping mechanism 4 to rotate to the direction of the first goods shelf and/or the second goods shelf.

Like this, suppose that first goods shelves and second goods shelves set up in opposite directions, fixture 4 need centre gripping goods in first goods shelves, need transfer goods in the second goods shelves, so, in a possible implementation, fixture 4 can drive lift platform 12 rotatory through rotary mechanism 17 after the goods of taking in first goods shelves, and then drive fixture 4 towards the direction at second goods shelves place, and like this, fixture 4 just can be very convenient transfers goods in the second goods shelves.

Wherein, in some embodiments, the rotating mechanism 17 is an electric cylinder capable of rotating. Of course, the rotating mechanism 17 may also be another mechanism capable of driving the clamping mechanism 4 to rotate, which is not limited in this embodiment of the application.

In some embodiments, referring to fig. 5, the navigation component 5 may comprise: a navigation sensor 51 and a magnetic strip 52 (not shown in the figure). The navigation sensor 51 is fixed at the bottom of the chassis component 2, the magnetic strip 52 is fixed on the ground, the navigation sensor 51 is electrically connected with the controller 1, and the navigation sensor 51 is used for navigating the chassis component 2 under the control of the controller 1 according to the position information of the magnetic strip 52. In this way, first, the navigation sensor 51 may acquire the position information of the magnetic stripe 52, then, the navigation sensor 51 may send the position information of the magnetic stripe 52 to the controller 1, and after receiving the position information of the magnetic stripe 52 sent by the navigation sensor 51, the controller 1 may control the movement direction of the chassis assembly 2, that is, the function of navigating the chassis assembly 2 is completed.

It should be noted that the navigation sensor 51 may be fixed to the bottom of the chassis assembly 2 by screws, or may be fixed to the bottom of the chassis assembly 2 by other manners, which is not specifically limited in the embodiment of the present application.

In other embodiments, referring to fig. 6, the navigation assembly 5 may comprise: a first navigation camera 53 and a marker bar 54 (not shown in the figure). The first navigation camera 53 is fixed on the front end face of the chassis component 2, the marker strip 54 is fixed on the ground, the marker strip 54 is within the visual field range of the first navigation camera 53, the first navigation camera 53 is electrically connected with the controller 1, and the first navigation camera 53 is used for navigating the chassis component 2 under the control of the controller 1 according to the position information of the marker strip 54. In this way, first, the first navigation camera 53 may obtain the position information of the marker strip 54, then, the first navigation camera 53 may send the position information of the marker strip 54 to the controller 1, and after receiving the position information of the marker strip 54 sent by the first navigation camera 53, the controller 1 may control the movement direction of the chassis assembly 2, that is, the function of navigating the chassis assembly 2 is completed.

It should be noted that the first navigation camera 53 may be fixed on the front end surface of the chassis assembly 2 by a screw, or may be fixed on the front end surface of the chassis assembly 2 by other manners, which is not specifically limited in this embodiment of the application.

During driving, the chassis assembly 2 may be inclined between the front end surface and the rear end surface, for example, although the center line of the front end surface is driven along the position of the mark bar 54 under the navigation of the first navigation camera 53, the center line of the rear end surface forms an angle with the mark bar 54, and therefore, in some embodiments, with reference to fig. 6, the navigation assembly 5 may further include a second navigation camera 55. The second navigation camera 55 is fixed on the rear end face of the chassis assembly 2, the marker strip 54 is within the visual field range of the second navigation camera 55, the second navigation camera 55 is electrically connected with the controller 1, and the second navigation camera 55 is used for correcting the driving path of the chassis assembly 2 under the control of the controller 1 according to the position information of the marker strip 54. In this way, the running path of the chassis assembly 2 is corrected by the second navigation camera 55, so that the phenomenon that an included angle is formed between the central line of the rear end face and the mark strip 54 can be avoided, and the running of the chassis assembly 2 is more stable.

It should be noted that the second navigation camera 55 may be fixed on the rear end surface of the chassis assembly 2 by a screw, or may be fixed on the rear end surface of the chassis assembly 2 by other manners, which is not specifically limited in this embodiment of the application.

Further, for better navigation of the chassis assembly 2, in some embodiments, the first and second navigation cameras 53, 55 may be symmetrical about a center plane of the chassis assembly 2. Therefore, the method is more beneficial to subsequent navigation and more accords with aesthetic habits.

In this embodiment, because lifting unit 1 is fixed on telescopic machanism 3, lifting unit 1 is used for driving fixture 4 up-and-down motion under the control of controller to drive fixture 4 and remove the height to first goods shelves and/or second goods shelves, promptly, this portable replenishment device possesses the function of automatic moving fixture 4 to the height of first goods shelves and/or second goods shelves. In addition, because fixture 4 is fixed on lifting unit 1, telescopic machanism 3 is used for driving fixture 4 to the first goods shelves in under the control of controller 1, and fixture 4 is used for the goods in the centre gripping first goods shelves under the control of controller 1, therefore, this portable replenishment device possesses the function of automatic centre gripping goods in first goods shelves under the control of controller 1. In addition, because telescopic machanism 3 is fixed on chassis subassembly 2, chassis subassembly 2 is used for moving between first goods shelves and second goods shelves under controller 1's control, again because navigation assembly 5 is fixed on chassis subassembly 2, navigation assembly 5 is used for gathering positional information and sending positional information to controller 1 to navigate chassis subassembly 2, therefore, after fixture 4 centre gripping goods in first goods shelves, controller 1 can be under navigation of navigation assembly 51 control chassis subassembly 2 and reach second goods shelves department. That is, after the holding mechanism 4 holds the article in the first shelf, the movable replenishment device has a function of automatically moving from the first shelf to the second shelf. After the movable replenishment device reaches the second shelf, since the holding mechanism 4 is also used for placing the goods in the second shelf under the control of the controller 1, that is, the movable replenishment device has a function of automatically placing the goods held in the first shelf in the second shelf.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A movable replenishment device, characterized in that the movable replenishment device comprises: the device comprises a controller, a lifting assembly (1), a chassis assembly (2), a telescopic mechanism (3), a clamping mechanism (4) and a navigation assembly (5);

the telescopic mechanism (3) is fixed on the chassis assembly (2), the lifting assembly (1) is fixed on the telescopic mechanism (3), the clamping mechanism (4) is fixed on the lifting assembly (1), and the telescopic mechanism (3), the clamping mechanism (4), the lifting assembly (1) and the chassis assembly (2) are all electrically connected with the controller (1);

the chassis assembly (2) is used for moving between a first shelf and a second shelf under the control of the controller (1), the first shelf is a shelf for storing inventory items, the second shelf is a shelf for storing sale items, the lifting component (1) is used for driving the clamping mechanism (4) to move up and down under the control of the controller, so as to drive the clamping mechanism (4) to move to the height of the first goods shelf and/or the second goods shelf, the telescopic mechanism (3) is used for driving the clamping mechanism (4) to move into the first goods shelf and/or the second goods shelf under the control of the controller (1), the clamping mechanism (4) is used for clamping goods in the first goods shelf under the control of the controller (1) and is also used for placing the goods in the second goods shelf under the control of the controller (1);

the navigation assembly (5) is fixed on the chassis assembly (2), the navigation assembly (5) is electrically connected with the controller (1), and the navigation assembly (5) is used for acquiring position information and sending the position information to the controller (1) so as to navigate the chassis assembly (2).

2. The mobile restocking device according to claim 1, characterized in that said lifting assembly (1) comprises: a lifting mechanism (11) and a lifting platform (12);

elevating system (11) is fixed on telescopic machanism (3), elevating platform (12) set up elevating system (11) is last, fixture (4) are fixed elevating platform (12) are last, elevating system (11) with the controller electricity is connected, elevating system (11) can be controlled under the effect of controller elevating platform (12) are followed elevating system (11) up-and-down motion, in order to drive fixture (4) remove extremely first goods shelves and/or the height of second goods shelves.

3. The mobile restocking device according to claim 2, wherein the lifting mechanism (11) comprises: the device comprises a mounting frame (111), a linear module (112) and a motor (113), wherein the linear module (112) comprises a slide rail assembly (1121) and a slide block (1122);

the bottom end of mounting bracket (111) is fixed on telescopic machanism (3), slide rail set spare (1121) is vertical to be fixed on mounting bracket (111), motor (113) are fixed the one end of slide rail set spare (1121), slider (1122) are installed on slide rail set spare (1121), lift platform (12) are fixed on slider (1122), motor (113) with controller (1) electricity is connected, motor (113) are used for drive under the control of controller (1) slider (1122) are followed slide rail set spare (1121) up-and-down motion, in order to drive lift platform (12) up-and-down motion.

4. The mobile restocking device according to claim 3, wherein the lifting assembly (1) further comprises: a first limit sensor (13) and a second limit sensor (14);

the first limiting sensor (13) and the second limiting sensor (14) are sequentially fixed at two ends of the sliding rail assembly (1121) from top to bottom, and in the process that the lifting platform (12) moves up and down along the lifting mechanism (11), the first limiting sensor (13) and the second limiting sensor (14) are used for limiting the sliding block (1122) between two ends of the sliding rail assembly (1121).

5. The mobile restocking device according to claim 4, wherein the lifting assembly (1) further comprises: an origin sensor (15);

the origin sensor (15) is fixed on the slide rail assembly (1121) and located between the first limit sensor (13) and the second limit sensor (14), and the origin sensor (15) is used for indicating the starting position of the motor (113).

6. Mobile restocking device according to any of claims 3 to 5, characterized in that said lifting assembly (1) further comprises: a self-locking assembly (16);

the first end of the self-locking assembly (16) is connected with the motor (113), the second end of the self-locking assembly (16) is connected with one end of the sliding rail assembly (1121), and the self-locking assembly (16) is used for preventing a motor shaft of the motor (113) from rotating after power failure.

7. Mobile restocking device according to claim 6, characterized in that said self-locking assembly (16) is a motor brake.

8. The mobile restocking device according to claim 1, characterized in that said telescopic mechanism (3) comprises: a slide mechanism (31) and a mounting plate (32);

the sliding mechanism (31) is fixed on the chassis component (2), the mounting plate (32) is arranged on the sliding mechanism (31), and the lifting component (1) is fixed on the mounting plate (32);

the sliding mechanism (31) is electrically connected with the controller, and the sliding mechanism (31) is used for driving the mounting plate (32) to move along the sliding mechanism (31) under the control of the controller so as to drive the clamping mechanism (4) to move into the first shelf and/or the second shelf.

9. The mobile restocking device according to claim 1, characterized in that said lifting assembly (1) comprises: a lifting mechanism (11), a lifting platform (12) and a rotating mechanism (17);

the rotating mechanism (17) comprises a fixed end and a rotating end, the fixed end is connected with the telescopic mechanism (3), the rotating end is connected with the lifting mechanism (11), the lifting platform (12) is arranged on the lifting mechanism (11), the clamping mechanism (4) is fixed on the lifting platform (12), the lifting mechanism (11) and the rotating mechanism (17) are both electrically connected with the controller, the lifting mechanism (11) can control the lifting platform (12) to move up and down along the lifting mechanism (11) under the action of the controller, so as to drive the clamping mechanism (4) to move to the height of the first goods shelf and/or the second goods shelf, the rotating mechanism (17) can rotate under the action of the controller, so as to drive the clamping mechanism (4) to rotate to the direction of the first goods shelf and/or the second goods shelf.

10. The mobile restocking device according to claim 9, characterized in that said rotation mechanism (17) is a rotary electric cylinder.