CN116513681A

CN116513681A - Goods taking structure, goods taking device and goods distribution equipment

Info

Publication number: CN116513681A
Application number: CN202310576758.9A
Authority: CN
Inventors: 于国华
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2023-05-19
Filing date: 2023-05-19
Publication date: 2023-08-01

Abstract

The present disclosure relates to a goods taking structure, a goods taking device and a goods distribution device, wherein the goods taking structure is used for taking goods such as medicines from a goods shelf orientation, and comprises a goods receiving slideway, a goods picking piece and a driving mechanism, wherein the goods receiving slideway comprises a fixed slideway and a telescopic slideway movably arranged on the fixed slideway, and the telescopic slideway is configured to have a goods receiving position and a storage position; the goods picking piece is movably arranged relative to the telescopic slideway and the fixed slideway and is provided with a goods picking position and a retraction position; the driving mechanism is used for driving the goods picking piece and the telescopic slideway to move close to or far away from the goods shelf; the goods picking structure is configured to have an idle state and a working state according to instructions, the goods picking piece is located at the retracting position in the idle state, the telescopic slideway is located at the accommodating position, the goods picking piece moves to the goods picking position in the working state, the telescopic slideway moves to the goods receiving position, and the goods picking piece moves from the goods picking position to the retracting position in the process, the telescopic slideway can be kept at the goods receiving position, so that the goods picking success rate of the goods picking structure can be effectively improved.

Description

Goods taking structure, goods taking device and goods distribution equipment

Technical Field

The present disclosure relates to the technical field of cargo dispensing devices, and in particular, to a cargo taking structure, a cargo taking device, and a cargo dispensing device.

Background

The goods delivery equipment can be applied in various different service environments such as pharmacy, supermarket, among the related art, the fixed setting of getting goods pick up of current structure of getting goods is on the expansion plate of receiving goods slide, so drive the goods pick up motion to goods in the goods shelves through the concertina movement of expansion plate in step, but under this kind of mode, get goods pick up when piece return pulling goods break away from goods shelves, the expansion plate also can return in step, just so can lead to the distance grow of expansion plate and goods shelves, there is the probability to make the goods unable to drop to the expansion plate of receiving goods slide, get goods success rate and can not be guaranteed, the suitability is lower.

Disclosure of Invention

The object of the present disclosure is to provide a get goods structure, get goods ware and goods dispensing equipment, this get goods structure can effectively reduce the goods risk that drops among the correlation technique, improves and gets goods success rate.

To achieve the above object, a first aspect of the present disclosure provides a pick structure for orienting a load from a shelf to a picker, comprising: a receiving slide comprising a fixed slide and a telescoping slide movably disposed on the fixed slide, the telescoping slide configured to have a receiving position proximate to the shelf and a storage position distal to the shelf in a telescoping direction; the goods picking piece is movably arranged relative to the telescopic slide rail and the fixed slide rail so as to have a goods picking position in which the telescopic slide rail extends out of the telescopic slide rail along the goods picking direction and a retraction position in which the telescopic slide rail retracts; the driving mechanism is used for driving the goods picking piece and the telescopic slideway to move close to or away from the goods shelf; the picking structure is configured to have an idle state in which the picking member is in the retracted position and a working state in which the telescopic slide is in the storage position, according to instructions, the picking member is moved to the picking position, the telescopic slide is moved to the receiving position, and the telescopic slide is capable of being held in the receiving position during movement of the picking member from the picking position to the retracted position.

Optionally, the driving mechanism is configured to be in driving connection with the picking part, the picking structure further comprises an unlocking holding mechanism, the picking structure is configured to drive the telescopic slide rail to move to the receiving position together after the picking part moves to the picking position in the working state, the telescopic slide rail is held at the receiving position by the holding mechanism, and the picking part can unlock the holding mechanism and drive the telescopic slide rail to move back to the storing position after moving to the retracting position.

Optionally, the telescopic direction is a first direction, the picking direction is a second direction, and the second direction is upward at an angle with the first direction; the goods picking piece is slidably arranged on the telescopic slide ways, one of the goods picking piece and the telescopic slide ways is provided with a first slide groove extending along the first direction, the other one of the goods picking piece and the telescopic slide ways is provided with a slide block, and the slide block moves in the first slide groove and is limited through two ends of the first slide groove so as to realize that the goods picking piece drives the telescopic slide ways to move.

Optionally, the goods picking piece includes goods picking body and the slide that are connected, and goods picking body one end has goods picking portion, the other end with the slide is articulated, seted up on the roof face of slide first spout, be provided with on the diapire face of flexible slide the slider, and still be provided with on the flexible slide along the second spout that the second direction extends, goods picking body sliding connection in the second spout.

Optionally, a first avoiding groove for accommodating the picking part is formed in one side of the telescopic slideway, which is close to the picking part, and the second sliding groove is formed in two side walls of the first avoiding groove along the first direction, and a sliding rod which extends outwards and is in sliding fit with the second sliding groove is formed in two side walls of the picking body along the first direction; wherein, in the picking position, the picking part extends out of the first avoiding groove, and in the retraction position, the picking part is accommodated in the first avoiding groove; the two second sliding grooves are symmetrically arranged about the central line of the first direction; one ends of the two second sliding grooves, which are close to the opening of the first avoidance groove, are also respectively provided with an extension section which extends along the first direction and is communicated with the opening of the first avoidance groove.

Optionally, the picking body includes a base plate having a first end and a second end opposite to each other in a length direction thereof, the first end is hinged to the slide base through a rotation shaft, the picking portion is provided at the second end and configured to be in the picking position, the picking portion has a first stop surface for supporting a bottom wall of a cargo, and a second stop surface for abutting against a side wall of the cargo, and the first stop surface and the second stop surface are arranged at an angle; the top end of the second stop surface is a smooth cambered surface; the side of the picking part, which is away from the first stopping surface, is also formed with a convex part, and the convex part is provided with a third stopping surface for stopping the goods behind the target goods.

Optionally, the holding mechanism includes an elastic holding portion and an unlocking portion, the telescopic slideway is provided with a locking portion, in the receiving position, the elastic holding portion is locked with the locking portion, and the unlocking portion is configured to overcome and drive the elastic holding portion to move in a direction overcoming elasticity to unlock the lock of the locking portion after the picking member moves to the retracted position.

Optionally, the elastic retaining portion includes fixing base, backstop piece and elastic component, fixing base fixed mounting is in on the fixed slide, the one end of backstop piece articulate in the fixing base, the other end is pressed and is located the elastic component, the locking portion includes forming on the inner wall surface that is close to of flexible slide fixed slide and inwards sunken second dodge the groove the goods receiving position, the one side that is provided with of backstop piece butt in the spacing face in the second dodge the groove for will flexible slide keeps in the goods receiving position, the unblock portion is including setting up unblock briquetting on the goods picking piece, unblock briquetting is configured to after the goods picking piece removes to the retracted position can press and locate the backstop piece and make the elastic component compress, can with the backstop piece with spacing face breaks away from, so that the release of holding mechanism.

Optionally, two first rails extending along the first direction are arranged on the top wall of the fixed slideway at intervals, a second rail extending along the first direction is arranged on the bottom wall and is positioned between the two first rails, the goods taking structure further comprises a mounting seat movably arranged on the second rail, the goods picking piece is fixedly arranged on a first connecting part of the mounting seat, a third avoiding groove for avoiding the first connecting part is further formed in the fixed slideway, and the telescopic slideway is movably arranged on the first rail; the driving mechanism comprises a driving motor and a transmission mechanism, and the driving motor drives the mounting seat to move through the transmission mechanism so as to drive the goods picking piece and the telescopic slideway to move close to or far away from the goods shelf.

Optionally, the transmission mechanism includes driving pulley, driven pulley and hold-in range, driving pulley can rotate around self axis connect in driving motor's output shaft, driven pulley can rotate around self axis fixed mounting on the diapire of fixed slide, the hold-in range encircles driving pulley with on the driven pulley, and can follow driving pulley's rotation is driven, the mount pad still has the fixed second connecting portion of installing on the body of hold-in range.

The second aspect of the present disclosure further provides a goods picker, including a goods taking bucket, a pushing member and a goods taking structure as described above, the goods taking bucket has a storage bin, and the storage bin is provided with a goods falling port into which a goods is supplied, a fixed slideway of the goods taking structure is obliquely and upwardly extended along a telescopic direction to be arranged at the goods falling port, so as to pick goods falling onto the telescopic slideway from a goods shelf, and the goods falling port enters the storage bin, and the pushing member is arranged in the storage bin, so as to send the goods in the storage bin.

The third aspect of the disclosure further provides a goods delivery device, including a goods shelf, a track mechanism and a goods taking device as described above, the goods shelf is a multi-layer structure arranged along a height direction, each layer structure is provided with a plurality of goods channels extending forwards and downwards, the lower end of each goods channel is provided with a goods outlet and a stop part positioned at the goods outlet, the bottom wall of each goods channel is provided with a fourth avoiding groove for avoiding the goods taking part, the goods taking device is movably arranged at the front side of the goods shelf through the track mechanism, when a goods receiving slideway of the goods taking structure is kept at the goods receiving position, the track mechanism drives the goods taking device to move upwards, the goods taking part picks up the goods through the fourth avoiding groove, and performs movement from the goods taking position to the retraction position so as to pull the goods forwards through the stop part and then fall into the goods receiving slideway.

Through above-mentioned technical scheme, this the goods structure of getting that the present disclosure provided promptly, this goods structure of getting passes through actuating mechanism drive and chooses goods and flexible slide and all can be independently be close or keep away from goods shelves motion, and it breaks away from goods shelves to choose goods in goods position to withdrawal position removal in-process pulling, namely, choose goods in goods shelves in the in-process of choosing goods piece and pick goods through this, can guarantee that flexible slide remains throughout in goods receiving position department, not only realized that flexible slide is postponed in choosing goods piece withdrawal, can also prevent that the distance between flexible slide and the goods shelves from changing, avoid appearing in the prior art because choosing goods piece fixed mounting on flexible slide and along with flexible slide synchronous movement, and have the probability unable risk that drops to flexible slide after having leaded goods to pick from goods shelves, the goods success rate of getting has been improved effectively. In addition, because the whole structure of getting goods is according to, for example, controller sends control command so can switch between idle state and operating condition, namely when getting goods structure is in idle state, corresponding flexible slide is in storage position, pick goods piece is in the retracted position in the flexible slide simultaneously, so can reduce the holistic space occupation area of getting goods structure effectively, improve space utilization, when need get goods through getting goods structure, just can make the structure of getting goods switch to operating condition from idle state through, and then realize getting goods orientation in the goods shelves and get goods ware, the operability is good.

Additional features and advantages of the present disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of the disclosure, and are incorporated in and constitute a part of this specification, illustrate the disclosure and together with the description serve to explain, but do not limit the disclosure. In the drawings:

FIG. 1 is a schematic illustration of a picker provided in an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a pick-up structure provided in an exemplary embodiment of the present disclosure in an idle state;

FIG. 3 is a schematic view of another angle at which the pick-up structure provided in an exemplary embodiment of the present disclosure is in an idle state;

FIG. 4 is a front view of a pick-up structure provided in an exemplary embodiment of the present disclosure in an idle state;

FIG. 5 is a cross-sectional view of the position A-A of FIG. 4;

FIG. 6 is a cross-sectional view of a telescoping slide way of a pick structure provided in an exemplary embodiment of the present disclosure in a storage position and a pick member in a pick position;

FIG. 7 is a schematic view of a pick-up structure provided in an exemplary embodiment of the present disclosure in an operative configuration;

FIG. 8 is a front view of a pick-up structure provided in an exemplary embodiment of the present disclosure in an operative state;

FIG. 9 is a cross-sectional view of the B-B position of FIG. 8;

FIG. 10 is an enlarged partial view of the position D of FIG. 9;

FIG. 11 is a cross-sectional view of the position C-C of FIG. 8;

FIG. 12 is a cross-sectional view of a telescoping skid of the pick structure in the pick position and the pick members in the retracted position provided in an exemplary embodiment of the present disclosure;

FIG. 13 is a schematic view of a pick up structure provided in an exemplary embodiment of the present disclosure in an operative state with a telescoping slide removed;

FIG. 14 is a schematic view of a telescopic slide of a pick-up structure provided in an exemplary embodiment of the present disclosure;

FIG. 15 is a partial schematic view of a cargo dispensing apparatus provided in an exemplary embodiment of the present disclosure;

FIG. 16 is a schematic operational view of a pick structure provided in an exemplary embodiment of the present disclosure, wherein the pick members have not yet been extended into the lane;

FIG. 17 is a schematic operational view of a pick structure provided in an exemplary embodiment of the present disclosure, wherein a pick member extends into a lane;

fig. 18 is a schematic view of an operative state of a picker of the pick structure provided in an exemplary embodiment of the present disclosure picking a cargo from within a cargo lane to a receiving skid.

Description of the reference numerals

1-a receiving slideway; 110-fixing a slideway; 111-a third avoidance groove; 120-telescoping slide way; 121-a first avoidance groove; 122-locking part; 123-a second avoidance groove; 124-limit surface; 2-picking the goods; 210-picking a cargo body; 211-picking part; 2111—a first stop surface; 2112-a second stop surface; 2113-cambered surface; 2114-projecting; 2115-third stop surface; 212-a substrate; 220-a slide; 221-connection plate structure; 230-slide bar; 240-rotating shaft; 3-a driving mechanism; 310-driving a motor; 320-a transmission mechanism; 321-a driving pulley; 322-driven pulleys; 323-synchronous belt; 4-shelf; 410-lane; 420-a cargo outlet; 430-a stop; 440-fourth avoidance groove; 5-cargo; 6-a holding mechanism; 610-elastic holding portion; 611-fixing base; 612—stop block; 613-an elastic member; 620-an unlocking part; 621-unlocking the pressing block; 7-a first chute; 8-a sliding block; 9-a second chute; 910-an extension; 10-a first track; 11-a second track; 12-mounting seats; 1210-a first connection; 1220-second connection; 13, taking a goods bucket; 1310-a storage bin; 1320—a drop port; 14-pushing member; 15-track mechanism.

Detailed Description

Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the disclosure, are not intended to limit the disclosure.

It should be noted that, all actions for acquiring signals, information or data in the present disclosure are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

In this disclosure, unless otherwise indicated, terms of orientation such as "up and down" are used to generally refer to up and down in the space of the picker when in use. X-direction, Y-direction, and Z-direction can refer to fig. 15. The first direction and the second direction may refer to fig. 5, 15, 16, and 17. "inner and outer" means inner and outer relative to the contour of the component or structure itself. In addition, it should be noted that terms such as "first, second", etc. are used to distinguish one element from another element without order or importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

The goods taking structure, the goods taking device and the goods distribution equipment can be used in any fields needing goods distribution, such as pharmacy, supermarkets and the like. As an embodiment, the goods structure, the goods ware and the goods dispensing equipment of getting that this disclosure provided can be used to the pharmacy and carry out the medicine operation of getting it filled of dispensing machine to can avoid getting it filled in-process because the distance grow of receiving goods slide and goods shelves, make the medicine box have the risk that the probability can't drop to receiving on the goods slide, improved the success rate of getting it filled of dispensing machine effectively.

According to a first aspect of the present disclosure, there is provided a pick-up structure for orienting a load 5 from a pallet 4 as shown with reference to fig. 1 to 17, and comprising a pick-up slide 1, a pick-up 2 and a drive mechanism 3, the pick-up slide 1 comprising a fixed slide 110 and a telescopic slide 120 movably arranged on the fixed slide 110, the telescopic slide 120 being configured to have a pick-up position approaching the pallet 4 in a telescopic direction and a storage position away from the pallet 4; the picking member 2 is movably arranged with respect to the telescopic slide 120 and the fixed slide 110 to have a picking position extending out of the telescopic slide 120 in the picking direction and a retracted position retracting the telescopic slide 120; the driving mechanism 3 is used for driving the goods picking piece 2 and the telescopic slideway 120 to move close to or far away from the goods shelf 4; the pick up structure is configured to have an idle state in which the pick 2 is in the retracted position and the telescopic slide 120 is in the storage position, and an operating state in which the pick 2 is moved to the pick position and the telescopic slide 120 is moved to the pick position, and the telescopic slide 120 is able to remain in the pick position during movement of the pick 2 from the pick position to the retracted position, in accordance with instructions.

Through above-mentioned technical scheme, this promptly the goods structure of getting that this disclosure provided, this goods structure of getting is through actuating mechanism 3 drive pick 2 and flexible slide 120 all can be independently be close or keep away from goods shelves 4 motion, and pull goods 5 such as medicine in picking 2 and moving the in-process from picking position to the retracted position and break away from goods shelves 4, promptly, pick 2 pick in-process that goods 5 in goods shelves 4 are picked out through this, can guarantee that flexible slide 120 remains in the goods position department throughout, not only realized that flexible slide 120 postpones in picking 2 and withdraws, can also prevent that the distance between flexible slide 120 and the goods shelves 4 from changing, avoid appearing in the prior art because pick 2 fixed mounting is on flexible slide 120 and along with flexible slide 120 synchronous movement, and have the probability to drop to flexible slide 120 after having the goods 5 to pick out from goods shelves 4, the success rate of getting has been improved effectively. In addition, since the whole goods taking structure is configured to send out a control command according to, for example, a controller, so that the goods taking structure can be switched between an idle state and a working state, that is, when the goods taking structure is in the idle state, the corresponding telescopic slide rail 120 is in a storage position, and meanwhile, the goods picking piece 2 is in a retracted position retracted into the telescopic slide rail 120, so that the whole space occupation area of the goods taking structure can be effectively reduced, the space utilization rate is improved, and when goods are required to be taken out through the goods taking structure, the control command can be sent out through, for example, the controller (not shown in the figure) so that the goods taking structure is switched from the idle state to the working state, and further, the goods 5 in the goods shelf 4 are oriented to the goods taking device, and the operability is good.

It should be noted that, the front end of the goods channel 410 of the goods shelf 4 is usually provided with a stop portion 430, at this time, the goods 5 need to be matched with the upward lifting and picking piece 2 to pick so that the goods 5 can go beyond the stop portion 430 and be pulled away from the goods shelf 4 by the retracting action of the picking piece 2, the lifting and picking action can be realized by arranging a lifting mechanism between the picking structure and the goods picker, and the lifting and picking action can also be realized by the whole upward movement of the goods picker, which is not limited in the disclosure. The following will be described in detail with respect to the embodiment by moving the picker in its entirety upward.

In addition, it should be noted that the expansion direction is a first direction, the picking direction is a second direction, and the second direction is upward at an angle to the first direction, and the directions of the first direction and the second direction are exemplarily shown in fig. 5, 15, 16 and 17, where the first direction is an oblique direction in which the goods 5 fall onto the receiving slideway 1 can make the goods 5 automatically slide onto the falling port 1320 of the medicine picker, and the second direction is a more upward protruding direction than the first direction, so that when the picking member 2 picks up the goods, the goods 5 can be picked up from the shelf 4, and in particular, the working schematic diagrams of the picking structure shown in fig. 16 and 17 can be referred to.

The driving mechanism 3 may be configured in any suitable manner according to practical application requirements, for example, in some embodiments, referring to fig. 3 to 14, the driving mechanism 3 may be configured to be in driving connection with the picking part 2, the picking structure may further include an unlocking retaining mechanism 6, the picking structure is configured in a working state, after the picking part 2 moves to the picking position first, the telescopic slide 120 is driven to move to the receiving position together, the telescopic slide 120 is stably retained at the receiving position by the retaining mechanism 6, so that the telescopic slide 120 is prevented from sliding due to the influence of gravity, and further, the risk that the goods 5 cannot drop onto the telescopic slide 120 due to the change of the distance between the telescopic slide 120 and the goods shelf 4 in the picking process of the picking part 2 is avoided, so that the picking success rate is effectively improved, and meanwhile, the picking part 2 and the telescopic slide 120 are synchronously driven to move by one driving mechanism 3, meanwhile, the picking part 2 and the telescopic slide 120 are also enabled to have a certain extending motion by the retaining mechanism 6, the whole structure is relatively simple in manufacturing cost, and meanwhile, and the occupied space of the whole structure can be effectively reduced. In addition, the picking part 2 can unlock the retaining mechanism 6 and drive the telescopic slideway 120 to move to recover the storage position after moving to the retraction position, so that the whole storage of the picking structure can be realized, the whole space occupation area of the picking structure is further reduced, and the space utilization rate is improved.

It should be noted that, the number of the driving mechanisms 3 is configured as one and configured to be in driving connection with the picking member 2, so that a specific embodiment capable of implementing synchronous movement of the picking member 2 and the telescopic slide 120 is an example, in some non-illustrated embodiments, the number of the driving mechanisms 3 may also be configured as two and respectively in driving connection with the picking member 2 and the telescopic slide 120, so that different control instructions are sent by the controller to implement time-delay movement of the two, so long as it is capable of ensuring that the telescopic slide 120 can be stably located at the receiving position through the holding mechanism 6 during the picking process of the picking member 2, that is, during the movement from the picking position to the retracting position, and a person skilled in the art can adaptively configure the specific structure of the driving mechanism 3 according to practical application requirements, which is not particularly limited in this disclosure.

In addition, in some embodiments, referring to fig. 11 to 14, the holding mechanism 6 may include an elastic holding portion 610 and an unlocking portion 620, where the telescopic slide 120 has a locking portion 122 thereon, and in the pickup position, the elastic holding portion 610 is latched to the locking portion 122, and the unlocking portion 620 is configured to be able to overcome and drive the elastic holding portion 610 to move in a direction overcoming the elasticity to unlatch the latch of the locking portion 122 after the picking member 2 is moved to the retracted position, so as to achieve stable holding of the telescopic slide 120 at the pickup position by the holding mechanism 6.

The elastic retaining portion 610 may be configured in any suitable manner, for example, as shown in fig. 11, the elastic retaining portion 610 may include a fixing seat 611, a stop block 612 and an elastic member 613, the fixing seat 611 is fixedly mounted on the fixed slideway 110, one end of the stop block 612 is hinged to the fixing seat 611, the other end of the stop block is pressed against the elastic member 613, and the corresponding locking portion 122 may include a second avoidance groove 123 formed on an inner wall surface of the telescopic slideway 120, which is close to the fixed slideway 110 and is recessed inwards, so that, in the receiving position, one side of the stop block 612, which is provided with the elastic member 613, can abut against the limiting surface 124 of the second avoidance groove 123, so as to stably retain the telescopic slideway 120 in the receiving position. In addition, as shown in fig. 11 and 13, the unlocking part 620 may include an unlocking pressing block 621 provided on the picking member 2, the unlocking pressing block 621 being configured to be capable of pressing against the stopper 612 and compressing the elastic member 613 after the picking member 2 is moved to the retracted position, and to disengage the stopper 612 from the limiting surface 124, so that the holding mechanism 6 is unlocked, thereby enabling the telescopic slide 120 to be switched from the receiving position to the storage position.

Of course, it should be noted that, the above-mentioned elastic retaining portion 610 is configured to have an unlocking structure, and in some embodiments not shown, the elastic retaining portion 610 may also be a friction resistance formed between the telescopic slide 120 and the fixed slide 110 for preventing the relative movement between the telescopic slide 120 and the fixed slide 110, so that when the telescopic slide 120 is in the receiving position, the telescopic slide 120 can be stably retained in the receiving position by the friction resistance, and when the picking member 2 moves to the retracted position, the telescopic slide 120 is further moved and overcomes the friction resistance, so that the telescopic slide 120 can be synchronously moved back to the storage position. The present disclosure is not limited thereto.

In addition, the elastic member 613 may be configured in any suitable manner, for example, the elastic member 613 may be a spring structure as shown in fig. 11, so that the stop block 612 can be pressed by the unlocking pressing block 621 after the picking member 2 moves to the retracted position, and further the spring structure moves in a direction overcoming the elasticity and makes the stop block 612 separate from the limiting surface 124 of the telescopic slideway 120, so as to unlock the retaining mechanism 6. Of course, in some embodiments not shown, the elastic member 613 may also be configured as an elastic structure such as a compression spring or a torsion spring, which is not particularly limited in the present disclosure.

In some embodiments, referring to fig. 4 to 14, the picking member 2 is slidably disposed on the telescopic slide 120, one of the picking member 2 and the telescopic slide 120 may be provided with a first chute 7 extending along a first direction, and the other is provided with a slide block 8, so that when the picking member 2 moves from the retracted position to the picking position, or from the picking position to the retracted position, the slide block 8 can move in the first chute 7, thus realizing that both the picking member 2 and the telescopic slide 120 have a certain delay motion, effectively improving the success rate of picking, and realizing that the picking member 2 drives the telescopic slide 120 to move through both ends of the first chute 7, so that a driving mechanism 3 can synchronously drive the picking member 2 and the telescopic slide 120 to synchronously move.

Fig. 5 exemplarily shows that the picking member 2 may include a picking body 210 and a sliding seat 220 that are connected, one end of the picking body 210 has a picking portion 211, the other end is hinged to the sliding seat 220, a top wall surface of the sliding seat 220 is provided with a first sliding groove 7, a bottom wall surface of the telescopic sliding rail 120 is provided with a sliding block 8, and the telescopic sliding rail 120 is further provided with a second sliding groove 9 extending along a second direction, and the picking body 210 is slidably connected to the second sliding groove 9, so that the picking member 2 can be switched between a picking position and a retracted position.

In addition, in some embodiments, referring to fig. 5, a first avoidance groove 121 for accommodating the goods picking portion 211 may be formed on a side of the telescopic slide 120 near the goods picking portion 211, and second slide grooves 9 are formed on two side walls of the first avoidance groove 121 along the first direction, and slide bars 230 extending outwards and slidingly matched with the second slide grooves 9 are formed on two side walls of the goods picking body 210 along the first direction, where in the goods picking position, the goods picking portion 211 extends out of the first avoidance groove 121, and in the retracted position, the goods picking portion 211 is accommodated in the first avoidance groove 121, so that by opening the second slide grooves 9 on the first avoidance groove 121, the whole structure of the telescopic slide 120 is more compact, the space occupation rate is lower, and meanwhile, the space occupation rate can be further reduced by accommodating the goods picking portion 211 through the first avoidance groove 121, and more utilization space is provided for the space layout of the goods distribution device.

Further, in some embodiments, as shown with reference to fig. 4 and 5, the two second runners 9 may be symmetrically arranged about the centerline of the first direction to facilitate improved stability of the sliding of the picking member 2. And, the two second sliding grooves 9 are also formed with an extension section 910 extending along the first direction and communicating with the opening of the first avoiding groove 121 at one end close to the opening of the first avoiding groove 121, so that the on-site operator can install the picking body 210 in the second sliding groove 9 through the extension section 910.

Further, the picking body 210 may be configured in any suitable manner, for example, in some embodiments, as shown with reference to fig. 9 and 10, the picking body 210 may include a base plate 212 having opposite first and second ends in a longitudinal direction thereof, the first end being hinged to the slider 220 by a rotation shaft 240, the picking portion 211 being provided at the second end and configured to be in a picking position, the picking portion 211 having a first stop surface 2111 for supporting a bottom wall of the goods 5 and a second stop surface 2112 for abutting against a side wall of the goods 5, and the first and second stop surfaces 2111 and 2112 being disposed at an angle, such that the goods 5 can be stably supported to the goods 5 and picked from the shelves 4 during the movement of the picking portion 211 from the picking position to the retracted position can be achieved with good handling properties.

While fig. 9 illustrates a specific structure of the picking portion 211, the foregoing specific structure is exemplary, and those skilled in the art may adaptively configure the specific structure of the picking portion 211 according to actual needs, so as to implement the first stop surface 2111 having a bottom wall for supporting the cargo 5 and the second stop surface 2112 for abutting against a side wall of the cargo 5, and the specific structure of the picking portion 211 is not specifically limited in this disclosure.

Further, in some embodiments, referring to fig. 10, the top end of the second stop surface 2112 may be a smooth arcuate surface 2113, so as to facilitate the sliding of the load 5 onto the receiving slide 1. In addition, a protrusion 2114 may be formed on a side of the picking portion 211 facing away from the first stop surface 2111, and the protrusion 2114 may have a third stop surface 2115 for stopping the cargo 5 behind the target cargo 5, so as to be able to stop the cargo behind the target cargo 5.

In some embodiments, referring to fig. 2 and 3, two first rails 10 extending in the first direction may be disposed on the top wall of the fixed slideway 110 at intervals, and a second rail 11 extending in the first direction is disposed on the bottom wall and located between the two first rails 10, so that the first rails 10 and the second rails 11 are disposed on opposite upper and lower sides of the fixed slideway 110, and the second rails 11 are located between the two first rails 10, thereby not only ensuring overall higher stability, but also reducing overall space occupation area and improving space utilization.

In addition, in some embodiments, referring to fig. 3, 4 and 13, the pick up structure may further include a mounting base 12 movably disposed on the second rail 11, the picking member 2 is fixedly mounted on a first connection portion 1210 of the mounting base 12, specifically, as shown in fig. 13, a connection plate structure 221 is disposed on a sliding seat 220 of the picking member 2, the connection plate structure 221 is detachably connected to the first connection portion 1210 of the mounting base 12 through, for example, a locking bolt (not shown in the drawings), and a third avoidance groove 111 for avoiding the first connection portion 1210 is further formed on the fixing slideway 110, so that the sliding seat 220 can be driven to move synchronously when the mounting base 12 moves along the second rail 11. In addition, the telescopic slideway 120 is movably arranged on the first track 10, and the driving mechanism 3 comprises a driving motor 310 and a transmission mechanism 320, the driving motor 310 drives the mounting seat 12 to move through the transmission mechanism 320, so that when the driving mechanism 3 drives the mounting seat 12 and drives the sliding seat 220 to move to the two ends of the first sliding chute 7 of the sliding seat 220 to be attached to the sliding blocks 8 on the telescopic slideway 120, the picking piece 2 and the telescopic slideway 120 can be synchronously driven to move close to or far from the goods shelf 4 through one driving mechanism 3.

The transmission mechanism 320 may be configured in any suitable manner, for example, the transmission mechanism 320 may include a driving pulley 321, a driven pulley 322 and a synchronous belt 323, the driving pulley 321 may be rotatably connected to an output shaft of the driving motor 310 around its own axis, the driven pulley 322 may be fixedly mounted on a bottom wall of the fixed slideway 110 around its own axis, the synchronous belt 323 surrounds the driving pulley 321 and the driven pulley 322 and may be driven along with rotation of the driving pulley 321, the mounting seat 12 further has a second connection portion 1220 fixedly mounted on a belt body of the synchronous belt 323, so that the movement of the mounting seat 12 can be driven by the driving motor 310, and since the synchronous belt 323 has good elasticity, impact and vibration can be alleviated during operation, stable movement and low noise can be ensured, and meanwhile, the whole has the advantages of simple structure, easy manufacture, convenient installation and maintenance and low cost. In addition, the driving motor 310 may be any suitable motor such as a servo motor or a stepping motor, and the present disclosure is not particularly limited herein.

Based on the above embodiments and referring to fig. 18, the present disclosure exemplarily describes a working process of the pick mechanism to orient a goods from a shelf to a pick machine according to, for example, a control command issued by a controller, specifically as follows:

Firstly, a control instruction can be sent out through a controller, the instruction instructs a goods taking device provided with a goods taking structure to move to a preset goods taking position through a track mechanism 15, when the goods taking structure in a standby state needs to carry out goods taking operation, the controller sends out an instruction to a driving mechanism 3, so that the goods taking structure is switched to a working state from an idle state, namely, as shown in fig. 5, firstly, a goods picking part 211 positioned in a first avoiding groove 121 of a telescopic slideway 120 is driven by the driving mechanism 3 to move to a goods picking position as shown in fig. 6 along a second sliding groove 9, at the moment, the inner wall surface of one end of a first sliding groove 7 of a sliding seat 220 of a goods picking piece 2 is attached to a sliding block 8 of the telescopic slideway 120 continuously with reference to fig. 6, and thus, under the driving of a driving motor 310, the sliding seat 220 drives the telescopic slideway 120 to synchronously move until the telescopic slideway 120 moves to the goods receiving position as shown in fig. 9; at this time, as shown in fig. 11, the limiting surface 124 of the second avoidance groove 123 of the telescopic slideway 120 will abut against the stop block 612, so as to stably maintain the telescopic slideway 120 at the goods receiving position, thereby completing the working process of switching the goods taking structure from the idle state to the working state;

It should be noted that, the control logic of the controller is exemplary, and in some other embodiments, the pickup structure may be switched from the idle state to the working state, and then the controller controls the pickup device to move to the preset pickup position, which is not particularly limited in this disclosure;

further, in the embodiment, after the picker moves to a preset picking position and the picking structure is in an operating state (refer to fig. 18, state fig. 1), referring to fig. 15, 16 and 18, the controller continuously sends a control command to implement the lifting picking action of the picking member 2 through the whole upward movement of the picker, that is, the controller continuously sends a control command to instruct the rail mechanism 15 to drive the picker to vertically move upwards along the Z direction, so that the picking member 2 can pass through the fourth avoiding slot 440 of the goods lane 410 of the goods shelf 4, for example, to pick up the goods 5 in the goods lane 410 by the picking member 2 (refer to fig. 18, state fig. 2), then, after the goods 5 is picked up to be higher than the stop 430 of the goods lane 410, the controller continuously sends a control command to the driving mechanism 3, so that the picking member 2 moves from the goods position to the retracted position, and in this way, the goods 5 on the picking member 2 can be pulled forward through the picking member 2 to pass through the stop 430 of the goods lane 410 (refer to fig. 18, state fig. 18, and finally, state fig. 120 is reached through the goods lane 4, and finally, and the goods 5 is picked up to the goods lane 410; in addition, it should be noted that, because the telescopic slideway 120 can be always kept at the receiving position in the process of moving the picking part 2 from the picking position to the retracting position, that is, as shown in fig. 17, the end of the telescopic slideway 120 can be always abutted against the end of the goods channel 410 of the goods shelf 4, the distance between the two can not be increased, thus avoiding the risk that the goods 5 is likely to fall onto the telescopic slideway 120, and greatly improving the success rate of picking goods;

Finally, after the goods 5 are picked up from the goods shelf 4 by the goods picking structure, the controller issues a control command again, and instructs the track mechanism 15 to drive the goods picker to vertically move downwards along the Z direction, and simultaneously instructs the goods picking structure to switch from the working state to the idle state, that is, as shown in fig. 9, firstly, the driving mechanism 3 drives the goods picking member 2 to move to the retracted position as shown in fig. 12 and the goods picking portion 211 of the goods picking member 2 is accommodated in the first avoiding groove 121 of the telescopic slideway 120, at this time, continuing to refer to fig. 12, the inner wall surface of the other end of the first chute 7 of the sliding seat 220 of the goods picking member 2 is attached to the sliding block 8 of the telescopic slideway 120, meanwhile, it is required to be noted that, after the goods picking member 211 of the goods picking member 2 moves to the retracted position as shown in fig. 11 and 13, the unlocking block 621 on the sliding seat 220 is pressed on the stop block 612 and causes the elastic member 613 to compress, so that the stop block 612 and the limit surface 124 of the telescopic slideway 120 are mutually separated, so that the sliding seat 220 is driven by the driving motor 310, and the sliding seat 220 is driven to move synchronously until the telescopic slideway 120 is driven to move synchronously, as shown in fig. 18, and the final operation is carried out in the standby state as shown in fig. 5 (fig. 18).

It should be noted that, when carrying out the goods picking operation to the goods 5 of different positions on the goods shelves 4, the person skilled in the art can adaptively change the control instruction of the controller according to the actual application requirement, so that the goods picker can move to the corresponding goods picking position according to the control instruction, and the corresponding goods picking operation is completed through the specific moving process of the goods picking structure. In addition, the process of driving the picker by the rail mechanism 15 to vertically move the picker in the Z direction to pick up the goods 5 is exemplified, in other embodiments, the process of picking up the goods 5 by the picker 2 may be implemented without driving the picker by the rail mechanism 15, or an upper picking action may be provided on the picker structure, for example, the fixed slideway 110 of the receiving slideway 1 may be provided at the drop port 1320 of the picker by, for example, a lifting slideway to vertically move in the Z direction, and a person skilled in the art may adaptively design a corresponding specific structure according to practical application requirements, so as to implement picking up the goods 5 by the vertical movement of the picker 2.

According to a second aspect of the present disclosure, there is further provided a picker, referring to fig. 1, including a picking bucket 13, a pushing member 14 and the above-mentioned picking structure, the picking bucket 13 has a storage bin 1310, and the storage bin 1310 is provided with a dropping port 1320 into which a cargo 5 enters, the fixed slideway 110 of the picking structure is arranged at the dropping port 1320 in a direction of extension and retraction obliquely and upwardly, so as to enable the cargo 5 picked from the goods shelf 4 onto the telescopic slideway 120 to enter the storage bin 1310 via the dropping port 1320, and the pushing member 14 is arranged in the storage bin 1310, so as to enable the cargo 5 in the storage bin 1310 to be delivered. This get goods ware through being provided with above-mentioned goods structure of getting, can realize when choosing goods piece 2 to pick goods 5 for receiving goods slide 1 postpone in choosing goods piece 2 withdrawal, thereby avoid appearing in the correlation technique because receiving goods slide 1 and choosing goods piece 2 both synchronous motion and cause goods 5 unable risk that drops to receiving goods slide 1 in, improved the goods success rate of getting effectively. In addition, the picker has all the beneficial effects of the picking structure, and the disclosure is not repeated herein.

In addition, it should be noted that, the specific structure of the pushing member 14 may be designed adaptively according to the practical application requirements, for example, the pushing member 14 may be configured as a conveyor belt disposed in the storage bin 1310 as shown in fig. 1, or may be configured as a push plate structure for pushing the cargo 5, which is not shown in the drawings, and one end of the push plate structure is movably connected to a piston rod of the cylinder, which is not limited in particular in this disclosure, and the purpose of the present disclosure is to enable the cargo 5 in the storage bin 1310 to be sent out through the pushing member 14.

According to a third aspect of the present disclosure, there is also provided a cargo dispensing apparatus including a shelf 4, a rail mechanism 15, and the above-mentioned picker, the shelf 4 being a multi-layered structure arranged in a height direction, each of the multi-layered structures having a plurality of lanes 410 extending obliquely forward and downward, a lower end of the lane 410 having a discharge port 420 and a stopper 430 located at the discharge port 420, a bottom wall of the lane 410 having a fourth avoidance groove 440 for avoiding the picker 2, the picker being movably disposed at a front side of the shelf 4 by the rail mechanism 15, the rail mechanism 15 driving the picker to move upward when a receiving slide 1 of the picker is held at a receiving position, the picker 2 picking up the cargo 5 by the fourth avoidance groove 440, and performing a movement from the picking position to a retracted position to pull the cargo 5 forward past the stopper 430 and then drop into the receiving slide 1. This goods dispensing equipment can realize choosing goods 5 when choosing goods 2 through being provided with above-mentioned goods extractor for receiving goods slide 1 postpone choosing goods 2 withdrawal, thereby avoid appearing in the correlation technique because receiving goods slide 1 and choosing goods 2 both synchronous motion and cause goods 5 unable risk that drops to receiving goods slide 1 in, improved the goods success rate of getting effectively. In addition, the goods delivery device has all the beneficial effects of the goods taking device, and the disclosure is not repeated herein.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure, and all the simple modifications belong to the protection scope of the present disclosure.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations are not described further in this disclosure in order to avoid unnecessary repetition.

Moreover, any combination between the various embodiments of the present disclosure is possible as long as it does not depart from the spirit of the present disclosure, which should also be construed as the disclosure of the present disclosure.

Claims

1. A pick mechanism for orienting a load from a shelf to a pick machine, comprising:

a receiving slide comprising a fixed slide and a telescoping slide movably disposed on the fixed slide, the telescoping slide configured to have a receiving position proximate to the shelf and a storage position distal to the shelf in a telescoping direction;

The goods picking piece is movably arranged relative to the telescopic slide rail and the fixed slide rail so as to have a goods picking position in which the telescopic slide rail extends out of the telescopic slide rail along the goods picking direction and a retraction position in which the telescopic slide rail retracts; and

the driving mechanism is used for driving the goods picking piece and the telescopic slideway to move close to or far away from the goods shelf;

the picking structure is configured to have an idle state in which the picking member is in the retracted position and a working state in which the telescopic slide is in the storage position, according to instructions, the picking member is moved to the picking position, the telescopic slide is moved to the receiving position, and the telescopic slide is capable of being held in the receiving position during movement of the picking member from the picking position to the retracted position.

2. The pick mechanism of claim 1, wherein the drive mechanism is configured for driving connection with the pick member, the pick mechanism further comprising an unlockable retention mechanism, the pick mechanism being configured to move the telescoping slide together to the pick position after the pick member is first moved to the pick position in the operative condition, the telescoping slide being retained in the pick position by the retention mechanism, the pick member being movable to the retracted position to unlock the retention mechanism and to move the telescoping slide back to the storage position.

3. The pick structure of claim 2, wherein the telescoping direction is a first direction, the pick direction is a second direction, and the second direction is angled upward from the first direction;

the goods picking piece is slidably arranged on the telescopic slide ways, one of the goods picking piece and the telescopic slide ways is provided with a first slide groove extending along the first direction, the other one of the goods picking piece and the telescopic slide ways is provided with a slide block, and the slide block moves in the first slide groove and is limited through two ends of the first slide groove so as to realize that the goods picking piece drives the telescopic slide ways to move.

4. The picking structure of claim 3, wherein the picking member comprises a picking body and a slide seat which are connected, the picking body has a picking part at one end and is hinged to the slide seat at the other end, the first sliding groove is formed in the top wall surface of the slide seat, the sliding block is arranged on the bottom wall surface of the telescopic sliding rail, and the telescopic sliding rail is further provided with a second sliding groove extending along the second direction, and the picking body is slidably connected to the second sliding groove.

5. The picking structure according to claim 4, wherein a first avoiding groove for accommodating the picking part is formed on one side of the telescopic slideway, which is close to the picking part, and the second sliding groove is formed on two side walls of the first avoiding groove along the first direction, and a sliding rod which extends outwards and is in sliding fit with the second sliding groove is formed on two side walls of the picking body along the first direction;

Wherein, in the picking position, the picking part extends out of the first avoiding groove, and in the retraction position, the picking part is accommodated in the first avoiding groove;

the two second sliding grooves are symmetrically arranged about the central line of the first direction;

one ends of the two second sliding grooves, which are close to the opening of the first avoidance groove, are also respectively provided with an extension section which extends along the first direction and is communicated with the opening of the first avoidance groove.

6. The pick mechanism of claim 4, wherein the pick body comprises a base plate having first and second opposite ends in a longitudinal direction thereof, the first end being hinged to the slide by a pivot, the pick portion being provided at the second end and configured to have a first stop surface for supporting a bottom wall of a load and a second stop surface for abutting a side wall of the load in the pick position, and the first and second stop surfaces being angularly disposed;

the top end of the second stop surface is a smooth cambered surface;

the side of the picking part, which is away from the first stopping surface, is also formed with a convex part, and the convex part is provided with a third stopping surface for stopping the goods behind the target goods.

7. The pick up structure of claim 2, wherein the retaining mechanism includes a resilient retaining portion having a locking portion thereon and an unlocking portion, the resilient retaining portion being latched to the locking portion in the pick up position, the unlocking portion being configured to overcome and drive movement of the resilient retaining portion in a direction overcoming the resilience to unlock the latch of the locking portion upon movement of the pick up member to the retracted position.

8. The pick-up structure of claim 7, wherein the elastic holding portion includes a fixing base, a stopper and an elastic member, the fixing base is fixedly mounted on the fixing slide, one end of the stopper is hinged to the fixing base, the other end of the stopper is pressed against the elastic member, the locking portion includes a second avoidance groove formed on an inner wall surface of the telescopic slide close to the fixing slide and recessed inward, in the pick-up position, a side of the stopper where the elastic member is disposed abuts against a limit surface of the second avoidance groove to hold the telescopic slide in the pick-up position, the unlocking portion includes an unlocking pressing block disposed on the pick-up member, and the unlocking pressing block is configured to be capable of being pressed against the stopper and compressing the elastic member after the pick-up member moves to the retracted position, and capable of disengaging the stopper from the limit surface to unlock the holding mechanism.

9. The picking structure according to claim 2, wherein two first rails extending in a first direction are arranged on a top wall of the fixed slideway at intervals, a second rail extending in the first direction is arranged on a bottom wall and is arranged between the two first rails, the picking structure further comprises a mounting seat movably arranged on the second rail, the picking piece is fixedly arranged on a first connecting part of the mounting seat, a third avoiding groove for avoiding the first connecting part is further formed in the fixed slideway, and the telescopic slideway is movably arranged on the first rail;

the driving mechanism comprises a driving motor and a transmission mechanism, and the driving motor drives the mounting seat to move through the transmission mechanism so as to drive the goods picking piece and the telescopic slideway to move close to or far away from the goods shelf.

10. The pick-up structure of claim 9, wherein the transmission mechanism includes a driving pulley rotatably connected to an output shaft of the driving motor about its own axis, a driven pulley rotatably fixedly mounted on a bottom wall of the fixed slide about its own axis, and a timing belt encircling the driving pulley and the driven pulley and capable of transmitting with rotation of the driving pulley, the mount further having a second connection portion fixedly mounted on a belt body of the timing belt.

11. The utility model provides a goods picker, its characterized in that includes the goods bucket, propelling movement piece and the goods structure of getting of any one of claims 1-10, the goods bucket has the storage bin, just the storage bin is provided with the goods mouth that falls that the goods got into, the fixed slide of goods structure is located along flexible direction slope upwards extension the goods mouth department falls for will be chosen from the goods shelves and get into through falling the goods mouth in the storage bin, the propelling movement piece is located in the storage bin is used for with the goods in the storage bin are sent out.

12. The goods delivery device is characterized by comprising a goods shelf, a track mechanism and the goods taking device according to claim 11, wherein the goods shelf is of a multi-layer structure which is arranged along the height direction, each layer structure is provided with a plurality of goods channels which extend downwards forwards and downwards, the lower end of each goods channel is provided with a goods outlet and a stopping part which is positioned at the goods outlet, the bottom wall of each goods channel is provided with a fourth avoiding groove which is used for avoiding the goods taking piece, the goods taking device is movably arranged on the front side of the goods shelf through the track mechanism, when a goods receiving slideway of the goods taking structure is kept at the goods receiving position, the track mechanism drives the goods taking device to move upwards, the goods taking piece picks up the goods through the fourth avoiding grooves, and the goods taking device moves from the goods taking position to the retracted position so as to pull the goods forwards through the stopping part and then fall into the goods receiving slideway.