CN215158501U

CN215158501U - Conveying device, get replenishment equipment and be used for getting replenishment system in unmanned supermarket

Info

Publication number: CN215158501U
Application number: CN202120516192.7U
Authority: CN
Inventors: 阳建军
Original assignee: Wuhan Nordjia Technology Co ltd
Current assignee: Wuhan Nordjia Technology Co ltd
Priority date: 2021-03-11
Filing date: 2021-03-11
Publication date: 2021-12-14
Anticipated expiration: 2031-03-11

Abstract

The utility model discloses a conveyor, get benefit goods equipment and be used for getting benefit goods system in unmanned supermarket, conveyor includes the controller, a plurality ofly turn to conveyor, a plurality of conveyer, a plurality of recognition device and a plurality of material receiving conveyor, a plurality ofly turn to conveyor by preceding to back interval setting in proper order, a plurality of conveyers set up respectively adjacent two and turn to between the conveyor, a plurality of material receiving conveyor and a plurality of recognition device set up respectively and are being close to a plurality of positions that turn to conveyor, the feed end that turns to conveyor is used for receiving rather than adjacent a conveyer and carries to its article, and see off to corresponding material receiving conveyor or rather than adjacent another conveyer. Conveyor utilizes recognition device discernment article information to article on will matching are carried to connecing material conveyor, in order to conveniently get the benefit goods equipment and be used for getting of unmanned supermarket benefit goods system load handling device puts article to goods shelves.

Description

Conveying device, get replenishment equipment and be used for getting replenishment system in unmanned supermarket

Technical Field

The utility model relates to an unmanned supermarket technical field, concretely relates to conveyor, get replenishment equipment and be used for getting replenishment system in unmanned supermarket.

Background

Conveyor is when classifying article, and the majority all is conveyor transport article, and the goods that transport on the artifical conveyor transfer passage of while sorts, sorts inefficiency, and the error rate is higher.

The goods taking of the existing unmanned supermarket is realized by identifying, taking and obtaining the goods on a goods shelf through a robot, and the goods to be supplemented are sequentially placed on the goods shelf through the robot, so that the goods taking and supplementing efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a conveyor, get replenishment equipment and be used for getting replenishment system in unmanned supermarket.

A conveying device comprises a controller, a plurality of steering conveying devices, a plurality of conveyors, a plurality of identification devices and a plurality of material receiving conveying devices, wherein the steering conveying devices, the conveyors and the identification devices are respectively electrically connected with the controller, the steering conveying devices are sequentially arranged from front to back at intervals, the conveyors are respectively arranged between two adjacent steering conveying devices, the conveying directions of the conveyors are the same, the material receiving conveying devices and the identification devices are respectively in one-to-one correspondence with the steering conveying devices, one end of each material receiving conveying device and each identification device are respectively arranged at positions close to the corresponding steering conveying devices, the feeding end of each steering conveying device is used for receiving articles conveyed to the corresponding steering conveying device by the adjacent conveyor, and the receiving conveyor is used for sending out the received articles to the corresponding receiving conveyor or another adjacent conveyor.

Preferably, the conveying device further comprises a transfer conveying device, the transfer conveying device is arranged at a position close to the plurality of turning conveying devices, one end of the transfer conveying device is arranged behind the turning conveying device positioned at the rearmost position, and the other end of the transfer conveying device is distributed in front of the turning conveying device positioned at the frontmost position.

Preferably, the transfer conveyor includes first conveying mechanism, two lifting machines and two second conveying mechanism, first conveying mechanism sets up in a plurality of the below of conveyer, and its both ends distribute and be located the forefront and be located two at the rearmost turn to the one side that conveyor deviates from each other, two the lifting machine sets up respectively first conveying mechanism's both ends, two second conveying mechanism installs respectively on two the lift of lifting machine is served, and one of them second conveying mechanism's transfer passage is close to rather than turn to conveyor's transfer passage and flush, another second conveying mechanism transfer passage with first conveying mechanism's transfer passage flushes.

A goods taking and supplementing device comprises a plurality of cabinet bodies, a plurality of driving devices, a plurality of fetching devices and the conveying devices, wherein the plurality of cabinet bodies, the plurality of driving devices and the plurality of fetching devices are respectively in one-to-one correspondence with the plurality of receiving conveying devices, the cabinet bodies are vertically arranged on one sides, far away from the steering conveying devices, of the corresponding receiving conveying devices, a plurality of independent grooves are formed in the front sides of the cabinet bodies, the driving devices are arranged in front of the corresponding cabinet bodies, the fetching devices are installed on the driving ends of the corresponding driving devices, the driving devices are used for driving the fetching devices to move in front between the sides, far away from the steering conveying devices, of the cabinet bodies and the receiving conveying devices, the fetching devices are provided with fetching ends, and the fetching devices can drive the fetching ends to move to be close to the cabinet bodies and stretch into the grooves, or move away from the cabinet.

Preferably, the fetching device is a three-level fork.

Preferably, the front side of the lower side groove wall of the groove is provided with a strip-shaped hole matched with the fetching end of the fetching device.

Preferably, the driving device comprises a horizontal driving mechanism and a vertical driving mechanism, the horizontal driving mechanism is arranged in front of the cabinet body, the vertical driving mechanism is arranged at a driving end of the horizontal driving mechanism, the fetching device is arranged at a driving end of the vertical driving mechanism, the horizontal driving mechanism is used for driving the vertical driving mechanism and the fetching device to synchronously and horizontally move along the left and right directions, and the vertical driving mechanism is used for driving the fetching device to vertically move.

Preferably, the multifunctional cabinet further comprises a rectangular frame structure, the cabinet bodies are respectively arranged in the frame structure, and the driving devices are respectively arranged on the frame structure.

The utility model provides a get replenishment system for unmanned supermarket, includes server and customer terminal, the server has local database and embeds has dispatch software, store goods information and the corresponding positional information of goods in the local database, still include foretell get replenishment equipment, the server pass through dispatch software respectively with controller, a plurality of drive arrangement, a plurality of load handling device communication connection.

Conveyor utilizes recognition device discernment article information to article on will matching are carried to connecing material conveyor, in order to carry out processing on next step, and the rate of accuracy is high, uses manpower sparingly.

Get benefit goods equipment and be used for getting benefit goods system of unmanned supermarket all adopt conveyor with the article letter sorting back that corresponds to get the thing device and put article to goods shelves, get the efficient of benefit goods.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings. The detailed description of the present invention is given by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:

fig. 1 is a schematic structural view of a conveying device according to embodiment 1 of the present invention;

fig. 2 is a top view of the device for taking and replenishing goods according to embodiment 2 of the present invention;

fig. 3 is a schematic structural diagram of a device for taking and replenishing goods according to embodiment 2 of the present invention;

FIG. 4 is an enlarged view taken at A in FIG. 3;

fig. 5 is a schematic structural view of the cabinet body according to embodiment 2 of the present invention;

fig. 6 is an installation diagram of the frame structure according to embodiment 2 of the present invention;

FIG. 7 is an enlarged view at B in FIG. 6;

fig. 8 is a schematic structural view of a fetching device according to embodiment 2 of the present invention;

fig. 9 is a schematic structural view of a driving device according to embodiment 2 of the present invention;

fig. 10 is an enlarged view at C in fig. 9.

The specific meanings of the reference numerals are:

1. a steering conveyor; 2. a conveyor; 3. a material receiving and conveying device; 4. a transfer conveyor; 41. a first conveying mechanism; 42. a hoist; 43. a second conveying mechanism;

100. a cabinet body; 101. a groove; 200. a drive device; 201. a horizontal driving mechanism; 202. a vertical drive mechanism; 300. a fetching device; 400. a frame structure.

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The principles and features of the present invention are described below in conjunction with the accompanying fig. 1-5, the examples given are intended to illustrate the present invention and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1, providing embodiment 1 of the present invention, this embodiment conveyor includes controller, a plurality of conveyor 1 that turn to, a plurality of conveyer 2, a plurality of recognition device and a plurality of material receiving conveyor 3, turn to conveyor 1, conveyer 2 and a plurality of recognition device respectively with the controller electricity is connected, and is a plurality of turn to conveyor 1 by preceding interval setting in proper order after to, it is a plurality of conveyer 2 sets up respectively adjacent two turn to between conveyor 1, and it is a plurality of conveyor 2's direction of delivery is the same, and is a plurality of material receiving conveyor 3 and a plurality of recognition device all with a plurality of turn to conveyor 1 one-to-one, and every material receiving conveyor 3's one end and every recognition device sets up respectively and is being close to the correspondence turn to conveyor 1's position, the feed end that turns to conveyor 1 is used for receiving rather than adjacent one conveyor 2 carries to rather than it And is used for sending out the received article to the corresponding receiving and conveying device 3 or another conveyor 2 adjacent to the receiving and conveying device.

The working principle of the conveying device in this embodiment is as follows:

in this embodiment, taking the case that the plurality of conveyors 2 convey articles forward and backward, the articles are placed on the conveying channel of the turning conveying device 1 located at the forefront, the identification device acquires information of the articles on the conveying channel corresponding to the turning conveying device 1 and sends the information to the controller, the controller receives the information and sends a signal to the turning conveying device 1, if the articles need to flow out from the receiving conveying device 3 corresponding to the current turning conveying device 1, the discharging end of the turning conveying device 1 is communicated with the upper end of the receiving conveying device 3, so that the goods are conveyed to the receiving conveying device 3 and flow out, if the articles do not flow out from the receiving conveying device 3 corresponding to the current turning conveying device 1, the discharging end of the turning conveying device 1 is communicated with the feeding ends of the conveyors 2 distributed behind the turning conveying device 1, to be conveyed by the conveyor 2 to the next diverting conveyor 1 and repeat the above steps.

This application conveyor has realized the discernment and the automatic reposition of redundant personnel of article, reduces the manpower, and work efficiency is high.

The identification device in this embodiment may be a vision system, and may also be a code scanning gun.

As shown in the figure, a vertically distributed baffle is arranged at one end of the material receiving and conveying device 3 away from the steering conveying device 1, so that the material on the material receiving and conveying device 3 is prevented from falling out of a conveying channel of the material receiving and conveying device.

Preferably, the conveying device further comprises a transfer conveying device 4, wherein the transfer conveying device 4 is arranged at a position close to a plurality of the turning conveying devices 1, one end of the transfer conveying device 4 is arranged behind the turning conveying device 1 positioned at the rearmost part, and the other end of the transfer conveying device 4 is distributed in front of the turning conveying device 1 positioned at the foremost part.

In the process of dispatching, a situation that the article is not identified on the corresponding identification device may occur, so that the article is finally conveyed to the rearmost steering conveyor device 1 and is not identified by the identification device corresponding to the rearmost steering conveyor device 1, the discharge end of the rearmost steering conveyor device 1 is communicated with the feed end of the transfer conveyor device 4, and the transfer conveyor device 4 conveys the unidentified article to the foremost steering conveyor device 1.

The transfer conveying device 4 avoids the situation that the articles cannot be discharged due to errors in the conveying process.

Preferably, the transfer conveyor 4 includes a first conveying mechanism 41, two hoists 42 and two second conveying mechanisms 43, the first conveying mechanism 41 is disposed below the plurality of conveyors 2, and two ends of the first conveying mechanism 41 are distributed on two sides of the front and the rear of the first conveying mechanism, the two hoists 42 are disposed at two ends of the first conveying mechanism 41, the two second conveying mechanisms 43 are respectively mounted on two lifting ends of the hoists 42, and a conveying channel of one of the second conveying mechanisms 43 is flush with a conveying channel of the second conveying mechanism 1 close to the conveying channel, and a conveying channel of the other second conveying mechanism 43 is flush with a conveying channel of the first conveying mechanism 41.

In this embodiment, taking the case that the plurality of conveyors 2 each convey articles forward and backward, in an initial state, the conveying path of the second conveying mechanism 43 located at the back is flush with the conveying path of the turn conveying device 1 located at the rearmost, the conveying path of the second conveying mechanism 43 located at the front is flush with the conveying path of the first conveying mechanism 41, after a certain article is finally conveyed to the turn conveying device 1 located at the rearmost and is identified as a failure by the corresponding identifying device, the discharge end of the turn conveying device 1 located at the rearmost sends the identified failed article to the second conveying mechanism 43 located at the back, the elevator 42 corresponding to the second conveying mechanism 43 located at the back drives the corresponding second conveying mechanism 43 to descend, until the conveying path of the second conveying mechanism 43 located at the back is flush with the conveying path of the first conveying mechanism 41, the second conveying mechanism 43 conveys the article to the first conveying mechanism 41, the elevator 42 located at the rear drives the corresponding second conveying mechanism 43 to ascend to the initial state of recovery, the first conveying mechanism 41 conveys the article on the conveying channel to the second conveying mechanism 43 located at the front, the elevator 42 located at the front drives the corresponding second conveying mechanism 43 to ascend to be flush with the conveying channel of the steering conveying device 1 located at the forefront, the second conveying mechanism 43 located at the front conveys the article to the conveying channel of the steering conveying device 1 located at the forefront, and then the second conveying mechanism 43 located at the front restores to the original position, so that the transfer of the article with failed identification is completed, and the condition of article missing is avoided.

As shown in the figure, in this embodiment, the feeding conveyor device is further included, and the feeding conveyor device is disposed in front of the turning conveyor device 1 located at the forefront, and is used for conveying the article to be restocked to the conveying channel of the turning conveyor device 1 located at the forefront, so as to perform restocking after identifying the article.

This application lifting machine 42 includes the frame, two chains, four sprockets and four pivots, second conveying mechanism 43 slidable mounting is in the frame, two pivot level and rotatable the installation in the frame upper end, two in addition pivot level and rotatable the installation in the lower extreme of frame, four coaxial fixed mounting is four respectively at the sprocket in the pivot, two the chain is established respectively and is established two of homonymy the chain is gone up and with second conveying mechanism 43 connects, driving motor installs in the frame, and its drive shaft horizontal distribution, just driving motor's drive shaft is used for the drive two of frame upper end the pivot is synchronous to be rotated, thereby drives second conveying mechanism 43 rises or descends.

Example 2

Based on the above, the goods taking and supplementing device provided in embodiment 2 includes a plurality of cabinet bodies 100, a plurality of driving devices 200, a plurality of fetching devices 300 and the conveying device as described in embodiment 1, the plurality of cabinet bodies 100, the plurality of driving devices 200 and the plurality of fetching devices 300 respectively correspond to the plurality of receiving conveying devices 3 one by one, the cabinet bodies 100 are vertically disposed at a side corresponding to the receiving conveying devices 3 far away from the turning conveying devices 1, a plurality of independent grooves 101 are disposed at a front side of the cabinet bodies 100, the driving devices 200 are disposed at a front side corresponding to the cabinet bodies 100, the fetching devices 300 are mounted at driving ends corresponding to the driving devices 200, the driving devices 200 are used for driving the corresponding fetching devices 300 to move in front of the cabinet bodies 100 and the receiving conveying devices 3, the fetching devices 300 have fetching ends, and the fetching device 300 can drive the fetching end thereof to move close to the cabinet body 100 and extend into the groove 101, or move away from the cabinet body 100.

The working principle is as follows:

when articles need to be taken, the driving device 200 is used for driving the fetching device 300 to move in the front of the material receiving and conveying device 3 and the cabinet body 100 in a reciprocating mode, the fetching device 300 can drive the fetching end of the fetching device to move close to the cabinet body 100 and stretch into the groove 101, the articles are taken out and then placed on the conveying channel of the material receiving and conveying device 3, and the materials taken out are conveyed to the conveyor 2 through the material receiving and conveying device 3 and are sent out through the conveyor 2.

When needs restocking, the material is placed in the forefront turn to conveyor 1 on, and the warp identification device discerns, if article match, then turn to conveyor 1 and turn to and carry the article that matches to corresponding connect material conveyor 3, drive arrangement 200 drive load handling device 300 removes to connect material conveyor 3 the place ahead, load handling device 300 takes out connect the article on the material conveyor 3, and pass through drive arrangement 200 drive load handling device 300 places article in recess 101, if mismatch, then turn to conveyor 1 and send article to its rear on conveyer 2, so that 2 rear of conveyer identification device discerns article again.

The goods taking and supplementing equipment can realize goods supplementing or goods taking.

In this embodiment, two conveying devices may be provided, the two conveying devices are respectively disposed at two sides of the cabinet 100, one of the conveying devices is used for replenishing goods into the cabinet 100, and the other conveying device is used for sending out articles in the cabinet 100.

In this embodiment, the fetching device 300 is a three-level fork, the driving device 200 drives the three-level fork to move, so that the fetching device 300 can be precisely positioned and accurately fetch goods, and the loading plate of the three-level fork can be moved close to or far away from the cabinet body 100.

Every be equipped with on the recess 101 downside cell wall run through from top to bottom its and with get thing end matched with bar hole, and every of load handling device 300 the bar hole runs through the correspondence the front end of recess 101 downside cell wall, every be equipped with the storage tank in the recess 101 respectively, the year thing board of tertiary fork can stretch into the bar is downthehole to take or place the storage tank.

Preferably, the driving device 200 includes a horizontal driving mechanism 201 and a vertical driving mechanism 202, the horizontal driving mechanism 201 is disposed in front of the cabinet 100, the vertical driving mechanism 202 is mounted on a driving end of the horizontal driving mechanism 201, the fetching device 300 is mounted on a driving end of the vertical driving mechanism 202, the horizontal driving mechanism 201 is used for driving the vertical driving mechanism 202 and the fetching device 300 to synchronously move horizontally along the left-right direction, and the vertical driving mechanism 202 is used for driving the fetching device 300 to move vertically.

In this embodiment, the horizontal driving mechanism 201 includes a motor, a rack, a gear and a fixing plate, a low-resistance slide rail is arranged in front of the lower end of the cabinet 100, the fixing plate is slidably mounted on the low-resistance slide rail below the front side of the cabinet 100, the rack is horizontally arranged on one side of the fixing plate along the left-right direction, and two ends of the rack respectively extend to be flush with two ends of the cabinet 100, the motor is fixedly mounted on the fixing plate, a driving shaft of the motor is vertically distributed, the gear is coaxially and fixedly mounted on the driving shaft of the motor and is engaged with the rack, and the fixing plate constitutes a driving end of the horizontal driving mechanism 201.

Vertical drive mechanism 202 includes driving piece, belt, backup pad and two belt pulleys, the vertical fixed mounting of backup pad is in on the drive end of horizontal drive subassembly, two the belt pulley is vertical and rotatable upper end and the upper end of installing in backup pad one side respectively, the belt cover is established two on the belt pulley, the driving piece is installed in the backup pad and with one of them belt pulley transmission connects, load handling device 300 is installed on the belt.

In this embodiment, the horizontal driving mechanism 201 further includes a linear guide rail horizontally disposed above the low-resistance slide rail along the left-right direction, and the upper end of the supporting plate is mounted on the driving end of the linear guide rail, so that the vertical driving mechanism 202 can stably and rapidly slide in front of the cabinet 100.

The multifunctional cabinet is characterized by further comprising a cuboid-shaped frame structure 400, the cabinet bodies 100 are respectively arranged in the frame structure 400, and the driving devices 200 are respectively arranged on the frame structure 400.

The horizontal driving mechanism 201 is installed on the frame structure 400 to stably move the fetching device 300.

Example 3

Embodiment 3 specifically provides a pick-and-place system for an unmanned supermarket, which specifically includes a server and a client terminal, wherein the server has a local database and is provided with scheduling software inside, the local database stores goods information and quantity information and position information corresponding to the goods, the system further includes the pick-and-place equipment according to embodiment 2, and the server is in communication connection with the controller, the plurality of driving devices 200 and the plurality of pick-and-place devices 300 through the scheduling software.

Specifically, a plurality of driving devices 200 and a plurality of fetching devices 300 are respectively electrically connected with the controller, a communication module is arranged on the controller, and the server is in communication connection with the plurality of driving devices 200, the plurality of fetching devices 300, the plurality of steering conveying devices 1, the plurality of conveyors 2, the plurality of identification devices and the plurality of receiving conveying devices 3 through the scheduling software.

When goods are taken, the scheduling software is used for obtaining shipment order information through the client terminal, the scheduling software matches commodities in the order information with article information in a local database, if matching fails or the quantity of the articles is the quantity, the shipment failure is displayed, if matching succeeds, the scheduling software obtains the article information and the position information and sends the position information to the driving device 200, the driving device 200 drives the fetching device 300 to move to a target position, after the fetching device 300 fetches the articles at the target position, the driving device 200 drives the fetching device 300 to move to the receiving and conveying device 3, the receiving and conveying device 3 sends the fetched articles to the corresponding steering and conveying device 1 and sends the articles out through the steering and conveying device 1 and the plurality of conveying machines 2.

When replenishing goods, the scheduling software is used for acquiring replenishment order information through the client terminal, the scheduling software matches commodities in the order information with article information in a local database and acquires storage position information of replenishment articles, the goods are conveyed to the steering conveying device 1 positioned at the forefront through a manual or goods-feeding conveying device, the identification device corresponding to the steering conveying device 1 positioned at the forefront acquires article information and feeds back the article information to the scheduling software through the controller, the scheduling software matches whether a container stored with the current article corresponds to the current steering conveying device 1, if not, the current steering conveying device 1 conveys the articles to the conveyor 2 at the rear part of the current steering conveying device, the steps are continued, if matching, the current steering conveying device 1 conveys the articles to the corresponding receiving conveying device 3, and the receiving conveying device 3 conveys the articles to one end of the current steering conveying device far away from the steering conveying device 1, the dispatching software sends signals to the driving device 200 and the fetching device 300 to place the articles on the receiving and conveying device 3 to a target position to complete replenishment,

and after the replenishment or the goods taking is completed, the scheduling software uploads the taken out or replenished goods information to the server so as to update the quantity and position information of the goods stored in the local database.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the present invention can be smoothly implemented by those skilled in the art according to the drawings and the above description; however, those skilled in the art should understand that changes, modifications and variations made by the above-described technology can be made without departing from the scope of the present invention, and all such changes, modifications and variations are equivalent embodiments of the present invention; meanwhile, any changes, modifications, evolutions, etc. of the above embodiments, which are equivalent to the actual techniques of the present invention, still belong to the protection scope of the technical solution of the present invention.

Claims

1. A conveying device is characterized by comprising a controller, a plurality of steering conveying devices (1), a plurality of conveyors (2), a plurality of identification devices and a plurality of material receiving conveying devices (3), wherein the steering conveying devices (1), the conveyors (2) and the identification devices are respectively electrically connected with the controller, the steering conveying devices (1) are sequentially arranged from front to back at intervals, the conveyors (2) are respectively arranged between two adjacent steering conveying devices (1), the conveying directions of the conveyors (2) are the same, the material receiving conveying devices (3) and the identification devices are respectively in one-to-one correspondence with the steering conveying devices (1), one end of each material receiving conveying device (3) and each identification device are respectively arranged at a position close to the corresponding steering conveying device (1), the feeding end of the turning conveying device (1) is used for receiving articles conveyed to the turning conveying device by one adjacent conveyor (2) and sending the articles received by the turning conveying device out to the corresponding receiving conveying device (3) or the other adjacent conveyor (2).

2. The conveyor device according to claim 1, further comprising a transfer conveyor device (4), wherein the transfer conveyor device (4) is disposed at a position close to a plurality of the turn conveyor devices (1), and one end of the transfer conveyor device (4) is disposed behind the rearmost turn conveyor device (1), and the other end of the transfer conveyor device (4) is distributed in front of the foremost turn conveyor device (1).

3. Conveying device according to claim 2, characterized in that the transfer conveyor (4) comprises a first conveying mechanism (41), two hoists (42) and two second conveying mechanisms (43), the first conveying mechanism (41) is arranged below a plurality of conveyors (2), and the two ends of the two conveying devices are distributed at the sides of the two turning conveying devices (1) which are positioned at the forefront and the rearmost and are deviated from each other, the two lifting machines (42) are respectively arranged at the two ends of the first conveying mechanism (41), the two second conveying mechanisms (43) are respectively arranged at the lifting ends of the two lifting machines (42), and the conveying channel of one second conveying mechanism (43) is communicated with the conveying channel of the adjacent steering conveying device (1), and the conveying channel of the other second conveying mechanism (43) is communicated with the conveying channel of the first conveying mechanism (41).

4. The goods taking and supplementing device is characterized by comprising a plurality of cabinets (100), a plurality of driving devices (200), a plurality of fetching devices (300) and the conveying device according to any one of claims 1 to 3, wherein the cabinets (100), the driving devices (200) and the fetching devices (300) are in one-to-one correspondence with the receiving conveying devices (3), the cabinets (100) are vertically arranged on one side, away from the steering conveying device (1), of the receiving conveying device (3), a plurality of independent grooves (101) are formed in the front side of the cabinets (100), the driving devices (200) are arranged in the front of the corresponding cabinets (100), the fetching devices (300) are arranged on the driving ends corresponding to the driving devices (200), and the driving devices (200) are used for driving the fetching devices (300) to be away from the cabinets (100) and the receiving conveying device (3) Turn to the place ahead between conveyor (1) one side and remove, load handling device (300) have get the thing end, just load handling device (300) can drive its load handling end and remove and be close to cabinet body (100) and stretch into in recess (101), or remove and keep away from cabinet body (100).

5. The device according to claim 4, characterized in that said extractor means (300) are three-stage forks.

6. The device for taking and supplementing goods according to claim 4, characterized in that the front side of the lower side groove wall of the groove (101) is provided with a strip-shaped hole matched with the fetching end of the fetching device (300).

7. The device for taking and supplementing goods according to claim 4, wherein the driving device (200) comprises a horizontal driving mechanism (201) and a vertical driving mechanism (202), the horizontal driving mechanism (201) is arranged in front of the cabinet body (100), the vertical driving mechanism (202) is installed at a driving end of the horizontal driving mechanism (201), the fetching device (300) is installed at a driving end of the vertical driving mechanism (202), the horizontal driving mechanism (201) is used for driving the vertical driving mechanism (202) and the fetching device (300) to synchronously and horizontally move along the left-right direction, and the vertical driving mechanism (202) is used for driving the fetching device (300) to vertically move.

8. The pick and place apparatus according to any one of claims 4 to 7, further comprising a frame structure (400) having a rectangular parallelepiped shape, a plurality of said cabinets (100) being respectively disposed in said frame structure (400), a plurality of said driving devices (200) being respectively mounted on said frame structure (400).

9. A pick-and-place system for an unmanned supermarket, which is characterized by comprising a server and a client terminal, wherein the server is provided with a local database and is internally provided with scheduling software, goods information and position information corresponding to goods are stored in the local database, the pick-and-place system further comprises the pick-and-place device according to any one of claims 4 to 8, and the server is respectively in communication connection with the controller, the plurality of driving devices (200) and the plurality of pick-and-place devices (300) through the scheduling software.