CN111744796A - Goods sorting system and goods sorting method - Google Patents
Goods sorting system and goods sorting method Download PDFInfo
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- CN111744796A CN111744796A CN201910398044.7A CN201910398044A CN111744796A CN 111744796 A CN111744796 A CN 111744796A CN 201910398044 A CN201910398044 A CN 201910398044A CN 111744796 A CN111744796 A CN 111744796A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
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Abstract
The invention discloses a goods sorting system and a goods sorting method, and relates to the technical field of warehouse logistics. This goods system of picking, including tearing open support mechanism, transfer chain, vision device and robot, wherein: the support detaching mechanism is close to the starting end of the conveying line; the vision device and the robot are arranged above the conveying line, and the vision device is located between the support detaching mechanism and the robot. The goods picking method comprises the following steps: the support detaching mechanism sequentially detaches the goods baskets to the conveying line; the conveying line conveys the goods baskets and the goods and sends the positions of the goods baskets to the robot; the visual device identifies coordinate information of goods on the conveying line and sends the coordinate information to the robot; and the robot grabs the goods into the goods basket according to the coordinate information and the position of the goods basket. This embodiment can pick process automation, mechanization with the goods, improves the efficiency that the goods was picked, practices thrift manpower resources.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a goods picking system and a goods picking method.
Background
In storage logistics field, the goods can be sent the conveying line after the packing and sort, for preventing the goods card on the conveying line, need put in a specific container with the goods.
Among the current technical scheme, adopt the method of artifical picking to put in the goods basket, specifically, the goods transports on through the conveyer belt and comes, has the staff to place the goods basket, and other staff pick out the parcel from the conveyer belt, put in the goods basket, collect the goods basket at last.
In the process of implementing the invention, the inventor finds that the operation mode has the following disadvantages:
the efficiency of goods is picked is lower, and extravagant manpower resources.
Disclosure of Invention
In order to solve the problems of low efficiency of goods picking and human resource waste in the prior art, the invention provides a goods picking system and a goods picking method, which can realize automation and mechanization of goods picking process, improve the efficiency of goods picking and save human resources.
To achieve the above objects, according to one aspect of the embodiments of the present invention, there is provided a goods picking system.
The goods picking system comprises a support detaching mechanism, a conveying line, a vision device and a robot, wherein:
the support detaching mechanism is close to the starting end of the conveying line;
the vision device with the robot set up in the top of transfer chain, just the vision device is located tear the support mechanism open with between the robot.
Optionally, the conveyor line comprises a cargo conveyor line, an encoder, a basket conveyor line and a first sensor, wherein:
the goods conveying line is provided with the encoder;
the starting end of the basket conveying line is provided with the first sensor.
Optionally, a return line connected to both ends of the cargo conveying line.
Optionally, the tray detaching mechanism comprises a basket rack, a clamping belt, a rotary peeling mechanism and a second sensor, wherein:
the upper surface of the basket frame is obliquely arranged towards the basket conveying line side, and the clamping belts are arranged on two sides above the basket frame;
the rotary stripping mechanisms are arranged on the upper side and the lower side of the lower end of the clamping belt;
the second sensor is arranged at the lower end of the clamping belt.
Optionally, the angle of inclination of the upper surface of the basket rack is 20 ° -30 °; the first sensor and the second sensor are photoelectric switches.
Optionally, the vision device comprises a three-dimensional camera, a camera bellows and a vision controller, wherein:
the three-dimensional camera is arranged in the camera bellows;
the vision controller is in communication connection with the three-dimensional camera, the encoder and the robot.
Optionally, the robot is a Delta robot or a robot hand.
To achieve the above object, according to still another aspect of the embodiments of the present invention, a goods picking method is provided.
The goods picking method provided by the embodiment of the invention is applied to the goods picking system provided by the embodiment of the invention, and comprises the following steps:
the support detaching mechanism sequentially detaches the goods baskets to the conveying line;
the conveying line conveys the goods baskets and the goods and sends the positions of the goods baskets to the robot;
the visual device identifies coordinate information of goods on the conveying line and sends the coordinate information to the robot;
and the robot grabs the goods into the goods basket according to the coordinate information and the position of the goods basket.
Optionally, the conveyor line transferring the basket and the goods and transmitting the position of the basket to the robot comprises:
the basket conveying lines of the conveying lines convey baskets;
a first sensor of the conveying line identifies the position of a basket on the basket conveying line and sends the position of the basket to the robot;
the goods conveying line of the conveying line conveys goods;
and the encoder of the conveying line generates a goods identifier for the goods on the goods conveying line and sends the goods identifier to the visual device.
Optionally, the detaching the pallet mechanism sequentially detaches the baskets onto the conveyor line comprises:
a basket frame of the tray detaching mechanism bears a basket;
the clamping belt of the support detaching mechanism clamps and conveys the goods baskets on the goods basket frame;
a second sensor of the support detaching mechanism detects whether a basket is arranged at the lower end of the clamping belt or not; if yes, sending a pause signal to the clamping belt, and pausing the operation of the clamping belt; if not, sending an operation signal to the clamping belt, and continuing to operate the clamping belt;
the rotary stripping mechanism of the tray detaching mechanism detaches the goods basket from the lower end of the clamping belt to the starting end of the goods basket conveying line;
the first sensor detects whether a basket falls down from the starting end of the basket conveying line; if yes, sending a stop signal to the rotary stripping mechanism, and stopping the rotation of the rotary stripping mechanism; and if not, sending a rotation signal to the rotation stripping mechanism, and continuing to rotate the rotation stripping mechanism.
Optionally, the coordinate information includes a cargo identification, a robot coordinate, and a deflection angle; and
the vision device recognizes coordinate information of the goods on the conveyor line, and transmits the coordinate information to the robot, including:
a visual controller of the visual device receives the cargo identification;
the three-dimensional camera of the vision device shoots a three-dimensional image of the goods after the goods enter the camera bellows of the vision device;
the visual controller divides the three-dimensional image through point cloud to obtain the center point coordinate and the deflection angle of the goods; converting the coordinates of the central point into the coordinates of the robot according to the position relation between the three-dimensional camera and the robot; and sending the goods identification, the robot coordinate and the deflection angle to the robot.
Optionally, the robot grabbing the goods into the basket according to the coordinate information and the position of the basket comprises:
the robot receives the coordinate information and the position of the basket;
the robot tracks and captures the goods on the goods conveying line according to the coordinate information; and
and the robot records the position of the goods basket and puts the grabbed goods into the goods basket on the goods basket conveying line.
One embodiment of the above invention has the following advantages or benefits: utilize to tear open and hold in palm mechanism and put the goods basket on the transfer chain in proper order to utilize transfer chain conveying goods and goods basket simultaneously, snatch the goods basket through robot and vision device's cooperation, thereby pick out process automation, mechanization with the goods, improve the efficiency that the goods was picked, practice thrift manpower resources. Can send back the initiating terminal to snatch again through the return line with the goods that fail to snatch in the goods basket, avoid the goods that do not snatch in time to fall out the goods transfer chain, improve the goods and choose the effect. The upper surface of the basket frame is inclined by 20-30 degrees, so that the basket can smoothly and stably slide downwards.
Drawings
Fig. 1 is a schematic diagram of a goods picking system provided by the embodiment of the invention;
fig. 2 is a top view of a cargo picking system according to an embodiment of the present invention;
fig. 3 is a schematic view of a tray detaching mechanism of the goods picking system provided by the embodiment of the invention;
fig. 4 is a main flow diagram of a goods picking method provided by an embodiment of the invention.
In the figure, the position of the upper end of the main shaft,
1-detaching the support mechanism; 11-a basket shelf; 12-clamping the belt; 13-a rotary exfoliation mechanism; 2-conveying line; 21-cargo conveying lines; 22-an encoder; 23-basket conveyor lines; 24-a first sensor; 25-reflux line; 3-a vision device; 31-camera dark box; 4-robot.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a goods picking system provided by the embodiment of the invention. The goods picking system provided by the embodiment of the invention mainly comprises: tear open and ask mechanism 1, transfer chain 2, vision device 3 and robot 4.
As shown in fig. 1, the support detaching mechanism 1 is arranged adjacent to the conveying line 2, the support detaching mechanism 1 is close to the starting end of the conveying line 2, the support detaching mechanism 1 is used for sequentially detaching baskets from the conveying line 2, and the conveying line 2 is used for conveying goods and baskets and identifying the positions of the baskets. Visual device 3 and robot 4 set up in the top of transfer chain 2, and visual device 3 is located and tears the support between mechanism 1 and the robot 4 open, and this visual device 3 is used for discerning the coordinate information of goods on transfer chain 2, and this robot 4 is arranged in snatching the goods into the goods basket according to the coordinate information of goods and the position of goods basket. According to the goods picking system provided by the embodiment of the invention, the goods baskets are sequentially placed on the conveying line 2 by the tray detaching mechanism 1, the goods and the goods baskets are simultaneously conveyed by the conveying line 2, and the goods are grabbed into the goods baskets by the cooperation of the robot 4 and the vision device 3, so that the goods picking process is automated and mechanized, the goods picking efficiency is improved, and the human resources are saved.
In an embodiment of the invention, the conveyor line 2 may comprise a cargo conveyor line 21, an encoder 22, a basket conveyor line 23, a first sensor 24 and a return line 25. Encoder 22 is a device that compiles, converts, and formats signals (e.g., bitstreams) or data into a form of signals that can be communicated, transmitted, and stored. Encoders convert angular or linear displacements, called codewheels, into electrical signals, called coderulers. The encoder can be divided into a contact type and a non-contact type according to a reading mode; encoders can be classified into an incremental type and an absolute type according to their operation principles. The incremental encoder converts displacement into periodic electrical signals, and then converts the electrical signals into counting pulses, and the number of the pulses is used for expressing the magnitude of the displacement. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.
As shown in fig. 1 and 2, the goods conveying line 21 is provided with an encoder 22, the goods conveying line 21 is used for conveying goods, and the encoder 22 is used for generating goods identification for the goods. A return line 25 is connected to both ends of the goods conveyor line 21, which return line 25 can return goods that have failed to be grabbed into the basket to the starting end for re-grabbing. The starting end of the basket conveyor line 23 is provided with a first sensor 24, the basket conveyor line 23 is used for conveying baskets, and the first sensor 24 is used for identifying the positions of the baskets. It should be noted that the number and relative positions of the goods conveying lines 21 and the basket conveying lines 23 may be set as required, and accordingly, the return lines 25 are the same as the number of the goods conveying lines 21.
In the embodiment of the present invention, the tray detaching mechanism 1 includes a basket 11, a clamp belt 12, a rotary peeling mechanism 13, and a second sensor (not shown in the drawings).
As shown in fig. 2, the upper surface of the basket 11 is inclined toward the basket conveyor line 23, the clamping belts 12 are disposed on two sides above the basket 11, the basket 11 is used for carrying a basket, and the clamping belts 12 are used for clamping and conveying the basket on the basket 11. The rotary stripping mechanisms 13 are arranged at the upper and lower sides of the lower end of the clamping belt 12, and the rotary stripping mechanisms 13 are used for matching with the second sensor to disassemble the basket at the lower end of the clamping belt 12 to the starting position of the conveying basket conveying line 23. The second sensor is disposed at a lower end of the clamping belt 12, and the second sensor is used for detecting whether a basket is present at the lower end of the clamping belt 12.
It should be noted that too large an angle of inclination of the upper surface of the basket support 11 may result in unstable basket contact with the clamping straps 12 and too small an angle of inclination may result in slow basket slip, affecting picking efficiency, and therefore the angle of inclination of the upper surface of the basket support 11 may be set to 20-30, and as a preferred embodiment the angle of inclination of the upper surface of the basket support 11 is 25. The length of the clamping belts 12 can be extended, for example, according to the occupied area of the site or the number of the baskets, the length of the upper surface of the basket frame 11 can be greater than that of the clamping belts 12, that is, the clamping belts 12 only clamp part of the baskets on the basket frame 11, the undamped baskets can slide down freely, the length of the upper surface of the basket frame 11 is increased to increase the number of loaded baskets, and the number of times of adding baskets is reduced. The upper and lower rotary peeling mechanisms 13 holding the lower end of the belt 12 may be provided in the same structure or in different structures, but the rotational stroke is the same for each time, for example, the upper rotary peeling mechanism 13 has two shafts, while the lower rotary peeling mechanism 13 has only one shaft, but the upper and lower rotary peeling mechanisms 13 rotate one frame at a time. In addition, the first sensor 24 and the second sensor may be selected from photoelectric switches, which are short for photoelectric proximity switches (also called photoelectric sensors) that detect the presence or absence of an object by turning on a circuit through a synchronous circuit by using the shielding or reflection of a light beam by the object to be detected. The object is not limited to metal, and all objects that reflect light (or block light) can be detected. The photoelectric switch converts the input current into an optical signal on the transmitter to be emitted, and the receiver detects the target object according to the intensity or the existence of the received light.
In an embodiment of the present invention, the vision device 3 may include a three-dimensional camera (not shown), a camera bellows 31, and a vision controller (not shown). The three-dimensional camera is disposed in the camera dark box 31, and the three-dimensional camera can photograph a stereoscopic image of the cargo after the cargo enters the camera dark box 31. The vision controller is in communication connection with the three-dimensional camera, the encoder 22 and the robot 4, the communication connection is a connection mode, communication is formed between connected devices through transmission interaction of signals, and the communication comprises wired connection and wireless connection. The vision controller can recognize coordinate information such as the robot coordinate and the deflection angle of the goods by using the stereoscopic image, and transmit the coordinate information of the goods to the robot 4.
Three-dimensional camera cameras are typically composed of multiple cameras and depth sensors. The three-dimensional camera can obtain not only a plane image but also depth information of a shot object, namely three-dimensional position, size and the like, can realize three-dimensional information acquisition, and three-dimensional data can be converted into point cloud.
The three-dimensional camera may be a binocular Structured light camera, which is a camera employing Structured light and binocular stereo vision, Structured light (Structured light): invisible infrared laser with specific wavelength is generally used as a light source, light emitted by the invisible infrared laser is projected on an object through a certain code, and the position and depth information of the object is obtained by calculating the distortion of a returned code pattern through a certain algorithm. Binocular Stereo Vision (Binocular Stereo Vision) is an important form of machine Vision, and is a method for acquiring three-dimensional geometric information of an object by acquiring two images of the object to be measured from different positions by using imaging equipment based on a parallax principle and calculating position deviation between corresponding points of the images.
In an embodiment of the invention, the robot 4 may be a Delta robot having three parallel arms and rotary or linear drives, similar to an inverted spider having three feet, and the end effector moves in the x, y and z axes but does not rotate when force is applied to the drives. Delta robots were originally designed for use with light duty load pick and place activities, and other uses include 3D printing, surgery and assembly operations. Delta robot uses light arm, and this kind of arm inertia is very little, and the translation rate is very fast, can carry out 360 degrees circular movements in its workspace. The robot 4 may be a manipulator, which is an automatic operating device that simulates some of the motion functions of a human hand and arm to grasp, carry an object or operate a tool according to a fixed program.
According to the above description, can see that the goods basket is put on transfer chain 2 in proper order to utilize to tear off support mechanism 1 to utilize transfer chain 2 to convey goods and goods basket simultaneously, snatch the goods in the goods basket through the cooperation of robot 4 and vision device 3, thereby pick the process automation, mechanize with the goods, improve the efficiency that the goods was picked, practice thrift manpower resources. Can send back the initiating terminal to snatch again through return line 25 with the goods that fail to snatch in the goods basket, avoid the goods that do not snatch in time to fall out goods transfer chain 21, improve the goods and choose the effect. The upper surface of the basket support 11 is inclined by 20 to 30 degrees to enable the basket to smoothly and stably slide downwards.
Fig. 4 is a main flow diagram of a goods picking method provided by an embodiment of the invention.
As shown in fig. 4, the main process of a cargo picking method provided for the embodiment of the present invention includes:
step S401: the support detaching mechanism 1 sequentially detaches the goods baskets to the conveying lines 2.
The conveyor line 2 can convey both goods and baskets. But on the conveying line 2 need be put in proper order to the basket, on 2 with the basket split of batch to the transfer chain through tearing off support mechanism 1, improved work efficiency. Furthermore, the form of the goods on the conveyor line 2 is not required, so that batches of goods can be placed on the conveyor line 2 manually or by some means.
Specifically, step S401 may be implemented by: the basket frame 11 of the tray dismounting mechanism 1 bears a basket; a clamping belt 12 of the tray detaching mechanism 1 is used for conveying the baskets on the basket rack 11 to the lower end of the basket rack 11; a second sensor of the support detaching mechanism 1 detects whether a basket is arranged at the lower end of the clamping belt 12; if yes, sending a pause signal to the clamping belt 12, and pausing the operation of the clamping belt 12 after receiving the pause signal; if not, sending an operation signal to the clamping belt 12, and continuing to operate after the clamping belt 12 receives the operation signal; the rotary stripping mechanism 13 of the tray detaching mechanism 1 detaches the goods basket from the lower end of the clamping belt 12 to the starting end of the goods basket conveying line 23 of the conveying line 2; a first sensor 24 of the conveying line 2 detects whether a basket falls down from the starting end of the basket conveying line 23; if yes, a stop signal is sent to the rotary stripping mechanism 13, and the rotary stripping mechanism 13 stops rotating after receiving the stop signal; if not, a rotation signal is sent to the rotary peeling mechanism 13, and the rotary peeling mechanism 13 continues to rotate after receiving the rotation signal.
The second sensor detects whether a basket is arranged at the lower end of the basket frame 11, so that the operation and suspension of the clamping belt 12 are controlled; whether a basket exists at the starting end of the basket conveying line 23 is detected through the first sensor 24, so that the rotation and stop of the rotary peeling mechanism 13 are controlled, for example, after the rotary peeling mechanism 13 rotates once, the first sensor 24 still does not detect the basket, the rotary peeling mechanism 13 rotates once again until the basket falls to the starting end of the basket conveying line 23, and the basket can be timely provided through the matching of the clamping belt 12 and the rotary peeling mechanism 13, so that the picking efficiency is improved.
Step S402: the conveyor line 2 conveys the baskets and the goods and sends the positions of the baskets to the robot 4.
The conveyor line 2 can simultaneously convey baskets and goods so that the robot 4 grabs the goods into the baskets.
Specifically, step S402 may be implemented by: the basket conveying line 23 of the conveying line 2 conveys baskets; the first sensor 24 of the conveyor line 2 identifies the position of the basket on the basket conveyor line 23 and sends the position of the basket to the robot 4; the goods conveying line 21 and the return line 25 of the conveying line 2 convey goods; the encoder 22 of the conveyor line 2 generates a goods identification for the goods on the goods conveyor line 21 and sends the goods identification to the vision device 3.
Step S403: the vision device 3 recognizes coordinate information of the goods on the conveyor line 2 and transmits the coordinate information to the robot 4.
In order to facilitate the robot 4 to grab the goods into the basket, the goods are also conveyed through the conveying line 2, and after the goods enter the conveying line 2, the vision device 3 identifies the coordinate information of the goods and sends the coordinate information to the robot 4. The coordinate information may include cargo identification, robot coordinates, and deflection angles.
Specifically, step S403 may be implemented by: the visual controller of the visual device 3 receives the goods identification; the three-dimensional camera of the vision device 3 shoots a three-dimensional image of the goods after the goods enter the camera dark box 31 of the vision device 3; the visual controller divides the three-dimensional image through the point cloud to obtain the coordinates of the center point and the deflection angle of the goods; converting the coordinates of the center point of the goods into the coordinates of the robot according to the position relationship between the three-dimensional camera and the robot 4; the goods identification, the robot coordinates and the deflection angle are sent to the robot 4.
After the goods enter the goods conveying line 21, the encoder 22 will generate goods identification for the goods. The goods pass through the camera dark box 31 in the conveying process, the three-dimensional camera is triggered to shoot a three-dimensional image in the camera dark box 31, the visual controller performs point cloud segmentation on the three-dimensional image, then the coordinates of a central point and a deflection angle of the goods under a visual coordinate system (a coordinate system corresponding to the three-dimensional camera) are obtained through calculation, and the coordinates of the central point are converted into the coordinates of the robot. The vision controller will assign each cargo to one robot 4 and send the cargo identification, robot coordinates and deflection angle of the cargo to the robot 4. The point cloud is a massive collection of points that represent the spatial distribution of the target and the characteristics of the target surface in the same spatial reference system. The calculation of the coordinates of the center point and the deflection angle of the cargo by point cloud segmentation can be realized by the prior art method, and is not described herein again.
Step S404: the robot 4 grabs the goods into the basket according to the coordinate information and the position of the basket.
The robot 4 can complete the grabbing work according to the coordinate information and the position of the basket.
Specifically, step S404 may be implemented by: the robot 4 receives the coordinate information and the position of the basket; the robot 4 tracks and grasps the goods on the goods conveying line 21 according to the coordinate information; and the robot 4 records the position of the basket and drops the grasped goods into the basket on the basket conveyor line 23.
After receiving the coordinate information of the distributed goods, the robot 4 can track the positions of the goods in real time, grab the goods after the goods reach the grabbing range of the robot 4, and put the goods into the goods basket according to the recorded positions of the goods basket.
According to the above description, can see that the goods basket is put on transfer chain 2 in proper order to utilize to tear off support mechanism 1 to utilize transfer chain 2 to convey goods and goods basket simultaneously, snatch the goods in the goods basket through the cooperation of robot 4 and vision device 3, thereby pick the process automation, mechanize with the goods, improve the efficiency that the goods was picked, practice thrift manpower resources. Can send back the initiating terminal to snatch again through return line 25 with the goods that fail to snatch in the goods basket, avoid the goods that do not snatch in time to fall out goods transfer chain 21, improve the goods and choose the effect. The upper surface of the basket support 11 is inclined by 20 to 30 degrees to enable the basket to smoothly and stably slide downwards.
The invention is not limited to the above preferred embodiments, but includes all modifications, equivalents, and simplifications that may be made by those skilled in the art without departing from the spirit of the invention.
Claims (12)
1. A goods picking system is characterized by comprising a tray detaching mechanism (1), a conveying line (2), a vision device (3) and a robot (4), wherein:
the support detaching mechanism (1) is close to the starting end of the conveying line (2);
the vision device (3) and the robot (4) are arranged above the conveying line (2), and the vision device (3) is located between the support detaching mechanism (1) and the robot (4).
2. The goods picking system according to claim 1, characterized in that the conveyor line (2) comprises a goods conveyor line (21), an encoder (22), a basket conveyor line (23) and a first sensor (24), wherein:
the goods conveying line (21) is provided with the encoder (22);
the starting end of the basket conveying line (23) is provided with the first sensor (24).
3. The cargo picking system according to claim 2, characterized by a return line (25), the return line (25) being connected to both ends of the cargo conveying line (21).
4. The goods picking system according to claim 2, characterized in that the tray-removing mechanism (1) comprises a basket rack (11), a clamping belt (12), a rotary peeling mechanism (13) and a second sensor, wherein:
the upper surface of the basket frame (11) is obliquely arranged towards the basket conveying line (23), and the clamping belts (12) are arranged on two sides above the basket frame (11);
the rotary stripping mechanisms (13) are arranged on the upper side and the lower side of the lower end of the clamping belt (12);
the second sensor is arranged at the lower end of the clamping belt (12).
5. A cargo picking system according to claim 4, characterised in that the angle of inclination of the upper surface of the basket rack (11) is 20 ° -30 °; the first sensor (24) and the second sensor are opto-electronic switches.
6. The item picking system according to claim 2, characterized in that the vision device (3) comprises a three-dimensional camera, a camera box (31) and a vision controller, wherein:
the three-dimensional camera is arranged in the camera bellows (31);
the vision controller is in communication with the three-dimensional camera, the encoder (22) and the robot (4).
7. The item picking system according to any of claims 1-6, characterized in that the robot (4) is a Delta robot or a robot arm.
8. A goods picking method applied to the goods picking system of any one of claims 1 to 7, characterized by comprising the following steps:
the support detaching mechanism (1) sequentially detaches the goods baskets to the conveying lines (2);
the conveying line (2) conveys the goods baskets and the goods and sends the positions of the goods baskets to the robot (4);
the visual device (3) identifies coordinate information of goods on the conveying line (2) and sends the coordinate information to the robot (4);
the robot (4) grabs the goods into the basket according to the coordinate information and the position of the basket.
9. The goods picking method according to claim 8, wherein the conveying line (2) conveys baskets and goods and sends the positions of the baskets to the robot (4) comprises:
the basket conveying line (23) of the conveying line (2) conveys the baskets;
-a first sensor (24) of the conveyor line (2) identifies the position of a basket on the basket conveyor line (23) and sends the position of the basket to the robot (4);
the goods conveying line (21) and the return line (25) of the conveying line (2) convey goods;
and an encoder (22) of the conveying line (2) generates a goods identifier for the goods on the goods conveying line (21), and sends the goods identifier to the visual device (3).
10. The method for picking up goods according to claim 9, wherein the step of sequentially separating the baskets from the conveying line (2) by the tray separating mechanism (1) comprises the following steps:
the basket rack (11) of the support detaching mechanism (1) bears a basket;
a clamping belt (12) of the support detaching mechanism (1) clamps and conveys the baskets on the basket frame (11);
a second sensor of the support detaching mechanism (1) detects whether a basket is arranged at the lower end of the clamping belt (12); if yes, sending a pause signal to the clamping belt (12), and pausing the operation of the clamping belt (12); if not, sending an operation signal to the clamping belt (12), and continuing to operate the clamping belt (12);
a rotary stripping mechanism (13) of the tray detaching mechanism (1) detaches the basket from the lower end of the clamping belt (12) to the starting end of the basket conveying line (23);
the first sensor (24) detects whether a basket falls down from the starting end of the basket conveying line (23); if yes, sending a stop signal to the rotary stripping mechanism (13), and stopping the rotation of the rotary stripping mechanism (13); if not, a rotation signal is sent to the rotary peeling mechanism (13), and the rotary peeling mechanism (13) continues to rotate.
11. The item picking method according to claim 9, characterized in that the coordinate information comprises item identification, robot coordinates and deflection angle; and
the visual device (3) identifies coordinate information of goods on the conveyor line (2) and sends the coordinate information to the robot (4) and comprises:
a visual controller of the visual device (3) receives the cargo identification;
the three-dimensional camera of the vision device (3) shoots a three-dimensional image of the goods after the goods enter a camera dark box (31) of the vision device (3);
the visual controller divides the three-dimensional image through point cloud to obtain the center point coordinate and the deflection angle of the goods; converting the coordinates of the central point into the coordinates of the robot according to the position relationship between the three-dimensional camera and the robot (4); and sending the goods identification, the robot coordinates and the deflection angle to the robot (4).
12. Method for picking items according to claim 9, characterized in that the robot (4) grabs items into baskets according to the coordinate information and the position of the baskets comprises:
the robot (4) receiving the coordinate information and the position of the basket;
the robot (4) tracks and grasps goods on the goods conveying line (21) according to the coordinate information; and
the robot (4) records the position of the basket and drops the gripped goods into the basket on the basket conveyor line (23).
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