CN112824278A

CN112824278A - Goods picking system and goods picking method

Info

Publication number: CN112824278A
Application number: CN201911140349.4A
Authority: CN
Inventors: 侯世国; 王根; 韩超; 郑金梁; 邸治榕; 王柏峰; 何英圣; 王丹
Original assignee: Hanshuo Technology Co ltd
Current assignee: Hanshuo Technology Co ltd; Hanshow Technology Co Ltd
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2021-05-21
Also published as: WO2021098008A1

Abstract

The invention relates to the technical field of warehouse logistics, and particularly discloses a goods picking system and a goods picking method. The goods picking system comprises a first storage mechanism, a second storage mechanism and a picking mechanism, wherein the first storage mechanism is used for storing target goods; the picking and placing mechanism is arranged on one side of the first storing mechanism and comprises a clamping and placing assembly, a goods picking area and a temporary placing area; the picking and placing mechanism can move in the horizontal and vertical directions relative to the first storage mechanism, so that the picking and placing mechanism can pick target cargos at different positions on the first storage mechanism out of the picking area; the clamping and placing assembly can slide in the horizontal and vertical directions relative to the rack body, so that the clamping and placing assembly can transfer the target goods on the goods taking area to the temporary placing area. The pick-and-place mechanism of the picking system provided by the invention can horizontally and vertically move relative to the first storage mechanism, so that the pick-and-place mechanism moves to different target positions to further obtain all target goods placed on the first storage mechanism, thereby improving the flexibility of the picking system, increasing the application range of the picking system and improving the working efficiency of the picking function.

Description

Goods picking system and goods picking method

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

The rapid development of electronic commerce drives the development of the logistics industry, and the automation and unmanned solution of logistics operation is an important measure for enterprises to improve the logistics operation efficiency and reduce the logistics cost. In warehouse operations, an automated solution for picking up goods (i.e., the operation process of picking up goods from their storage locations or other areas according to the order request of customers or the operation plan of the distribution center) faces a huge obstacle, and this operation is one of the most labor-intensive parts of the electric business. In most e-commerce distribution centers, picking is the link with the highest labor cost and the lowest automation degree.

The goods picking system in the warehouse at present mainly comprises a machine base and a tail end grabbing head mechanism, wherein a clamping component is fixed on the machine base, and the machine base is connected with the ground through bolts.

The base of the picking system used in the warehouse is connected with the ground and cannot move, only goods carrying work from a picking point to a putting point can be achieved, and only one target goods can be picked when the picking point returns to the putting point, so that the picking system is poor in flexibility, small in operation range, low in working efficiency, poor in flexibility of the tail end head grabbing mechanism and low in picking efficiency.

Disclosure of Invention

One objective of the present invention is to provide a picking system, so as to improve the flexibility of the picking system, increase the operation range thereof, and improve the work efficiency of the picking operation.

In order to achieve the purpose, the invention adopts the following technical scheme:

a picking system comprising:

the first storage mechanism is used for storing target goods;

the picking and placing mechanism is arranged on one side of the first storing mechanism and comprises a frame body, and a clamping and placing assembly, a goods picking area and a temporary placing area which are all arranged on the frame body;

the pick and place mechanism can move in the horizontal and vertical directions relative to the first storage mechanism so as to enable the pick and place mechanism to pick the target goods at different positions on the first storage mechanism out of the pick and place area;

the clamping and placing assembly can slide along the horizontal direction and the vertical direction relative to the rack body, so that the clamping and placing assembly transfers the target goods on the goods taking area to the temporary placing area.

Preferably, the first storage mechanism includes a shelf and a plurality of turnover boxes disposed on the shelf, the turnover boxes are used for storing the target goods, and the pick-and-place mechanism can pick the goods from the turnover boxes.

Preferably, the pick and place mechanism further comprises a telescopic part located on the pick and place area, the telescopic part is arranged on one side of the temporary place area, and the telescopic part can extend into the goods shelf so that the turnover box can be transferred between the telescopic part and the goods shelf.

Preferably, the support body is including getting to put the support, press from both sides and put the subassembly and include:

the first linear driving mechanism is connected to the taking and placing support;

the second linear driving mechanism is connected to the first linear driving mechanism, and the first linear driving mechanism can drive the second linear driving mechanism to move along the X direction;

a third linear driving mechanism connected to the second linear driving mechanism, the second linear driving mechanism being capable of driving the first linear driving mechanism to move in the Y direction;

a manipulator for gripping and placing the target cargo and connected to the third linear drive mechanism, the third linear drive mechanism being capable of driving the manipulator to move in the Z direction;

the X direction, the Y direction and the Z direction are perpendicular to each other, and the telescopic part and the temporary placing area are arranged on the taking and placing support and are located below the clamping and placing assembly.

Preferably, the first storage mechanism further comprises a placement area at one end thereof, and the pick-and-place mechanism drives the sorting bins to be selectively disposed in one of the temporary placement area and the placement area.

Preferably, the picking system further comprises a horizontal sliding assembly and a vertical sliding assembly, the vertical sliding assembly is slidably disposed on the horizontal sliding assembly, and the pick-and-place mechanism is slidably disposed on the vertical sliding assembly.

Preferably, the picking system further comprises a second storage mechanism arranged in parallel with the first storage mechanism, the pick and place mechanism is arranged between the first storage mechanism and the second storage mechanism, and the pick and place mechanism is further capable of picking the target goods at different positions on the second storage mechanism to the pick and place area.

Another object of the present invention is to provide a picking method to improve picking efficiency.

a method of picking a product, comprising:

step S1, moving the pick-and-place mechanism to a target position;

step S2, the pick and place mechanism takes out the target goods on the first storage mechanism to the pick and place area at the target position;

step S3, the clamping and placing component of the pick and place mechanism moves along the horizontal and vertical directions to place the target goods on the pick and place area in a temporary placing area;

step S4, repeating the steps S1-S3 until all the target goods are placed in the temporary placement area.

Preferably, the first storage mechanism comprises a turnover box for storing the target goods, and the pick-and-place mechanism comprises a clamping assembly and a telescopic part positioned on the pick-and-place area;

the step S2 includes:

the telescopic part extends out, so that the turnover box stored with the target goods is positioned on the telescopic part; the telescopic part is contracted and restored to the original position;

the clamping and placing assembly grabs the target goods in the turnover box.

Preferably, before step S1, the method further includes: the picking and placing mechanism moves to the placing area, and the sorting box is arranged on the temporary placing area.

The invention has the beneficial effects that:

the pick-and-place mechanism of the picking system provided by the invention can horizontally and vertically move relative to the first storage mechanism, so that the pick-and-place mechanism moves to different target positions (namely, the positions near the storage positions of the target goods), and further all the target goods placed on the first storage mechanism are obtained, thereby improving the flexibility of the picking system and increasing the application range of the picking system. The picking and placing mechanism can move to different target positions, different target goods are taken out to the picking area, the clamping and placing assembly can slide along the horizontal direction and the vertical direction relative to the frame body, the target goods on the picking area are transferred to the temporary placing area by the clamping and placing assembly, and then all the target goods in the temporary placing area are conveyed to a destination by the picking and placing mechanism, so that the goods are prevented from being picked and placed one by one between one target position and the destination by the picking and placing mechanism, the frequency of returning to the destination is greatly reduced, and the work efficiency of the picking function is improved. The clamping and placing assembly has strong flexibility and high goods picking efficiency.

The goods picking system provided by the invention breaks through the current situation that the goods can be picked from only one goods picking point to the destination by the existing clamping and placing assembly and the limitation that the clamping and placing assembly cannot move, expands the goods picking range of the clamping and placing assembly and simultaneously improves the access rate of a plurality of target goods. The goods picking system provided by the invention has the advantages of wider application range, small limitation and strong adaptability to general e-commerce warehouses.

Drawings

Fig. 1 is a schematic structural diagram of a picking system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a pick and place mechanism connected to a vertical sliding assembly according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first view angle of a robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a second view of a robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a third view angle of the robot according to the first embodiment of the present invention.

In the figure:

1. a first storage mechanism; 11. a shelf; 12. a turnover box;

2. a second storage mechanism;

3. a pick and place mechanism; 31. a telescopic part; 32. a temporary placing area; 33. taking and placing the bracket; 34. a support plate; 36. clamping and placing the component; 361. a first linear drive mechanism; 362. a second linear drive mechanism; 363. a third linear drive mechanism;

4. a manipulator;

41. a manipulator support;

42. a clamping part;

421. a first gripper; 422. a second gripper;

423. a clamping and placing driving part; 4231. a first link; 4232. a second link; 4233. a first intermediate link; 4234. a second intermediate link; 4235. a connecting rod driving member; 4236. a first screw; 4237. a first nut;

43. an adsorption part; 44. adsorbing the driving member; 45. a first slide rail; 46. a first connecting plate; 47. a second connecting plate; 48. a third connecting plate; 49. a fourth connecting plate;

5. a horizontal sliding assembly; 6. a vertical slide assembly; 7. and (5) a sorting box.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

In the present invention, orientation words such as "upper", "lower", "left" and "right" are used, unless otherwise specified, to indicate that the picking system of the present invention is defined in normal use, and "inner" and "outer" refer to the inner and outer contours of each component itself. These directional terms are used for ease of understanding and are not intended to limit the scope of the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

The embodiment provides a goods picking system, which is used for picking goods in an order, but is not limited to the goods picking system, and can also be used for picking goods in other occasions, so that the flexibility of the goods picking system is improved, the operation range of the goods picking system is enlarged, and the work efficiency of goods picking operation is improved.

As shown in fig. 1 and 2, the picking system provided in the present embodiment includes a first storage mechanism 1 and a pick-and-place mechanism 3. The first storage mechanism 1 is used for storing target goods. The pick-and-place mechanism 3 is disposed on one side of the first storage mechanism 1, and the pick-and-place mechanism 3 includes a frame body, and a clamping assembly 36, a pick-and-place area and a temporary placement area 32 which are all disposed on the frame body. The pick and place mechanism 3 is configured to be capable of moving horizontally and vertically relative to the first storage mechanism 1, so that the pick and place mechanism 3 can pick target goods at different positions on the first storage mechanism 1 out to the pick and place area. The clamping and placing assembly 36 is disposed on the rack body and can slide in the horizontal and vertical directions relative to the rack body, so that the clamping and placing assembly 36 transfers the target goods on the goods taking area to the temporary placing area 32.

The pick-and-place mechanism 3 of the picking system provided by this embodiment can move in the horizontal and vertical directions relative to the first storage mechanism 1, so that the pick-and-place mechanism 3 moves to different target positions (i.e. near the storage positions of the target goods), and further obtains all the target goods placed on the first storage mechanism 1, thereby improving the flexibility of the picking system and increasing the application area thereof. Because the picking and placing mechanism 3 can move to different target positions, different target goods are picked out to the picking area, the clamping and placing assembly 36 can slide along the horizontal direction and the vertical direction relative to the frame body, and the target goods on the picking area are transferred to the temporary placing area 32 by the clamping and placing assembly 36, and then the picking and placing mechanism 3 conveys all the target goods in the temporary placing area 32 to a destination, so that the picking and placing mechanisms 3 are prevented from picking and placing the goods between one target position and the destination one by one, the number of times of returning to the destination is greatly reduced, and the work efficiency of the picking function is improved. The clamping and placing assembly 36 has strong flexibility and high picking efficiency.

The picking system provided by the embodiment breaks through the current situation that the picking of the existing clamping and placing assembly 36 can only be carried out from one picking point to the destination, and the limitation that the clamping and placing assembly 36 cannot move, enlarges the picking range of the clamping and placing assembly 36, and simultaneously improves the access rate of a plurality of target goods. The goods picking system provided by the embodiment has the advantages of wider application range, small limitation and strong adaptability to general e-commerce warehouses.

In order to expand the operation range of the pick-and-place mechanism 3, the pick-and-place system further comprises a second storage mechanism 2, the second storage mechanism 2 is arranged in parallel with the first storage mechanism 1, the pick-and-place mechanism 3 is arranged between the first storage mechanism 1 and the second storage mechanism 2, and the pick-and-place mechanism 3 can also take out target goods at different positions on the second storage mechanism 2 to the pick-and-place area. In order to improve the automation degree and simplify the structure of the picking system, the first storage mechanism 1 and the second storage mechanism 2 are preferably identical in structure. The first storing means 1 will be described below as an example.

The first storage mechanism 1 includes a shelf 11 and a plurality of turnover boxes 12 disposed on the shelf 11, the turnover boxes 12 are used for storing target goods, and the pick-and-place mechanism 3 can pick the goods from the turnover boxes 12. Preferably, the plurality of turnover boxes 12 are horizontally arranged on the shelf 11 in sequence, and a plurality of rows of turnover boxes 12 are arranged on the shelf 11.

Preferably, in order to facilitate picking up goods, the goods stored in each turnover box 12 are of the same type, a two-dimensional code containing information of the goods type may be further pasted on each turnover box 12, and the picking and placing mechanism 3 includes a reading device capable of reading information of the two-dimensional code. Or, the picking system may further include a controller, where a storage location of the target goods is stored in the controller, and the controller controls the pick-and-place mechanism 3 to move to the storage location of the target goods to pick up the target goods.

Furthermore, in order to facilitate the movement of the pick and place mechanism 3, the picking system further comprises a horizontal sliding assembly 5 and a vertical sliding assembly 6, wherein the vertical sliding assembly 6 is slidably arranged on the horizontal sliding assembly 5, and the pick and place mechanism 3 is slidably arranged on the vertical sliding assembly 6.

Specifically, the longitudinal direction of the horizontal sliding assembly 5 coincides with the longitudinal direction of the rack 11. The horizontal sliding component 5 comprises a horizontal sliding rail, a horizontal driving component and a horizontal transmission component in driving connection with the horizontal driving component.

The vertical sliding assembly 6 comprises a vertical column, a vertical driving piece and a vertical transmission piece, wherein the vertical driving piece and the vertical transmission piece are fixed on the vertical column. The lower end of the upright post is provided with a sliding chute which is connected with the horizontal sliding rail in a sliding way, and the upright post is connected with the horizontal transmission part in a transmission way. The vertical transmission piece is in driving connection with the pick-and-place mechanism 3 so as to drive the pick-and-place mechanism 3 to move up and down relative to the support.

The horizontal driving piece and the vertical driving piece can be both motors or motors, and the horizontal driving piece and the vertical driving piece can be both transmission mechanisms such as a gear rack structure, a synchronous belt or a screw and nut mechanism.

The support body is including getting and putting support 33, gets to put mechanism 3 and connects on vertical driving piece through getting and putting support 33, gets promptly to put support 33 and vertical driving piece connection of vertical sliding subassembly 6.

The pick-and-place mechanism 3 further comprises a telescopic part 31 positioned on the pick-and-place area, the telescopic part 31 and the temporary placing area 32 are both arranged on the pick-and-place bracket 33, and the telescopic part 31 is arranged on one side of the temporary placing area 32. Preferably, the telescopic part 31 and the temporary storage area 32 are arranged in sequence along a direction parallel to the horizontal sliding rail, and the telescopic part 31 is located between the temporary storage area 32 and the vertical sliding assembly 6. The extending and retracting direction of the extending and retracting portion 31 is perpendicular to the length direction of the horizontal slide rail, that is, the extending and retracting direction of the extending and retracting portion 31 is perpendicular to the arrangement direction of the extending and retracting portion 31 and the temporary storage area 32, and the extending and retracting portion 31 can extend into the rack 11 of the first storage mechanism 1 and the second storage mechanism 2, so that the turnover box 12 can be transferred between the extending and retracting portion 31 and the rack 11, that is, when the target product needs to be picked, the extending and retracting portion 31 can take out the turnover box 12 from the rack 11, so that the turnover box 12 is positioned on the extending. After the picking of the target products is completed, the telescopic portion 31 returns the turnover box 12 thereon to the rack 11. The arrangement of the telescopic part 31 ensures that the space occupied in the roadway is small when picking the goods, and the blind area for picking the goods by the picking and placing mechanism 3 can be reduced.

Preferably, the extendable portion 31 is connected to the frame body so as to be slidable up and down in order to allow the turnover box 12 to be replaced between the rack 11 and the extendable portion 31. Preferably, the retractable portion 31 is slidably connected to the pick-and-place holder 33 up and down, and can be lifted and lowered relative to the pick-and-place holder 33, and the temporary placing section 32 is connected to the retractable portion 31. Preferably, the telescopic part 31 is a three-stage telescopic fork.

The first storage mechanism 1 further includes a placing area at one end thereof, and the pick-and-place mechanism 3 drives the sorting box 7 to be selectively placed in one of the temporary placing area 32 and the placing area. Before the pick-and-place mechanism 3 selects the target goods, the pick-and-place mechanism 3 firstly moves to the lower part of the placing area, the telescopic part 31 moves upwards and drives the temporary placing area 32 to move upwards, and therefore the sorting box 7 is transferred from the placing area to the temporary placing area 32. After all the target products are sorted, the pick-and-place mechanism 3 moves to the upper side of the placing area, the telescopic part 31 moves downwards and drives the temporary placing area 32 to move downwards, and therefore the sorting boxes 7 are transferred from the temporary placing area 32 to the placing area. The telescopic portion 31 is located between the staging area 32 and the vertical sliding assembly 6 so as not to interfere with the staging area 32 in accessing the sorting bins 7.

As shown in fig. 2, in order to facilitate the picking and placing of the target cargo by the picking and placing assembly 36, the telescopic portion 31 and the temporary placing area 32 are both located below the picking and placing assembly 36.

Preferably, the frame further comprises a support plate 34 connected to the pick-and-place holder 33, the support plate 34 being disposed above the telescopic portion 31 and the staging area 32.

The chucking assembly 36 includes a first linear drive mechanism 361, a second linear drive mechanism 362, a third linear drive mechanism 363, and the robot arm 4. The first linear drive mechanism 361 is connected to the pick-and-place holder 33, and preferably, the first linear drive mechanism 361 is connected to the fulcrum plate 34. The second linear driving mechanism 362 is connected to the first linear driving mechanism 361, and the first linear driving mechanism 361 can drive the second linear driving mechanism 362 to move along the X direction; the third linear driving mechanism 363 is connected to the second linear driving mechanism 362, and the second linear driving mechanism 362 can drive the first linear driving mechanism 361 to move along the Y direction; the manipulator 4 is used for clamping and placing the target cargo and is connected to a third linear driving mechanism 363, and the third linear driving mechanism 363 can drive the manipulator 4 to move along the Z direction; the X direction, the Y direction and the Z direction are vertical to each other.

The first linear driving mechanism 361, the second linear driving mechanism 362 and the third linear driving mechanism 363 are preferably linear motors, but the first linear driving mechanism 361, the second linear driving mechanism 362 and the third linear driving mechanism 363 may be other driving mechanisms.

When the target goods need to be picked up from the turnover box 12, the first linear driving mechanism 361 and the second linear driving mechanism 362 drive the third linear driving mechanism 363 and the manipulator 4 to be positioned right above the turnover box 12, and the third linear driving mechanism 363 drives the mechanical arm 361 to move downwards to pick up the target goods. After the manipulator 4 grips the target goods, the third linear driving mechanism 363 drives the mechanical arm 361 to move upwards, the third linear driving mechanism 363 and the manipulator 4 move right above the sorting box 7, and finally, the third linear driving mechanism 363 drives the mechanical arm 361 to move downwards to place the target goods into the sorting box 7.

This embodiment still provides a manipulator 4 to improve manipulator 4 stability when snatching the target goods, avoid because of snatching insecurity, lead to the problem that commodity drops, thereby improve the efficiency and the security of choosing the goods effect.

As shown in fig. 3 to 5, the robot 4 includes a robot holder 41, a clamping section 42, and a suction section 43. The robot holder 41 is connected to one end of the robot arm 361. The grasping and placing section 42 includes a first grasping hand 421 and a second grasping hand 422 which are provided on the robot arm support 41 at an interval and face each other, and the first grasping hand 421 and the second grasping hand 422 are configured to be capable of approaching each other or moving away from each other to grasp or release the target cargo; the suction unit 43 is provided on the robot arm holder 41 and configured to suck or release the target cargo.

The manipulator 4 that this embodiment provided puts portion 42 and absorption portion 43 including pressing from both sides, when manipulator 4 picks target goods, can press from both sides tightly simultaneously and adsorb target goods to the power of grabbing and the stability of manipulator 4 have been improved, thereby avoid target goods problem of droing, improve efficiency and the security of picking the goods effect. The adsorbing portion 43 has a strong adaptability to the shape of the target cargo, and can be adapted to target cargo in the form of a barrel, a bag, a bottle, a box, or the like. And the target cargo with regular shape and small mass can be directly sucked by the suction part 43. For the commodities with irregular shapes and uneven surfaces, the clamping part 42 can be used for directly grabbing, so that the problem that the manipulator 4 cannot grab due to the shape of the target goods is solved.

In order to avoid interference between the placing part 42 and the suction part 43 and to reduce the volume of the robot arm 4, it is preferable that the suction part 43 is disposed between the first gripper 421 and the second gripper 422. The suction part 43 may include a suction cup and a vacuum generator communicating with the suction cup, and the vacuum generator controls the suction cup to be turned on/off to perform a sucking/dropping operation of the target goods.

In this embodiment, in order to enable the adsorption part 43 to adsorb target cargos with different heights, and when adsorbing the target cargos, the first gripper 421 and the second gripper 422 do not interfere with the adsorption part 43, the manipulator 4 further includes an adsorption driving part 44, and an output end of the adsorption driving part 44 is in driving connection with the adsorption part 43 and can drive the adsorbed part 43 to move up and down. The adsorption driving member 44 may be a cylinder, an oil cylinder or a screw-nut mechanism.

Further, the manipulator support 41 is provided with an accommodating cavity, and the adsorption driving member 44 is disposed in the accommodating cavity.

The first gripper 421 and the second gripper 422 are both flexible grippers. Illustratively, the flexible gripper may include a leather sheath made of rubber or flexible plastic, the leather sheath being filled with air, and the shape of the flexible gripper may be changed by changing the air pressure within the leather sheath. The flexible clamping hands can not cause damage to target goods, and simultaneously support the sorting operation in an environment at the temperature of 20 ℃ below zero. Furthermore, the sides of the first gripper 421 and the second gripper 422 close to each other are horizontal planes, so as to increase the contact area with the target cargo and improve the gripping stability.

The clamping and releasing part 42 includes a clamping and releasing driving part 423 disposed on the manipulator support 41, and the clamping and releasing driving part 423 is configured to drive the first clamping hand 421 and the second clamping hand 422 to approach or move away from each other, that is, the clamping and releasing driving part 423 controls the opening and closing degree of the first clamping hand 421 and the second clamping hand 422 to clamp or release the target cargo.

In order to reduce the stress of the clamping and releasing driving portion 423, the clamping and releasing portion 42 further includes a first connecting plate 46 and a second connecting plate 47, one end of the first connecting plate 46 is rotatably connected to the manipulator support 41, the other end of the first connecting plate is rotatably connected to one end of the second connecting plate 47, and the other end of the second connecting plate 47 is connected to the first clamping hand 421.

The clamping part 42 further comprises a third connecting plate 48 and a fourth connecting plate 49, the first connecting plate 46 and the third connecting plate 48 are symmetrically arranged, the fourth connecting plate 49 and the second connecting plate 47 are symmetrically arranged, one end of the third connecting plate 48 is rotatably connected to the manipulator support 41, the other end of the third connecting plate 48 is rotatably connected to one end of the fourth connecting plate 49, and the other end of the fourth connecting plate 49 is connected with the second clamping hand 422.

Preferably, the clamping and placing driving portion 423 further includes a link mechanism, the link mechanism is a parallelogram plane link mechanism, and the manipulator support 41, the first gripper 421 and the second gripper 422 are rotatably connected to the link mechanism.

Further, the link mechanism includes a link and an intermediate link. The connecting rods include a first connecting rod 4231 and a second connecting rod 4232, one end of the first connecting rod 4231 is rotatably connected with the manipulator support 41, and the other end of the first connecting rod 4231 is rotatably connected with the second connecting plate 47, that is, the other end of the first connecting rod 4231 is rotatably connected with the first gripper 421 through the second connecting plate 47. One end of the second link 4232 is rotatably connected to the manipulator support 41, and the other end is rotatably connected to the fourth link plate 49. That is, the other end of the second link 4232 is rotatably connected to the second gripper 422 via the fourth link plate 49.

The intermediate links include a first intermediate link 4233 and a second intermediate link 4234. The first intermediate link 4233 has one end rotatably connected to the first link 4231 and the other end rotatably connected to the suction driving member 44. One end of the second intermediate link 4234 is rotatably connected to the second link 4232, and the other end is rotatably connected to the suction driving member 44.

Further, the first intermediate link 4233 is connected to an intermediate position in the longitudinal direction of the first link 4231, and the second intermediate link 4234 is connected to an intermediate position in the longitudinal direction of the second link 4232. The first intermediate link 4233, the second intermediate link 4234, a section of the first link 4231, and a section of the second link 4232 form a parallelogram.

The other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 are both capable of moving up and down relative to the manipulator support 41, so as to adjust an angle between the first link 4231 and the second link 4232, and further adjust an interval between the first gripper 421 and the second gripper 422, so that the first gripper 421 grips or releases the target cargo. Specifically, in order to achieve relative up-and-down movement of the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 with the robot arm support 41, the adsorption driving member 44 is slidably connected with the robot arm support 41.

Of course, in another embodiment, the other end of the first intermediate link 4233 is directly and rotatably connected to the manipulator support 41, the other end of the second intermediate link 4234 is directly and rotatably connected to the manipulator support 41, and the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 slide up and down on the manipulator support 41, thereby adjusting the angle between the first link 4231 and the second link 4232.

In addition, in another embodiment, the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 may not be able to slide up and down with respect to the manipulator support 41, but one end of the link is slidably connected to the manipulator support 41 and is able to move up and down with respect to the manipulator support 41, thereby adjusting the angle between the first link 4231 and the second link 4232.

In this embodiment, the suction driving member 44 is fixedly connected to the robot arm 361, so as to prevent the suction portion 43 from being lifted when the robot holder 41 is lifted relative to the suction driving member 44.

In order to lift the robot arm support 41, the clamping drive unit 423 further includes a link drive 4235. The link driving member 4235 controls the manipulator support 41 to slide up and down, so that one end of the first link 4231 and one end of the second link 4232 are lifted, an included angle between the first link 4231 and the second link 4232 is changed, and finally, the opening and closing degree of the first gripper 421 and the second gripper 422 is changed.

The link drivers 4235 are connected to the robot arm support 41 and the suction driver 44 to drive the robot arm support 41 and the suction driver 44 to move relatively. Specifically, the link driving member 4235 includes a first screw 4236 rotatably connected to the manipulator support 41, a first nut 4237 screwed with the first screw 4236, and a driving motor drivingly connected to the first screw 4236, wherein the first nut 4237 is fixedly connected to the suction driving member 44, and the driving motor rotates forward and backward to drive the manipulator support 41 to ascend and descend.

In order to improve the lifting stability of the manipulator support 41, one of the adsorption driving element 44 and the manipulator support 41 is provided with a first slide rail 45, and the other is provided with a first sliding groove connected with the first slide rail 45 in a sliding manner. In this embodiment, the first slide rail 45 is disposed on the absorption driving member 44, and the first sliding slot is disposed on the robot holder 41.

When the manipulator 4 clamps the target goods, the suction and grabbing mode is adopted, and the two working modes are specifically adopted, namely 'first suction and then grabbing' and 'sucking and grabbing at the same time'.

When the manipulator 4 adopts the working mode of 'sucking first and then grabbing', the working steps are as follows:

1. when the target goods start to be grabbed, firstly, the mechanical arm 361 drives the first gripper 421 and the second gripper 422 to move to the position right above the target goods to be grabbed;

2. the link driving part 4235 controls the link mechanism to change the opening degree of the opening and closing of the first gripper 421 and the second gripper 422 until the opening degree is consistent with the width of the target cargo;

3. the vacuum generator works, the adsorption part 43 generates suction force, and the adsorption driving part 44 drives the adsorption part 43 to descend to be close to the surface of the target cargo;

4. after the adsorption part 43 adsorbs the target goods, the adsorption driving part 44 drives the adsorption part 43 to ascend, and simultaneously the first clamping hand 421 and the second clamping hand 422 perform a clamping action, so that the target goods are fixed and prevented from falling off;

5. after the target goods are grabbed, the mechanical arm 361 starts to rotate, and drives the first gripper 421 and the second gripper 422 to reach the position right above the sorting box 7. Then the first gripper 421 and the second gripper 422 are opened, the adsorption driving member 44 drives the adsorption part 43 to descend to the proper position, the vacuum generator stops operating, and the target goods fall into the sorting box 7. Thus, one grabbing action is completed.

When the manipulator 4 adopts a working mode of 'sucking and grabbing at the same time', the working steps are as follows:

1. the first gripper 421 and the second gripper 422 move to the position right above the target cargo to be grabbed;

2. the link driving part 4235 controls the link mechanism to drive the opening degrees of the first gripper 421 and the second gripper 422 to be consistent with the width of the target cargo;

3. when the vacuum generator works, the adsorption part 43 generates suction force, the adsorption driving part 44 drives the adsorption part 43 to descend and approach to the surface of the target cargo, and meanwhile, the clamping part 42 descends to approach to the target cargo;

4. the adsorption part 43 adsorbs the target goods, and the clamping part 42 clamps the target goods;

5. after the target goods are clamped, the mechanical arm 4 moves towards the sorting box 7;

6. when the manipulator 4 reaches the position directly above the sorting box 7, the clamping and placing unit 42 first performs the opening operation, the suction unit 43 descends to the proper position, and the vacuum generator stops operating, so that the target goods fall into the sorting box 7. Thus, one grabbing action is completed.

Of course, a picking system for picking the goods in the sorting box 7 into the turnover box 12 is also within the protection scope of the present invention.

Example two

The second embodiment provides a picking method, which can use the picking system according to the first embodiment, and can also be used in any other picking system capable of implementing the method.

The picking method comprises the following steps: step S1, moving the pick-and-place mechanism 3 to the target position; the target position in the present embodiment means that the telescoping section 31 can transfer the turnover box 12 on the rack 11 to the target position.

Step S2, the pick-and-place mechanism 3 picks up the target goods on the first storage mechanism 1 to the pick-and-place area at the target position; of course, in this step, the pick and place mechanism 3 may also pick up the target goods located on the second storage mechanism 2.

Step S3, the clamping and placing assembly 36 moves in the horizontal and vertical directions to place the target goods on the goods taking area in the temporary placing area 32;

step S4, repeating steps S1-S3 until all target goods are placed in the temporary placement area 32.

The first storage mechanism 1 comprises a turnover box 12 for storing target goods, and the pick-and-place mechanism 3 comprises a clamping assembly 36 and a telescopic part 31 positioned on the pick-and-place area. Step S2 includes: the telescopic part 31 is extended out, so that the turnover box 12 stored with the target goods is positioned on the telescopic part 31; the telescopic part 31 is contracted and restored to the original position; the pick and place assembly 36 picks up the target cargo located within the container 12.

The picking system further includes a placing area provided with sorting boxes 7, and before step S1, the picking system further includes: the pick-and-place mechanism 3 moves to the placing area and the sorting box 7 is placed on the temporary placing area 32. In step S3, the pick-and-place mechanism 3 places the target goods in the sorting box 7 located on the temporary placing section 32.

Compared with a manual goods picking mode, the goods picking method provided by the embodiment can greatly improve the goods picking efficiency, the automatic storage and taking of the target goods uses mechanical and automatic equipment, the operation and processing speed is high, the labor intensity of operators is reduced, the labor cost is saved, and the error rate is also reduced.

Of course, the method of sorting the goods in the sorting box 7 into the turnover box 12 is also within the protection scope of the present invention.

Illustratively, the pick and place mechanism 3 is located between the first storage mechanism 1 and the second storage mechanism 2, a turnover box 12 is placed on each goods space of a shelf 11 of the first storage mechanism 1 and the second storage mechanism 2, and a sorting box 7 is placed at one end of the shelf 11. The sorting box 7 is used for temporarily storing the grabbed target goods. The pick-and-place mechanism 3 is controlled and driven by a PLC. The picking method can specifically comprise the following steps:

1. after a user places an order, the picking and placing mechanism 3 firstly picks the sorting box 7 from one end of the goods shelf 11;

2. the pick-and-place mechanism 3 moves to the target position;

3. the telescopic part 31 extends to the bottom of the turnover box 12, then the turnover box 12 is lifted along with the upward movement of the taking and placing mechanism 3, the telescopic part 31 is contracted to the original position, the turnover box 12 is taken out of the telescopic part 31, and the box taking operation is completed;

4. after the turnover box 12 is taken out, the mechanical arm 4 moves to the position right above the turnover box 12, then the mechanical arm 4 moves downwards and moves to the coordinate position of the target goods, and the goods in the turnover box 12 can be partitioned according to grids, so that the coordinates are conveniently positioned;

5. the manipulator 4 clamps the target goods in a manner of 'first suction and then grabbing', the opening degree of the first clamping hand 421 and the second clamping hand 422 is adjusted to adapt to the size of the target goods, then the adsorption driving part 44 descends to drive the adsorption part 43 to be close to the surface of the target goods, after the adsorption part 43 sucks the target goods, the adsorption driving part 44 drives the adsorption part 43 to ascend, and meanwhile, the first clamping hand 421 and the second clamping hand 422 are tightened to fix the target goods;

6. the mechanical arm 4 moves to the position right above the sorting box 7, then the mechanical arm 4 moves downwards, and the target goods are placed in the sorting box 7;

7. the expansion part 31 returns the turnover box 12 to the original shelf 11;

8. repeating the step 2 to the step 7 to finish the goods taking of the target goods in the order;

9. the picking and placing mechanism 3 returns the picked sorting boxes 7 to the placing area of the goods shelf 11;

10. the staff takes all the target goods in the sorting box 7 and packs and delivers.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A picking system, comprising:

a first storage mechanism (1) for storing the target cargo;

the picking and placing mechanism (3) is arranged on one side of the first storage mechanism (1), and the picking and placing mechanism (3) comprises a frame body, and a clamping and placing assembly (36), a goods picking area and a temporary placing area (32) which are all arranged on the frame body;

the pick and place mechanism (3) can move in the horizontal and vertical directions relative to the first storage mechanism (1) so that the pick and place mechanism (3) can pick the target cargos at different positions on the first storage mechanism (1) to the pick and place area;

the clamping and placing assembly (36) can slide in the horizontal and vertical directions relative to the rack body, so that the clamping and placing assembly (36) transfers the target goods on the goods taking area to the temporary placing area (32).

2. A picking system according to claim 1, characterised in that the first storage mechanism (1) comprises a shelf (11) and a plurality of turnaround cases (12) arranged on the shelf (11), the turnaround cases (12) being used for storing the target goods, the pick and place mechanism (3) being able to pick goods from the turnaround cases (12).

3. A picking system according to claim 2, characterised in that the pick and place mechanism (3) further comprises a telescopic section (31) on the pick and place area, the telescopic section (31) being arranged to one side of the staging area (32), the telescopic section (31) being extendable into the rack (11) to transfer the totes (12) between the telescopic section (31) and the rack (11).

4. A picking system according to claim 3, characterised in that the frame includes a pick-and-place support (33), the clamping assembly (36) including:

a first linear driving mechanism (361) connected to the pick-and-place holder (33);

a second linear driving mechanism (362) connected to the first linear driving mechanism (361), wherein the first linear driving mechanism (361) can drive the second linear driving mechanism (362) to move along the X direction;

a third linear driving mechanism (363) connected to the second linear driving mechanism (362), the second linear driving mechanism (362) being capable of driving the first linear driving mechanism (361) to move in the Y direction;

the mechanical arm (4) is used for clamping and placing the target cargo and is connected to the third linear driving mechanism (363), and the third linear driving mechanism (363) can drive the mechanical arm (4) to move along the Z direction;

the X direction, the Y direction and the Z direction are vertical to each other, and the telescopic part (31) and the temporary placing area (32) are arranged on the taking and placing support (33) and are positioned below the clamping and placing assembly (36).

5. A picking system according to claim 2, characterised in that the first storage mechanism (1) further comprises a placement area at one end thereof, the pick and place mechanism (3) driving a sorting bin (7) selectively arranged in one of the staging area (32) and the placement area.

6. A picking system according to claim 1, characterised in that the picking system further comprises a horizontal sliding assembly (5) and a vertical sliding assembly (6), the vertical sliding assembly (6) being slidingly arranged on the horizontal sliding assembly (5) and the pick and place mechanism (3) being slidingly arranged on the vertical sliding assembly (6).

7. A picking system according to any of claims 1-6, characterised in that the picking system further comprises a second storage mechanism (2) arranged in parallel with the first storage mechanism (1), the pick and place mechanism (3) being arranged between the first storage mechanism (1) and the second storage mechanism (2), the pick and place mechanism (3) being further capable of picking the target goods at different locations on the second storage mechanism (2) to the pick area.

8. A method of picking a product, comprising:

step S1, the pick-and-place mechanism (3) moves to the target position;

step S2, the picking and placing mechanism (3) picks the target goods on the first storage mechanism (1) to the picking area at the target position;

step S3, the clamping and placing component (36) of the pick and place mechanism (3) moves along the horizontal and vertical directions to place the target goods on the pick and place area in a temporary placing area (32);

step S4, repeating the steps S1-S3 until all the target goods are placed in the temporary placement area (32).

9. A picking method according to claim 8, characterised in that the first storage mechanism (1) comprises a turnover box (12) for storing the target goods, and the pick-and-place mechanism (3) comprises a pick-and-place assembly (36) and a telescopic part (31) positioned on the pick-and-place area;

the step S2 includes:

the telescopic part (31) extends out, so that the turnover box (12) stored with the target goods is positioned on the telescopic part (31); the telescopic part (31) is contracted and restored to the original position;

the clamping and placing assembly (36) grabs the target goods positioned in the turnover box (12).

10. A method of picking as claimed in claim 8, further comprising, before step S1: the pick-and-place mechanism (3) moves to the placement area, and the sorting box (7) is arranged on the temporary placement area (32).