CN220049076U - Picking device and picking system - Google Patents

Abstract

The disclosure provides a picking device and a picking system, wherein the picking device comprises a bearing device and an adjusting device, the bearing device comprises a machine body and a bearing part arranged on the machine body, the bearing part is used for bearing a target object, and the target object is configured to perform picking operation on the bearing part; the adjusting device is configured to adjust the carrying part or an object on the carrying part to an inclined state. In the picking equipment disclosed by the disclosure, the adjusting device enables the object on the bearing part to incline through adjusting the bearing part, or directly adjusts the object to an inclined state, so that the object is more convenient when picking personnel performs picking operation under the inclined state, repeated lowering and bending are not needed, the labor intensity of the picking personnel is reduced, and the picking equipment is beneficial to improving the picking efficiency.

Description

Picking device and picking system

Technical Field

The disclosure relates to the technical field of logistics equipment, in particular to picking equipment and a picking system.

Background

Goods picking is a common work in electronic commerce and logistics industry, and most of the current goods picking work is completed manually because goods facing the goods picking are huge and the size, weight and other characteristics of target goods are uncertain. The pickers need to pick the items designated by the order among the numerous items and then package them for issue.

The bins carrying the goods can be transported by conveyor lines or transfer robots to the stations where the pickers are located. When picking goods, the pickers need to repeatedly bend down, so that the picking efficiency is low, the labor intensity of the pickers is high, and the pickers are very easy to fatigue.

Disclosure of Invention

The present disclosure provides a picking apparatus and a picking system in order to solve the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a picking apparatus comprising:

the bearing device comprises a machine body and a bearing part arranged on the machine body, wherein the bearing part is used for bearing a target object, and the target object is configured to perform picking operation on the bearing part;

an adjusting device configured to adjust the carrying portion or an object on the carrying portion to an inclined state.

In one embodiment of the present disclosure, the adjustment device is disposed on a carrier device and is configured to be able to cooperate with a target on the carrier portion and drive the target to move to an inclined state.

In one embodiment of the present disclosure, the adjusting device is disposed between the body and the bearing portion, and is configured to drive the bearing portion to move to an inclined state.

In one embodiment of the disclosure, the adjusting device comprises a lifting mechanism, one side of the bearing part is movably connected with the machine body, and the other side of the bearing part is lifted or fallen under the driving action of the lifting mechanism.

In one embodiment of the disclosure, the lifting mechanism comprises a link mechanism and a driver, wherein the link mechanism comprises a first link and a second link which are movably connected together, the outer end of the first link is movably connected to the machine body, and the outer end of the second link is movably connected to the bearing part; the driver is connected to the first connecting rod and the second connecting rod and configured to drive the first connecting rod and the second connecting rod to rotate relatively.

In one embodiment of the present disclosure, the adjusting device includes first and second elevating mechanisms connected to opposite sides of the bearing part, respectively, the first and second elevating mechanisms being configured to drive the bearing part to move up and down, and to be able to drive the opposite sides of the bearing part to move to different heights to tilt the bearing part.

In one embodiment of the disclosure, one side of the bearing part is rotationally connected with the machine body, the adjusting device comprises an angle adjusting mechanism for adjusting the relative angle of the bearing part and the machine body, the angle adjusting mechanism comprises a screw sleeve assembly movably connected between the bearing part and the machine body, the screw sleeve assembly is configured to extend or shorten when rotating so as to drive the bearing part and the machine body to rotate relatively, the angle adjusting mechanism comprises a knob assembly in transmission fit with the screw sleeve assembly, and the knob assembly is configured to drive the screw sleeve assembly to rotate when rotating under the action of external force.

In one embodiment of the disclosure, the adjusting device comprises a bracket arranged on the machine body, at least two connecting parts distributed in the height direction are arranged on the bracket, one side of the bearing part is arranged on the machine body, and the other side of the bearing part can be connected to any connecting part of the adjusting device.

In one embodiment of the present disclosure, a control system is further included, the control system being configured to control the adjustment device to adjust the angle of inclination of the carrier or the target object based on data information of the pickers.

In one embodiment of the disclosure, the carrier is a conveyor line disposed at a picking station; alternatively, the carrying device is a movable robot for carrying the object.

According to a second aspect of the present disclosure, there is also provided a picking system comprising:

the bearing device comprises a machine body and a bearing part arranged on the machine body, wherein the bearing part is used for bearing a target object, and the target object is configured to perform picking operation on the bearing part;

and the adjusting device is arranged independently of the bearing device and is configured to adjust the bearing part or an object on the bearing part to an inclined state.

In one embodiment of the disclosure, the carrying device is a movable robot, and the adjusting device is arranged on a picking station of the workstation;

when the carrying device walks to the picking station, the adjusting device is configured to move to be matched with one side of the carrying part or the target object, and drives one side of the carrying part or the target object to move up and down so as to incline the carrying part or the target object.

In one embodiment of the present disclosure, the adjustment device includes a gripper configured to be able to engage and raise or lower one side of the carrier or target.

In one embodiment of the present disclosure, the adjustment device is provided on a safety door between the picking station and the picking person.

According to a third aspect of the present disclosure, there is also provided a picking system comprising:

the bearing device comprises a machine body and a bearing part arranged on the machine body, wherein the bearing part is used for bearing a target object, and the target object is configured to perform picking operation on the bearing part;

the adjusting device comprises a supporting part for supporting the bearing device, and the supporting part is configured to be capable of moving to an inclined state so as to adjust the bearing part of the bearing device or a target object on the bearing part to the inclined state.

In one embodiment of the disclosure, the carrying device is a movable robot, and the adjusting device is disposed on the floor of the picking station of the workstation; when the carrying device walks onto the supporting portion of the adjusting device, the supporting portion is configured to move to an inclined state.

The device has the advantages that the adjusting device of the picking device enables the object on the bearing part to incline through adjusting the bearing part, or the object is directly adjusted to an inclined state, the object is more convenient when in picking operation under the inclined state, repeated lowering and bending are not needed, the labor intensity of the picking personnel is reduced, and accordingly the picking efficiency is improved.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

FIG. 1 is an overall schematic of a picking apparatus provided in accordance with an embodiment of the present disclosure;

FIG. 2 is a schematic view of a load bearing apparatus and a linkage mechanism provided in accordance with a first embodiment of the present disclosure;

FIG. 3 is a schematic view of a carrying device and a lifting mechanism provided in accordance with a first embodiment of the present disclosure;

fig. 4 is a schematic view of a carrying device, a first lifting mechanism, and a second lifting mechanism according to a first embodiment of the disclosure;

FIG. 5 is a schematic illustration of a carrier and scissor lift mechanism provided in accordance with an embodiment of the present disclosure;

FIG. 6 is another schematic view of a carrier and scissor lift mechanism provided in accordance with an embodiment of the present disclosure;

FIG. 7 is a schematic view of a carrying device and an angle adjustment mechanism provided in accordance with a first embodiment of the present disclosure;

FIG. 8 is a schematic view of a screw sleeve assembly provided in accordance with an embodiment of the present disclosure;

FIG. 9 is a schematic view of a knob assembly according to a first embodiment of the present disclosure;

FIG. 10 is a schematic view of a carrying device and an adjusting device having a connecting portion provided in accordance with a first embodiment of the present disclosure;

FIG. 11 is a schematic overall configuration of a picking system provided by a second embodiment of the disclosure;

fig. 12 is a schematic overall structure of a picking system provided by a third embodiment of the disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 12 is as follows:

1. a carrying device; 11. a body; 12. a carrying part; 121. a conveying mechanism; 13. a fixed conveying part; 2. an adjusting device; 20. a lifting mechanism; 201. a first lifting mechanism; 202. a second lifting mechanism; 21. a link mechanism; 211. a first link; 212. a second link; 22. an angle adjusting mechanism; 221. a screw; 222. a sleeve; 223. a spring; 224. a knob; 225. a transmission rod; 226. a worm and gear structure; 23. a connection part; 24. a mechanical claw; 241. a mechanical arm; 242. a hook claw; 25. a support part; 3. a picking station; 4. a safety door.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

Unless otherwise indicated, numerical ranges herein include not only the entire range within both of its endpoints, but also the several sub-ranges contained therein.

The present disclosure provides a picking device and a picking system that can be applied in any scenario where there is a need for a warehouse logistics, industrial manufacturing, or other item picking function. A picker may perform picking operations on a target using the picking apparatus or picking system of the present disclosure.

The target object can be a container for containing goods, materials and other articles, including a plastic box, a paper box, a plastic basket and the like; the container may be an original container, for example, a commodity having an original packaging box or a packaging box; but also the goods, etc. themselves.

In view of the problems of easy fatigue of pickers, low picking efficiency and the like in the existing manual picking mode, the present disclosure aims to provide a picking device and a picking system capable of solving the problems.

The following examples will describe the technical aspects of the present disclosure in detail with reference to specific structures.

Example 1

The present embodiment provides a picking apparatus, as shown in fig. 1, which includes a carrying device 1 and an adjusting device 2, the carrying device 1 including a body 11 and a carrying portion 12 provided on the body 11. The carrying portion 12 is used for carrying an object, and the object is configured to perform a picking operation on the carrying portion 12. The adjusting device 2 is configured for adjusting the carrier 12 or an object on the carrier 12 to an inclined state.

The picking person performs picking operation on the object on the carrying part 12, and in an inclined state, the carrying part 12 or the object is lower on the side close to the picking person and higher on the side far away from the picking person.

The adjustment of the adjustment device 2 aims at tilting the object, and the adjustment device 2 can tilt the object on the carrier 12 by adjusting the carrier 12, or can directly adjust the object without acting on the carrier 12. Under the inclined state, the object is more convenient when the picking personnel performs the picking operation, repeated head lowering and bending are not needed, the labor intensity of the picking personnel is lightened, and the picking efficiency is improved.

The carrying part 12 can carry the object in a horizontal posture, and the adjusting device 2 can be adjusted by raising or lowering one side of the carrying part 12 or the object, or can be adjusted by driving the carrying part 12 or the object to rotate. At least one carrying part 12 can be arranged on the body 11 of the carrying device 1, and the adjusting device 2 is used for adjusting the inclination angle of the at least one carrying part 12 or the object on the at least one carrying part 12.

The carrier device 1 may be a device capable of transferring a target object, such as a conveyor, a transfer robot, or a AGV (Automated Gu i ded Veh i c l e) cart, and is capable of transferring the target object from a warehouse, a rack, or the like to a station where a picker works. In the present embodiment, the carrying device 1 is a conveyor line provided at a picking station, or the carrying device 1 is a movable robot for carrying an object.

In one embodiment of the present disclosure, the adjusting device 2 is provided on the carrying device 1, in particular on the machine body 11 or on the carrying part 12. The adjustment device 2 is configured to be able to cooperate with a target on the carrier 12 and drive the target to move to an inclined state. For example, the adjusting device 2 may be a push rod provided on the body 11, which can be driven upwards through the carrying part 12 and raise one side of the object on the carrying part 12 to tilt the object.

In another embodiment of the present disclosure, as shown in fig. 1, the adjusting device 2 is disposed between the body 11 and the bearing 12, and is configured to drive the bearing 12 to move to an inclined state.

In order to prevent the sliding of the object after the carrier 12 is tilted, a baffle plate for blocking the object may be provided on the carrier 12, or a sufficient friction force may be maintained between the carrier 12 and the object. The inclination angle of the carrying portion 12 should be limited to a suitable range so as not to slip off the object.

In one embodiment of the present disclosure, the adjusting device 2 may be a lifting mechanism 20, one side of the carrying portion 12 is movably connected to the machine body 11, and the opposite side can be lifted or dropped under the driving action of the lifting mechanism 20, so that the target object is tilted. In the specific embodiment shown in fig. 1 and 2, the carrying device 1 is a conveyor line, and the carrying portion 12 can convey a target object. In the initial state, the carrying part 12 carries the target object in a horizontal posture, and the lifting mechanism 20 can drive the side of the carrying part 12 far away from the pickers to be lifted or drive the side of the carrying part 12 near the pickers to be lowered. After the picking operation is completed, the lifting mechanism 20 may drive the inclined carrying portion 12 back to the initial state.

In one embodiment of the present disclosure, as shown in fig. 2, the lift mechanism 20 includes a linkage 21 and a driver. The link mechanism 21 may include a first link 211 and a second link 212 movably connected together, where one end of the first link 211 is movably connected with one end of the second link 212. The outer end of the first connecting rod 211 is movably connected to the machine body 11, and the outer end of the second connecting rod is movably connected to the bearing part 12. For example, a rail may be provided on the body 11, and the first link 211 may be slidable along the rail on the body 11; the carrier 12 may be provided with a rail, and the second link 212 may slide along the rail on the carrier 12. The driver is used for providing power and can drive the linkage 21 to slide along the sliding rail.

The driver may be connected between the first link 211 and the second link 212, and configured to drive the first link 211 and the second link 212 to rotate relative to each other, thereby driving the carrying portion 12 to rotate relative to the body 11, so that a side of the carrying portion 12, which is not connected to the body 11, is raised or lowered. The driver may be a telescopic driver such as an electric push rod, a hydraulic cylinder, an air cylinder, etc. for providing a linear driving force, wherein one end of the telescopic driver is movably connected to the first connecting rod 211, and the other end of the telescopic driver is movably connected to the second connecting rod 212.

In some embodiments of the present disclosure, as shown in fig. 3, the lifting mechanism 20 includes a telescopic drive, which may be a power device that provides a linear driving force, such as an electric push rod, a hydraulic cylinder, an air cylinder, or the like. In the specific embodiment shown in fig. 3, the carrying device 1 is a mobile robot for handling objects. Specifically, one end of the telescopic actuator is connected to the body 11, and the other end is connected to the carrying portion 12. The output end of the telescopic driver can drive one side, connected with the machine body 11, of the bearing part 12 to be lifted when extending, and can drive the bearing part 12 to fall back to the original position when retracting.

In one embodiment of the present disclosure, as shown in fig. 4, the adjusting device 2 includes a first elevating mechanism 201, a second elevating mechanism 202 that are disposed at intervals between the body 11 and the carrying portion 12. The carrying part 12 is arranged on the machine body 11 through a first lifting mechanism 201 and a second lifting mechanism 202, and the first lifting mechanism 201 and the second lifting mechanism 202 are respectively connected to two opposite sides of the carrying part 12. The first lifting mechanism 201 and the second lifting mechanism 202 operate independently of each other and are configured to drive the carrying portion 12 to move up and down, and can drive opposite sides of the carrying portion 12 to move to different heights so as to tilt the carrying portion 12.

In detail, the first lifting mechanism 201 and the second lifting mechanism 202 may be power devices that provide linear driving force, such as electric push rods, hydraulic cylinders, and air cylinders. The top ends of the first lifting mechanism 201 and the second lifting mechanism 202 are connected with the bearing part 12, the bottom ends are connected with the machine body 11, and the first lifting mechanism 201 and the second lifting mechanism 202 are movably connected with at least the machine body 11 or the bearing part 12, so that activity allowance is provided in the horizontal direction.

The first and second elevating mechanisms 201 and 202 can not only tilt the carrying portion 12 in different directions, but also adjust the height of the carrying portion 12, thereby adjusting the target to a height suitable for the height of the picking person.

In one embodiment of the present disclosure, as shown in fig. 5 and 6, the lifting mechanism 20 may also be a scissor-type lifting mechanism, including at least two connecting rods connected in a cross manner, where the driver drives the at least two connecting rods to rotate relatively to enable the bearing portion 12 to be lifted. One of the links may be provided as a telescopic structure, such as an electric telescopic rod, enabling tilting of the carrier 12 by telescopic movement.

In one embodiment of the present disclosure, as shown in fig. 7, one side of the carrying portion 12 is rotatably connected to the body 11, and the adjusting device 2 includes an angle adjusting mechanism 22 for adjusting the relative angle of the carrying portion 12 and the body 11. In the specific embodiment shown in fig. 7, the carrier device 1 is a conveyor line. The angle adjusting mechanism 22 can be provided with a knob, and the angle is adjusted manually; or the angle adjustment mechanism 22 may be provided with a driver to adjust the angle in an automatic manner.

Specifically, as shown in fig. 8, the angle adjusting mechanism 22 includes a screw sleeve assembly movably connected between the bearing portion 12 and the body 11, the screw sleeve assembly includes a screw 221 and a sleeve 222 in threaded connection, one of the screw 221 and the sleeve 222 is movably connected with the body 11, and the other is movably connected with the bearing portion 12. The end of the screw 221 and/or the sleeve 222 is provided with a spring 223, the spring 223 being able to provide a play allowance for the screw sleeve assembly when the carrier 12 and the body 11 are rotated relative to each other. The screw 221 and the sleeve 222 are capable of being extended or contracted when rotated relative to each other, and the screw sleeve assembly is configured to be extended or contracted when rotated to drive the bearing 12 and the body 11 to rotate relative to each other.

Further, the angle adjustment mechanism 22 also includes a knob assembly drivingly engaged with the screw sleeve assembly, the knob assembly configured to drive the screw sleeve assembly in rotation upon rotation by an external force. The picker can manually rotate the knob assembly to adjust the relative angle of the carrier 12 and the body 11.

Specifically, as shown in fig. 9, the knob assembly includes a knob 224 and a transmission rod 225 which are fixedly connected, and the transmission rod 225 may be engaged with the screw 221 or the sleeve 222 through a worm and gear structure 226, and the worm and gear structure 226 is used for changing the torque direction, so that the knob 224 can be mounted on the side of the machine body 11 or the bearing part 12, so that the manual operation of the picking personnel is facilitated. When the knob 224 is turned, the screw 221 or the sleeve 222 can be driven to rotate by the worm and gear structure 225, so that the relative angle between the bearing part 12 and the machine body 11 can be adjusted.

The structure and principles of the angle adjustment mechanism 22 described above are merely one example, and other types of angle adjustment mechanisms 22 that can be implemented by those skilled in the art may also be employed.

In one embodiment of the present disclosure, as shown in fig. 7, the carrier device 1 may be a conveyor, such as a roller conveyor, a belt conveyor, or the like. The carrying portion 12 may be provided with a conveying mechanism 121 for conveying the target object, the conveying mechanism 121 being, for example, a drum, a belt, or the like.

In detail, the carrying device 1 may further include a fixed conveying part 13, and the fixed conveying part 13 may be capable of conveying the object onto the carrying part 12 or conveying away the object on the carrying part 12. The fixed conveying section 13 may be configured by a conveying structure such as a roller or a conveyor belt.

As shown in fig. 7, the carrying portion 12 and the fixed conveying portion may be movably connected, and the adjusting device 2 may drive the carrying portion 12 to rotate relative to the fixed conveying portion 13 to an inclined state. Alternatively, as shown in fig. 10, the carrying portion 12 and the fixed conveying portion 13 may not be connected, the carrying portion 12 may be flush with the fixed conveying portion 13 in a horizontal state, and the adjusting device 2 may raise one side of the carrying portion 12 so as to incline the carrying portion 12.

In one embodiment of the present disclosure, as shown in fig. 10, the adjusting device 2 includes a bracket provided on the body 11, on which at least two connection portions 23 distributed in the height direction are provided, the connection portions 23 being for connection with the carrying portion 12. One side of the carrying part 12 is arranged on the machine body 11, and the other side can be detachably connected to any connecting part 23, so that the heights of the two sides of the carrying part 12 are different, and the carrying part is in an inclined state. The connection 23 includes, but is not limited to, a socket, a groove, a catch, an ear plate, etc.

In one embodiment shown in fig. 10, the adjusting device 2 is fixed to the body 11 and is adjacent to one side of the carrying portion 12, and the connecting portion 23 may be mounting holes provided on the adjusting device 2, the mounting holes being aligned in the height direction. One end of the bearing part 12 is supported on the body 11, and the other end can be fixed on the mounting hole of any height by a screw, a rod, etc., thereby adjusting to different inclination angles.

In one embodiment of the present disclosure, the picking device comprises a control system which is able to control the operation of the adjustment means 2 on command and to control the adjustment means 2 to adjust the carrier 12 or the target object to a predetermined angle. Specifically, the control system may receive data information of the height, arm length, etc. of the pickers, and control the adjusting device 2 to adjust the carrying portion 12 or the target object to an appropriate inclination angle based on the data information of the pickers. The picker may also autonomously adjust the angle of inclination of the carrier 12 or the target object by means of the control system.

Example two

The present embodiment provides a picking system, as shown in fig. 11, including a carrying device 1 and an adjusting device 2, the carrying device 1 including a body 11 and a carrying portion 12 provided on the body 11. The carrying portion 12 is used for carrying an object, and the object is configured to perform a picking operation on the carrying portion 12. The adjusting device 2 is configured for adjusting the carrier 12 or an object on the carrier 12 to an inclined state.

The picking system of the present embodiment differs from the picking apparatus of the first embodiment in that the adjusting device 2, in the picking system of the present embodiment, the adjusting device 2 and the carrying device 1 are provided independently of each other.

The adjusting device 2 tilts the object by adjusting the carrying portion 12, or directly adjusts the object to a tilted state. The picking personnel carries out picking operation on the object on the bearing part 12, under the inclined state, the bearing part 12 or the object is lower on one side close to the picking personnel, is higher on one side far away from the picking personnel, is more convenient when the picking personnel carries out the picking operation, does not need repeated head lowering and bending down, reduces the labor intensity of the picking personnel, and is beneficial to improving the picking efficiency.

The carrying part 12 can carry the object in a horizontal posture, and the adjusting device 2 can be adjusted by raising or lowering one side of the carrying part 12 or the object, or can be adjusted by driving the carrying part 12 or the object to rotate. At least one carrying part 12 can be arranged on the body 11 of the carrying device 1, and the adjusting device 2 is used for adjusting the inclination angle of the at least one carrying part 12 or the object on the at least one carrying part 12.

In one embodiment of the present disclosure, as shown in fig. 11, the carrying device 1 is a movable robot, and a traveling mechanism for traveling is provided on the body 11, so that the object can be transported from a warehouse, a shelf, or the like to a workstation. The picking person performs the picking operation at the picking station 3 of the workstation, and the adjusting device 2 may be arranged at the picking station 3. When the carrier 1 walks to the picking station 3, the adjusting device 2 is configured to be able to move to cooperate with the carrier 12 or the object on the carrier 12 and to drive one side of the carrier 12 or the object up and down to tilt the carrier 12 or the object.

In one embodiment of the present disclosure, as shown in fig. 11, the adjustment device 2 includes a gripper 24, the gripper 24 being configured to be able to engage a side of the carrier 12 or the object and raise or lower the side of the carrier 12 or the object. Specifically, the gripper 24 may be engaged with the carrier 12 or the object by means of engagement, magnetic attraction, push-pull, clamping, or the like.

In one embodiment of the present disclosure, as shown in fig. 11, a certain safety distance is left between the picking person and the picking station 3, and a safety door 4 may be provided between the picking person and the picking station 3 to protect the picking person. When the safety door 4 is opened, the picking person can perform picking work on the object on the carrying device 1. The adjusting device 2 may be arranged on the safety door 4.

In the embodiment shown in fig. 11, the gripper 24 includes a mechanical arm 241 disposed on the safety door 4 and a hook 242 disposed at an end of the mechanical arm 241, where the mechanical arm 241 extends to the picking station 3 above the carrying device 1, and the hook 242 can rotate downward and cooperate with a side of the object far from the picker, and then the mechanical arm 241 is lifted upward to tilt the object.

Example III

The present embodiment provides a picking system, as shown in fig. 12, including a carrying device 1 and an adjusting device 2, the carrying device 1 including a body 11 and a carrying portion 12 provided on the body 11. The carrying portion 12 is used for carrying an object, and the object is configured to perform a picking operation on the carrying portion 12.

The adjusting device 2 comprises a support portion 25 for supporting the carrying device 1, the support portion 25 being configured to be movable to an inclined state for adjusting the carrying portion 12 of the carrying device 1 or a target on the carrying portion 12 to the inclined state.

The carrier device 1 may be a mobile robot. In the picking system of the present embodiment, the specific structure and principle of the carrying device 1 may refer to the carrying device 1 in the picking system of the second embodiment, which is not described in detail in the present embodiment.

In one embodiment of the present disclosure, as shown in fig. 12, the adjusting device 2 may be provided on the ground of the picking station 3 of the workstation, the carrier device 1 being able to walk onto the support 25. In particular, the support 25 may be a support plate flush with the floor of the picking station, the adjusting device 2 being able to raise one side of the support plate, tilting the support plate. The adjusting device 2 may be arranged at the bottom of the supporting portion 25, and include an electric push rod, an air cylinder, a hydraulic cylinder, etc. for providing power.

When the carrying device 1 walks onto the supporting portion 25 of the adjusting device 2, the supporting portion 25 is configured to move to an inclined state so as to incline the carrying device 1, and the object on the carrying device 1 is also inclined. The picking personnel can pick conveniently without repeated head lowering and bending down, so that the labor intensity of the picking personnel is reduced, and the picking efficiency is improved.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (16)

1. A picking apparatus, comprising:

a carrying device (1), wherein the carrying device (1) comprises a machine body (11) and a carrying part (12) arranged on the machine body (11), the carrying part (12) is used for carrying a target object, and the target object is configured to perform picking operation on the carrying part (12);

-an adjustment device (2), the adjustment device (2) being configured for adjusting the carrier (12) or an object on the carrier (12) to an inclined state.

2. A picking device according to claim 1, characterized in that the adjustment means (2) are arranged on the carrier means (1) and are configured to be able to cooperate with a target on the carrier part (12) and to drive the target to a tilting state.

3. A picking device according to claim 1, characterized in that the adjustment means (2) are arranged between the machine body (11) and the carrier (12) and are configured to drive the carrier (12) to move to an inclined state.

4. A picking device according to claim 3, wherein the adjustment means (2) comprises a lifting mechanism (20), one side of the carrier (12) being movably connected to the machine body (11) and the other side being raised or lowered under the drive of the lifting mechanism (20).

5. The picking device according to claim 4, wherein the lifting mechanism (20) comprises a link mechanism (21) and a driver, the link mechanism (21) comprises a first link (211) and a second link (212) which are movably connected together, the outer end of the first link (211) is movably connected to the machine body (11), and the outer end of the second link (212) is movably connected to the bearing part (12); the driver is connected to the first connecting rod (211) and the second connecting rod (212) and is configured to drive the first connecting rod and the second connecting rod to rotate relatively.

6. A picking device according to claim 3, characterized in that the adjustment means (2) comprise a first lifting mechanism (201), a second lifting mechanism (202) connected to opposite sides of the carrier (12), respectively, the first lifting mechanism (201), the second lifting mechanism (202) being configured for driving the carrier (12) up and down and being able to drive opposite sides of the carrier (12) to different heights for tilting the carrier (12).

7. A picking device according to claim 1, wherein one side of the carrier part (12) is rotatably connected with the machine body (11), the adjusting means (2) comprises an angle adjusting mechanism (22) for adjusting the relative angle of the carrier part (12) and the machine body (11), the angle adjusting mechanism (22) comprises a screw sleeve assembly movably connected between the carrier part (12) and the machine body (11), the screw sleeve assembly is configured to be stretched or shortened when rotated to drive the carrier part (12) and the machine body (11) to rotate relatively, and the angle adjusting mechanism (22) further comprises a knob assembly in driving engagement with the screw sleeve assembly, the knob assembly is configured to drive the screw sleeve assembly to rotate when rotated under the action of an external force.

8. A picking device according to claim 1, characterized in that the adjusting means (2) comprise a bracket arranged on the machine body, on which bracket at least two connecting parts (23) distributed in the height direction are arranged, one of the carrying parts (12) being arranged on the machine body (11) and the other being connectable to any one of the connecting parts (23) of the adjusting means (2).

9. A picking device according to any of claims 1-8, further comprising a control system configured to control the adjustment means (2) to adjust the inclination of the carrier (12) or the target object based on data information of the pickers.

10. A picking device according to any one of claims 1 to 8, wherein the carrier means (1) is a conveyor line arranged at a picking station (3); alternatively, the carrying device (1) is a movable robot for carrying the target object.

11. A picking system, comprising:

a carrying device (1), wherein the carrying device (1) comprises a machine body (11) and a carrying part (12) arranged on the machine body (11), the carrying part (12) is used for carrying a target object, and the target object is configured to perform picking operation on the carrying part (12);

-an adjusting device (2), the adjusting device (2) being arranged independently of the carrier device (1), the adjusting device (2) being configured for adjusting the carrier part (12) or a target on the carrier part (12) to an inclined state.

12. A picking system according to claim 11, characterized in that the carrier device (1) is a movable robot, the adjustment device (2) being arranged on a picking station (3) of a workstation;

when the carrying device (1) walks to the picking station (3), the adjusting device (2) is configured to move to be matched with one side of the carrying part (12) or the target object, and drives one side of the carrying part (12) or the target object to move up and down so as to incline the carrying part (12) or the target object.

13. A picking system according to claim 11, wherein the adjustment means comprises a gripper (24), the gripper (24) being configured to be able to engage a side of the carrier (12) or the object and to raise or lower that side of the carrier (12) or the object.

14. A picking system according to claim 11, characterized in that the adjusting means (2) are arranged on a security gate (4) between the picking station (3) and the picking person.

15. A picking system, comprising:

a carrying device (1), wherein the carrying device (1) comprises a machine body (11) and a carrying part (12) arranged on the machine body (11), the carrying part (12) is used for carrying a target object, and the target object is configured to perform picking operation on the carrying part (12);

-an adjustment device (2), the adjustment device (2) comprising a support portion (25) for supporting the carrier device (1), the support portion (25) being configured to be movable to an inclined state for adjusting the carrier portion (12) of the carrier device (1) or a target on the carrier portion (12) to an inclined state.

16. A picking system according to claim 15, characterized in that the carrying means (1) is a movable robot, the adjusting means (2) being arranged on the floor of the picking station (3) of the workstation; when the carrying device (1) walks onto the support (25) of the adjusting device (2), the support (25) is configured to move to an inclined state.