WO2019091223A1 - Système de tri d'articles - Google Patents

Système de tri d'articles Download PDF

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Publication number
WO2019091223A1
WO2019091223A1 PCT/CN2018/106362 CN2018106362W WO2019091223A1 WO 2019091223 A1 WO2019091223 A1 WO 2019091223A1 CN 2018106362 W CN2018106362 W CN 2018106362W WO 2019091223 A1 WO2019091223 A1 WO 2019091223A1
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WO
WIPO (PCT)
Prior art keywords
track
picking
state
robot
wheels
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Application number
PCT/CN2018/106362
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English (en)
Chinese (zh)
Inventor
马超
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Publication of WO2019091223A1 publication Critical patent/WO2019091223A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the present disclosure relates to the field of logistics and storage technology, and in particular to an item picking system.
  • Cargo picking is an important part of logistics and warehousing. After the goods are sorted out, they are transported to the required location through the sorting system for subsequent logistics. In order to speed up the flow of goods, the picking robot is usually used to automatically pick the goods.
  • the picking robots usually walk on the ground.
  • a related art picking system has a hanging object picking system that the picking robot walks from above the shelf.
  • This type of suspended article picking system usually has a chain above the shelf, and the picking robot is suspended under the chain and driven by the chain. Since there is no need to set up a passage for the picking robot to walk on the ground. Therefore, the storage density can be effectively increased, and the utilization of the storage space of the warehouse can be increased.
  • the picking robot can only keep relatively static with the chain, and walk one-way under the chain, the walking mode is relatively simple, and the picking robot is difficult to quickly reach any picking position, and the picking efficiency is low. .
  • each of the picking robots is mutually constrained, and the latter picking robot can only walk and pick after the previous picking robot, resulting in a slower tact of the entire system.
  • embodiments of the present disclosure provide an item picking system capable of increasing ground storage density and improving picking efficiency.
  • an item picking system comprising:
  • the track structure includes a first track and a second track that intersect each other, the picking robot is switchable to walk along the first track and the second track and picking the item to be picked.
  • the picking robot includes:
  • a robot body connected to the track structure by the walking wheel;
  • the walking wheel is configured to transition from a first state to a second state at an intersection of the first track and the second track, and along the first track and in the first state One of the second tracks travels, walking along the other of the first track and the second track in the second state.
  • the walking wheel includes two sub-wheels and a walking shaft coupled between the two sub-wheels, the two sub-wheels being configured to rotate synchronously about the traveling axis to effect walking of the picking robot.
  • the picking robot includes at least two walking wheels, and at the intersection of the first track and the second track, the at least two traveling wheels are configured to synchronously transition from the first state to the second state.
  • the picking robot further includes a steering drive mechanism for driving the traveling wheel to rotate from the first state to the second state at the intersection of the first track and the second track.
  • the picking robot includes at least two walking wheels, wherein:
  • the steering drive mechanism is drivingly coupled to the at least two traveling wheels, and configured to drive the at least two traveling wheels to synchronously transition from the first state to the second state at an intersection of the first track and the second track; or
  • the picking robot includes at least two steering drive mechanisms, at least two steering drive mechanisms are drivingly coupled in one-to-one correspondence with the at least two traveling wheels, and at the intersection of the first rail and the second rail, the respective steering drive mechanisms are configured to be synchronized
  • the respective driving wheels of the ground drive are switched from the first state to the second state.
  • the track structure is disposed on a roof of a warehouse for housing items to be picked.
  • the track structure includes two transverse portions and a vertical portion connected between the two lateral portions, the first track and the second track being formed on the lateral portion, the track structure passing through one of the two lateral portions
  • the roof of the warehouse is connected and the picking robot is supported on the other of the two transverse sections.
  • the track structure includes:
  • At least two second tracks intersecting each of the second tracks.
  • the first track and the second track intersect perpendicular to each other.
  • the article picking system provided by the present disclosure is a suspended article picking system, and there is no need to provide a passage for the picking robot to walk on the ground, thereby effectively saving ground space and increasing ground storage density; and, due to the item picking system of the present disclosure
  • the picking robot can switchably travel along the first track and the second track that intersect each other. Therefore, the walking mode is more flexible, and the item picking operation can be performed more efficiently, which is advantageous for speeding up the picking beat.
  • FIG. 1 is a schematic illustration of the operational state of some embodiments of an article picking system in accordance with the present disclosure.
  • FIG. 2 is a schematic view showing the installation of the embodiment of the article picking system shown in FIG. 1.
  • Figure 3 is a perspective view showing the structure of the track structure in the embodiment shown in Figures 1 and 2.
  • Fig. 4 is a front view of Fig. 3.
  • Figure 5 is a plan view of Figure 3.
  • Fig. 6 is a perspective view showing the structure of the picking robot in the embodiment shown in Fig. 2.
  • Fig. 7 is a schematic structural view of a steering drive mechanism of the embodiment shown in Fig. 1.
  • a particular device when it is described that a particular device is located between the first device and the second device, there may be intervening devices between the particular device and the first device or the second device, or there may be no intervening devices.
  • that particular device can be directly connected to the other device without intervening devices, or without intervening devices directly connected to the other devices.
  • Figures 1-7 illustrate some embodiments of the article picking system of the present disclosure.
  • an item picking system provided by an embodiment of the present disclosure includes a picking robot 1 and a track structure 2.
  • the track structure 2 is disposed overhead and includes a first track 2a and a second track 2b that intersect each other.
  • the picking robot 1 is suspended below the track structure 2, and the picking robot 1 is switchably walked along the first track 2a and the second track 2b and picks the item 5 to be sorted.
  • the picking robot 1 is suspended below the overhead provided track structure 2, and is capable of switchably traveling along the first track 2a and the second track 2b on the track structure 2 that intersect each other.
  • the article picking system of the present disclosure becomes a suspended article picking system. Since the picking robot 2 can walk above the shelf, there is no need to occupy the floor space, thereby effectively increasing the ground storage density and improving the utilization of the ground storage space.
  • the walking robot 1 has a more flexible walking mode. Compared with the related art, the hanging picking robot can only walk one-way under the chain, which can effectively improve the picking efficiency and speed up the picking and beating.
  • a support structure above the top surface of the shelf may be placed on the warehouse floor and the track structure 2 may be placed on the support structure.
  • the track structure 2 can also be placed on the roof 4 of the warehouse. The arrangement of the track structure 2 on the roof 4 of the warehouse can further eliminate the occupation of the floor space by the support structure, thereby facilitating the storage of goods more densely.
  • the first track 2a and the second track 2b may intersect perpendicular to each other or at other angles.
  • the structure of the track structure 2 is simpler and more convenient to process.
  • the picking robot 1 can travel in the horizontal and vertical directions.
  • the moving path of the picking robot 1 is more in line with the manner in which the items to be picked 5 are placed on the ground, so that the moving position of the picking robot 1 can be
  • the one-to-one correspondence between the sub-storage spaces of the items to be picked 5 facilitates a more efficient picking process; on the other hand, it also facilitates more convenient and efficient switching of the picking robot 1 along the first track 2a and the second track 2b. .
  • the article picking system includes a picking robot 1 for picking up the items to be picked 5 and a track structure 2 for the picking robot 1 to walk.
  • the track structure 2 is placed on the roof of the warehouse. 4, and the picking robot 1 is suspended below the track structure 2.
  • the track structure 2 comprises a vertical portion 22 and two transverse portions 21, the vertical portion 22 being connected between the two transverse portions 21, which makes the track structure 2 in an I-shape
  • the installation of the track structure 2 on the roof 4 facilitates the suspension of the picking robot 1 on the track structure 2.
  • the track structure 2 of this embodiment has one of the two lateral portions 21 embedded in the roof 4, and the other of the two lateral portions 21 protrudes below the roof 4, the picking robot 1 is supported on a transverse portion 21 that projects below the roof 4. Based on this, the track structure 2 is connected to the roof 4 by one of the two lateral portions 21, and is connected to the picking robot 1 through the other of the two lateral portions 21, the structure is simple, and the picking robot 1 can be made more stable and firm.
  • the suspension setting also facilitates the selection of the robot 1 to walk flexibly.
  • the track structure 2 of this embodiment can be obtained by retrofitting an H-shaped steel.
  • the track structure 2 includes a first track 2a and a second track 2b that intersect perpendicularly to each other.
  • the first rail 2a and the second rail 2b are both formed on the two lateral portions 21. That is, the two lateral portions 21 may form the first rail 2a, and may also form the second rail 2b; and, the first rail 2a and the second rail 2b intersect each other with an angle of 90° therebetween.
  • the number of the first track 2a and the second track 2b of this embodiment is plural. That is, the track structure 2 is provided with a plurality of first tracks 2a, and at the same time, a plurality of second tracks 2b are also provided, wherein each of the first tracks 2a and the respective second tracks 2b are perpendicularly intersected, and each of the second tracks 2b It also intersects perpendicularly with each of the first tracks 2a.
  • each of the first track 2a and each of the second tracks 2b is divided by the other side into having a plurality of sub-segments, and the plurality of first tracks 2a and the plurality of second tracks 2b intersect to form a plurality of meshes, so that the embodiment
  • the track structure 2 has a cross-track network, which facilitates the picking robot 1 to walk more flexibly and to sort more efficiently.
  • the first track 2a may be referred to as a lateral track and the second track 2b may be referred to as a longitudinal track.
  • the number of the first track 2a and the second track 2b is not limited to a plurality.
  • the number of the first tracks 2a is one and the number of the second tracks 2b is at least two; for example, the number of the second tracks 2b is one, and the number of the first tracks 2a is at least two. Even the number of the first track 2a and the second track 2b may be one.
  • the first rail 2a and the second rail 2b may be formed only on one of the two lateral portions 21, for example, the first rail 2a and the second rail 2b may be formed only on the lower lateral portion 21 Without setting the upper lateral portion 21.
  • the picking robot 1 suspended below the track structure 2 includes a robot body 11, a traveling wheel 12, a traveling drive mechanism, and a steering drive mechanism, and the picking The robot 1 can switchably travel along the first rail 2a and the second rail 2b and pick the item 5 to be sorted.
  • the robot body 11 includes a base body 111, a telescopic portion 112, and a clamping portion 113.
  • the base body 111 provides a mounting base for the other structural components of the picking robot 1 such as the traveling wheel 12, the telescopic portion 112, and the clamping portion 113, and is connected to the lower lateral portion 21 of the track structure 2 by the traveling wheel 12 to realize the picking robot 1 A suspension setting below the track structure 2.
  • the upper end of the expansion/contraction portion 112 is connected to the base 111, and the lower end of the expansion/contraction portion 112 is connected to the clamping portion 113.
  • the upper portion of the expansion/contraction portion 112 is connected to the base portion 111 and can be controlled to move up and down with respect to the base portion 111, so that the items to be picked 5 at different heights can be satisfied. Picking requirements.
  • the grip portion 113 is coupled to the lower end of the telescoping portion 112, which can grip the item 5 to be picked, thereby achieving the picking of the item 5 to be picked.
  • the items to be picked 5 are stacked on the ground 3 to form a load having a certain height, and the picking robot 1 walks over the load along the track structure 2 by the traveling wheels 12. After reaching the horizontal position of the item 5 to be picked, the picking robot 1 controls the gripping portion 113 to move up and down to the height of the item to be picked 5 by the expansion and contraction portion 112, and the object to be picked 5 is clamped by the gripping portion 113 to realize the picking. Picking of item 5.
  • the picking robot 1 Since the picking robot 1 is suspended below the rail structure 2 provided on the warehouse roof 4, the picking robot 1 of this embodiment can walk over the stack without having to set a passage for the picking robot 1 to walk on the ground.
  • the occupation of the floor space is less, so that the goods can be stored more densely.
  • the spacing between different goods can be set small, thereby effectively increasing the storage density and improving the ground storage space of the warehouse. Utilization rate.
  • the traveling wheel 12 is used to connect the robot body 11 with the track structure 2 and is used to implement the walking of the picking robot 1 on the track structure 2.
  • the number of the walking wheels 12 may be one, two or more. In this embodiment, the number of the walking wheels 12 is four. As shown in FIG. 6, the four traveling wheels 12 are respectively disposed at the four corners of the base 111, so that the structure of the picking robot 1 is more stable, and the picking robot 1 is also more smoothly walked. In order to simplify the structure, this embodiment sets the four traveling wheels 12 to the same structure.
  • the traveling wheel 12 is disposed on the robot body 11 and is connected to the lower horizontal portion 21 of the track structure 2, so that the robot body 11 can be connected to the track structure 2 through the traveling wheel 12, so that the picking robot 1 is below the track structure 2. Suspension settings. Also, as shown in FIG. 6, in this embodiment, the traveling wheel 12 includes two sub-wheels 121 and a traveling shaft 122 connected between the two sub-wheels 121. The two sub-wheels 121 are oppositely disposed, and the traveling reel 122 is horizontally disposed. The two sub-wheels 121 are rotated in synchronization about the traveling shaft 122, so that the walking of the picking robot 1 can be achieved.
  • the two sub-wheels 121 of the traveling wheel 12 are supported on the lower lateral portion 21 of the track structure 2 and are respectively located on both sides of the rail (the first rail 2a or the second rail 2b). That is, the two sub-wheels 121 of the traveling wheel 12 are supported on the lower lateral portion 21 of the rail structure 2 across the rail (the first rail 2a or the second rail 2b).
  • the walking wheel 12 is arranged to include two sub-wheels 121, which can better adapt to the structural features of the track structure 2, and realize that the traveling wheel 12 walks more smoothly on the first track 2a and the second track 2b.
  • the traveling wheel 12 of this embodiment can be moved along one of the first rail 2a and the second rail 2b at the intersection of the first rail 2a and the second rail 2b, switching to along the first rail 2a and the second The other of the tracks 2b is moved, so that the picking robot 1 can be switched to travel along the first track 2a and the second track 2b, and the walking mode is more flexible, so that the picking robot 1 can easily reach the position of any item to be picked 5 for picking.
  • the sorting efficiency is higher.
  • the mutual restriction between the picking robots 1 can be reduced, the autonomous walking of the picking robots 1 and the parallel operations of the plurality of picking robots 1 can be realized, and the sorting robot 1 that is put into the picking work can be flexibly allocated according to the task amount of the order. Quantity, achieve scheduling optimization, and speed up picking beats.
  • the traveling wheel 12 is arranged to be capable of being first at the intersection of the first rail 2a and the second rail 2b
  • the state is rotated to the second state.
  • the walking wheel 12 travels along one of the first track 2a and the second track 2b.
  • the walking wheel 12 travels along the other of the first track 2a and the second track 2b. That is, this embodiment realizes the switching walk of the picking robot 1 between the first rail 2a and the second rail 2b by arranging the traveling wheel 12 to be able to turn at the intersection of the first rail 2a and the second rail 2b.
  • the traveling wheel 12 of this embodiment is rotatably coupled to the robot body 11 via a steering shaft 14. More specifically, the steering shaft 14 is vertically disposed and coupled to the traveling shaft 122 of the traveling wheel 12 via a bearing 18. The outer ring of the bearing 18 can be rigidly coupled to the steering shaft 14. Thus, when the steering shaft 14 rotates, the traveling wheel 12 can be rotated, so that the traveling wheel 12 can be switched from the first state to the second state, and the switching robot 1 can switch between the first track 2a and the second track 2b. .
  • the rotation of the traveling wheel 12 from the first state to the second state requires a rotation of 90°. Based on this, by rotating the steering shaft 14 by 90°, the traveling wheel 12 can be rotated by 90° from one horizontal position to another horizontal position, so that the switching of the traveling wheel 12 between the first state and the second state is realized, so that the picking is performed.
  • the robot 1 is capable of switchingly traveling along the first rail 2a and the second rail 2b which perpendicularly intersect each other.
  • the picking robot 1 further includes a travel drive mechanism and a steering drive mechanism.
  • the travel drive mechanism is drivingly coupled to the traveling wheel 12 for driving the sub-wheel 121 to rotate about the travel shaft 122 to enable the picking robot 1 to automatically travel on the track structure 2.
  • the travel drive mechanism employs a travel motor 13. Specifically, as shown in FIG. 2, in this embodiment, four traveling motors 13 are respectively drivingly connected in one-to-one correspondence with the four traveling wheels 12 for synchronously driving the two sub-wheels 121 of the respective corresponding traveling wheels 12. The rotation of the traveling shaft 122 is performed to realize the automatic walking of the picking robot 1.
  • the traveling motor 13 of this embodiment is disposed on the traveling shaft 122, so that the space can be more fully utilized, and the traveling drive mechanism can be more rationally arranged.
  • the walking drive mechanism can also adopt other structures.
  • the travel drive mechanism may use other power devices than the motor; or the travel drive structure may not be driven in one-to-one correspondence with the respective travel wheels 12, but only one travel drive mechanism is provided, and the travel drive mechanism is provided.
  • the driving wheels 12 are drivingly connected, and the traveling driving mechanism drives the respective traveling wheels 12 to travel synchronously.
  • the steering drive mechanism is configured to drive the traveling wheel 12 to rotate from the first state to the second state at the intersection of the first track 2a and the second track 2b, and realize the picking robot 1 on the first track 2a and the second track 2b.
  • Automatically switch walking Since the picking robot 1 of this embodiment includes four traveling wheels 12, in order to enable the picking robot 1 to switch between the horizontal and vertical tracks more efficiently, the respective traveling wheels 12 of this embodiment are set to be synchronously The intersection of a track 2a and the second track 2b is rotated from the first state to the second state.
  • four steering drive mechanisms are drivingly coupled in one-to-one correspondence with the four traveling wheels 12 for synchronously driving respective corresponding traveling wheels at the intersection of the first rail 2a and the second rail 2b. 12 is rotated from the first state to the second state.
  • the four steering drive mechanisms of this embodiment adopt the same structure, each including a steering power mechanism and a steering transmission mechanism, and the steering power mechanism is driven by the steering transmission mechanism and the traveling wheel 12.
  • the connection is for driving the respective corresponding walking wheels 12 to automatically rotate from the first state to the second state.
  • the steering power mechanism includes a steering motor 15 for providing steering power; the steering gear includes first and second bevel gears 16 and 17 that mesh with each other for steering the motor 15
  • the rotation is translated into rotation of the walking wheel 12 between the first state and the second state.
  • the steering motor 15 is coupled to the first bevel gear 16.
  • the second bevel gear 17 meshes with the first bevel gear 16 and is coupled to the steering shaft 14.
  • the steering motor 15 can be activated to drive the first bevel gear 16 and the second bevel gear 17 to rotate, and the steering shaft 14 is rotated by 90°.
  • the driving wheel 12 is rotated by 90°, and is switched from the first state to the second state to realize automatic commutation.
  • the first bevel gear 16 and the second bevel gear 17 can be driven to rotate by the steering motor 15, so that The steering shaft is rotated by 90°, and the traveling wheel 12 is rotated in parallel by the traveling shaft 122 and the second rail 2b (longitudinal rail) to the traveling shaft 122 in parallel with the first rail 2a (lateral rail), which in turn enables the picking robot 1 to be A track 2a is switched to travel along the second track 2b.
  • the steering drive mechanism may use a power device other than the motor as the steering power mechanism, or a mechanism other than the gear mechanism may be employed as the steering transmission mechanism.
  • the steering drive structure may not be driven in one-to-one correspondence with the respective traveling wheels 12, but only one steering drive mechanism is provided, and the steering drive mechanism is drivingly connected to each of the traveling wheels 12, and the steering drive is driven.
  • the mechanism is configured to be capable of driving the respective traveling wheels 12 to be synchronously rotated from the first state to the second state at the intersection of the first track 2a and the second track 2b.
  • the picking robot 1 is to be able to switchably travel along the first rail 2a and the second rail 2b that intersect each other, and is not limited to setting the traveling wheel 12 to be at the intersection of the first rail 2a and the second rail 2b.
  • the walking wheel 12 can also be arranged to include two sub-wheel units, and the two sub-wheel units are arranged to be switchably in contact with the first rail 2a and the second rail 2b, ie, two children
  • the wheel units are respectively arranged to be able to travel along the first rail 2a and the second rail 2b, and both of the sub-wheel units are set to be movable up and down.
  • the picking robot can be realized by raising one sub-wheel unit to the track corresponding to its own and lowering the other sub-wheel unit to the track contact with itself. 1 switching between the first track 2a and the second track 2b.

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  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention se rapporte au domaine technique du stockage logistique, et concerne, en particulier, un système de tri d'articles. Le système de tri d'articles comprend : une structure de piste (2) agencée en hauteur ; et un robot de tri (1) suspendu sous la structure de piste (2), la structure de piste (2) comprenant une première piste (2a) et une seconde piste (2b), qui se croisent, et le robot de tri (1) se déplaçant le long de la première piste (2a) et de la seconde piste (2b) d'une manière commutable et triant des articles (5) à trier. La surface au sol peut être efficacement économisé, ce qui permet d'augmenter la densité de stockage au sol. En outre, l'efficacité de tri peut être améliorée, et le rythme de tri peut être accéléré.
PCT/CN2018/106362 2017-11-10 2018-09-19 Système de tri d'articles WO2019091223A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201711103612.3A CN109775270A (zh) 2017-11-10 2017-11-10 物品拣选系统
CN201711103612.3 2017-11-10

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Publication number Priority date Publication date Assignee Title
WO2003010075A1 (fr) * 2001-07-24 2003-02-06 Honda Giken Kogyo Kabushiki Kaisha Dispositif transporteur d'ouvrages
CN201197885Y (zh) * 2008-04-02 2009-02-25 殷宝林 空中碰碰车
CN101844672A (zh) * 2009-03-27 2010-09-29 株式会社大福 物品搬送设备
CN203473802U (zh) * 2013-07-30 2014-03-12 浙江豪情汽车制造有限公司 输送轨道变轨运行机构
CN104724431A (zh) * 2015-03-04 2015-06-24 东华大学 一种内外车嵌套式三维行走有轨导引小车
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CN207390297U (zh) * 2017-11-10 2018-05-22 北京京东尚科信息技术有限公司 物品拣选系统

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