WO2021098007A1 - 一种机械手 - Google Patents

一种机械手 Download PDF

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Publication number
WO2021098007A1
WO2021098007A1 PCT/CN2019/128507 CN2019128507W WO2021098007A1 WO 2021098007 A1 WO2021098007 A1 WO 2021098007A1 CN 2019128507 W CN2019128507 W CN 2019128507W WO 2021098007 A1 WO2021098007 A1 WO 2021098007A1
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WO
WIPO (PCT)
Prior art keywords
manipulator
link
clamping
suction
intermediate link
Prior art date
Application number
PCT/CN2019/128507
Other languages
English (en)
French (fr)
Inventor
侯世国
王怀博
王丹
Original Assignee
浙江汉朔电子科技有限公司
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.)
Filing date
Publication date
Application filed by 浙江汉朔电子科技有限公司 filed Critical 浙江汉朔电子科技有限公司
Publication of WO2021098007A1 publication Critical patent/WO2021098007A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • This application relates to the technical field of goods sorting, for example, to a manipulator.
  • Robots are used to grasp various complex materials during picking. Its grasping force and stability are very important to the efficiency and safety of picking operations.
  • the manipulator in the related technology has a small grasping force when grasping goods, and the stability of grasping the goods is poor, which is prone to problems of infirm grasping and falling off of the goods, which seriously affects the efficiency and safety of the picking function.
  • the present application provides a manipulator to improve the stability of the manipulator when grabbing goods, and avoid the problem of goods falling off due to improper grabbing, thereby improving the efficiency and safety of the picking function.
  • a manipulator including:
  • the clamping part includes a first clamping hand and a second clamping hand that are arranged on the manipulator support, and the first clamping hand and the second clamping hand are configured to be close to or far away from each other for clamping or Let go of the target cargo;
  • the adsorption part is arranged on the manipulator support and is configured to adsorb or release the target cargo.
  • Fig. 1 is a schematic structural diagram of a picking system provided by Embodiment 1 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 Embodiment 1 of the present invention
  • FIG. 3 is a schematic structural diagram of a manipulator provided by Embodiment 1 of the present invention from a first perspective;
  • FIG. 4 is a schematic structural diagram of a manipulator provided by Embodiment 1 of the present invention from a second perspective;
  • FIG. 5 is a schematic view of the structure of the manipulator provided by Embodiment 1 of the present invention from a third perspective.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • the "above”, “above” and “above” the first feature on the second feature includes the first feature directly above and obliquely above the second feature, or only means that the first feature is higher in level than the second feature.
  • the "below”, “below” and “below” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • connection shall be interpreted broadly, for example, they may be fixedly connected, detachably connected, or integrated. ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • connection shall be interpreted broadly, for example, they may be fixedly connected, detachably connected, or integrated. ; It can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components.
  • This embodiment provides a picking system for picking goods in an order, and can also be used for picking goods on other occasions, so as to improve the flexibility of the picking system, increase its operating range, and improve the efficiency of picking operations. Work efficiency.
  • the picking system provided in this embodiment includes a first storage mechanism 1 and a pick-and-place mechanism 3.
  • the first storage mechanism 1 is used to store target goods.
  • the pick-and-place mechanism 3 is arranged on one side of the first storage mechanism 1.
  • the pick-and-place mechanism 3 includes a clamping assembly 36 and a temporary storage area 32.
  • the pick-and-place mechanism 3 is configured to be able to move horizontally and vertically relative to the first storage mechanism 1. , So that the clamping assembly 36 takes out the target goods in different positions on the first storage mechanism 1 and places the target goods in the temporary storage area 32.
  • the pick-and-place mechanism 3 of the picking system provided in this embodiment can move horizontally and vertically relative to the first storage mechanism 1, so that the pick-and-place mechanism 3 moves to a different target position (that is, near the storage position of the target goods), and then obtains All target goods placed on the first storage mechanism 1, thereby improving the flexibility of the picking system and increasing its application range.
  • the pick-and-place mechanism 3 Since the pick-and-place mechanism 3 can move to different target locations, take out different target goods, and place them one by one in the temporary storage area 32, the pick-and-place mechanism 3 transports all the target goods in the temporary storage area 32 to the destination Therefore, it is avoided that the pick-and-place mechanism 3 picks and places the goods one by one between a target location and the destination, greatly reducing the number of times of returning to the destination, and thereby improving the work efficiency of the picking function.
  • the picking system provided in this embodiment breaks the situation in the related art that the pick-up component 36 can only be picked up from one picking point to the destination, and the restriction that the pick-up component 36 cannot be moved, and expands the pick-up component 36
  • the scope of picking up goods at the same time increases the access rate to multiple target goods.
  • the picking system provided in this embodiment has a wider range of use, small limitations, and strong adaptability to general e-commerce warehouses.
  • the picking system further includes a second storage mechanism 2.
  • the second storage mechanism 2 is arranged in parallel with the first storage mechanism 1, and the pick-and-place mechanism 3 is arranged in the first storage mechanism.
  • the clamping assembly 36 can also take out the target goods in different positions on the second storage mechanism 2.
  • the structures of the first storage mechanism 1 and the second storage mechanism 2 are the same. The following takes the first storage mechanism 1 as an example for description.
  • the first storage mechanism 1 includes a shelf 11 and a plurality of turnover boxes 12 arranged on the shelf 11.
  • the turnover boxes 12 are used to store target goods, and the pick-and-place mechanism 3 can pick up goods from the turnover boxes 12.
  • a plurality of turnover boxes 12 are arranged horizontally and sequentially on the shelf 11, and a plurality of rows of turnover boxes 12 are provided on the shelf 11.
  • the types of goods stored in each turnover box 12 are the same, and the turnover box 12 can also be pasted with a QR code containing information about the type of goods.
  • the pick-and-place mechanism 3 includes a two-dimensional code that can read Code information reading device.
  • the picking system may further include a controller in which the storage location of the target goods is stored, and the controller controls the pick-and-place mechanism 3 to move to the storage location of the target goods to obtain the target goods.
  • the picking system in order to facilitate the movement of the pick-and-place mechanism 3, the picking system further includes a horizontal sliding assembly 5 and a vertical sliding assembly 6.
  • 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.
  • the length direction of the horizontal sliding assembly 5 is consistent with the length direction of the shelf 11.
  • the horizontal sliding assembly 5 includes a horizontal sliding rail, a horizontal driving member, and a horizontal transmission member drivingly connected with the horizontal driving member.
  • the vertical sliding assembly 6 includes a vertical column, a vertical driving member fixed on the vertical column, and a vertical transmission member.
  • the lower end of the upright column is provided with a chute that is slidably connected with the horizontal sliding rail, and the upright column is drivingly connected with the horizontal transmission member.
  • the vertical transmission member is drivingly connected with the pick-and-place mechanism 3 to drive the pick-and-place mechanism 3 to move up and down relative to the pillar.
  • the horizontal driving member and the vertical driving member may be motors or motors, and the horizontal driving member and the vertical driving member may be gears and racks meshing with gears, or timing belts, or screw and rotating connections.
  • the nut on the screw may be motors or motors, and the horizontal driving member and the vertical driving member may be gears and racks meshing with gears, or timing belts, or screw and rotating connections.
  • the pick-and-place mechanism 3 further includes a pick-and-place bracket 33, and the pick-and-place mechanism 3 is connected to the vertical drive member through the pick-and-place bracket 33, that is, the vertical drive member of the pick-and-place bracket 33 and the vertical sliding assembly 6. connection.
  • the pick-and-place mechanism 3 further includes a telescopic portion 31, the telescopic portion 31 and the temporary storage area 32 are both provided on the pick-and-place support 33, and the telescopic portion 31 is provided on one side of the temporary storage area 32.
  • the telescopic portion 31 and the temporary storage area 32 are sequentially arranged along a direction parallel to the horizontal slide rail, and the telescopic portion 31 is located between the temporary storage area 32 and the vertical sliding assembly 6.
  • the telescopic direction of the telescopic part 31 is perpendicular to the length direction of the horizontal slide rail, which can extend into the shelves 11 of the first storage mechanism 1 and the second storage mechanism 2, so that the turnover box 12 is transferred between the telescopic part 31 and the shelf 11.
  • the telescopic part 31 can take out the turnover box 12 from the shelf 11 so that the turnover box 12 is located on the telescopic part 31.
  • the telescopic part 31 puts the turnover box 12 on it back on the shelf 11.
  • the arrangement of the telescopic part 31 makes the space in the aisle small when picking goods, and can reduce the blind area of the pick-and-place mechanism 3 for picking goods.
  • the telescopic part 31 in order to enable the turnover box 12 to be replaced between the shelf 11 and the telescopic part 31, the telescopic part 31 is slidably connected to the pick-and-place bracket 33, and can be raised and lowered relative to the pick-and-place bracket 33, and the temporary storage area 32 is connected On the telescopic part 31.
  • the telescopic part 31 is a three-stage telescopic fork.
  • the first storage mechanism 1 further includes a placement area at one end thereof, and the pick-and-place mechanism 3 drives the sorting box 7 to be selectively disposed on one of the temporary placement area 32 and the placement area.
  • the pick-and-place mechanism 3 moves to the bottom of the placement area, the telescopic part 31 moves upwards, and drives the temporary storage area 32 to move upwards, thereby transferring the sorting box 7 from the placement area to the temporary storage area 32.
  • the pick-and-place mechanism 3 moves to the top of the placement area, the telescopic part 31 moves downwards, and drives the temporary storage area 32 to move downwards, thereby turning the sorting box 7 from the temporary storage area 32 To the placement area.
  • the telescopic part 31 is located between the temporary storage area 32 and the vertical sliding assembly 6 so as not to affect the temporary storage area 32 to pick up and place the sorting box 7.
  • the telescopic part 31 and the temporary storage area 32 are both located below the clamping assembly 36, and the clamping assembly 36 is configured to be located at the telescopic part. Rotate between 31 and the temporary storage area 32.
  • the clamping assembly 36 rotates to directly above the turnover box 12. After the clamping assembly 36 picks the target goods, it rotates to the top of the sorting box 7 to place the target goods Into the sorting box 7.
  • a supporting plate 34 is connected to the pick-and-place bracket 33, and the supporting plate 34 is disposed above the telescopic portion 31 and the temporary storage area 32.
  • a base 35 is rotatably provided on the supporting plate 34, so that the base 35 can rotate in a horizontal plane.
  • the clamping assembly 36 is connected to the base 35.
  • the clamping assembly 36 includes a robotic arm 361 and a robotic arm 4. One end of the robotic arm 361 is connected to the robotic arm 4, and the other end is hinged to the base 35.
  • the robotic arm 361 rotates relative to the base 35 to drive the robotic arm 4 to rise and fall.
  • the base 35 rotates relative to the supporting plate 34 so as to realize the rotation of the manipulator 4 between the telescopic part 31 and the temporary storage area 32.
  • This embodiment also provides a manipulator 4 to improve the stability of the manipulator 4 when grabbing target goods, avoiding the problem of goods falling off due to improper grabbing, thereby improving the efficiency and safety of the picking function.
  • the manipulator 4 includes a manipulator support 41, a clamping part 42 and a suction part 43.
  • the manipulator support 41 is connected to one end of the manipulator 361.
  • the clamping portion 42 includes a first clamping hand 421 and a second clamping hand 422 that are spaced apart and arranged directly on the manipulator support 41.
  • the first clamping hand 421 and the second clamping hand 422 are configured to be able to approach or move away from each other to clamp Take or release the target cargo;
  • the adsorption part 43 is arranged on the manipulator support 41 and is configured to adsorb or release the target cargo.
  • the manipulator 4 provided in this embodiment includes a clamping part 42 and a suction part 43.
  • the adsorption part 43 is highly adaptable to the shape of the target goods, and can be adapted to target goods in the form of barrels, bags, bottles, boxes, etc. And for the target cargo with regular shape and small mass, it can be directly sucked by the suction part 43.
  • the gripping portion 42 can be used to directly grab the goods, thereby avoiding the problem that the robot 4 cannot grab the goods due to the shape of the target goods.
  • the suction portion 43 is disposed between the first clamping hand 421 and the second clamping hand 422.
  • the suction part 43 may include a vacuum generator connected with the suction cup and the suction cup, and the vacuum generator controls the opening/closing of the suction cup to realize the sucking/lowering action of the target cargo.
  • the manipulator 4 in order to enable the suction part 43 to adsorb target goods of different heights, and when adsorbing the target goods, the first gripper 421 and the second gripper 422 will not interfere with the suction part 43, the manipulator 4 also includes a suction drive
  • the output end of the suction driving member 44 is drivingly connected with the suction part 43 and can drive the suction part 43 to rise and fall.
  • the adsorption driving member 44 may be an air cylinder or an oil cylinder, or a screw-nut mechanism.
  • the adsorption driving member 44 is an air cylinder or an oil cylinder, and the output end of the adsorption driving member 44 is an end of a piston of the air cylinder or an oil cylinder away from the cylinder or the oil cylinder.
  • the suction driving member 44 is a screw nut mechanism, and the output end of the suction driving member 44 is provided on a nut of the screw nut mechanism.
  • a accommodating cavity is opened on the manipulator support 41, and the suction driving member 44 is disposed in the accommodating cavity.
  • the first gripper 421 and the second gripper 422 are both flexible grippers.
  • the flexible grip may include a leather sleeve made of rubber or flexible plastic, the leather sleeve is filled with air, and the shape of the flexible grip can be changed by changing the air pressure in the leather sleeve.
  • the flexible gripper will not cause damage to the target goods, and the flexible gripper supports sorting operations in an environment of -20°C.
  • the sides of the first gripping hand 421 and the second gripping hand 422 that are close to each other are both horizontal, so as to increase the contact area with the target cargo and improve the gripping stability.
  • the clamping portion 42 includes a clamping driving portion 423 disposed on the manipulator support 41, and the clamping driving portion 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 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.
  • the clamping 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 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 gripper 421.
  • the clamping portion 42 also includes a third connecting plate 48 and a fourth connecting plate 49.
  • the first connecting plate 46 and the third connecting plate 48 are arranged symmetrically, the fourth connecting plate 49 and the second connecting plate 47 are arranged symmetrically, and the third connecting plate
  • One end of the 48 is rotatably connected to the manipulator support 41, the other end is rotatably connected to one end of the fourth connecting plate 49, and the other end of the fourth connecting plate 49 is connected to the second gripper 422.
  • the clamping drive portion 423 further includes a link mechanism, the link mechanism is a parallelogram planar link mechanism, and the manipulator support 41, the first gripper 421, and the second gripper 422 are all rotatably connected to the link mechanism. .
  • the link mechanism includes a link and an intermediate link.
  • the connecting rod includes 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 is rotatably connected with the second connecting plate 47, that is, the first connecting rod 4231
  • the other end is connected to the first gripper 421 by rotating with the second connecting plate 47.
  • One end of the second link 4232 is rotatably connected with the manipulator support 41, and the other end is rotatably connected with the fourth connecting plate 49. That is, the other end of the second link 4232 is rotatably connected to the second gripper 422 through the fourth connecting plate 49.
  • the middle link includes a first middle link 4233 and a second middle link 4234.
  • One end of the first intermediate link 4233 is rotatably connected with the first link 4231, and the other end is rotatably connected with the suction driving member 44.
  • One end of the second intermediate link 4234 is rotatably connected with the second link 4232, and the other end is rotatably connected with the suction driving member 44.
  • first middle link 4233 is connected to the middle position of the first link 4231 in the length direction
  • second middle link 4234 is connected to the middle position of the second link 4232 in the length direction.
  • 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 can both move up and down relative to the manipulator support 41, thereby adjusting the first link 4231 and the second link 4232 Then, the distance between the first gripping hand 421 and the second gripping hand 422 is adjusted so that the first gripping hand 421 can grip or release the target cargo.
  • the suction drive 44 is slidably connected to the manipulator support 41.
  • the other end of the first middle link 4233 may be directly connected to the manipulator support 41 in rotation, and the other end of the second middle link 4234 is directly connected to the manipulator support 41 in rotation.
  • the other end of the other end 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.
  • first intermediate link 4233 and the other end of the second intermediate link 4234 cannot slide up and down relative to the manipulator support 41, but one end of the link is slidably connected to the manipulator support 41 It can move up and down relative to the manipulator support 41, so as to adjust the angle between the first link 4231 and the second link 4232.
  • the suction driving member 44 is fixedly connected to the robot arm 361, so as to avoid driving the suction part 43 to go up and down when the manipulator support 41 moves up and down relative to the suction driving member 44.
  • the clamping and placing driving part 423 further includes a connecting rod driving member 4235.
  • the connecting rod driver 4235 controls the manipulator support 41 to slide up and down, so that one end of the first connecting rod 4231 and the second connecting rod 4232 is raised and lowered, thereby changing the angle between the first connecting rod 4231 and the second connecting rod 4232, and finally realizes the first The degree of opening and closing of the gripping hand 421 and the second gripping hand 422 is changed.
  • the link driving parts 4235 are all connected with the manipulator support 41 and the suction driving part 44 to drive the manipulator support 41 and the suction driving part 44 to move relative to each other.
  • the connecting rod driver 4235 includes a first screw 4236 rotatably connected to the manipulator support 41, a first nut 4237 screwed to the first screw 4236, and a drive motor drivingly connected to the first screw 4236.
  • a nut 4237 is fixedly connected to the suction driving member 44 to drive the motor forward and reverse to drive the manipulator support 41 to rise and fall.
  • one of the suction drive 44 and the manipulator support 41 is provided with a first slide rail 45, and the other is provided with a first slide groove slidably connected to the first slide rail 45.
  • the first sliding rail 45 is disposed on the suction driving member 44, and the first sliding groove is disposed on the manipulator support 41.
  • the manipulator 4 When the manipulator 4 grips the target cargo, it adopts the "suction + grab” method, and it can have two working modes, namely "suction first and then grab” and “suction and grab while”.
  • the robotic arm 361 drives the first gripper 421 and the second gripper 422 to move directly above the target cargo to be grabbed;
  • the connecting rod driver 4235 controls the connecting rod mechanism to change the opening and closing of the first gripper 421 and the second gripper 422 until the opening is consistent with the width of the target cargo;
  • the vacuum generator works, the suction part 43 generates suction, and the suction driving member 44 drives the suction part 43 to descend to the surface of the target cargo at the same time;
  • the suction driving member 44 drives the suction part 43 to rise, and at the same time the first gripper 421 and the second gripper 422 perform a clamping action, thereby fixing the target cargo and preventing the target cargo from falling off;
  • the robotic arm 361 After grabbing the target goods, the robotic arm 361 starts to rotate, driving the first gripping hand 421 and the second gripping hand 422 to directly above the sorting box 7. After that, the first gripping hand 421 and the second gripping hand 422 are opened, the suction driving member 44 drives the suction part 43 to drop into position, the vacuum generator stops, and the target goods fall off into the sorting box 7. At this point, a fetching action is completed.
  • the mechanical arm 361 drives the first gripper 421 and the second gripper 422 to move directly above the target cargo to be grasped;
  • the connecting rod driver 4235 controls the connecting rod mechanism to drive the opening of the first gripper 421 and the second gripper 422 to be consistent with the width of the target cargo;
  • the suction part 43 When the vacuum generator works, the suction part 43 generates suction, and the suction driving member 44 drives the suction part 43 to descend and close to the surface of the target cargo, and at the same time, the clamping part 42 descends to close to the target cargo;
  • the suction part 43 sucks the target cargo, while the clamping part 42 clamps the target cargo;
  • the robot arm 361 drives the robot 4 and the target goods to move to the sorting box 7;
  • the picking system that sorts the goods in the sorting box 7 to the turnover box 12 is also within the protection scope of this application.
  • the second embodiment provides a picking method, which can use the picking system as in the first embodiment, and can also be used in any other picking system that can implement the method.
  • the picking method includes the following steps: step S1, the pick-and-place mechanism 3 moves to a target position; the target position in this embodiment refers to the telescopic part 31 at the target position that can transfer the turnover box 12 on the shelf 11 to it.
  • Step S2 the pick-and-place mechanism 3 takes out the target goods on the first storage mechanism 1 at the target position; of course, in this step, the pick-and-place mechanism 3 can also take out the target goods on the second storage mechanism 2.
  • Step S3 the pick-and-place mechanism 3 places the target goods in the temporary storage area 32;
  • Step S4 Repeat steps S1-S3 until all the target goods are placed in the temporary storage area 32.
  • the first storage mechanism 1 includes a turnover box 12 for storing target goods
  • the pick-and-place mechanism 3 includes a telescopic part 31 and a clamping assembly 36.
  • Step S2 includes: the telescopic part 31 extends from the original position, so that the turnover box 12 storing the target goods is located on the telescopic part 31; the telescopic part 31 is retracted to return to the original position; the clamping assembly 36 grabs the target located in the turnover box 12 goods.
  • the order picking system further includes a placement area, and the placement area is provided with a sorting box 7.
  • the pick-and-place mechanism 3 is moved to the placement area, and the sorting box 7 is set in the temporary storage area. District 32.
  • the pick-and-place mechanism 3 places the target goods in the sorting box 7 located on the temporary storage area 32.
  • the picking method provided in this embodiment can greatly improve the picking efficiency.
  • the automatic storage and retrieval of the target goods uses machinery and automation equipment, the operation and processing speed is fast, and the labor intensity of the operators is reduced, and at the same time It saves labor costs and also reduces the error rate.
  • the picking method may include the following steps:
  • the pick-and-place mechanism 3 is located between the first storage mechanism 1 and the second storage mechanism 2.
  • Each of the shelves 11 of the first storage mechanism 1 and the second storage mechanism 2 has a turnover box 12 and a shelf 11
  • a sorting box 7 is placed at one end of the.
  • the sorting box 7 is used to temporarily store the captured target goods.
  • the pick-and-place mechanism 3 is driven by PLC control. After the user places an order, the pick-and-place mechanism 3 first picks up the sorting box 7 from one end of the shelf 11;
  • the pick-and-place mechanism 3 moves to the desired target position
  • the telescopic part 31 extends deep to the bottom of the turnover box 12, and then as the pick-and-place mechanism 3 moves up, the turnover box 12 is lifted, the telescopic part 31 is retracted to the original position, and the turnover box 12 is taken to the telescopic part 31 , Complete the box-taking operation;
  • the manipulator 4 moves to the coordinate position of the target goods.
  • the commodities in the turnover box 12 can be partitioned according to the grid, which is convenient for positioning the coordinates;
  • the manipulator 4 adopts the method of "sucking first and then grasping" to grip the target cargo.
  • the first gripping hand 421 and the second gripping hand 422 adjust the opening and closing degree to adapt to the size of the target cargo.
  • the suction driving member 44 descends to drive the suction part 43 to approach On the surface of the target cargo, after the adsorption part 43 sucks the target cargo, the adsorption driving member 44 drives the adsorption part 43 to rise, and at the same time the first gripper 421 and the second gripper 422 are tightened, thereby fixing the target cargo;
  • the robot 4 grabs the target goods and moves to the sorting box 7 and puts the target goods into the sorting box 7;
  • the telescopic part 31 returns the turnover box 12 to the original shelf 11;
  • step 2-step 7 to complete the pickup of the target goods in the order
  • the pick-and-place mechanism 3 returns the picked-up sorting box 7 to the storage area of the shelf 11;
  • the staff will take away all the target goods in the sorting box 7 and pack them for distribution.
  • the manipulator provided by this application includes a clamping part and a suction part.
  • the adsorption part is highly adaptable to the shape of the target goods, and can be adapted to target goods in the form of barrels, bags, bottles, boxes, etc.
  • the target cargo with regular shape and small mass it can be directly sucked by the suction part.
  • the clamping part For products with irregular shapes and uneven surfaces, they can be directly grasped by the clamping part, thereby avoiding the problem that the robot cannot grasp due to the shape of the target goods.

Abstract

一种机械手（4），包括：机械手支架（41）；夹放部（42），包括正对设置于机械手支架（41）上的第一夹手（421）和第二夹手（422），第一夹手（421）和第二夹手（422）被配置为相互靠近或远离，以夹取或放开目标货物；吸附部（43），设置于机械手支架（41）上，被配置为吸附或放开目标货物。

Description

一种机械手
本公开要求在2019年11月20日提交中国专利局、申请号为201911140346.0的中国专利申请的优先权，以上申请的全部内容通过引用结合在本公开中。
技术领域
本申请涉及货物分拣技术领域，例如涉及一种机械手。
背景技术
电子商务的飞速发展带动了物流行业的发展，物流作业的自动化和无人化是企业提高物流运作效率，降低物流成本的重要举措。在仓库工作中，取货的速度和效率将直接影响到整个仓库以及配送中心的运作效率。
使用机械手在拣货中进行各种复杂物料的抓取作业，其抓取力和稳定性对拣货作业的效率和安全至关重要。相关技术中的机械手在抓取货物时抓取力小，抓取货物的稳定性差，容易产生抓取不牢、货物脱落问题，从而严重影响拣货作用的效率和安全性。
发明内容
本申请提供一种机械手，以提高机械手在抓取货物时的稳定性，避免因抓取不牢，导致商品脱落的问题，从而提高拣货作用的效率和安全性。
本申请采用以下技术方案：
一种机械手，包括：
机械手支架；
夹放部，包括正对设置于所述机械手支架上的第一夹手和第二夹手，所述第一夹手和所述第二夹手被配置为相互靠近或远离，以夹取或放开目标货物；
吸附部，设置于所述机械手支架上，被配置为吸附或放开所述目标货物。
附图说明
图1是本发明实施例一提供的拣货系统的结构示意图；
图2是本发明实施例一提供的取放机构连接于竖直滑动组件上的结构示意图；
图3是本发明实施例一提供的机械手的第一视角的结构示意图；
图4是本发明实施例一提供的机械手的第二视角的结构示意图；
图5是本发明实施例一提供的机械手的第三视角的结构示意图。
图中：
1、第一存放机构；11、货架；12、周转箱；
2、第二存放机构；
3、取放机构；31、伸缩部；32、暂放区；33、取放支架；34、支板；35、底座；36、夹放组件；361、机械臂；
4、机械手；
41、机械手支架；
42、夹放部；
421、第一夹手；422、第二夹手；
423、夹放驱动部；4231、第一连杆；4232、第二连杆；4233、第一中间连杆；4234、第二中间连杆；4235、连杆驱动件；4236、第一螺杆；4237、第一螺母；
43、吸附部；44、吸附驱动件；45、第一滑轨；46、第一连接板；47、第二连接板；48、第三连接板；49、第四连接板；
5、水平滑动组件；6、竖直滑动组件；7、分拣箱。
具体实施方式
下面结合附图并通过具体实施方式来进一步说明本申请的技术方案。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部。
本申请中限定了一些方位词，在未作出相反说明的情况下，所使用的方位词如“上”、“下”、“左”、“右”是指本申请提供的拣货系统在正常使用情况下定义的，“内”、“外”是指相对于各个零件本身轮廓的内外。这些方位词是为了便于理解而采用的，因而不构成对本申请保护范围的限制。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水 平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
实施例一
本实施例提供了一种拣货系统，用于拣选订单中的商品，还可以用于其他场合的货物拣选中，以提高拣货系统的灵活性，增大其作业范围，提高拣货作业的工作效率。
如图1和图2所示，本实施例提供的拣货系统包括第一存放机构1和取放机构3。第一存放机构1用于存放目标货物。取放机构3设置于第一存放机构1的一侧，取放机构3包括夹放组件36和暂放区32，取放机构3被配置为能够相对于第一存放机构1水平和竖直运动，以使夹放组件36将第一存放机构1上的不同位置的目标货物取出，以及将目标货物放置于暂放区32。
本实施例提供的拣货系统的取放机构3能够相对于第一存放机构1水平和竖直运动，使得取放机构3移动到不同的目标位置(即目标货物的存放位置附近)，进而获取第一存放机构1上所放置的所有目标货物，从而提高拣货系统的灵活性和增大其适用面。由于取放机构3可以移动到不同的目标位置，将不同的目标货物取出，并可以将其一一放置到暂放区32，取放机构3将暂放区32内的所有目标货物运送至目的地，从而避免取放机构3在一个目标位置和目的地之间一一取放货物，大大减少了返回至目的地的次数，进而提高了拣货作用的工作效率。
本实施例提供的拣货系统打破了相关技术中夹放组件36取货只能由一个拣货点到目的地取货的状况，和夹放组件36不能移动的局限，扩大了夹放组件36取货的范围，同时提高了对多件目标货物的存取速率。本实施例提供的拣货系统使用范围更广，局限性小，对一般的电商仓库适应性强。
为了扩大取放机构3的作业范围，在一些实施例中，拣货系统还包括第二存放机构2，第二存放机构2与第一存放机构1平行设置，取放机构3设置于第一存放机构1和第二存放机构2之间，夹放组件36还能够将第二存放机构2上 的不同位置的目标货物取出。为提高自动化程度，简化拣货系统结构，可选地，第一存放机构1和第二存放机构2的结构相同。以下以第一存放机构1为例进行说明。
在一些实施例中，第一存放机构1包括货架11和设置于货架11上的多个周转箱12，周转箱12用于存放目标货物，取放机构3能够从周转箱12内取货。可选地，多个周转箱12横向依次排列与货架11上，且货架11上设置有多列周转箱12。
在一些实施例中，为便于取货，每个周转箱12内存放的货物类型相同，周转箱12上还可以粘贴有包含货物种类信息的二维码，取放机构3包括能够读取二维码信息的读取装置。在一些实施例中，拣货系统还可以包括控制器，控制器内存储有目标货物的存放位置，控制器控制取放机构3运动至目标货物的存放位置获取目标货物。
在一些实施例中，为了便于取放机构3运动，拣货系统还包括水平滑动组件5和竖直滑动组件6，竖直滑动组件6滑动设置于水平滑动组件5上，取放机构3滑动设置于竖直滑动组件6上。
在一些实施例中，水平滑动组件5的长度方向与货架11的长度方向一致。水平滑动组件5包括水平滑轨、水平驱动件和与水平驱动件驱动连接的水平传动件。
在一些实施例中，竖直滑动组件6包括立柱、固定于立柱上的竖直驱动件和竖直传动件。立柱的下端的开设有与水平滑轨滑动连接的滑槽，立柱与水平传动件传动连接。竖直传动件与取放机构3驱动连接，以驱动取放机构3相对于支柱上下运动。
在一些实施例中，水平驱动件和竖直驱动件可以为电机或马达，水平传动件和竖直传动件可以为齿轮和与齿轮啮合的齿条，或为同步带，或为螺杆和转动连接于螺杆上的螺母。
在一些实施例中，取放机构3还包括取放支架33，取放机构3通过取放支架33连接于竖直驱动件上，即取放支架33与竖直滑动组件6的竖直驱动件连接。
在一些实施例中，取放机构3还包括伸缩部31，伸缩部31和暂放区32均设置于取放支架33上，伸缩部31设置于暂放区32的一侧，可选地，伸缩部31和暂放区32沿平行于水平滑轨的方向依次设置，且伸缩部31位于暂放区32和 竖直滑动组件6之间。伸缩部31的伸缩方向与水平滑轨的长度方向垂直，其能够伸入第一存放机构1和第二存放机构2的货架11内，使周转箱12在伸缩部31和货架11之间转移，即当需要拣选目标产品时，伸缩部31能够从货架11上取出周转箱12，使周转箱12位于伸缩部31上。当拣选目标产品拣选完毕后，伸缩部31将其上的周转箱12放回至货架11上。伸缩部31的设置使得拣货时占用巷道内空间小，可减小取放机构3取货的盲区。
在一些实施例中，为了能够使周转箱12在货架11和伸缩部31之间置换，伸缩部31滑动连接于取放支架33上，并能够相对于取放支架33升降，暂放区32连接于伸缩部31上。可选地，伸缩部31为三级伸缩叉。
在一些实施例中，第一存放机构1还包括位于其一端的放置区，取放机构3驱动分拣箱7可选择地设置于暂放区32和放置区中的一个上。当取放机构3选取目标货物前，取放机构3运动至放置区的下方，伸缩部31向上运动，并带动暂放区32向上运动，从而将分拣箱7由放置区转至暂放区32。当所有的目标产品被拣选完毕后，取放机构3运动至放置区的上方，伸缩部31向下运动，并带动暂放区32向下运动，从而将分拣箱7由暂放区32转至放置区。伸缩部31位于暂放区32和竖直滑动组件6之间，从而不会影响暂放区32取放分拣箱7。
如图2所示，为了便于夹放组件36取放目标货物，在一些实施例中，伸缩部31和暂放区32均位于夹放组件36的下方，夹放组件36被配置为在伸缩部31和暂放区32之间转动。当需要由周转箱12内拣取目标货物时，夹放组件36旋转至周转箱12的正上方，夹放组件36拣取目标货物后，旋转至分拣箱7的正上方，将目标货物放入分拣箱7内。
在一些实施例中，取放支架33上连接有支板34，支板34设置于伸缩部31和暂放区32的上方。支板34上转动设置有底座35，从而使得底座35能够在水平面内旋转。夹放组件36连接于底座35上。
在一些实施例中，夹放组件36包括机械臂361和机械手4，机械臂361的一端与机械手4连接，另一端与底座35铰接，机械臂361相对于底座35转动，以带动机械手4升降，底座35相对于支板34转动，从而实现机械手4在伸缩部31和暂放区32之间转动。
本实施例还提供了一种机械手4，以提高机械手4在抓取目标货物时的稳定性，避免因抓取不牢，导致商品脱落的问题，从而提高拣货作用的效率和安全性。
如图3-图5所示，在一些实施例中，机械手4包括机械手支架41、夹放部42和吸附部43。机械手支架41与机械臂361的一端连接。夹放部42包括间隔且正对设置于机械手支架41上的第一夹手421和第二夹手422，第一夹手421和第二夹手422被配置为能够相互靠近或远离，以夹取或放开目标货物；吸附部43设置于机械手支架41上，被配置为吸附或放开目标货物。
本实施例提供的机械手4包括夹放部42和吸附部43，在机械手4拣取目标货物时，可以同时夹紧和吸附目标货物，从而提高了机械手4的抓取力和稳定性，从而避免目标货物脱落问题，提高拣货作用的效率和安全性。吸附部43对于目标货物的形状适应性强，桶装、袋装、瓶装、盒装等形式的目标货物都可以适配。且对于形状规则且质量较小的目标货物，可以用吸附部43直接吸取。对于形状不规则、表面凹凸不平的商品，可以用夹放部42直接抓取，从而避免因目标货物的形状导致的机械手4无法抓取的问题。
为了避免夹放部42和吸附部43产生干涉，及减小机械手4的体积，在一些实施例中，吸附部43设置于第一夹手421和第二夹手422之间。在一些实施例中，吸附部43可以包括吸盘和吸盘连通的真空发生器，真空发生器控制吸盘开启/关闭，实现目标货物的吸取/放下动作。
在本实施例中，为了使吸附部43能够吸附不同高度的目标货物，以及在吸附目标货物时，第一夹手421和第二夹手422不会干涉吸附部43，机械手4还包括吸附驱动件44，吸附驱动件44的输出端与吸附部43驱动连接，并能够驱动所吸附部43升降。在一些实施例中，吸附驱动件44可以为气缸或油缸，或丝杆螺母机构。
在一些实施例中，吸附驱动件44为气缸或油缸，所述吸附驱动件44的输出端为气缸或油缸的活塞远离气缸或油缸的缸体的一端。在一些实施例中，吸附驱动件44为丝杆螺母机构，所述吸附驱动件44的输出端设于所述丝杆螺母机构的螺母。在一些实施例中，机械手支架41上开设有容纳腔，吸附驱动件44设置于容纳腔内。
在一些实施例中，第一夹手421和第二夹手422均为柔性夹手。示例性地，柔性夹手可以包括由橡胶或柔性塑料制成皮套，皮套内充有空气，通过改变皮套内的气压，可以改变柔性夹手的形状。柔性夹手不会对目标货物造成损害，同时柔性夹手支持-20℃的环境下的分拣作业。在一些实施例中，第一夹手421和第二夹手422相互靠近的一侧均为水平面，以便增大与目标货物的接触面积， 提高夹取稳定性。
在一些实施例中，夹放部42包括设置于机械手支架41上的夹放驱动部423，夹放驱动部423被配置为驱动第一夹手421和第二夹手422相互靠近或远离，即夹放驱动部423控制第一夹手421和第二夹手422的张合程度，以夹取或放开目标货物。
为了减小夹放驱动部423的受力，在一些实施例中，夹放部42还包括第一连接板46和第二连接板47，第一连接板46的一端转动连接于机械手支架41上，另一端转动连接于第二连接板47的一端，第二连接板47的另一端与第一夹手421连接。
夹放部42还包括第三连接板48和第四连接板49，第一连接板46与第三连接板48对称设置，第四连接板49和第二连接板47对称设置，第三连接板48的一端转动连接于机械手支架41上，另一端转动连接于第四连接板49的一端，第四连接板49的另一端与第二夹手422连接。
在一些实施例中，夹放驱动部423还包括连杆机构，连杆机构为平行四边形平面连杆机构，机械手支架41、第一夹手421和第二夹手422均与连杆机构转动连接。
在一些实施例中，连杆机构包括连杆和中间连杆。其中，连杆包括第一连杆4231和第二连杆4232，第一连杆4231的一端与机械手支架41转动连接，另一端与第二连接板47转动连接，即，第一连杆4231的另一端通过与第二连接板47转动连接于第一夹手421。第二连杆4232的一端与机械手支架41转动连接，另一端与第四连接板49转动连接。即，第二连杆4232的另一端通过第四连接板49与第二夹手422转动连接。
中间连杆包括第一中间连杆4233和第二中间连杆4234。第一中间连杆4233的一端与第一连杆4231转动连接，另一端与吸附驱动件44转动连接。第二中间连杆4234一端与第二连杆4232转动连接，另一端与吸附驱动件44转动连接。
在一些实施例中，第一中间连杆4233连接于第一连杆4231长度方向的中间位置，第二中间连杆4234连接于第二连杆4232长度方向的中间位置。第一中间连杆4233、第二中间连杆4234、第一连杆4231的一段和第二连杆4232一段形成平行四边形。
在一些实施例中，第一中间连杆4233的另一端和第二中间连杆4234的另一端均能够相对于机械手支架41上、下运动，从而调节第一连杆4231和第二 连杆4232之间的角度，进而调节第一夹手421和第二夹手422之间的间距，使第一夹手421夹取或放开目标货物。在一些实施例中，为了实现第一中间连杆4233的另一端和第二中间连杆4234的另一端与机械手支架41的相对上、下运动，吸附驱动件44与机械手支架41滑动连接。
在其他实施例中，还可以是第一中间连杆4233的另一端直接与机械手支架41转动连接，第二中间连杆4234的另一端直接与机械手支架41转动连接，第一中间连杆4233的另一端和第二中间连杆4234的另一端在机械手支架41上升降滑动，从而调节第一连杆4231和第二连杆4232之间的夹角。
在其他实施例中，还可以是第一中间连杆4233的另一端和第二中间连杆4234的另一端均不能相对于机械手支架41上下滑动，而是连杆的一端滑动连接在机械手支架41上，其并能够相对于机械手支架41上下运动，从而调节第一连杆4231和第二连杆4232之间的夹角。
在本实施例中，吸附驱动件44与机械臂361固定连接，从而避免机械手支架41相对于吸附驱动件44升降时，带动吸附部43升降。
为了实现机械手支架41的升降，夹放驱动部423还包括连杆驱动件4235。连杆驱动件4235控制机械手支架41上下滑动，从而使第一连杆4231和第二连杆4232的一端升降，进而改变第一连杆4231和第二连杆4232的夹角，最终实现第一夹手421和第二夹手422张合程度的改变。
连杆驱动件4235均与机械手支架41和吸附驱动件44连接，以驱动机械手支架41和吸附驱动件44相对运动。在一些实施例中，连杆驱动件4235包括转动连接于机械手支架41上的第一螺杆4236、与第一螺杆4236螺接的第一螺母4237和与第一螺杆4236驱动连接的驱动电机，第一螺母4237固定连接于吸附驱动件44上，驱动电机正转和反转，从而驱动机械手支架41升降。
为了提高机械手支架41升降的稳定性，吸附驱动件44和机械手支架41中的一个上设置有第一滑轨45，另一个上设置有与第一滑轨45滑动连接的第一滑槽。于本实施例中，第一滑轨45设置于吸附驱动件44上，第一滑槽设置于机械手支架41上。
机械手4在夹取目标货物时，采用“吸+抓”的方式，其可以有两种工作模式，即“先吸后抓”和“边吸边抓”。
当机械手4采用“先吸后抓”的工作模式时，其工作步骤如下：
1.当开始抓取目标货物时，首先机械臂361带动第一夹手421和第二夹手 422移动到待抓取目标货物的正上方；
2.连杆驱动件4235控制连杆机构改变第一夹手421和第二夹手422张合的开度，直至其开度与目标货物的宽度一致；
3.真空发生器工作，吸附部43产生吸力，同时吸附驱动件44驱动吸附部43下降至贴近目标货物表面；
4.吸附部43吸住目标货物后，吸附驱动件44驱动吸附部43上升，同时第一夹手421和第二夹手422执行夹紧动作，进而固定住目标货物，防止目标货物脱落；
5.抓取完目标货物之后，机械臂361开始转动，带动第一夹手421和第二夹手422到达分拣箱7正上方。之后第一夹手421和第二夹手422张开，吸附驱动件44驱动吸附部43下降到位，真空发生器停止动作，目标货物脱落至分拣箱7内。至此完成一次抓取动作。
当机械手4采用“边吸边抓”的工作模式时，其工作步骤如下：
1.机械臂361带动第一夹手421和第二夹手422移动到待抓取目标货物的正上方；
2.连杆驱动件4235控制连杆机构带动第一夹手421和第二夹手422的开度与目标货物宽度一致；
3.真空发生器工作，吸附部43产生吸力，吸附驱动件44驱动吸附部43下降并贴近目标货物表面，同时夹放部42下降至贴近目标货物处；
4.吸附部43吸住目标货物，同时夹放部42夹紧目标货物；
5.夹取目标货物之后，机械臂361带动机械手4和目标货物向分拣箱7方向移动；
6.当机械手4到达分拣箱7正上方时，夹放部42执行张开动作，吸附部43下降到位、真空发生器停止动作，从而使目标货物脱落至分拣箱7内。至此完成一次抓取动作。
当然，将分拣箱7内的货物分拣至周转箱12内的拣货系统也在本申请的保护范围之内。
实施例二
本实施例二提供了一种拣货方法，该拣货方法可以使用如实施例一的拣货系统，也可以用于其他任何能够实现本方法的拣货系统中。
拣货方法包括如下步骤：步骤S1、取放机构3运动至目标位置；本实施例 中的目标位置是指，在该目标位置伸缩部31能够将货架11上的周转箱12转运至其上。
步骤S2、取放机构3在目标位置处取出位于第一存放机构1上的目标货物；当然，在该步骤中，取放机构3还可以是取出位于第二存放机构2上的目标货物。
步骤S3、取放机构3将目标货物放置于暂放区32；
步骤S4、重复步骤S1-S3直至将所有的目标货物放置于暂放区32。
在一些实施例中，第一存放机构1包括用于存放目标货物的周转箱12，取放机构3包括伸缩部31和夹放组件36。步骤S2包括：伸缩部31自原始位置伸出，使存放有目标货物的周转箱12位于伸缩部31上；伸缩部31收缩恢复至原始位置；夹放组件36抓取位于周转箱12内的目标货物。
在一些实施例中，拣货系统还包括放置区，放置区设置有分拣箱7，在步骤S1之前，还包括：取放机构3运动至放置区，并使分拣箱7设置于暂放区32上。在步骤S3中，取放机构3将目标货物放置于位于暂放区32上的分拣箱7内。
本实施例提供的拣货方法与人工拣货方式相比，可以大大提高拣货效率，目标货物的自动存取使用机械和自动化设备，运转和处理速度快，降低了操作人员的劳动强度，同时节省人力成本，也降低了错误率。
当然，将分拣箱7内的货物分拣至周转箱12内的拣货方法也在本申请的保护范围之内。
示例性地，拣货方法可以包括如下步骤：
1.取放机构3位于第一存放机构1和第二存放机构2之间，第一存放机构1和第二存放机构2的货架11的每个货位上均放有周转箱12，货架11的一端放置有分拣箱7。分拣箱7用于暂存抓取到的目标货物。取放机构3采用PLC控制驱动，用户下单后，取放机构3首先由货架11的一端取分拣箱7；
2.取放机构3运动到要目标位置；
3.伸缩部31伸出深入到周转箱12底部，之后随着取放机构3上移，周转箱12被抬起，伸缩部31收缩到原位置，周转箱12就被取到伸缩部31上，完成取箱操作；
4.取出周转箱12后，机械手4移动到目标货物的坐标位置，周转箱12内商品可以按格分区，方便定位坐标；
5.机械手4采用“先吸后抓”的方式夹取目标货物，第一夹手421和第二夹手422调节开合度，以适应目标货物的尺寸，吸附驱动件44下降带动吸附部43贴近目标货物表面，吸附部43吸住目标货物后，吸附驱动件44驱动吸附部43上升，同时第一夹手421和第二夹手422加紧，从而固定住目标货物；
6.机械手4抓取目标货物后移动至分拣箱7，并将目标货物放至分拣箱7内；
7.伸缩部31将周转箱12还箱至原货架11内；
8.重复进行步骤2-步骤7，完成订单中的目标货物取货；
9.取放机构3将取完货的分拣箱7还箱到货架11的放置区；
10.工作人员将分拣箱7内的所有目标货物取走，并打包配送。
本申请提供的机械手包括夹放部和吸附部，在机械手拣取目标货物时，可以同时夹紧和吸附目标货物，从而提高了机械手的抓取力和稳定性，从而避免目标货物脱落问题，提高拣货作用的效率和安全性。吸附部对于目标货物的形状适应性强，桶装、袋装、瓶装、盒装等形式的目标货物都可以适配。且对于形状规则且质量较小的目标货物，可以用吸附部直接吸取。对于形状不规则、表面凹凸不平的商品，可以用夹放部直接抓取，从而避免因目标货物的形状导致的机械手无法抓取的问题。

Claims (11)

  1. 一种机械手，包括：
    机械手支架(41)；
    夹放部(42)，包括正对设置于所述机械手支架(41)上的第一夹手(421)和第二夹手(422)，所述第一夹手(421)和所述第二夹手(422)被配置为相互靠近或远离，以夹取或放开目标货物；
    吸附部(43)，设置于所述机械手支架(41)上，被配置为吸附或放开所述目标货物。
  2. 根据权利要求1所述的机械手，其中，所述吸附部(43)设置于所述第一夹手(421)和所述第二夹手(422)之间。
  3. 根据权利要求2所述的机械手，其中，所述机械手(4)还包括吸附驱动件(44)，所述吸附驱动件(44)与所述吸附部(43)驱动连接，所述吸附驱动件(44)被配置为驱动所述吸附部(43)升降。
  4. 根据权利要求3所述的机械手，其中，所述夹放部(42)还包括设置于所述机械手支架(41)上的夹放驱动部(423)，所述夹放驱动部(423)被配置为驱动所述第一夹手(421)和所述第二夹手(422)相互靠近或远离。
  5. 根据权利要求4所述的机械手，其中，所述夹放驱动部(423)包括连杆机构，所述机械手支架(41)、第一夹手(421)和第二夹手(422)均与所述连杆机构转动连接。
  6. 根据权利要求5所述的机械手，其中，所述连杆机构包括：
    连杆，所述连杆包括第一连杆(4231)和第二连杆(4232)，所述第一连杆(4231)的第一端与所述机械手支架(41)转动连接，所述第一连杆(4231)的第二端与所述第一夹手(421)转动连接；所述第二连杆(4232)的第一端与所述机械手支架(41)转动连接，所述第二连杆(4232)的第二端与所述第二夹手(422)转动连接；
    中间连杆，所述中间连杆包括第一中间连杆(4233)和第二中间连杆(4234)，所述第一中间连杆(4233)的第一端与所述第一连杆(4231)转动连接，所述第一中间连杆(4233)的第二端与所述机械手支架(41)转动连接；所述第二中间连杆(4234)的第一端与所述第二连杆(4232)转动连接，所述第二中间连杆(4234)的第二端与所述机械手支架(41)转动连接；
    所述第一中间连杆(4233)的第二端和所述第二中间连杆(4234)的第二端能够相对于所述机械手支架(41)上下运动。
  7. 根据权利要求5所述的机械手，其中，所述连杆机构包括：
    连杆，所述连杆包括第一连杆(4231)和第二连杆(4232)，所述第一连杆(4231)的第二端与所述第一夹手(421)转动连接；所述第二连杆(4232)的第二端与所述第二夹手(422)转动连接；
    中间连杆，所述中间连杆包括第一中间连杆(4233)和第二中间连杆(4234)，所述第一中间连杆(4233)的第一端与所述第一连杆(4231)转动连接，所述第一中间连杆(4233)的第二端与所述机械手支架(41)转动连接；所述第二中间连杆(4234)的第一端与所述第二连杆(4232)转动连接，所述第二中间连杆(4234)的第二端与所述机械手支架(41)转动连接；
    所述第一连杆(4231)的第一端和所述第二连杆(4232)的第一端滑动连接在所述机械手支架(41)上，并能够相对于所述机械手支架(41)上下运动。
  8. 根据权利要求6所述的机械手，其中，所述吸附驱动件(44)与所述机械手支架(41)滑动连接，所述第一中间连杆(4233)和所述第二中间连杆(4234)的第二端均与所述吸附驱动件(44)转动连接。
  9. 根据权利要求8所述的机械手，其中，所述夹放驱动部(423)还包括连杆驱动件(4235)，所述连杆驱动件(4235)均与所述机械手支架(41)和所述吸附驱动件(44)连接，以驱动所述机械手支架(41)和所述吸附驱动件(44)中的一个升降运动。
  10. 根据权利要求8所述的机械手，其中，所述吸附驱动件(44)和所述机械手支架(41)中的一个上设置有第一滑轨(45)，另一个上设置有与所述第一滑轨(45)滑动连接的第一滑槽。
  11. 根据权利要求1所述的机械手，其中，所述第一夹手(421)和所述第二夹手(422)均为柔性夹手。
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