Automated bulk parts picking and warehousing system and method

Abstract

An automated bulk picking warehousing system includes a shelf, a stacker, a conveying mechanism, and a composite robot; the shelf includes multiple storage locations, each storage location is used to store turnover boxes, and the turnover boxes are used to store goods; the stacker includes a bidirectional telescopic fork and a picking robot, the bidirectional telescopic fork is used to move the turnover boxes in the storage location to the bidirectional telescopic fork and move the turnover boxes back to the storage location, the picking robot is used to scan one or more goods in the turnover box and identify the location of the goods to be grabbed, and grab the goods according to the identified location; the conveying mechanism is used to transfer the goods grabbed by the picking robot to the composite robot; the composite robot is used to move the goods transferred by the conveying mechanism to the pickup area. The automated bulk picking warehousing system of the present invention can quickly pick specific goods, and has high picking efficiency. The present invention also relates to an automated bulk picking warehousing method.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing systems, and in particular to an automated bulk parts picking warehousing system and method thereof. Background Art

[0002] With the rapid development of the e-commerce industry, a growing number of community-based micro-warehouses, located physically close to consumers, have emerged. These warehousing systems enable the rapid delivery and fulfillment of consumer goods. Currently, the biggest challenge hindering warehouse delivery and fulfillment is low picking efficiency, especially during peak hours. Traditional manual picking is inefficient, costly, and difficult. Summary of the Invention

[0003] In view of this, the present invention provides an automated bulk picking warehousing system that can quickly pick specific goods with high picking efficiency.

[0004] An automated bulk picking storage system includes a shelf, a stacker, a conveying mechanism and a composite robot; the shelf includes multiple storage locations, each storage location is used to store turnover boxes, and the turnover boxes are used to store goods; the stacker includes a bidirectional telescopic fork and a picking robot, the bidirectional telescopic fork is used to move the turnover boxes in the storage location to the bidirectional telescopic fork and move the turnover boxes back to the storage location, the picking robot is used to scan one or more goods in the turnover box and identify the location of the goods to be grabbed, and grab the goods according to the identified location; the conveying mechanism is used to transfer the goods grabbed by the picking robot to the composite robot; the composite robot is used to move the goods conveyed by the conveying mechanism to the pickup area.

[0005] In an embodiment of the present invention, the above-mentioned picking robot includes a multi-axis robotic arm and a visual scanner and a picking executor connected to the multi-axis robotic arm. The multi-axis robotic arm can drive the visual scanner and the picking executor to move above the turnover box. The visual scanner can scan the goods in the turnover box and identify the position, and the picking executor grabs the corresponding goods according to the identified position.

[0006] In an embodiment of the present invention, the above-mentioned visual scanner includes a camera module and a light filler, which is fixed under the lens of the camera module and arranged around the circumference of the lens. The light filler is used to fill light into the turnover box.

[0007] In an embodiment of the present invention, the above-mentioned stacker also includes a lifting mechanism, which includes a mounting frame, a movable seat and a lifting drive. The movable seat is slidably connected to the mounting frame, the bidirectional telescopic fork and the picking robot are fixedly connected to the movable seat, and the lifting drive is fixedly connected to the mounting frame. The lifting drive is used to drive the movable seat to move up and down along the height direction of the mounting frame.

[0008] In an embodiment of the present invention, a first temporary storage box is fixedly connected to the above-mentioned movable seat, and the first temporary storage box is used to accommodate the goods grabbed by the picking actuator. The first temporary storage box includes a first outer shell, a first partition frame and a plurality of first flipping drivers. The first outer shell has a first cavity that passes through the upper and lower parts. The first partition frame is fixedly connected to the first cavity. A plurality of first accommodating channels for accommodating the goods are formed between the first partition frame and the first outer shell. The bottom of the first accommodating channel is provided with a first bottom plate for blocking the first accommodating channel. The first flipping driver is arranged corresponding to the first accommodating channel. The first flipping driver is fixedly connected to the first outer shell. The first flipping driver can drive the first bottom plate to block or open the first accommodating channel.

[0009] In an embodiment of the present invention, the above-mentioned stacker also includes a translation mechanism, which includes a translation base, a horizontal guide rail and a translation driver. The horizontal guide rail is arranged on one side of the shelf, and the horizontal guide rail extends to the conveying mechanism. The translation base is slidably connected to the horizontal guide rail, and the end of the mounting frame is fixedly connected to the translation base. The translation driver is fixedly connected to the translation base, and the translation driver is used to drive the translation base to move in the horizontal direction.

[0010] In an embodiment of the present invention, the above-mentioned automated bulk picking and storage system also includes a cargo temporary storage mechanism, which is fixed above the conveying mechanism. The cargo temporary storage mechanism is arranged corresponding to the stacker. When the stacker moves through the translation mechanism and makes the first temporary storage box above the cargo temporary storage mechanism, the first flipping drive drives the first bottom plate to open the first accommodating channel, and the cargo in the first accommodating channel falls onto the cargo temporary storage mechanism.

[0011] In an embodiment of the present invention, the above-mentioned cargo temporary storage mechanism includes a second temporary storage box, which is used to accommodate the cargo falling from the first temporary storage box. The second temporary storage box includes a second shell, a second partition frame and a plurality of second flipping drivers. The second shell has a second cavity that passes through from top to bottom. The second partition frame is fixedly connected to the second cavity. A plurality of second accommodating channels for accommodating the cargo are formed between the second partition frame and the second shell. The bottom of the second accommodating channel is provided with a second bottom plate for blocking the second accommodating channel. The second flipping driver is arranged corresponding to the second accommodating channel. The second flipping driver is fixedly connected to the second shell. The second flipping driver can drive the second bottom plate to block or open the second accommodating channel. When the second flipping driver drives the second bottom plate to open the second accommodating channel, the cargo in the second accommodating channel falls onto the conveying mechanism.

[0012] In an embodiment of the present invention, the above-mentioned automated bulk picking and storage system further includes a packaging mechanism, which is fixed above the conveying mechanism. The packaging mechanism is used to pack the goods, and the composite robot can transport the packaged goods to the pickup area.

[0013] In an embodiment of the present invention, the above-mentioned pickup area is provided with a plurality of stacked pickup cabinets, which have an entry port on the back side close to the conveying mechanism, and a pickup port and a cabinet door corresponding to the pickup port on the front side away from the conveying mechanism. One side of the cabinet door is hinged to the pickup cabinet, and the other side of the cabinet door is connected to the pickup cabinet through a locking structure. The composite robot can move the packaged goods from the entry port to the pickup cabinet.

[0014] In an embodiment of the present invention, the above-mentioned shelf also includes a replenishment position, the compound robot can transport the turnover box to be stored to the replenishment position, and the stacker can transport the turnover box from the replenishment position to the storage position.

[0015] The present invention also relates to an automated bulk picking and warehousing method, which utilizes the above-mentioned automated bulk picking and warehousing system and comprises:

[0016] The stacker receives a pickup signal and moves to the storage location corresponding to the shelf according to the pickup signal;

[0017] Controlling the bidirectional telescopic fork to transport the turnover box out of the storage location;

[0018] Control the picking robot to scan one or more goods in the turnover box and identify the location of the goods to be picked up, and pick up the goods according to the identified location of the goods;

[0019] Control the bidirectional telescopic fork to move the turnover box back to the storage location;

[0020] Controlling the stacker to move to the conveying mechanism and placing the goods on the conveying mechanism;

[0021] Controlling the conveying mechanism to convey the cargo to the composite robot;

[0022] The composite robot is controlled to carry the goods conveyed by the conveying mechanism to the pickup area.

[0023] In an embodiment of the present invention, the above-mentioned automated bulk parts picking and warehousing method further includes:

[0024] Controlling the stacker to sequentially grab a plurality of goods at the plurality of storage locations, and placing the plurality of goods in the plurality of first accommodating channels of the first temporary storage box respectively;

[0025] Controlling the stacker to move to the top of the second temporary storage box, controlling the first accommodating channels to open in sequence, so that the goods in the first accommodating channels fall into the plurality of second accommodating channels of the second temporary storage box;

[0026] The second temporary storage box is fixed above the conveying mechanism, and is controlled to open the second accommodating channel so that the goods in the second accommodating channel fall onto the conveying mechanism.

[0027] In an embodiment of the present invention, the above-mentioned automated bulk parts picking and warehousing method further includes:

[0028] Controlling the packing mechanism to pack the goods on the conveying mechanism;

[0029] The composite robot is controlled to carry the packaged goods to the pickup area.

[0030] In an embodiment of the present invention, the above-mentioned automated bulk parts picking and warehousing method further includes:

[0031] Controlling the composite robot to move the turnover box to be stored to the replenishment position of the shelf;

[0032] Control the stacker to move the turnover box from the replenishment location to the storage location.

[0033] The automated bulk picking storage system of the present invention starts automatically picking goods when the turnover box is transported to the bidirectional telescopic fork, thereby achieving the purpose of quickly picking specific goods with high picking efficiency, and solving the problem of inefficient manual picking after the whole box is transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic top view of the structure of the automated bulk parts picking and storage system of the present invention.

[0035] Figure 2 It is a front view structural schematic diagram of the shelf of the present invention.

[0036] Figure 3 It is a schematic diagram of the three-dimensional structure of the stacker of the present invention.

[0037] Figure 4 yes Figure 3 The schematic diagram of the structure of the stacker in the other direction is shown.

[0038] Figure 5 It is a schematic diagram of the three-dimensional structure of the bidirectional telescopic fork of the present invention.

[0039] Figure 6 It is an enlarged structural schematic diagram of the picking robot of the present invention.

[0040] Figure 7 It is a schematic diagram of the three-dimensional structure of the movable seat and the first temporary storage box of the present invention.

[0041] Figure 8 It is a partial structural schematic diagram of the transmission mechanism of the present invention.

[0042] Figure 9 It is a structural schematic diagram of the cargo temporary storage mechanism of the present invention.

[0043] Figure 10 It is a schematic diagram of the top structure of the composite robot of the present invention. DETAILED DESCRIPTION

[0044] The present application provides an automated bulk parts picking and warehousing system.

[0045] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0046] To facilitate understanding by those skilled in the art, the present application describes the specific implementation process of the technical solution provided by the present application through the following embodiments.

[0047] Figure 1 This is a schematic top view of the structure of the automated bulk picking and warehousing system of the present invention. Figure 2 This is a front view of the structure of the shelf of the present invention, as shown in FIG. Figure 1 and Figure 2 As shown, the automated bulk picking storage system includes a shelf 10, a stacker 20, a conveying mechanism 30 and a compound robot 40; the shelf 10 includes a plurality of storage locations 11, each storage location 11 is used to store a turnover box 13, and the turnover box 13 is used to store goods; the stacker 20 includes a bidirectional telescopic fork 21 and a picking robot 22, the bidirectional telescopic fork 21 is used to transport the turnover box 13 in the storage location 11 to the bidirectional telescopic fork 21 and to transport the turnover box 13 back to the storage location 11, the picking robot 22 is used to scan one or more goods in the turnover box 13 and identify the position of the goods to be grabbed, and grab the goods according to the identified position; the conveying mechanism 30 is used to transport the goods grabbed by the picking robot 22 to the compound robot 40; the compound robot 40 is used to transport the goods transported by the conveying mechanism 30 to the pickup area 701.

[0048] When the stacker 20 receives a pick-up signal, the stacker 20 moves to the storage location 11 corresponding to the shelf 10 according to the pick-up signal; first, the bidirectional telescopic fork 21 transports the turnover box 13 from the storage location 11; then the picking robot 22 scans one or more goods in the turnover box 13 and identifies the position of the goods to be grabbed, and grabs the goods according to the identified position of the goods; then the bidirectional telescopic fork 21 transports the turnover box 13 back to the storage location 11; then the stacker 20 moves to the conveying mechanism 30 and places the goods on the conveying mechanism 30; the conveying mechanism 30 transports the goods to the compound robot 40; finally, the compound robot 40 transports the goods transported by the conveying mechanism 30 to the pick-up area 701.

[0049] Therefore, the automated bulk picking storage system of the present invention starts automatically picking goods when it transports the turnover box 13 to the bidirectional telescopic fork 21, achieving the purpose of quickly picking specific goods with high picking efficiency, and solving the problem of inefficient manual picking after the entire box is transported.

[0050] Furthermore, Figure 3 2 is a schematic diagram of the three-dimensional structure of the stacker of the present invention. Figure 4 yes Figure 3 The structural diagram of the stacker in the other direction is shown in FIG. Figure 5 Schematic diagram of the three-dimensional structure of the bidirectional telescopic fork of the present invention, as shown in FIG. Figure 3 、 Figure 4 and Figure 5 As shown, the bidirectional telescopic fork 21 includes a telescopic driver 211, a fork tine seat 212, an intermediate sliding fork 213, and a top sliding fork 214. The telescopic driver 211 is fixedly connected to the fork tine seat 212, the intermediate sliding fork 213 is slidably connected to the fork tine seat 212, and the top sliding fork 214 is slidably connected to the intermediate sliding fork 213. The telescopic driver 211 can drive the intermediate sliding fork 213 and the top sliding fork 214 to telescopically move and transport the turnover box 13. For the structure and function of the bidirectional telescopic fork 21, please refer to the prior art and will not be repeated here.

[0051] Furthermore, the picking robot 22 includes a multi-axis robotic arm 221, a visual scanner 222, and a picking actuator 223 connected to the multi-axis robotic arm 221. The multi-axis robotic arm 221 can drive the visual scanner 222 and the picking actuator 223 to move above the turnover box 13. The visual scanner 222 can scan and identify the location of the goods in the turnover box 13, and the picking actuator 223 can grab the corresponding goods based on the identified location. In this embodiment, the turnover box 13 has a storage cavity 101 for accommodating goods. The storage cavity 101 contains a variety of goods, each of which is placed in sequence at the bottom of the storage cavity 101, and the goods' code / shape / color / logistics list and other information are opened towards the storage cavity 101 to facilitate scanning and identification by the visual scanner 222.

[0052] Furthermore, Figure 6 FIG. 1 is an enlarged structural diagram of the picking robot of the present invention, as shown in FIG. Figure 3 、 Figure 4 and Figure 6 As shown, the visual scanner 222 includes a camera module 2221 and a fill light 2222. The fill light 2222 is fixed below the lens of the camera module 2221 and arranged around the lens. The fill light 2222 is used to fill light into the turnover box 13. In this embodiment, the visual scanner 222 is used to scan and identify information such as the code, shape, color, and logistics document of the goods until the goods to be picked are identified. The picking executor 223 picks the specific goods based on the scanning results.

[0053] Furthermore, the camera module 2221 includes a lens (not shown), a voice coil motor (not shown), a base (not shown), a filter (not shown), a photosensitive chip (not shown) and a circuit board (not shown). The lens is connected to the voice coil motor, the voice coil motor is fixedly connected to the base, the base is fixedly connected to the circuit board, the filter is fixedly connected to the base, the filter is arranged opposite to the lens, the photosensitive chip is electrically connected to the circuit board, and the photosensitive chip and the filter are arranged opposite to each other.

[0054] Furthermore, the fill light 2222 is, for example, an LED lamp.

[0055] Further, if Figure 3 、 Figure 4 and Figure 6 As shown, the visual scanner 222 further includes a fixing frame 2223 , the camera module 2221 and the fill light 2222 are fixedly connected to the fixing frame 2223 , and the fixing frame 2223 is fixedly connected to the picking executor 223 .

[0056] Furthermore, the picking actuator 223 includes a vacuum pump (not shown), a vacuum tube and a suction nozzle. The vacuum pump is fixedly connected to the multi-axis robotic arm 221. One end of the vacuum tube is connected to the vacuum pump, and the other end of the vacuum tube is connected to the suction nozzle. When the vacuum pump draws air, the suction nozzle can suck up the goods to achieve a grasping action.

[0057] In another preferred embodiment, the picking actuator 223 includes an air pump, a connecting seat, a flexible bladder and a hollow telescopic tube. The connecting seat is fixedly connected to a first joint and a second joint. The flexible bladder is connected to the connecting seat. The flexible bladder has a chamber connected to the first joint. The chamber is filled with fluid particles. The hollow telescopic tube is arranged in the chamber. The hollow telescopic tube is connected between the connecting seat and the flexible bladder, and the second joint is connected to the hollow telescopic tube. When positive pressure is applied to the flexible bladder and the hollow telescopic tube, the flexible bladder gradually approaches the goods to be grasped until the flexible bladder is pressed on the goods. When negative pressure is applied to the flexible bladder and the hollow telescopic tube, the flexible bladder covers the goods, and the fluid particles form a rigid state to realize the grasping action.

[0058] Furthermore, the multi-axis robotic arm 221 includes a fixed base 2211, a single-axis driver (not shown), a second-axis driver (not shown), a first reducer (not shown), a second reducer (not shown), a first movable arm 2212, and a second movable arm 2213. The single-axis driver is fixedly connected to the fixed base 2211, the first reducer is connected to the driving end of the single-axis driver, one end of the first movable arm 2212 is connected to the first reducer, the other end of the first movable arm 2212 is fixedly connected to the two-axis driver, the second reducer is connected to the driving end of the two-axis driver, one end of the second movable arm 2213 is connected to the second reducer, and the visual scanner 222 and the picking actuator 223 are connected to the second movable arm 2213. In this embodiment, the single-axis driver and the second-axis driver are, for example, motors.

[0059] In another preferred embodiment, the multi-axis robotic arm 221 is a six-axis robotic arm. Please refer to the above for the specific structure, which will not be repeated here, but the present invention is not limited to this.

[0060] Furthermore, the intelligent bulk parts picking device also includes a lifting mechanism 23, which includes a mounting frame 231, a movable seat 232 and a lifting drive 233. The movable seat 232 is slidably connected to the mounting frame 231, the bidirectional telescopic fork 21 and the picking robot 22 are fixedly connected to the movable seat 232, and the lifting drive 233 is fixedly connected to the mounting frame 231. The lifting drive 233 is used to drive the movable seat 232 to move up and down along the height direction of the mounting frame 231.

[0061] Furthermore, Figure 7 This is a schematic diagram of the three-dimensional structure of the movable seat and the first temporary storage box of the present invention, as shown in FIG. Figure 3 、 Figure 4 and Figure 7As shown, a first temporary storage box 24 is fixedly connected to the movable seat 232. The first temporary storage box 24 is used to accommodate the goods grabbed by the picking actuator 223. The first temporary storage box 24 includes a first shell 241, a first partition frame 242 and a plurality of first flip drivers 243. The first shell 241 has a first cavity that passes through from top to bottom. The first partition frame 242 is fixedly connected in the first cavity. A plurality of first accommodating channels 102 for accommodating goods are formed between the first partition frame 242 and the first shell 241. The bottom of each first accommodating channel 102 is provided with a first bottom plate 244 for blocking the first accommodating channel 102. Each first flip driver 243 is arranged corresponding to each first accommodating channel 102. Each first flip driver 243 is fixedly connected to the first shell 241. The first flip driver 243 can drive the first bottom plate 244 to block or open the first accommodating channel 102.

[0062] Furthermore, the first shell 241 is rectangular, and the first shell 241 includes a first side panel 2411, a second side panel 2412, a third side panel 2413 and a fourth side panel 2414. The first side panel 2411 and the second side panel 2412 are parallel and opposite to each other, and the third side panel 2413 and the fourth side panel 2414 are parallel and opposite to each other. The first side panel 2411 and the second side panel 2412 are fixedly connected between the third side panel 2413 and the fourth side panel 2414. The first side panel 2411, the second side panel 2412, the third side panel 2413 and the fourth side panel 2414 surround and form a first cavity.

[0063] Furthermore, the first partition frame 242 includes at least one first main board and at least one first partition plate 2421. The first main board and the first partition plate 2421 are perpendicularly connected to each other. The first main board has two ends fixedly connected to the first side plate 2411 and the second side plate 2412, respectively. The first partition plate 2421 has two ends fixedly connected to the third side plate 2413 and the fourth side plate 2414, respectively. In this embodiment, the first partition frame 242 includes only one first partition plate 2421, and the first partition plate 2421 has two ends fixedly connected to the third side plate 2413 and the fourth side plate 2414, respectively. Two first accommodating channels 102 are formed between the first partition frame 242 and the first housing 241, but this is not limiting.

[0064] Furthermore, the movable seat 232 includes a sliding block 2321 and a supporting plate 2322. The sliding block 2321 is connected to the mounting frame 231 via a slide groove and a slide rail. One end of the supporting plate 2322 is fixedly connected to the sliding block 2321. The bidirectional telescopic fork 21, the picking robot 22, and the first temporary storage box 24 are fixedly connected to the supporting plate 2322. The supporting plate 2322 is provided with a picking hole (not shown) that passes through the supporting plate 2322 and is corresponding to each first accommodating channel 102. When the first flip actuator 243 drives the first bottom plate 244 to open the first accommodating channel 102, the goods in the first accommodating channel 102 fall out of the picking hole. In this embodiment, the supporting plate 2322 is perpendicularly connected to the outer wall of the sliding block 2321.

[0065] Furthermore, the mounting frame 231 includes a column 2311, a driving wheel (not shown), a driven wheel (not shown), and a transmission belt 2312. The driving wheel is rotatably connected to the top of the column 2311, the driven wheel is rotatably connected to the bottom of the column 2311, the transmission belt 2312 is connected to the driving wheel and the driven wheel respectively, the sliding block 2321 is fixedly connected to the transmission belt 2312, and the lifting driver 233 is fixedly connected to the top of the column 2311. The driving shaft of the lifting driver 233 is connected to the driving wheel, and the lifting driver 233 drives the movable seat 232 to move up and down via the transmission belt 2312. In this embodiment, the lifting driver 233 is a motor, and the forward and reverse rotation of the motor is controlled to achieve the up and down movement of the movable seat 232.

[0066] Furthermore, the stacker 20 also includes a translation mechanism 25, which includes a translation base 251, a horizontal guide rail 252, and a translation driver 253. The horizontal guide rail 252 is disposed on one side of the shelf 10 and extends to the conveyor mechanism 30. The translation base 251 is slidably connected to the horizontal guide rail 252. The end of the mounting frame 231 is fixedly connected to the translation base 251. The translation driver 253 is fixedly connected to the translation base 251 and is used to drive the translation base 251 to move horizontally. The stacker 20 can move horizontally as a whole via the translation mechanism 25, for example, to one or more specific storage locations 11 on the shelf 10. After picking out the goods, the stacker 20 moves as a whole to the conveyor mechanism 30 and places the picked goods on the conveyor mechanism 30. In this embodiment, the translation driver 253 is a motor.

[0067] Furthermore, Figure 8 It is a partial structural diagram of the transmission mechanism of the present invention, as shown in FIG. Figure 1 and Figure 8As shown, the conveying direction of the conveying mechanism 30 is perpendicular to the length direction of the horizontal guide rail 252. The conveying mechanism 30 includes a conveying frame 31, a conveyor belt 32 and a conveying driver (not shown in the figure). A first transmission shaft (not shown in the figure) and a second transmission shaft (not shown in the figure) are provided at both ends of the conveying frame 31. The first transmission shaft and the second transmission shaft are rotatably connected to the conveying frame 31. The conveyor belt 32 is connected to the first transmission shaft and the second transmission shaft respectively. The conveying driver is fixedly connected to the conveying frame 31. The conveying driver is connected to the first transmission shaft and the second transmission shaft through a belt. The conveying driver drives the first transmission shaft and the second transmission shaft to rotate to realize the conveying of goods.

[0068] Furthermore, if Figure 8 As shown, the conveying mechanism 30 also includes a first baffle 33, a second baffle 34 and a third baffle 35. The first baffle 33, the second baffle 34 and the third baffle 35 are arranged along the conveying direction. The first baffle 33 and the second baffle 34 are parallel and opposite to each other. The third baffle 35 is arranged between the first baffle 33 and the second baffle 34. A first conveying lane is formed between the first baffle 33 and the third baffle 35, and a second conveying lane is formed between the second baffle 34 and the third baffle 35. The first conveying lane and the second conveying lane can respectively convey the same or different goods.

[0069] Furthermore, Figure 9 It is a structural diagram of the cargo temporary storage mechanism of the present invention. Figure 1 、 Figure 8 and Figure 9 As shown, the automated bulk picking storage system also includes a cargo temporary storage mechanism 50, which is fixed above the conveying mechanism 30. The cargo temporary storage mechanism 50 is arranged corresponding to the stacker 20, that is, each stacker 20 corresponds to a cargo temporary storage mechanism 50. When the stacker 20 moves through the translation mechanism 25 and makes the first temporary storage box 24 be above the cargo temporary storage mechanism 50, the first flip driver 243 drives the first bottom plate 244 to open the first accommodating channel 102, and the cargo in the first accommodating channel 102 falls onto the cargo temporary storage mechanism 50.

[0070] Furthermore, if Figure 9As shown, the cargo temporary storage mechanism 50 includes a second temporary storage box 51, which is used to accommodate cargo dropped from the first temporary storage box 24. The second temporary storage box 51 includes a second shell 511, a second partition frame 512 and a plurality of second flip drivers 513. The second shell 511 has a second cavity extending vertically therethrough. The second partition frame 512 is fixedly connected to the second cavity. A plurality of second accommodating channels 103 for accommodating cargo are formed between the second partition frame 512 and the second shell 511. Each second accommodating channel 103 is a plurality of second accommodating channels 103 for accommodating cargo. 03 is provided with a second bottom plate 514 at the bottom, which blocks the second accommodating channel 103. Each second flip actuator 513 is provided corresponding to each second accommodating channel 103 and is fixedly connected to the second housing 511. The second flip actuator 513 can drive the second bottom plate 514 to block or open the second accommodating channel 103. When the second flip actuator 513 drives the second bottom plate 514 to open the second accommodating channel 103, the goods in the second accommodating channel 103 fall onto the conveyor mechanism 30. In this embodiment, when the automated bulk picking warehousing system has a large number of shipments, the second temporary storage box 51 can temporarily store a variety of goods to reduce system pressure. Furthermore, by selectively opening the second accommodating channel 103, the goods can be delivered to the conveyor mechanism 30 in batches.

[0071] Furthermore, the cargo temporary storage mechanism 50 includes a support frame 52 slidably connected to the conveyor mechanism 30, and a second temporary storage box 51 is connected to the support frame 52. In this embodiment, the bottom of the support frame 52 is fixedly connected to the conveyor frame 31, and the second temporary storage box 51 is spaced apart from the conveyor belt 32. When the second flip actuator 513 drives the second bottom plate 514 to open the second accommodating channel 103, the cargo in the second accommodating channel 103 falls onto the conveyor belt 32.

[0072] Further, if Figure 9 As shown, the cargo temporary storage mechanism 50 also includes a transverse drive (not shown) and a counter-shift belt 54. The transverse drive is fixedly connected to the support frame 52. The support frame 52 is provided with a transverse shaft (not shown). One end of the counter-shift belt 54 is connected to the transverse shaft, and the other end of the counter-shift belt 54 is connected to the transverse drive. The second temporary storage box 51 is fixedly connected to the counter-shift belt 54. The transverse drive drives the second temporary storage box 51 to slide left and right on the support frame 52 through the counter-shift belt 54.

[0073] Furthermore, the second shell 511 is rectangular, and the second shell 511 includes a fifth side panel 5111, a sixth side panel 5112, a seventh side panel 5113 and an eighth side panel 5114. The fifth side panel 5111 and the sixth side panel 5112 are parallel and opposite to each other, the seventh side panel 5113 and the eighth side panel 5114 are parallel and opposite to each other, the fifth side panel 5111 and the sixth side panel 5112 are fixedly connected between the seventh side panel 5113 and the eighth side panel 5114, and the fifth side panel 5111, the sixth side panel 5112, the seventh side panel 5113 and the eighth side panel 5114 are surrounded to form a second cavity.

[0074] Furthermore, the second partition frame 512 includes at least one second main board 5121 and at least one second partition board 5122. The second main board 5121 and the second partition board 5122 are perpendicularly connected to each other. The ends of the second main board 5121 are respectively fixedly connected to the fifth side panel 5111 and the sixth side panel 5112. The ends of the second partition board 5122 are respectively fixedly connected to the seventh side panel 5113 and the eighth side panel 5114. In this embodiment, the second partition frame 512 includes only one second main board 5121 and one second partition board 5122. Four second accommodating channels 103 are formed between the second partition frame 512 and the second housing 511, but this is not a limitation.

[0075] Furthermore, Figure 10 Schematic diagram of the composite robot of the present invention from a top view. Figure 10 As shown, the automated bulk picking storage system further includes a packing mechanism 60, which is fixed above the conveying mechanism 30. The packing mechanism 60 is used to pack goods, and the compound robot 40 can transport the packed goods to the pickup area 701. The structures of the packing mechanism 60 and the compound robot 40 are described in detail in the prior art and will not be further described here.

[0076] Furthermore, the pickup area 701 is provided with a plurality of stacked pickup cabinets 70, each pickup cabinet 70 having an entry port on the back side close to the conveying mechanism 30, and each pickup cabinet 70 having a pickup port and a cabinet door corresponding to the pickup port on the front side away from the conveying mechanism 30. One side of the cabinet door is hinged to the pickup cabinet 70, and the other side of the cabinet door is connected to the pickup cabinet 70 through a locking structure. The composite robot 40 can move the packaged goods from the entry port to each pickup cabinet 70.

[0077] Furthermore, the pickup area 701 is also provided with a freezer 80, which is arranged on one side of the pickup cabinet 70 and is used to refrigerate goods.

[0078] Furthermore, the shelf 10 also includes a replenishment position 12 , the compound robot 40 can move the turnover boxes 13 to be stored to the replenishment position 12 , and the stacker 20 can move the turnover boxes 13 from the replenishment position 12 to the storage position 11 .

[0079] Furthermore, the automated bulk picking warehousing system also includes an incoming goods counter 90, where the goods to be stored are placed manually in the turnover boxes 13 and the turnover boxes 13 are moved to the incoming goods counter 90. At this time, the compound robot 40 moves the turnover boxes 13 to be stored to the replenishment position 12, and finally the stacker 20 moves the turnover boxes 13 from the replenishment position 12 to the inventory position 11.

[0080] Furthermore, the automated bulk picking warehousing system also includes a forklift 100 , which is used to transport large goods or cargo boxes. The forklift 100 can directly transport the goods or cargo boxes to the pickup area 701 .

[0081] The automated bulk picking storage system of the present invention includes a plurality of shelves 10, a plurality of stackers 20, and a plurality of cargo temporary storage mechanisms 50. The number of shelves 10, stackers 20, and cargo temporary storage mechanisms 50 can be freely selected according to actual needs.

[0082] The present invention also relates to an automated bulk picking and warehousing method, which utilizes the above-mentioned automated bulk picking and warehousing system and comprises:

[0083] The stacker 20 receives the pickup signal and moves to the corresponding stocking location 11 of the shelf 10 according to the pickup signal;

[0084] Control the bidirectional telescopic fork 21 to move the turnover box 13 out of the storage location 11;

[0085] Control the picking robot 22 to scan one or more goods in the turnover box 13 and identify the location of the goods to be picked up, and pick up the goods according to the identified location of the goods;

[0086] Control the bidirectional telescopic fork 21 to move the turnover box 13 back to the storage location 11;

[0087] Control the stacker 20 to move to the conveying mechanism 30 and place the goods on the conveying mechanism 30;

[0088] Controlling the conveying mechanism 30 to convey the goods to the composite robot 40;

[0089] The composite robot 40 is controlled to carry the goods conveyed by the conveying mechanism 30 to the pickup area 701 .

[0090] Specifically, the specific steps of picking goods in the automated bulk picking and warehousing method of the present invention include:

[0091] Step 1: When the stacker 20 receives a pickup signal, it moves to the storage location 11 where the corresponding goods are stored through the translation mechanism 25.

[0092] In step 2, the lifting mechanism 23 drives the bidirectional telescopic fork 21 and the picking robot 22 to rise or fall to a certain height until the bidirectional telescopic fork 21 corresponds to the turnover box 13.

[0093] In step three, the telescopic drive 211 drives the middle sliding fork 213 and the top sliding fork 214 toward the turnover box 13 until the top sliding fork 214 is inserted into the bottom of the turnover box 13, and then the telescopic drive 211 drives the top sliding fork 214 to retract while carrying the turnover box 13.

[0094] In step 4, the multi-axis robotic arm 221 drives the visual scanner 222 and the picking executor 223 to move above the turnover box 13. The visual scanner 222 can scan the goods in the turnover box 13 and identify the position, and the picking executor 223 grabs the corresponding goods according to the identified position.

[0095] In step five, the multi-axis robotic arm 221 drives the visual scanner 222 and the picking executor 223 to move above the first temporary storage box 24 , and the picking executor 223 stores the goods in the first temporary storage box 24 .

[0096] Step six, while picking the goods, the translation mechanism 25 moves to the conveying mechanism 30, the first flip driver 243 drives the first bottom plate 244 to flip open the first accommodating channel 102, and the goods in the first accommodating channel 102 fall from the picking through hole to the conveying mechanism 30.

[0097] The automated bulk picking and warehousing method of the present invention can automatically pick goods when the turnover box 13 is transported to the bidirectional telescopic fork 21, thereby achieving the purpose of quickly picking specific goods with high picking efficiency, and solving the problem of low efficiency of manual picking after the whole box is transported.

[0098] Furthermore, the automated bulk picking and warehousing method further includes:

[0099] The stacker 20 is controlled to sequentially grab multiple items from multiple stocking locations 11 and place the multiple items in the multiple first receiving channels 102 of the first temporary storage box 24; that is, the stacker 20 can perform multiple picking tasks simultaneously, thereby improving picking efficiency;

[0100] Control the stacker 20 to move to the top of the second temporary storage box 51 and control the first accommodating channels 102 to open in sequence, so that the goods in the first accommodating channels 102 fall into the multiple second accommodating channels 103 of the second temporary storage box 51;

[0101] The second temporary storage box 51 is fixed above the conveying mechanism 30 , and controls the opening of each second accommodating channel 103 so that the goods in each second accommodating channel 103 fall onto the conveying mechanism 30 .

[0102] Furthermore, the automated bulk picking and warehousing method further includes:

[0103] Controlling the packaging mechanism 60 to package the goods on the conveying mechanism 30;

[0104] The composite robot 40 is controlled to carry the packaged goods to the pickup area 701 .

[0105] Furthermore, the automated bulk picking and warehousing method further includes:

[0106] Control the composite robot 40 to move the turnover box 13 to be stored to the replenishment position 12 of the shelf 10;

[0107] The stacker 20 is controlled to move the turnover box 13 from the replenishment position 12 to the storage position 11 .

[0108] The present application is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present application, a variety of simple variations can be made to the technical solution of the present application, and these simple variations all fall within the scope of protection of the present application. The various specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless there is any contradiction. In order to avoid unnecessary repetition, the present application will not further describe various possible combinations.

Claims

1. An automated bulk picking and warehousing system, characterized in that: The stacker comprises a shelf, a stacker, a conveying mechanism and a compound robot; the shelf comprises a plurality of storage locations, the storage location is used to store turnover boxes, and the turnover boxes are used to store goods; the stacker comprises a two-way telescopic fork and a picking robot, the two-way telescopic fork is used to move the turnover boxes in the storage location to the two-way telescopic fork and move the turnover boxes back to the storage location, the picking robot is used to scan one or more goods in the turnover box and identify the position of the goods to be grabbed, and grab the goods according to the identified position; the conveying mechanism is used to convey the goods grabbed by the picking robot to the compound robot; the compound robot is used to move the goods conveyed by the conveying mechanism to the picking area; the stacker also comprises a lifting mechanism, the lifting mechanism comprises a movable seat, a first temporary storage box is fixedly connected to the movable seat, the first temporary storage box is used to accommodate the goods grabbed by the picking actuator, the first temporary storage box comprises a first shell, a first partition frame and a plurality of first flipping drives, The first shell has a first cavity that runs through from top to bottom, the first partition frame is fixedly connected to the first cavity, a plurality of first accommodating channels for accommodating the goods are formed between the first partition frame and the first shell, the bottom of the first accommodating channel is provided with a first bottom plate that blocks the first accommodating channel, the first flip drive is arranged corresponding to the first accommodating channel, the first flip drive is fixedly connected to the first shell, and the first flip drive can drive the first bottom plate to block or open the first accommodating channel; the automated bulk picking storage system also includes a goods temporary storage mechanism, which is fixed above the conveying mechanism, and the goods temporary storage mechanism is arranged corresponding to the stacker, and the stacker also includes a translation mechanism, when the stacker moves through the translation mechanism and makes the first temporary storage box above the goods temporary storage mechanism, the first flip drive drives the first bottom plate to open the first accommodating channel, and the goods in the first accommodating channel fall onto the goods temporary storage mechanism.

2. The automated bulk picking and warehousing system according to claim 1, wherein: The picking robot includes a multi-axis robotic arm and a visual scanner and a picking actuator connected to the multi-axis robotic arm. The multi-axis robotic arm can drive the visual scanner and the picking actuator to move above the turnover box. The visual scanner can scan the goods in the turnover box and identify the position, and the picking actuator grabs the corresponding goods according to the identified position.

3. The automated bulk picking and warehousing system according to claim 2, wherein: The visual scanner includes a camera module and a light filler. The light filler is fixed below the lens of the camera module and is arranged around the circumference of the lens. The light filler is used to fill light into the turnover box.

4. The automated bulk picking and warehousing system according to claim 1, wherein: The lifting mechanism includes a mounting frame and a lifting drive. The movable seat is slidably connected to the mounting frame. The bidirectional telescopic fork and the picking robot are fixedly connected to the movable seat. The lifting drive is fixedly connected to the mounting frame. The lifting drive is used to drive the movable seat to move up and down along the height direction of the mounting frame.

5. The automated bulk picking storage system according to claim 4, characterized in that: The translation mechanism includes a translation base, a horizontal guide rail and a translation driver. The horizontal guide rail is arranged on one side of the shelf and extends to the conveying mechanism. The translation base is slidably connected to the horizontal guide rail. The end of the mounting frame is fixedly connected to the translation base. The translation driver is fixedly connected to the translation base. The translation driver is used to drive the translation base to move in the horizontal direction.

6. The automated bulk picking storage system according to claim 5, characterized in that: The cargo temporary storage mechanism includes a second temporary storage box, which is used to accommodate the cargo falling from the first temporary storage box. The second temporary storage box includes a second shell, a second partition frame and a plurality of second flipping drivers. The second shell has a second cavity running through it from top to bottom. The second partition frame is fixedly connected to the second cavity. A plurality of second accommodating channels for accommodating the cargo are formed between the second partition frame and the second shell. The bottom of the second accommodating channel is provided with a second bottom plate for blocking the second accommodating channel. The second flipping driver is arranged corresponding to the second accommodating channel. The second flipping driver is fixedly connected to the second shell. The second flipping driver can drive the second bottom plate to block or open the second accommodating channel. When the second flipping driver drives the second bottom plate to open the second accommodating channel, the cargo in the second accommodating channel falls onto the conveying mechanism.

7. The automated bulk picking storage system according to claim 5, characterized in that: The automated bulk picking storage system also includes a packaging mechanism, which is fixed above the conveying mechanism. The packaging mechanism is used to pack the goods, and the composite robot can transport the packaged goods to the pickup area.

8. The automated bulk picking storage system according to claim 7, wherein: The picking area is provided with a plurality of stacked picking cabinets, each of which has an entry port on the back side close to the conveying mechanism, and a picking port and a cabinet door corresponding to the picking port on the front side away from the conveying mechanism. One side of the cabinet door is hinged to the picking cabinet, and the other side of the cabinet door is connected to the picking cabinet through a locking structure. The composite robot can move the packaged goods from the entry port to the picking cabinet.

9. The automated bulk picking storage system according to claim 1, wherein: The shelf also includes a replenishment position, the composite robot can transport the turnover box to be stored to the replenishment position, and the stacker can transport the turnover box from the replenishment position to the storage position.

10. An automated bulk picking and warehousing method, characterized in that: The method utilizes the automated bulk picking warehousing system according to any one of claims 1 to 9, and the method comprises: The stacker receives a pickup signal and moves to the storage location corresponding to the shelf according to the pickup signal; Controlling the bidirectional telescopic fork to transport the turnover box out of the storage location; Control the picking robot to scan one or more goods in the turnover box and identify the location of the goods to be picked up, and pick up the goods according to the identified location of the goods; Control the bidirectional telescopic fork to move the turnover box back to the storage location; Controlling the stacker to move to the conveying mechanism and placing the goods on the conveying mechanism; Controlling the conveying mechanism to convey the cargo to the composite robot; The composite robot is controlled to carry the goods conveyed by the conveying mechanism to the pickup area.

11. The automated bulk picking and warehousing method according to claim 10, wherein: The automated bulk picking warehousing method also includes: Controlling the stacker to sequentially grab a plurality of goods at the plurality of storage locations, and placing the plurality of goods in the plurality of first accommodating channels of the first temporary storage box respectively; Controlling the stacker to move to the top of the second temporary storage box, controlling the first accommodating channels to open in sequence, so that the goods in the first accommodating channels fall into the plurality of second accommodating channels of the second temporary storage box; The second temporary storage box is fixed above the conveying mechanism, and is controlled to open the second accommodating channel so that the goods in the second accommodating channel fall onto the conveying mechanism.

12. The automated bulk picking and warehousing method according to claim 10, wherein: The automated bulk picking warehousing method also includes: Controlling the packing mechanism to pack the goods on the conveying mechanism; The composite robot is controlled to carry the packaged goods to the pickup area.

13. The automated bulk picking and warehousing method according to claim 10, wherein: The automated bulk picking warehousing method also includes: Controlling the composite robot to move the turnover box to be stored to the replenishment position of the shelf; Control the stacker to move the turnover box from the replenishment location to the storage location.

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