Intelligent bulk picking device and cargo picking and warehousing system

Abstract

An intelligent bulk parts picking device includes a bidirectional telescopic fork and a picking robot. The bidirectional telescopic fork includes a telescopic drive, a fork tine seat, an intermediate sliding fork and a top sliding fork. The telescopic drive is fixedly connected to the fork tine seat, the intermediate sliding fork is slidably connected to the fork tine seat, and the top sliding fork is slidably connected to the intermediate sliding fork. The telescopic drive can drive the intermediate sliding fork and the top sliding fork to telescopically move and transport turnover boxes. 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. The picking actuator grabs the corresponding goods according to the identified position. The intelligent bulk parts picking device of the present invention can quickly pick specific goods with high picking efficiency. The present invention also relates to a goods picking warehousing system.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing systems, and in particular to an intelligent bulk parts picking device and a goods picking and warehousing system. 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 intelligent bulk picking device that can quickly pick specific goods with high picking efficiency.

[0004] An intelligent bulk parts picking device includes a bidirectional telescopic fork and a picking robot. The bidirectional telescopic fork includes a telescopic drive, a fork tine seat, an intermediate sliding fork and a top sliding fork. The telescopic drive is fixedly connected to the fork tine seat, the intermediate sliding fork is slidably connected to the fork tine seat, and the top sliding fork is slidably connected to the intermediate sliding fork. The telescopic drive can drive the intermediate sliding fork and the top sliding fork to telescopically move and transport turnover boxes; 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.

[0005] 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.

[0006] In an embodiment of the present invention, the visual scanner further comprises a fixing frame, the camera module and the fill light are fixedly connected to the fixing frame, and the fixing frame is connected to the picking actuator.

[0007] In an embodiment of the present invention, the above-mentioned multi-axis robotic arm includes a fixed base, a one-axis driver, a two-axis driver, a first reducer, a second reducer, a first movable arm and a second movable arm. The one-axis driver is fixedly connected to the fixed base, the first reducer is connected to the driving end of the one-axis driver, one end of the first movable arm is connected to the first reducer, the other end of the first movable arm 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 is connected to the second reducer, and the visual scanner and the picking actuator are connected to the second movable arm.

[0008] In an embodiment of the present invention, the above-mentioned intelligent bulk parts picking device 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.

[0009] In an embodiment of the present invention, a temporary storage box is fixedly connected to the above-mentioned movable seat, and the temporary storage box is used to accommodate the goods grabbed by the picking actuator. The temporary storage box includes an outer shell, a partition frame and a plurality of flipping drivers. The outer shell has a cavity that passes through the upper and lower parts. The partition frame is fixedly connected to the cavity. A plurality of accommodating channels for accommodating goods are formed between the partition frame and the outer shell. The bottom of each accommodating channel is provided with a bottom plate for blocking the accommodating channel. Each flipping driver is arranged corresponding to each accommodating channel, and each flipping driver is fixedly connected to the outer shell. The flipping driver can drive the bottom plate to block or open the accommodating channel.

[0010] In an embodiment of the present invention, the above-mentioned movable seat includes a sliding block and a supporting plate. The sliding block is connected to the mounting frame through a sliding groove and a sliding rail. One end of the supporting plate is fixedly connected to the sliding block. The bidirectional telescopic fork, the picking robot and the temporary storage box are fixedly connected to the supporting plate. A picking through hole is provided on the supporting plate. The picking through hole passes through the supporting plate, and the picking through hole is arranged corresponding to each of the accommodating channels.

[0011] In an embodiment of the present invention, the above-mentioned intelligent bulk parts picking device also includes a translation mechanism, which includes a translation base, a horizontal guide rail and a translation drive. The translation base is slidably connected to the horizontal guide rail, the end of the mounting frame is fixedly connected to the translation base, and the translation drive is fixedly connected to the translation base. The translation drive is used to drive the translation base to move in the horizontal direction.

[0012] In an embodiment of the present invention, the above-mentioned intelligent bulk parts picking device also includes a signal processor, which is electrically connected to the bidirectional telescopic fork, the picking robot, the lifting mechanism and the translation mechanism respectively. The signal processor can receive information about the goods to be picked and send a picking signal based on the information of the goods. The bidirectional telescopic fork, the picking robot, the lifting mechanism and the translation mechanism perform picking actions based on the picking signal.

[0013] The present invention also relates to a cargo picking and warehousing system, comprising the above-mentioned intelligent bulk parts picking device.

[0014] The intelligent bulk picking device of the present invention transports goods through a bidirectional telescopic fork, and automatically picks goods directly on the bidirectional telescopic fork by a picking robot, thereby achieving the purpose of quickly picking specific goods with high picking efficiency, and solving the problem of inefficient manual picking after transporting the entire cargo box. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the intelligent bulk parts picking device of the present invention.

[0016] Figure 2 yes Figure 1 The structural diagram of the intelligent bulk picking device from another direction is shown.

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the bidirectional telescopic fork of the present invention.

[0018] Figure 4 It is an enlarged structural schematic diagram of the picking robot of the present invention.

[0019] Figure 5 It is a three-dimensional structural schematic diagram of the movable seat and the temporary storage box of the present invention.

[0020] Figure 6 It is a control schematic diagram of the intelligent bulk parts picking device of the present invention. DETAILED DESCRIPTION

[0021] The present application provides an intelligent bulk parts picking device.

[0022] 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.

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of the intelligent bulk parts picking device of the present invention. Figure 2 yes Figure 1 The structural diagram of the intelligent bulk picking device from another direction is shown. Figure 3 Schematic diagram of the three-dimensional structure of the bidirectional telescopic fork of the present invention, as shown in FIG. Figure 1 、 Figure 2 and Figure 3As shown, the intelligent bulk parts picking device includes a bidirectional telescopic fork 10 and a picking robot 20;

[0025] The bidirectional telescopic fork 10 includes a telescopic drive 11, a fork tine seat 12, an intermediate sliding fork 13, and a top sliding fork 14. The telescopic drive 11 is fixedly connected to the fork tine seat 12, the intermediate sliding fork 13 is slidably connected to the fork tine seat 12, and the top sliding fork 14 is slidably connected to the intermediate sliding fork 13. The telescopic drive 11 can drive the intermediate sliding fork 13 and the top sliding fork 14 to telescopically move and transport the turnover box 70.

[0026] The picking robot 20 includes a multi-axis robotic arm 21, a visual scanner 22, and a picking actuator 23 connected to the multi-axis robotic arm 21. The multi-axis robotic arm 21 can drive the visual scanner 22 and picking actuator 23 to move above the turnover box 70. The visual scanner 22 can scan and identify the location of the goods in the turnover box 70, and the picking actuator 23 can grab the corresponding goods based on the identified location. In this embodiment, the turnover box 70 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. 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 22.

[0027] The intelligent bulk picking device of the present invention transports goods through the bidirectional telescopic fork 10, and automatically picks goods directly on the bidirectional telescopic fork 10 through the picking robot 20, thereby achieving the purpose of quickly picking specific goods with high picking efficiency, and solving the problem of inefficient manual picking after transporting the entire container.

[0028] Further, Figure 4 FIG. 1 is an enlarged structural diagram of the picking robot of the present invention, as shown in FIG. Figure 1 、 Figure 2 and Figure 4 As shown, the visual scanner 22 includes a camera module 221 and a fill light 222. The fill light 222 is fixed below the lens of the camera module 221 and arranged around the lens. The fill light 222 is used to provide fill light into the turnover box 70. In this embodiment, the visual scanner 22 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 23 picks the specific goods based on the scanning results.

[0029] Furthermore, the camera module 221 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.

[0030] Furthermore, the fill light 222 is, for example, an LED lamp.

[0031] Further, if Figure 1 、 Figure 2 and Figure 4 As shown, the visual scanner 22 further includes a fixing frame 223 , the camera module 221 and the fill light 222 are fixedly connected to the fixing frame 223 , and the fixing frame 223 is connected to the picking executor 23 .

[0032] Furthermore, the picking actuator 23 includes a vacuum pump (not shown), a vacuum tube 231 and a suction nozzle 232. The vacuum pump is fixedly connected to the multi-axis robotic arm 21. One end of the vacuum tube 231 is connected to the vacuum pump, and the other end of the vacuum tube 231 is connected to the suction nozzle 232. When the vacuum pump draws air, the suction nozzle 232 can suck the goods to achieve a grasping action.

[0033] In another preferred embodiment, the picking actuator 23 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, and the chamber is filled with fluid particles. The hollow telescopic tube is arranged in the chamber, and the hollow telescopic tube is connected between the connecting seat and the flexible bladder. 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.

[0034] Furthermore, the multi-axis robotic arm 21 includes a fixed base 211, a single-axis driver (not shown), a two-axis driver (not shown), a first reducer (not shown), a second reducer (not shown), a first movable arm 212, and a second movable arm 213. The single-axis driver is fixedly connected to the fixed base 211, the first reducer is connected to the driving end of the single-axis driver, one end of the first movable arm 212 is connected to the first reducer, the other end of the first movable arm 212 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 213 is connected to the second reducer, and the visual scanner 22 and the picking actuator 23 are connected to the second movable arm 213. In this embodiment, the single-axis driver and the two-axis driver are, for example, motors.

[0035] In another preferred embodiment, the multi-axis robotic arm 21 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.

[0036] Furthermore, the intelligent bulk parts picking device also includes a lifting mechanism 30, which includes a mounting frame 31, a movable seat 32 and a lifting drive 33. The movable seat 32 is slidably connected to the mounting frame 31, the bidirectional telescopic fork 10 and the picking robot 20 are fixedly connected to the movable seat 32, and the lifting drive 33 is fixedly connected to the mounting frame 31. The lifting drive 33 is used to drive the movable seat 32 to move up and down along the height direction of the mounting frame 31.

[0037] Further, Figure 5 This is a schematic diagram of the three-dimensional structure of the movable seat and the temporary storage box of the present invention. Figure 1 、 Figure 2 and Figure 5 As shown, a temporary storage box 40 is fixedly connected to the movable seat 32, and the temporary storage box 40 is used to accommodate the goods grabbed by the picking actuator 23. The temporary storage box 40 includes an outer shell 41, a partition frame 42 and a plurality of flip drivers 43. The outer shell 41 has a cavity that passes through from top to bottom. The partition frame 42 is fixedly connected in the cavity. A plurality of accommodating channels 102 for accommodating goods are formed between the partition frame 42 and the outer shell 41. The bottom of each accommodating channel 102 is provided with a bottom plate 44 for blocking the accommodating channel 102. Each flip driver 43 is arranged corresponding to each accommodating channel 102. Each flip driver 43 is fixedly connected to the outer shell 41. The flip driver 43 can drive the bottom plate 44 to flip, block or open the accommodating channel 102.

[0038] Furthermore, the shell 41 is rectangular, and the shell 41 includes a first side panel 411, a second side panel 412, a third side panel 413 and a fourth side panel 414. The first side panel 411 is parallel to and opposite to the second side panel 412, and the third side panel 413 is parallel to and opposite to the fourth side panel 414. The first side panel 411 and the second side panel 412 are fixedly connected between the third side panel 413 and the fourth side panel 414. The first side panel 411, the second side panel 412, the third side panel 413 and the fourth side panel 414 are surrounded to form a cavity.

[0039] Furthermore, the partition frame 42 includes at least one main board and at least one partition 421. The main board and the partition 421 are connected perpendicularly and crosswise. The two ends of the main board are respectively fixedly connected to the first side panel 411 and the second side panel 412. The two ends of the partition 421 are respectively fixedly connected to the third side panel 413 and the fourth side panel 414. In other words, four accommodating channels 102 are formed between the partition frame 42 and the outer shell 41. In this embodiment, the partition frame 42 includes only one partition 421, and the two ends of the partition 421 are respectively fixedly connected to the third side panel 413 and the fourth side panel 414. Two accommodating channels 102 are formed between the partition frame 42 and the outer shell 41, but this is not limited to this.

[0040] Furthermore, the movable seat 32 includes a sliding block 321 and a supporting plate 322. The sliding block 321 is connected to the mounting frame 31 via a slide groove and a slide rail. One end of the supporting plate 322 is fixedly connected to the sliding block 321. The bidirectional telescopic fork 10, the picking robot 20, and the temporary storage box 40 are fixedly connected to the supporting plate 322. The supporting plate 322 is provided with a picking hole (not shown) that passes through the supporting plate 322 and is corresponding to each accommodating channel 102. In this embodiment, the supporting plate 322 is perpendicularly connected to the outer wall of the sliding block 321.

[0041] Furthermore, the mounting frame 31 includes a column 311, a driving wheel (not shown), a driven wheel (not shown), and a transmission belt 312. The driving wheel is rotatably connected to the top of the column 311, the driven wheel is rotatably connected to the bottom of the column 311, the transmission belt 312 is connected to the driving wheel and the driven wheel respectively, the sliding block 321 is fixedly connected to the transmission belt 312, and the lifting driver 33 is fixedly connected to the top of the column 311. The driving shaft of the lifting driver 33 is connected to the driving wheel. The lifting driver 33 drives the movable seat 32 up and down via the transmission belt 312. In this embodiment, the lifting driver 33 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 32.

[0042] Furthermore, the intelligent bulk parts sorting device also includes a translation mechanism 51, which includes a translation base 511, a horizontal guide rail 512, and a translation driver 513. The translation base 511 is slidably connected to the horizontal guide rail 512, the end of the mounting frame 31 is fixedly connected to the translation base 511, and the translation driver 513 is fixedly connected to the translation base 511. The translation driver 513 is used to drive the translation base 511 to move horizontally. In this embodiment, the translation driver 513 is a motor.

[0043] Further, Figure 6 This is a control diagram of the intelligent bulk parts picking device of the present invention. Figure 6 As shown, the intelligent bulk picking device also includes a signal processor 60, which is electrically connected to the bidirectional telescopic fork 10, the picking robot 20, the lifting mechanism 30, and the translation mechanism 51. The signal processor 60 receives information about the goods to be picked and issues a picking signal based on the information. The bidirectional telescopic fork 10, the picking robot 20, the lifting mechanism 30, and the translation mechanism 51 then execute the picking action based on the picking signal. In this embodiment, the signal processor 60 is a computer / mobile terminal / touch screen display, but the present invention is not limited thereto.

[0044] The steps of picking goods by the intelligent bulk picking device of the present invention include:

[0045] In step 1, the information of the goods to be picked is input into the signal processor 60 . The signal processor 60 generates a picking signal according to the input information and sends the picking signal to the bidirectional telescopic fork 10 , the picking robot 20 , the lifting mechanism 30 and the translation mechanism 51 .

[0046] Step 2: After receiving the picking signal, the translation mechanism 51 moves to the shelf where the corresponding goods are stored.

[0047] In step three, the lifting mechanism 30 drives the bidirectional telescopic fork 10 and the picking robot 20 to rise or fall to a certain height until the bidirectional telescopic fork 10 corresponds to the turnover box 70.

[0048] In step 4, the telescopic drive 11 drives the middle sliding fork 13 and the top sliding fork 14 toward the turnover box 70 until the top sliding fork 14 is inserted into the bottom of the turnover box 70. Then, the telescopic drive 11 drives the top sliding fork 14 to retract while carrying the turnover box 70.

[0049] In step five, the multi-axis robotic arm 21 drives the visual scanner 22 and the picking executor 23 to move above the turnover box 70. The visual scanner 22 can scan the goods in the turnover box 70 and identify the position, and the picking executor 23 grabs the corresponding goods according to the identified position.

[0050] In step six, the multi-axis robotic arm 21 drives the visual scanner 22 and the picking actuator 23 to move above the temporary storage box 40 , and the picking actuator 23 stores the goods in the temporary storage box 40 .

[0051] Step seven, while picking the goods, the translation mechanism 51 moves to the picking area / packing area / goods conveying mechanism, and the flip driver 43 drives the bottom plate 44 to flip open the accommodating channel 102, and the goods in the accommodating channel 102 fall from the picking through hole to the picking area / packing area / goods conveying mechanism, thereby completing the picking of specific goods.

[0052] The present invention also relates to a cargo picking and warehousing system, comprising the above-mentioned intelligent bulk parts picking device.

[0053] 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 intelligent bulk parts picking device, characterized in that: include: A bidirectional telescopic fork comprises a telescopic drive, a fork tine seat, an intermediate sliding fork and a top sliding fork. The telescopic drive is fixedly connected to the fork tine seat, the intermediate sliding fork is slidably connected to the fork tine seat, and the top sliding fork is slidably connected to the intermediate sliding fork. The telescopic drive can drive the intermediate sliding fork and the top sliding fork to telescopically move and transport turnover boxes. as well as 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. The picking actuator grabs the corresponding goods according to the identified position. The lifting mechanism is a kind of lifting mechanism of claim 1, wherein the lifting mechanism comprises 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, the lifting drive is fixedly connected to the mounting frame, and the lifting drive is used to drive the movable seat to move up and down along the height direction of the mounting frame; a temporary storage box is fixedly connected to the movable seat, and the temporary storage box is used to accommodate the goods grasped by the picking actuator, the temporary storage box comprises an outer shell, a partition frame and a plurality of flip drives, the outer shell has a cavity which passes through from top to bottom, the partition frame is fixedly connected in the cavity, a plurality of accommodating channels for accommodating goods are formed between the partition frame and the outer shell, the bottom of each accommodating channel is provided with a bottom plate which blocks the accommodating channel, each flip drive is arranged corresponding to each accommodating channel, and each flip drive is fixedly connected to the outer shell, and the flip drive can drive the bottom plate to block or open the accommodating channel; The translation mechanism includes a translation base, a horizontal guide rail and a translation driver. The translation base is slidably connected to the horizontal guide rail, the end of the mounting frame is fixedly connected to the translation base, and 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.

2. The intelligent bulk parts sorting device according to claim 1, characterized in that: 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.

3. The intelligent bulk parts sorting device according to claim 2, characterized in that: The visual scanner also includes a fixing frame, the camera module and the fill light are fixedly connected to the fixing frame, and the fixing frame is connected to the picking actuator.

4. The intelligent bulk parts sorting device according to claim 1, characterized in that: The multi-axis robotic arm includes a fixed base, a one-axis driver, a two-axis driver, a first reducer, a second reducer, a first movable arm and a second movable arm. The one-axis driver is fixedly connected to the fixed base, the first reducer is connected to the driving end of the one-axis driver, one end of the first movable arm is connected to the first reducer, the other end of the first movable arm 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 is connected to the second reducer, and the visual scanner and the picking actuator are connected to the second movable arm.

5. The intelligent bulk parts sorting device according to claim 1, characterized in that: The movable seat includes a sliding block and a supporting plate. The sliding block is connected to the mounting frame through a sliding groove and a sliding rail. One end of the supporting plate is fixedly connected to the sliding block. The bidirectional telescopic fork, the picking robot and the temporary storage box are fixedly connected to the supporting plate. A picking through hole is provided on the supporting plate. The picking through hole passes through the supporting plate and is arranged corresponding to each of the accommodating channels.

6. The intelligent bulk parts sorting device according to claim 1, characterized in that: The intelligent bulk parts picking device also includes a signal processor, which is electrically connected to the bidirectional telescopic fork, the picking robot, the lifting mechanism and the translation mechanism respectively. The signal processor can receive information about the goods to be picked and send a picking signal based on the information about the goods. The bidirectional telescopic fork, the picking robot, the lifting mechanism and the translation mechanism perform picking actions based on the picking signal.

7. A cargo picking and warehousing system, characterized in that: Including the intelligent bulk parts sorting device as described in any one of claims 1 to 6.

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