System for sorting or picking garments

Abstract

The application provides a system for sorting or picking clothes, which comprises a plurality of open tracks and a plurality of robots, the robots can enter different groups of tracks according to needs to perform corresponding work; each group of tracks forms a horn opening at both ends to facilitate the robots to enter the tracks, and each group of tracks comprises two opposite power supply rails; the robot comprises a base assembly, a walking mechanism installed at the bottom of the base assembly, an electric box assembly installed on the base assembly, a stand column assembly installed on the base assembly through the electric box assembly, a rocker arm assembly installed on the stand column assembly, and a grabbing mechanism installed on the lower side of the rocker arm assembly; the base assembly comprises a base box, a track power taking module installed on the base box, a UPS module and an energy storage module installed in the base box, the track power taking module is used for supplying power to the UPS module when being in electrical contact with the power supply rail, the UPS module outputs the power supplied by the track power taking module as a working power supply and simultaneously charges the energy storage module.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics, in particular to a system for sorting or picking clothes. BACKGROUND

[0002] Logistics is a process of planning, implementing and controlling the efficient and low-cost flow and storage of goods, service consumption and related information from the place of production to the place of consumption to meet customer needs. Logistics consists of transportation, distribution, warehousing, packaging, handling, processing, and related logistics information. The specific content of logistics activities includes the following aspects: user service, demand forecasting, order processing, distribution, inventory control, transportation, warehouse management, factory and warehouse layout and site selection, handling, procurement, packaging, information.

[0003] The rapid rise of e-commerce and the demand of the industry have continuously improved the demand and requirements of the important link of warehouse logistics distribution. Not only simple delivery, but also more importantly, to do a good job in the link of warehouse inventory logistics distribution, so as to form a benign development of the whole process of e-commerce, so as to meet the needs of customers with the smallest comprehensive cost in the whole process of logistics.

[0004] In order to reasonably schedule the operation of the warehouse, make a quick dynamic response to the customer demand, the warehouse is equipped with advanced logistics software and hardware facilities, including stereoscopic shelves, automatic storage and retrieval robots, automatic sorting systems, bar code management systems and processing equipment, etc., to realize the automation operation of warehousing and delivery as much as possible.

[0005] The e-commerce of the clothing industry develops rapidly, and the logistics operation burden is heavy. How to quickly and accurately process orders has always been a big problem in the industry. SUMMARY

[0006] The purpose of the present application is to provide a system for sorting or picking clothes, which adopts a plurality of groups of tracks with open ends, and a robot with a road wheel type walking mechanism can walk between the tracks. The robot can take power from the power supply rails opposite each group of tracks to work, and can simultaneously charge the energy storage module, realize charging the energy storage module while working, and when unable to take power from the power supply rails, supply power to the UPS module through the energy storage module to realize uninterrupted power supply of the robot, so that the robot can walk away from the power supply rails, which is conducive to the scheduling of different working areas, and the power supply through the power supply rails can guarantee the continuous long-time work of the robot.

[0007] Another object of the present application is to provide a system for sorting or picking clothes, which adopts multiple groups of open-ended tracks, and robots with road wheel type walking mechanisms can walk between the tracks, and the walking mechanism of the robot has a small turning radius, so that the open space at both ends of the track can be reduced, the space of the site can be fully utilized, the side tilt caused by turning can be effectively avoided, the robot walks quickly and stably, and the work efficiency is high.

[0008] Another object of the present application is to provide a system for sorting or picking clothes, which adopts multiple groups of open-ended tracks, and robots with road wheel type walking mechanisms can walk between the tracks, and the walking mechanism of the robot has a small turning radius, so that the open space at both ends of the track can be reduced, the space of the site can be fully utilized, the side tilt caused by turning can be effectively avoided, the robot walks quickly and stably, and the work efficiency is high.

[0009] Another object of the present application is to provide a system for sorting or picking clothes, which adopts multiple groups of open-ended tracks, and robots with road wheel type walking mechanisms can walk between the tracks, and the walking mechanism of the robot has a small turning radius, so that the open space at both ends of the track can be reduced, the space of the site can be fully utilized, the side tilt caused by turning can be effectively avoided, the robot walks quickly and stably, and the work efficiency is high.

[0010] Another object of the present application is to provide a system for sorting or picking clothes, which is provided with a laser height sensor and a reflective measurement sensor, so that the stable and effective grabbing of the grabbing mechanism can be ensured, collision or invalid operation can be avoided, and timely feedback can be provided after the goods are taken out, so that the logistics efficiency is improved.

[0011] Another object of the present application is to provide a system for sorting or picking clothes, which is provided with a laser height sensor and a reflective measurement sensor, so that the stable and effective grabbing of the grabbing mechanism can be ensured, collision or invalid operation can be avoided, and timely feedback can be provided after the goods are taken out, so that the logistics efficiency is improved.

[0012] Another object of the present application is to provide a system for sorting or picking clothes, which is provided with a laser height sensor and a reflective measurement sensor, so that the stable and effective grabbing of the grabbing mechanism can be ensured, collision or invalid operation can be avoided, and timely feedback can be provided after the goods are taken out, so that the logistics efficiency is improved.

[0013] To achieve the above object, the present application provides a system for sorting or picking clothes, comprising a plurality of open tracks and a plurality of robots, the robots can enter different groups of tracks as needed to perform corresponding work; each group of tracks forms a horn opening at both ends to facilitate the robot to enter the track, each group of tracks comprises two oppositely arranged power supply rails; the robot comprises a base assembly, a walking mechanism mounted on the bottom of the base assembly, an electrical box assembly mounted on the base assembly, a column assembly mounted on the base assembly through the electrical box assembly, a rocker arm assembly mounted on the column assembly, and a grabbing mechanism mounted on the lower side of the rocker arm assembly; the base assembly comprises a base box, a track power taking module mounted on the base box, a UPS module and an energy storage module mounted in the base box, the track power taking module is used to supply power to the UPS module when in electrical contact with the power supply rail, the UPS module outputs the power supplied by the track power taking module as a working power source and simultaneously charges the energy storage module, when the track power taking module fails to supply power to the UPS module, the UPS module immediately takes power from the energy storage module and outputs it as a working power source.

[0014] Each power supply rail comprises a rail body, a slide wire mounted on the inner side of the rail body, and two anti-collision plates respectively mounted on the inner side of the rail body, the rail body comprises a straight rail body and a rail guide portion located at both ends of the rail body and extending obliquely outward, the anti-collision plates are respectively mounted on the rail guide portions, and the slide wire is mounted on the rail body;

[0015] The power supply rail further comprises two brush guide plates mounted on the rail body and respectively located between the slide wire and the two anti-collision plates, two engaging members mounted on the rail body and respectively located between the slide wire and the two brush guide plates, a power supply clamp mounted on the rail body and contacting and clamping the slide wire, a plurality of assembly plates mounted on the inner side of the rail body and respectively located between the rail body and the slide wire, and a plurality of fixing seats mounted on the outer side of the rail body and used to fix the rail body to the site, and the brush guide plates are respectively mounted on both ends of the rail body.

[0016] The slide wire is two, the power supply clip is two pairs, and is respectively clamped at two ends of the slide wire; the guide rail body forms a semi-closed containing space with two ends and one side opening, and the slide wire, the anti-collision plate, the brush guide plate, the adapter, the power supply clip and the assembly plate are all installed in the containing space; the cross section of the slide wire is C-shaped, and the brush sliding groove is correspondingly C-shaped, the brush guide plate is provided with a brush guide groove, and the brush guide groove is close to the adapter and is in a small shape, the adapter is provided with a brush buffer groove, and the brush buffer groove is close to the brush guide plate and is in a horn shape, so as to relieve the impact of the conductive brush entering the slide wire from the brush guide plate, the anti-collision plate is provided with a brush guide groove, the conductive brush enters the brush sliding groove through the brush guide groove, the brush guide groove, the brush buffer groove in sequence, and keeps contact with the slide wire, so as to realize power taking from the slide wire.

[0017] The robot further comprises a goods basket placed on the base assembly;

[0018] The column assembly comprises a column, a rotating platform mounted at the top end of the column, and a rotating motor mounted on the rotating platform and capable of driving the rotating platform;

[0019] The rocker arm assembly comprises a rocker arm housing, a moving mechanism and a lifting mechanism mounted in the rocker arm housing, a moving motor mounted on the rocker arm housing and capable of driving the moving mechanism, and a lifting motor mounted on the rocker arm housing and capable of driving the lifting mechanism, the rocker arm housing is mounted on the rotating platform of the column assembly near the bottom of one end, the moving mechanism can drive the lifting mechanism to move, the lifting mechanism is connected with the grabbing mechanism to drive the grabbing mechanism to lift, when the moving mechanism drives the lifting mechanism to move, the lifting mechanism drives the grabbing mechanism to move, when the rotating platform drives the rocker arm housing to rotate around the column assembly, the rocker arm housing drives the lifting mechanism to rotate around the column assembly, and the lifting mechanism drives the grabbing mechanism to rotate around the column assembly;

[0020] The lifting mechanism is provided with a sensor mounting seat opposite the position of the grabbing mechanism, a laser height sensor and a reflective light measuring sensor are mounted on the sensor mounting seat, and the laser height sensor and the reflective light measuring sensor can vertically irradiate downward to the goods basket;

[0021] The bottom surface of the goods basket is provided with a reflective plate;

[0022] The laser height sensor is used for measuring the distance between the laser height sensor and the goods in the goods basket, so as to calculate the distance at which the lifting mechanism should lower the grabbing mechanism to ensure that the grabbing mechanism stably grabs the goods, and the reflective light measuring sensor is used for detecting the reflection of the reflective plate on the bottom surface of the goods basket, and once the reflection of the reflective plate is detected, it is determined that the goods on the bottom surface of the corresponding goods basket have been emptied.

[0023] The reflective plate is a reflective paper or a reflector, the basket is provided with a partitioning baffle to divide the basket into several storage areas, the reflective plate is arranged on the bottom surface of the basket corresponding to the storage area, and the commodity is stored in the storage area; the commodity is a garment and is packaged into a single object; the laser height sensor and the reflective measurement sensor protrude outward from the outer circumferential surface of the grabbing mechanism in the horizontal direction to vertically downwardly irradiate the basket; the sensor mounting seat is further provided with a lifting origin proximity switch for limiting the lifting mechanism to continue to pull up the grabbing mechanism.

[0024] The column assembly further comprises a first proximity switch, a second proximity switch and a third proximity switch mounted on the rotating platform, and the first to third proximity switches are used to control the rocker assembly to be kept in the initial position in standby mode and the rotating platform to rotate the rocker assembly to two limit swing positions, respectively.

[0025] The traveling motor and the lifting motor are located on the side of the column assembly away from the grabbing mechanism, and the traveling motor and the lifting motor are located on opposite sides of the column assembly; the grabbing mechanism comprises a cylinder body, a cylinder upper cover fixed on the upper end of the cylinder body, a piston arranged in the cylinder body, a spring arranged in the cylinder body, a sealing ring arranged on the upper end of the piston, a cylinder lower cover arranged on the lower end of the cylinder body, a suction cup arranged on the lower end of the piston, a gas pipe joint arranged on the piston and extending out of the cylinder body, and a vacuum pump connected to the gas pipe joint and arranged on the base assembly; the cylinder body is provided with a strip-shaped groove, the gas pipe joint extends out of the cylinder body through the strip-shaped groove and can move up and down along the strip-shaped groove under the driving of the piston, the cylinder lower cover is provided with a circular hole for the suction cup to pass through, the piston is provided with a stepped hole along its axis, one end of the spring abuts against the cylinder upper cover, and the other end of the spring extends into the stepped hole and abuts against the stepped wall of the stepped hole; the cylinder body, the piston, the suction cup, the gas pipe joint and the vacuum pump form a gas-tight space in communication, when the grabbing mechanism grabs the commodity, the suction cup is tightly attached to the commodity, the vacuum pump is used to create a vacuum, the suction cup sucks the commodity, and at the same time, the external atmospheric pressure drives the piston to compress the spring to move upward, thereby driving the suction cup to move upward until the suction cup is completely retracted into the cylinder body, and the commodity abuts against the cylinder lower cover due to the retraction of the suction cup into the cylinder body, thereby preventing the commodity from shaking and causing the suction cup to break the vacuum during the lifting of the grabbing mechanism.

[0026] The walking mechanism comprises a power assembly and a corner assembly, the power assembly is arranged at the bottom of one end of the base box body, and the corner assembly is arranged at the bottom of the other end of the base box body relative to the power assembly.

[0027] The power assembly comprises two power wheels arranged oppositely and located at the bottom of the base box at two ends, respectively, the turning angle assembly comprises a steering wheel and is located at the middle of the bottom of the base box at the other end, the speed difference of the two power wheels is controlled, and the steering angle of the steering wheel is controlled at the same time, the turning of the base assembly in the walking mechanism is realized under the cooperation of the speed difference of the two power wheels and the steering angle of the steering wheel, and the base assembly is linearly walked when the speed difference of the two power wheels is 0 and the steering angle of the steering wheel is 0.

[0028] The power assembly further comprises a mounting seat plate and two power wheel supports mounted at two ends of one side of the mounting seat plate, respectively, the two power wheels are mounted on the two power wheel supports, respectively, the power wheel comprises a power motor and a walking wheel mounted on the rotating shaft of the power motor, the two power wheel supports are arranged oppositely, the two walking wheels are located outside the two power wheel supports and at two sides of the base box, respectively, the turning angle assembly further comprises a mounting support plate, a turning angle motor mounted on the mounting support plate, a driving gear mounted on the rotating shaft of the turning angle motor, a steering shaft rotatably mounted on the mounting support plate, a steering gear mounted on one end of the steering shaft, and a steering wheel support mounted on the side of the steering gear away from the mounting support plate, the steering wheel is mounted on the steering wheel support, and the driving gear is engaged with the steering gear.

[0029] The track power taking module is mounted on the bottom of the base box close to the power assembly, the track power taking module comprises a mounting base plate, an extension motor mounted on the mounting base plate, a rotating plate mounted on the rotating shaft of the extension motor, two connecting rods with one end connected to the rotating plate, two extension plates with the other end connected to the connecting rods, two groups of sliding plates mounted at two ends of one side of the extension plates, two sliding shafts penetrating through the sliding plates, and two conductive brushes mounted on the outer sides of the two groups of sliding plates, the extension motor is rotated to drive the rotating plate to rotate, and then the connecting rods are swung, the swinging of the connecting rods pushes and pulls the extension plates, so that the sliding plates are relatively moved along the sliding shafts, and then the conductive brushes are extended and contracted, the mounting base plate and the sliding shafts are mounted on the base box, respectively, bearings are mounted between the sliding plates and the sliding shafts, and the conductive brushes have two contact brush heads to contact the power supply rails.

[0030] The base assembly further comprises a guide wheel and an obstacle avoiding device arranged on the end faces of the base box, respectively.

[0031] The system for sorting or picking clothes of the present application adopts a plurality of groups of open-ended tracks, and the robot with a road wheel type walking mechanism can walk between the tracks, and the robot can take power from the opposite power supply rails of each group of tracks to work, and can charge the energy storage module at the same time, realizes charging the energy storage module while working, reduces the inconvenience of arranging charging of the energy storage module outside of work, such as the need for additional charging operation, and even the impact on working time due to charging, when unable to take power from the power supply rails, such as leaving the power supply rails or power failure, the uninterrupted power supply of the robot is realized through the UPS module powered by the energy storage module, so that the robot can walk away from the power supply rails, which is beneficial to the scheduling of different working areas, and the continuous and long-time work of the robot can be guaranteed through the power supply of the power supply rails. The system for sorting or picking clothes of the present application adopts a plurality of groups of open-ended tracks, and the robot with a road wheel type walking mechanism can walk between the tracks, and the walking is flexible, the robot can be scheduled for use in a larger range of sites, the number of robots equipped can be reduced, the cost of the logistics system can be reduced, and the robot can be scheduled according to the work load, the number of robots entering the work can be reasonably utilized, and energy can be saved. When the robot is repaired or fails, it can be replaced by other robots at any time without the need to equip standby robots or stop work. The system for sorting or picking clothes of the present application adopts a plurality of groups of open-ended tracks, and the robot with a road wheel type walking mechanism can walk between the tracks, and the turning radius of the walking mechanism of the robot is small, which can reduce the open space at both ends of the track, fully utilize the site space, and effectively avoid the side leaning generated by turning, so that the robot walks quickly and stably, and the work efficiency is high. The system for sorting or picking clothes of the present application adopts a plurality of groups of open-ended tracks, and the robot with a road wheel type walking mechanism can walk between the tracks, and the walking stability of the robot can be improved by limiting the walking of the robot in the track, which is beneficial to the quick walking of the robot and improves the work efficiency, and the walking limiting is realized through the contact between the guide wheel and the track, which is beneficial to relieving the collision and friction between the robot and the track, and prolonging the service life of the track. The system for sorting or picking clothes of the present application is provided with a laser height sensor and a reflective measurement sensor, which can guarantee the stable and effective grabbing of the grabbing mechanism, avoid collision or invalid operation, and feedback in time after the goods are taken out, thereby improving the logistics efficiency. The system for sorting or picking clothes of the present application is provided with a first proximity switch, a second proximity switch and a third proximity switch on the rotating platform, the first proximity switch is used to control the rocker assembly to remain in the initial position during standby, which can guarantee the center of gravity in the center and is beneficial to stable walking, and the second and third proximity switches are used to control the two limit swing positions of the rotating platform to swing the rocker assembly, so as to prevent the center of gravity of the robot from deviating too much and causing unstable walking of the robot.The system for sorting or picking clothes of the present application connects the suction cup to the piston, and when the vacuum is sucked to attract the goods, the suction cup is also sucked into the cylinder body, so that the goods can be supported on the lower cover of the cylinder, thereby preventing the goods from falling off due to the shaking during the rising process, and ensuring the efficient and stable operation of the system. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to further understand the features and technical contents of the present application, please refer to the following detailed description and drawings of the present application, however, the drawings are provided for reference and illustration only, and are not used to limit the present application.

[0033] In the drawings,

[0034] Figure 1 It is a schematic diagram of the system for sorting or picking clothes of the present application;

[0035] Figure 2 It is a perspective view of the power supply guide rail of the system for sorting or picking clothes of the present application;

[0036] Figure 3 It is an exploded view of the power supply guide rail of the system for sorting or picking clothes of the present application;

[0037] Figure 4A It is a partial perspective view of the power supply guide rail of the system for sorting or picking clothes of the present application;

[0038] Figure 4B It is a partial perspective view of the power supply guide rail of the system for sorting or picking clothes of the present application, removing a section of the slide wire on the power supply clamp and the adapter;

[0039] Figure 5 It is a perspective view of the robot of the system for sorting or picking clothes of the present application;

[0040] Figure 6 It is an exploded view of the robot of the system for sorting or picking clothes of the present application;

[0041] Figure 7 It is a perspective view of the column assembly of the robot of the system for sorting or picking clothes of the present application;

[0042] Figure 8 It is a schematic diagram of the column assembly and the rocker arm assembly of the robot of the system for sorting or picking clothes of the present application;

[0043] Figure 9 It is a perspective view of the robot of the system for sorting or picking clothes of the present application from another angle;

[0044] Figure 10 It is an exploded view of the rocker arm assembly and the grabbing mechanism of the robot of the system for sorting or picking clothes of the present application, showing the state of the descending grabbing mechanism;

[0045] Figure 11 A perspective view of a robot's basket of the system for sorting or picking clothes of the present application;

[0046] Figure 12 A plan view of a robot's lifting mechanism, grabbing mechanism and basket of the system for sorting or picking clothes of the present application;

[0047] Figure 13 A perspective view of a robot's grabbing mechanism of the system for sorting or picking clothes of the present application;

[0048] Figure 14 A perspective exploded view of a robot's grabbing mechanism of the system for sorting or picking clothes of the present application;

[0049] Figure 15 A partial perspective view of a robot of the system for sorting or picking clothes of the present application;

[0050] Figure 16 Another angle's perspective exploded view of a robot of the system for sorting or picking clothes of the present application;

[0051] Figure 17 A circuit relationship diagram of a robot's track power taking module, UPS module, energy storage module of the system for sorting or picking clothes of the present application;

[0052] Figure 18 A plan view of a robot's base assembly and walking mechanism of the system for sorting or picking clothes of the present application;

[0053] Figure 19 Another angle's plan view of a robot's base assembly and walking mechanism of the system for sorting or picking clothes of the present application;

[0054] Figure 20 A perspective view of a robot's power assembly of the system for sorting or picking clothes of the present application;

[0055] Figure 21 A perspective exploded view of a robot's power assembly of the system for sorting or picking clothes of the present application;

[0056] Figure 22 A perspective view of a robot's corner assembly of the system for sorting or picking clothes of the present application;

[0057] Figure 23 A perspective exploded view of a robot's corner assembly of the system for sorting or picking clothes of the present application;

[0058] Figure 24 A perspective view of a robot's track power taking module of the system for sorting or picking clothes of the present application;

[0059] Figure 25 Fig. 7 is an exploded view of the track power taking module of the robot of the system for sorting or picking clothes of the present application;

[0060] Figure 26 Fig. 8 is a perspective view of the track power taking module of the robot of the system for sorting or picking clothes of the present application, showing that it is in an extended state;

[0061] Figure 27 Fig. 9 is a perspective view of the track power taking module of the robot of the system for sorting or picking clothes of the present application, showing that it is in a retracted state. DETAILED DESCRIPTION

[0062] In order to further clarify the technical means adopted by the present application and its effects, the following will describe in detail the preferred embodiments of the present application and its accompanying drawings.

[0063] Referring to Figure 1 The present application provides a system for sorting or picking clothes, which comprises a plurality of open tracks 1 and a plurality of robots 2, which can enter different groups of tracks 1 as needed to perform corresponding work. Each group of tracks 1 comprises two oppositely arranged power supply rails 10.

[0064] Referring to Figures 2-4B The power supply rail 10 comprises a rail body 100, two slide contact wires 102 mounted on the inner side of the rail body 100, two anti-collision plates 103 respectively mounted on the inner side of the rail body 100 at both ends, two brush guide plates 105 respectively mounted on the rail body 100 and located between the slide contact wires 102 and the two anti-collision plates 103, two engaging members 106 respectively mounted on the rail body 100 and located between the slide contact wires 102 and the two brush guide plates 105, two pairs of power supply clamps 107 respectively mounted on the rail body 100 and contacting and clamping both ends of the two slide contact wires 102, a plurality of assembly plates 108 mounted on the inner side of the rail body 100 and respectively located between the rail body 100 and the slide contact wires 102, and a plurality of fixing seats 109 mounted on the outer side of the rail body 100 and used to fix the rail body 100 to the ground.

[0065] The guide rail body 100 comprises a straight guide rail body 1000 and guide rail guide parts 1002 extending outwardly at both ends of the guide rail body 1000. The anti-collision plates 103 are respectively installed on the guide rail guide parts 1002. The slide wire 102 is installed on the guide rail body 1000. The brush guide plates 105 are respectively installed at both ends of the guide rail body 1000. The inside of the guide rail body 100 forms a semi-closed containing space 1005 with openings at both ends and one side, and the slide wire 102, the anti-collision plates 103, the brush guide plates 105, the adapter 106, the power supply clip 107, and the assembly plate 108 are all installed in the containing space, which is provided with certain anti-collision protection and dust protection.

[0066] The cross section of the slide wire 102 is C-shaped, corresponding to a C-shaped brush sliding groove 1020. The brush guide plate 105 is provided with a brush guide groove 1050, which is tapered at one end close to the adapter 106. The adapter 106 is provided with a brush buffer groove 1060, which is trumpet-shaped at one end close to the brush guide plate, so as to relieve the impact of the conductive brush 317 (see Figure 15 ) entering the slide wire 102 from the brush guide plate 105. The anti-collision plate 103 is provided with a brush guide groove 1030. The conductive brush 317 enters the brush sliding groove 1020 in sequence through the brush guide groove 1030, the brush guide groove 1050, and the brush buffer groove 1060, and keeps contact with the slide wire 102, so as to realize power taking from the slide wire 102.

[0067] Each group of tracks 1 forms a trumpet-shaped opening at both ends, facilitating the entry and exit of the robot 2 into the track 1 and facilitating the turning of the robot 2. The number of robots 2 can be selected according to the size of the site and the expected workload. Please refer to Figures 5-8 , the robot 2 comprises a base assembly 3, a walking mechanism 4 installed at the bottom of the base assembly 3, an electric box assembly 5 installed on the base assembly 3, a stand column assembly 6 installed on the base assembly 3 through the electric box assembly 5, a rocker arm assembly 7 installed on the stand column assembly 6, and a grabbing mechanism 8 installed on the lower side of the rocker arm assembly 7.

[0068] Please refer to Figures 5-6 , the robot comprises a base assembly 3, a walking mechanism 4 installed at the bottom of the base assembly 3, an electric box assembly 5 installed on the base assembly 3, a stand column assembly 6 installed on the base assembly 3 through the electric box assembly 5, a rocker arm assembly 7 installed on the stand column assembly 6, a grabbing mechanism 8 installed on the lower side of the rocker arm assembly 7, and a cargo basket 9 placed on the base assembly 3.

[0069] Please refer to Figures 7-9The column assembly 6 comprises a column 60, a rotating platform 62 mounted on the top of the column 60, a rotating motor 63 mounted on the rotating platform 62 and capable of driving the rotating platform 62, a first proximity switch 65, a second proximity switch 66 and a third proximity switch 67 mounted on the rotating platform 62. The rocker arm assembly 7 is mounted on the rotating platform 62, and through the first to third proximity switches 65, 66, 67, the rocker arm assembly 7 can be respectively controlled to keep in the initial position when standby, and the rotating platform 62 rotates the two limit swing positions of the rocker arm assembly 7. By controlling the rocker arm assembly 7 not to exceed the limit swing position, the robot's center of gravity is prevented from deviating too much to cause instability when the robot walks. And the standby of the rocker arm assembly 7 in the initial position can guarantee the center of gravity, which is beneficial to stable walking.

[0070] The rocker arm assembly 7 comprises a rocker arm housing 70, a moving mechanism 72 and a lifting mechanism 73 mounted in the rocker arm housing 70, a moving motor 75 mounted on the rocker arm housing 70 and capable of driving the moving mechanism 72, and a lifting motor 76 mounted on the rocker arm housing 70 and capable of driving the lifting mechanism 73. The rocker arm housing 70 is mounted on the rotating platform 62 of the column assembly 6 near the bottom of one end. The moving mechanism 72 can drive the lifting mechanism 73 to move. The lifting mechanism 73 is connected with the grabbing mechanism 8. The lifting mechanism 73 can drive the grabbing mechanism 8 to lift. When the moving mechanism 72 drives the lifting mechanism 73 to move, the lifting mechanism 73 drives the grabbing mechanism 8 to move. The rotating motor 63 drives the rotating platform 62 to drive the rocker arm housing 70 to rotate around the column assembly 6, the rocker arm housing 70 rotates around the column assembly 6 to drive the lifting mechanism 73 to rotate around the column assembly 6, and the lifting mechanism 73 rotates around the column assembly 6 to drive the grabbing mechanism 8 to rotate around the column assembly 6. Therefore, the grabbing mechanism 8 can realize rotation and movement in the horizontal direction and movement in the vertical direction, so as to adjust its position to grab the desired goods 200. Therefore, the present application is suitable for vertical picking into the basket.

[0071] The moving motor 75 and the lifting motor 76 are located on the side of the column assembly 6 away from the grabbing mechanism 8, so as to promote the balance of the gravity moment of the rocker arm assembly relative to the two ends of the column assembly 6, and the moving motor 75 and the lifting motor 76 are respectively located on the two sides of the column assembly 6, so as to promote the balance of the gravity moment of the rocker arm assembly relative to the two sides of the column assembly 6. Therefore, it is beneficial to the stable walking of the robot, especially to prevent side leaning when turning.

[0072] Please refer to Figure 10 and Figure 12The sensor mounting base 78 is installed with a laser height sensor 781, a reflective light measuring sensor 783, and a lifting origin proximity switch 785. The lifting origin proximity switch 785 is used to limit the lifting mechanism 73 to continue to pull up the grabbing mechanism 8, so as to avoid the collision between the grabbing mechanism 8 and the lifting mechanism 73. The lifting mechanism 73 has a chain 735, and the lifting of the grabbing mechanism 8 is realized by the upward and downward movement of the chain 735.

[0073] Please refer to Figures 11-12 The basket 9 is internally provided with a grid baffle 91 to separate the basket into a plurality of storage areas 93, and a reflective plate 95 is arranged on the bottom surface of the basket corresponding to the storage area 93. The goods 200 are stored in the storage area 93, and the goods are clothes and are packaged into a single object. The laser height sensor 781 and the reflective light measuring sensor 783 protrude outward from the outer circumferential surface of the grabbing mechanism 8 in the horizontal direction, and can vertically downwardly irradiate the basket 9. The laser height sensor 781 is used to measure the distance from the goods 200 in the basket 9, so as to calculate the distance by which the grabbing mechanism 8 should be lowered by the lifting mechanism 73 to ensure that the grabbing mechanism 8 stably grabs the goods 200. The reflective light measuring sensor 783 is used to detect the reflected light of the reflective plate 95 on the bottom surface of the basket 9. Once the reflected light of the reflective plate 95 is detected, it can be determined that the goods 200 in the storage area have been taken out, so as to avoid the grabbing mechanism 8 to take out the goods 200 again, and the replenishment can be timely informed. The reflective plate 95 can be a reflective paper or a reflector, as long as it can reflect light.

[0074] Please refer to Figures 12-15The grabbing mechanism 8 comprises a cylinder body 81, a cylinder upper cover 82 fixed on the upper end of the cylinder body 81, a piston 83 installed in the cylinder body 81, a spring 84 installed in the cylinder body 81, a sealing ring 85 installed on the upper end of the piston 83, a cylinder lower cover 86 installed on the lower end of the cylinder body 81, a suction cup 87 installed on the lower end of the piston 83, a gas pipe joint 88 installed on the piston 83 and extending out of the cylinder body 81, and a vacuum pump 89 connected to the gas pipe joint 88 and installed on the base assembly 3. The cylinder body 81 is provided with a strip-shaped slot 812, the gas pipe joint 88 extends out of the cylinder body 81 through the strip-shaped slot 812 and is driven by the piston 83 to move up and down along the strip-shaped slot 812. The cylinder lower cover 86 is provided with a circular hole 862 for the suction cup 87 to pass through and does not affect the cylinder lower cover 86 to limit the piston 83 in the cylinder body 81. The piston 83 is provided with a stepped hole 832 along its axis, one end of the spring 84 abuts against the cylinder upper cover 82, and the other end extends into the stepped hole 832 and abuts against the stepped wall of the stepped hole 832. The cylinder body 81, the piston 83, the suction cup 87, the gas pipe joint 88 and the vacuum pump 89 are in communication to form an airtight space. When the grabbing mechanism 8 performs grabbing, the suction cup 87 is attached to the commodity 200, the vacuum pump 89 is used to draw vacuum, the suction cup 87 sucks the commodity 200, and at the same time, the external atmospheric pressure drives the piston 83 to compress the spring 84 to move upward, drives the suction cup 87 to move upward, until the suction cup 87 is completely retracted into the cylinder body 81, at this time, the commodity 200 will abut against the cylinder lower cover 86 due to the retraction of the suction cup 87 into the cylinder body 81, preventing the commodity 200 from shaking during the lifting of the grabbing mechanism 8 to cause the suction cup 87 to break the vacuum and cause unstable conditions of the grabbing commodity 200.

[0075] Please refer to Figures 15-17 The base assembly 3 comprises a base box 30, a track power taking module 31 installed on the base box 30, a UPS module 32 and an energy storage module 33 installed in the base box 30. The electric box assembly 5 is installed on one side of the top surface of the base box 30.

[0076] The track power taking module 31 is used to supply power to the UPS module 32 when in electrical contact with the power supply rail 10, the UPS module 32 outputs the power supplied by the track power taking module 31 as working power and simultaneously charges the energy storage module 33, when the track power taking module 31 fails to supply power to the UPS module 32, the UPS module 32 immediately takes power from the energy storage module 33 and outputs as working power.

[0077] Please refer to Figures 18-21The walking mechanism 4 comprises a power assembly 41 and a corner assembly 43. The power assembly 41 is installed on the bottom of the base box 30 and connected to one end of the electric box assembly 5. The corner assembly 43 is installed on the other end of the base box 30 relative to the power assembly 41. The power assembly 41 comprises a mounting seat plate 411, two power wheel supports 413 installed on both ends of the mounting seat plate 411 respectively, and power wheels 415 installed on the power wheel supports 413 respectively. The power wheel 415 comprises a power motor 4151 and a walking wheel 4153 installed on the rotating shaft of the power motor 4151. The two power wheel supports 413 are oppositely arranged, and the two walking wheels 4153 are located outside the two power wheel supports 413 respectively and on both sides of the base box 30 respectively.

[0078] Please refer to Figures 22-23 The corner assembly 43 comprises a mounting support plate 430, a corner motor 431 installed on the mounting support plate 430, a driving gear 432 installed on the rotating shaft of the corner motor 431, a steering shaft 433 rotatably installed on the mounting support plate 430, a steering gear 434 installed on one end of the steering shaft 433, a steering wheel support 435 installed on the side of the steering gear 434 away from the mounting support plate 430, and a steering wheel 436 installed on the steering wheel support 435. The steering shaft 433 is rotatably installed on the mounting support plate 430 through a bearing seat 437, a rolling bearing 438, a plane bearing 439, and a shaft sleeve 440. The corner motor 431 is fixedly installed on the mounting support plate 430 through a motor fixing plate 441. The steering wheel support 435 can rotate with the steering gear 434 to drive the steering wheel 435 to steer. The driving gear 432 is engaged with the steering gear 434, and the driving gear 432 is driven to rotate by the corner motor 431 to drive the steering gear 434 to rotate, so as to realize the steering of the steering wheel 436. The steering wheel 436 is located in the middle of the bottom of the base box 30 away from the power assembly 41.

[0079] The rotation speed difference of the two power wheels 415 is realized by controlling the rotation speed difference of the two power motors 4151, and the steering angle of the steering wheel 436 is realized by controlling the rotation of the corner motor 431. Under the cooperation of the rotation speed difference of the two power wheels 415 and the steering angle of the steering wheel 436, the walking mechanism 4 drives the base assembly 3 to steer in the process of walking. When the rotation speed difference of the two power wheels 415 is 0 and the steering angle of the steering wheel 436 is 0, the walking mechanism 4 drives the base assembly 3 to walk straight.

[0080] The walking mechanism 4 and the steering mode can realize a smaller turning radius, maximize the use of limited space, and realize more stable steering, especially effectively prevent the side-tilting accident caused by steering at high speed.

[0081] Please refer toFigures 24-27 The track power taking module 31 is installed on the bottom of the base box 30 close to the power assembly 41. The track power taking module 31 comprises an installation base plate 310, a telescopic motor 311 installed on the installation base plate 310, a rotating plate 312 installed on the rotating shaft of the telescopic motor 311, two connecting rods 313 with one end respectively connected to the rotating plate 312, two telescopic plates 314 respectively connected to the other end of the connecting rods 313, two groups of sliding plates 315 respectively installed on the two ends of one side of the telescopic plates 314, two sliding shafts 316 penetrating through the sliding plates 315, and two conductive brushes 317 respectively installed on the outer sides of the two groups of sliding plates 315. The rotating plate 312 is rotated by the rotation of the telescopic motor 311, and then the connecting rods 313 are swung, the telescopic plates 314 are pushed and pulled by the swinging of the connecting rods 313, the sliding plates 315 are moved back and forth relative to the sliding shafts 316, and the conductive brushes 317 are moved in and out. When the conductive brushes 317 need to enter the power taking working state, the conductive brushes 317 are extended to enter the working state, and vice versa, the conductive brushes 317 are retracted to be in the protection state of preventing being touched by external objects. The installation base plate 310 and the sliding shafts 316 are respectively installed on the base box 30. Bearings 318 are installed between the sliding plates 315 and the sliding shafts 316 to facilitate the sliding of the sliding plates 315 relative to the sliding shafts 316. The conductive brushes 317 have contact brush heads 3172, and can provide elastic force to the contact brush heads 3172, so that the contact brush heads 3172 can abut on the power supply rail 10 under the elastic force when the conductive brushes 317 are in the working state. The way of providing elastic force can be realized by using the prior art means, for example, built-in spring in the conductive brush 317. The contact brush heads 3172 are two to provide a larger contact area and improve the working stability and power load capacity.

[0082] Please refer to Figures 15-16 The base assembly 3 can further be provided with guide wheels 35 and obstacle avoidance devices 36 to improve the passability of the robot, prevent accidental impact, reduce the failure rate, and improve the service life. Specifically, the guide wheels 35 are arranged at the positions corresponding to the four corners on the two sides of the front and rear end faces of the base box 30, so that the outermost protruding positions of the front, rear, left and right surfaces are the guide wheels 35 for better guidance. Two obstacle avoidance devices 36 are arranged on the front and rear end faces respectively to effectively scan the front and rear and timely find obstacles and avoid collision. Through the contact between the guide wheels 35 and the track 1, the track 1 can limit the walking of the robot 2.

[0083] Please refer to Figures 1-4B , Figures 15-16 and Figures 24-27When the robot 2 enters the track 1, the guide wheels 35 of the two end faces enter the area of the opposite anti-collision plates 103 of the track 1, and when about to enter the area of the brush guide plates 105, the conductive brushes 317 of the track power taking modules 31 on both sides of the robot 2 are stretched out, and then, after the robot 2 continues to move forward, the conductive brushes 317 enter the adapter 106 after passing through the brush guide plates 105, and then enter the slide wire 102, so that the two contact brush heads 3172 of each conductive brush 317 are elastically abutted on the two slide wires 102 to realize power taking.

[0084] In summary, the system for sorting or picking clothes of the present application adopts multiple groups of open-ended tracks, and robots with road wheel walking mechanisms can walk between the tracks, the robots can take power from the opposite power supply rails of each group of tracks to work, and the energy storage module can be charged at the same time, realizing charging of the energy storage module while working, reducing the inconvenience of arranging charging of the energy storage module outside of work, such as the need for additional charging operations, or even affecting the working time due to charging, when the robot is unable to take power from the power supply rails, such as leaving the power supply rails or power failure, the UPS module is powered by the energy storage module to realize uninterrupted power supply of the robot, so that the robot can walk away from the power supply rails, which is conducive to the scheduling of different working areas, and the power supply through the power supply rails can ensure continuous long-time work of the robot. The system for sorting or picking clothes of the present application adopts multiple groups of open-ended tracks, and robots with road wheel walking mechanisms can walk between the tracks, the walking is flexible, the robot can be scheduled for use in a larger range of sites, the number of robots equipped can be reduced, the cost of the logistics system can be reduced, and the robot can be scheduled according to the work load, the number of robots entering work can be reasonably utilized, and energy can be saved. When the robot is repaired or fails, it can be replaced by other robots at any time without the need for spare robots or downtime. The system for sorting or picking clothes of the present application adopts multiple groups of open-ended tracks, and robots with road wheel walking mechanisms can walk between the tracks, and the turning radius of the walking mechanism of the robot is small, which can reduce the open space at both ends of the track, fully utilize the site space, effectively avoid the side tilt generated by turning, walk quickly and stably, and have high work efficiency. The system for sorting or picking clothes of the present application adopts multiple groups of open-ended tracks, and robots with road wheel walking mechanisms can walk between the tracks, and the walking mechanism of the robot can be limited to improve the walking stability of the robot, facilitate fast walking of the robot, improve work efficiency, and realize walking limiting through contact between the guide wheel and the track, which is conducive to relieving the collision and friction between the robot and the track and prolonging the service life of the track. The system for sorting or picking clothes of the present application is provided with a laser height sensor and a reflective measurement sensor, which can ensure stable and effective grabbing of the grabbing mechanism, avoid collision or invalid operation, and feedback in time after the goods are taken out, thereby improving the logistics efficiency. The system for sorting or picking clothes of the present application is provided with a first proximity switch, a second proximity switch and a third proximity switch on the rotating platform, the first proximity switch is used to control the rocker assembly to remain in the initial position when waiting, which can ensure that the center of gravity is in the center and facilitate stable walking, and the second and third proximity switches are used to control two limit swing positions of the rotating platform to swing the rocker assembly, thereby preventing the center of gravity of the robot from deviating too much and causing unstable walking of the robot.The system for sorting or picking clothes connects the suction cup to the piston, and when the vacuum is sucked to attract the goods, the suction cup is also sucked into the cylinder body, so that the goods can be supported on the lower cover of the cylinder, thereby preventing the goods from falling off due to the problem of vacuum breakage caused by shaking during the rising process of the goods, and ensuring efficient and stable work of the system.

[0085] The above description is for the ordinary skilled in the art to make other various corresponding changes and modifications according to the technical solutions and technical concepts of the present application, and all these changes and modifications shall belong to the protection scope of the appended claims of the present application.

Claims

1. A system for sorting or picking garments, characterized in that, The application relates to a robot system, which comprises a plurality of open tracks (1) and a plurality of robots (2) capable of entering different groups of tracks (1) to perform corresponding work; each group of tracks (1) forms a horn opening with two ends open outward to facilitate the robots (2) to enter the tracks (1), and each group of tracks (1) comprises two oppositely arranged power supply rails (10); the robot comprises a base assembly (3), a walking mechanism (4) installed at the bottom of the base assembly (3), an electric box assembly (5) installed on the base assembly (3), a stand column assembly (6) installed on the base assembly (3) through the electric box assembly (5), a rocker arm assembly (7) installed on the stand column assembly (6), and a grabbing mechanism (8) installed at the lower side of the rocker arm assembly (7); the base assembly (3) comprises a base box (30), a track power taking module (31) installed on the base box (30), a UPS module (32) and an energy storage module (33) installed in the base box (30), the track power taking module (31) is used for supplying power to the UPS module (32) when the track power taking module (31) is in electrical contact with the power supply rail (10), the UPS module (32) outputs the power supplied by the track power taking module (31) as a working power supply and simultaneously charges the energy storage module (33), and when the track power taking module (31) fails to supply power to the UPS module (32), the UPS module (32) immediately takes power from the energy storage module (33) and outputs the power as a working power supply; the walking mechanism (4) comprises a power assembly (41) and a corner assembly (43), the power assembly (41) is installed at the bottom of one end of the base box (30), and the corner assembly (43) is installed at the bottom of the other end of the base box (30) opposite to the power assembly (41); the power assembly (41) comprises two oppositely arranged power wheels (415) located at the two sides of the bottom of one end of the base box (30), the corner assembly (43) comprises a steering wheel (436) located at the middle of the bottom of the other end of the base box (30), the walking mechanism (4) drives the base assembly (3) to turn in the walking process by controlling the rotating speed difference of the two power wheels (415) and the steering angle of the steering wheel (436), and the walking mechanism (4) drives the base assembly (3) to linearly walk when the rotating speed difference of the two power wheels (415) is 0 and the steering angle of the steering wheel (436) is 0; the base assembly (3) further comprises a guide wheel (35) and an obstacle avoiding device (36) arranged at the two end faces of the base box (30) respectively. The track power taking module (31) is installed at the bottom of the base box (30) close to the power assembly (41), and comprises a mounting base plate (310), an extension motor (311) mounted on the mounting base plate (310), a rotating plate (312) mounted on the rotating shaft of the extension motor (311), two connecting rods (313) with one end connected to the rotating plate (312) respectively, two extension plates (314) connected to the other end of the connecting rods (313) respectively, two groups of sliding plates (315) mounted on the two ends of one side of the extension plate (314) respectively, two sliding shafts (316) penetrating through the sliding plates (315), and two conductive brushes (317) mounted on the outer sides of the two groups of sliding plates (315) respectively. The extension motor (311) is rotated to drive the rotating plate (312) to rotate, thereby driving the connecting rods (313) to swing, the swinging of the connecting rods (313) produces a push-pull action on the extension plates (314), thereby driving the sliding plates (315) to move back and forth relative to the sliding shafts (316), and further driving the conductive brushes (317) to produce extension movement. The mounting base plate (310) and the sliding shafts (316) are mounted on the base box (30) respectively, bearings (318) are mounted between the sliding plates (315) and the sliding shafts (316), and the conductive brushes (317) have two contact brush heads (3172) to contact the power supply rail (10).

2. The system for sorting or picking garments according to claim 1, characterized in that, Each power supply rail (10) comprises a rail body (100), a sliding contact line (102) mounted on the inner side of the rail body (100), and two anti-collision plates (103) mounted on the inner sides of the two ends of the rail body (100). The rail body (100) comprises a straight rail body (1000) and rail guide portions (1002) located at the two ends of the rail body (1000) and extending obliquely outward. The anti-collision plates (103) are mounted on the rail guide portions (1002) respectively. The sliding contact line (102) is mounted on the rail body (1000). The power supply rail (10) further comprises two brush guide plates (105) mounted on the rail body (100) and located between the sliding contact line (102) and the two anti-collision plates (103) respectively, two engaging members (106) mounted on the rail body (100) and located between the sliding contact line (102) and the two brush guide plates (105) respectively, a power supply clamp (107) mounted on the rail body (100) and contacting and clamping the sliding contact line (102), a plurality of assembly plates (108) mounted on the inner side of the rail body (100) and located between the rail body (100) and the sliding contact line (102) respectively, and a plurality of fixing bases (109) mounted on the outer side of the rail body (100) and used for fixing the rail body (100) on the site. The brush guide plates (105) are mounted at the two ends of the rail body (1000) respectively.

3. The system for sorting or picking garments according to claim 2, characterized in that, The slide wire (102) is two, the power supply clamp (107) is two pairs, and the two ends of the slide wire (102) are clamped respectively; the guide rail body (100) is formed with a semi-closed containing space (1005) with two ends and one side opening, and the slide wire (102), the anti-collision plate (103), the brush guide plate (105), the adapter (106), the power supply clamp (107) and the assembly plate (108) are all installed in the containing space (1005); the cross section of the slide wire (102) is C-shaped, and the brush sliding groove (1020) corresponding to the C-shaped slide wire (102) is provided; the brush guide groove (1050) is provided on the brush guide plate (105), and the brush guide groove (1050) is close to one end of the adapter (106) and is in a small shape; the brush buffer groove (1060) is provided on the adapter (106), and the brush buffer groove (1060) is close to one end of the brush guide plate (105) and is in a horn shape, so as to relieve the impact of the conductive brush (317) from the brush guide plate (105) to the slide wire (102); the brush guide groove (1030) is provided on the anti-collision plate (103), and the conductive brush sequentially passes through the brush guide groove (1030), the brush guide groove (1050) and the brush buffer groove (1060) to enter the brush sliding groove (1020) and keep contact with the slide wire (102), so that power is taken from the slide wire (102).

4. The system for sorting or picking garments of claim 1, wherein, The robot further comprises a goods basket (9) placed on the base assembly (3); The column assembly (6) comprises a column (60), a rotating platform (62) mounted at the top end of the column, and a rotating motor (63) mounted on the rotating platform (62) and capable of driving the rotating platform (62); The rocker assembly (7) comprises a rocker housing (70), a moving mechanism (72) and a lifting mechanism (73) mounted in the rocker housing (70), a moving motor (75) mounted on the rocker housing (70) and capable of driving the moving mechanism (72), and a lifting motor (76) mounted on the rocker housing (70) and capable of driving the lifting mechanism (73); the rocker housing (70) is mounted on the rotating platform (62) of the column assembly (6) near the bottom of one end; the moving mechanism (72) can drive the lifting mechanism (73) to move; the lifting mechanism (73) is connected with the grabbing mechanism (8) to drive the grabbing mechanism (8) to move up and down; when the moving mechanism (72) drives the lifting mechanism (73) to move, the lifting mechanism (73) drives the grabbing mechanism (8) to move; when the rotating platform (62) drives the rocker housing (70) to rotate around the column assembly (6), the rocker housing (70) drives the lifting mechanism (73) to rotate around the column assembly (6), and the lifting mechanism (73) drives the grabbing mechanism (8) to rotate around the column assembly (6); The sensor mounting base (78) is provided opposite the position of the grabbing mechanism (8), and a laser height sensor (781) and a reflective light measuring sensor (783) are mounted on the sensor mounting base (78), and the laser height sensor (781) and the reflective light measuring sensor (783) can vertically downwardly irradiate the goods basket (9); The bottom surface of the goods basket (9) is provided with a reflective plate (95); The laser height sensor (781) is used for measuring the distance between the laser height sensor (781) and the goods (200) in the goods basket (9), so as to calculate the distance by which the lifting mechanism (73) should lower the grabbing mechanism (8) to ensure that the grabbing mechanism (8) stably grabs the goods (200), and the reflective light measuring sensor (783) is used for detecting the reflected light of the reflective plate (95) on the bottom surface of the goods basket (9), and once the reflected light of the reflective plate (95) is detected, it is determined that the goods (200) on the bottom surface of the corresponding goods basket (9) have been emptied.

5. The system for sorting or picking garments according to claim 4, characterized in that, The reflective plate (95) is a reflective paper or a reflector, and the goods basket (9) is provided with a partitioning baffle (91) to divide the goods basket (9) into a plurality of storage areas (93), the reflective plate (95) is arranged on the bottom surface of the goods basket (9) corresponding to the storage area (93), the goods (200) are stored in the storage area (93), the goods (200) are clothes and are packaged into a single piece object; the laser height sensor (781) and the reflective light measuring sensor (783) protrude outwardly from the outer periphery of the grabbing mechanism (8) in the horizontal direction to vertically downwardly irradiate the goods basket (9), and a lifting origin proximity switch (785) is further mounted on the sensor mounting base (78) to limit the lifting mechanism (73) to continue to pull up the grabbing mechanism (8).

6. The system for sorting or picking garments of claim 4, wherein, The stand column assembly (6) further comprises a first proximity switch (65), a second proximity switch (66) and a third proximity switch (67) mounted on the rotating platform (62), and through the first to third proximity switches (65, 66, 67), the rocking arm assembly (7) is respectively controlled to be kept in the initial position when waiting and the rotating platform (62) rotates the two limit swing positions of the rocking arm assembly (7); The transfer motor (75) and the lifting motor (76) are located on the side of the column assembly (6) away from the grabbing mechanism (8), and the transfer motor (75) and the lifting motor (76) are located on the opposite sides of the column assembly (6), respectively; the grabbing mechanism (8) comprises a cylinder body (81), a cylinder upper cover (82) fixed on the upper end of the cylinder body (81), a piston (83) installed in the cylinder body (81), a spring (84) installed in the cylinder body (81), a sealing ring (85) installed on the upper end of the piston (83), a cylinder lower cover (86) installed on the lower end of the cylinder body (81), a suction cup (87) installed on the lower end of the piston (83), a gas pipe joint (88) installed on the piston (83) and extending out of the cylinder body (81), and a vacuum pump (89) connected with the gas pipe joint (88) and installed on the base assembly (3); the cylinder body (81) is provided with a strip-shaped groove (812) on the side, the gas pipe joint (88) extends out of the cylinder body (81) through the strip-shaped groove (812) and is driven by the piston (83) to move up and down along the strip-shaped groove (812), the cylinder lower cover (86) is provided with a circular hole (862) for the suction cup (87) to pass through, the piston (83) is provided with a stepped hole (832) along its axis, one end of the spring (84) abuts against the cylinder upper cover (82), the other end of the spring (84) extends into the stepped hole (832) and abuts against the stepped wall of the stepped hole (832), and the cylinder body (81), the piston (83), the suction cup (87), the gas pipe joint (88) and the vacuum pump (89) are connected to form an airtight space; when the grabbing mechanism (8) grabs the goods, the suction cup (87) is attached to the goods (200), the vacuum pump (89) is used to draw a vacuum, the suction cup (87) sucks the goods (200), at the same time, the external atmospheric pressure pushes the piston (83) to compress the spring (84) to move upward, drives the suction cup (87) to move upward, until the suction cup (87) is completely retracted into the cylinder body (81), and the goods (200) abut against the cylinder lower cover (86) due to the retraction of the suction cup (87) into the cylinder body (81), so as to prevent the suction cup (87) from breaking the vacuum due to shaking during the lifting and grabbing of the grabbing mechanism (8).

7. The system for sorting or picking garments of claim 1, wherein, The power assembly (41) further comprises a mounting base plate (411) and two power wheel supports (413) respectively mounted at two ends of one side of the mounting base plate (411), the two power wheels (415) are respectively mounted on the two power wheel supports (413), the power wheel (415) comprises a power motor (4151) and a walking wheel (4153) mounted on a rotating shaft of the power motor (4151), the two power wheel supports (413) are oppositely arranged, the two walking wheels (4153) are respectively located outside the two power wheel supports (413) and are respectively located on two sides of the base box (30); the corner assembly (43) further comprises a mounting support plate (430), a corner motor (431) mounted on the mounting support plate (430), a driving gear (432) mounted on a rotating shaft of the corner motor (431), a steering shaft (433) rotatably mounted on the mounting support plate (430), a steering gear (434) mounted on one end of the steering shaft (433), a steering wheel support (435) mounted on the steering gear (434) away from one side of the mounting support plate (430), and the steering wheel (436) is mounted on the steering wheel support (435), and the driving gear (432) is engaged with the steering gear (434).

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