An automated warehousing and distribution device and method for picking consumables

Abstract

The present invention relates to the technical field of consumable picking and distribution, and discloses a warehousing and distribution device and method for automatically picking consumables, including a navigation and distribution base, a vertical support platform, a lifting mechanism, a lifting platform, a picking manipulator, and an embedded integration system. A U-shaped limiting frame A and a U-shaped limiting frame B are fixedly connected to the top of the lifting platform. Uniformly distributed transposition grooves are symmetrically formed on the outside of the vertical support platform. Uniformly distributed U-shaped temporary storage frames are symmetrically fixedly connected to one side of the vertical support platform away from the lifting platform. Uniformly rotating rollers are evenly rotatably connected inside the U-shaped limiting frame A, the U-shaped limiting frame B, and the U-shaped temporary storage frames. Feeding and unloading mechanisms are arranged between the U-shaped limiting frame A and the U-shaped temporary storage frame, and between the U-shaped limiting frame B and the U-shaped temporary storage frame. A limiting mechanism is arranged inside the transposition groove. The present invention can complete the sorting and distribution of multiple orders in one reciprocating operation, and at the same time can perform autonomous limiting and de-limiting functions on the picking bins, greatly improving the automation degree of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of consumable picking and distribution, and particularly to a warehousing and distribution device and method for automatically picking consumables. Background Art

[0002] Warehousing and distribution can provide customers with warehousing, transportation, distribution, and packaging, and provide integrated supply chain solutions and overall logistics services for commercial circulation enterprises, production enterprises, etc. It is a professional comprehensive logistics service of a third-party logistics enterprise that helps enterprises and customers reduce logistics costs and relieve their worries. The essential process in warehousing and distribution is the picking of consumables. When picking consumables, they need to enter different storage areas inside the warehouse according to order information. After the picking manipulator picks the consumables on the order information into the picking bin, the picking bin is then delivered to the packaging area by a distribution cart for packaging.

[0003] After retrieval, a Chinese invention patent with the publication number CN 108945929 A discloses an automatic sorting device for warehousing orders, including: a moving mechanism, including an automatic guided vehicle and a vertical support platform arranged at one side end of the automatic guided vehicle; a lifting platform, which is arranged on the vertical support platform in a liftable manner; a six-axis robot, which is arranged on the lifting platform; a suction device, which is used for adsorbing goods placed on the shelf, wherein the suction device is arranged on the six-axis robot to drive the suction device to move through the six-axis robot; and a material frame for accommodating goods is arranged on the lifting platform. Compared with the prior art, the Chinese invention patent with the publication number CN 108945929 A can automatically suck and transport goods, effectively improving the sorting efficiency of the warehouse and greatly reducing the labor cost without manual sorting.

[0004] After the above automatic sorting device for warehousing orders uses the picking manipulator to complete the picking of order consumables according to the order information, it is necessary to deliver the consumables in the picking bin to the packaging area according to the distribution track, that is, only one order can be sorted and distributed in one reciprocating operation, and the sorting and distribution efficiency is low; and when the device suddenly encounters an obstacle and brakes emergently, the picking bin on the roller will have relative movement with the roller due to inertia, that is, the picking bin is easy to shift and break away from the roller, and the safety performance is low. Therefore, a warehousing and distribution device and method for automatically picking consumables that can complete the sorting and distribution of multiple orders in one reciprocating operation and can limit the picking bin on the roller are needed. Summary of the Invention

[0005] The purpose of the present invention is to solve the disadvantages in the prior art that only one order can be sorted and distributed in one reciprocating operation and the picking bin is easy to shift and break away from the roller, and to propose a warehousing and distribution device and method for automatically picking consumables.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An automated picking consumables warehousing and distribution device, comprising a navigation and distribution base, a vertical support platform, a lifting mechanism, a lifting platform, a picking manipulator, and an embedded integration system. The top of the lifting platform is fixedly connected with U-shaped limit frames A and B located on both sides of the picking manipulator. The outer part of the vertical support platform is symmetrically provided with evenly distributed transposition grooves. On the side of the vertical support platform away from the lifting platform, evenly distributed U-shaped temporary storage frames are symmetrically fixedly connected. Inside the U-shaped limit frames A, B, and the U-shaped temporary storage frames, rollers are evenly rotatably connected. Inside either the U-shaped limit frame A or the U-shaped limit frame B, a picking material box is placed above the roller. Inside the evenly distributed U-shaped temporary storage frames, picking material boxes are placed at intervals above the roller. The picking material box inside the U-shaped limit frame A or the U-shaped limit frame B and the picking material box inside the lowermost U-shaped temporary storage frame are located on different sides. Between the U-shaped limit frame A and the U-shaped temporary storage frames, and between the U-shaped limit frame B and the U-shaped temporary storage frames, a loading and unloading mechanism for alternately loading and unloading is provided. The loading and unloading mechanism includes a blanking push plate arranged inside the U-shaped limit frame A or the U-shaped limit frame B and a feeding push plate arranged inside the U-shaped temporary storage frame.

[0008] Inside the transposition groove, a limiting mechanism for limiting the picking material box is provided. The limiting mechanism includes a weight limiting block arranged above the inside of the transposition groove, and both sides of the weight limiting block can come into contact with the picking material box.

[0009] The above technical solutions further include:

[0010] The vertical support platform is fixedly connected to the top of the navigation and distribution base. The lifting mechanism is arranged on the top of the navigation and distribution base. The lifting platform is slidably connected to the front of the vertical support platform. The picking manipulator is installed on the top of the lifting platform and a visual recognition device is arranged outside it. The embedded integration system is arranged inside the navigation and distribution base.

[0011] The lifting mechanism includes a lifting motor embedded inside the navigation and distribution base and a sliding groove opened in the middle of the vertical support platform. The output end of the lifting motor is fixedly connected with a vertical lead screw rotatably connected inside the sliding groove. The outside of the vertical lead screw is threadedly connected with a lifting block slidably connected inside the sliding groove. The lifting block is fixedly connected to the lifting platform. By starting the lifting motor to drive the vertical lead screw to rotate, the lifting platform can drive the picking manipulator, U-shaped limit frame A, and U-shaped limit frame B on its top to move up and down.

[0012] The embedded integration system includes an information receiving module connected to the warehouse management system, an information processing module connected to the information receiving module, a path planning module connected to the information processing module, a navigation and guidance module connected to the path planning module, a picking execution module connected to the lifting motor, the picking manipulator, and the vision recognizer, and a loading and unloading control module connected to the lifting motor; the information processing module can receive order information sequentially, the information processing module can generate picking tasks sequentially, the path planning module can calculate the optimal driving path, the navigation and guidance module can drive the device to the target picking position or the target packaging position, the picking execution module can control the picking manipulator and the vision recognizer to execute the picking tasks sequentially, and the loading and unloading control module can control the loading and unloading mechanism to achieve the loading and unloading function.

[0013] A forklift slot is provided between the U-shaped temporary storage box and the rollers evenly distributed inside it, and the top surfaces of the rollers evenly distributed inside the U-shaped temporary storage box are level with the inner bottom surface of the transposition slot; through the setting of the forklift slot, the picking bins inside the U-shaped temporary storage box can be unloaded by a forklift.

[0014] Fixed cylinders adapted to the rollers are fixedly connected inside the U-shaped limit frame A, the U-shaped limit frame B, and the U-shaped temporary storage box. Laser centering sensors are arranged outside the fixed cylinders inside the U-shaped limit frame A and the U-shaped limit frame B. Centering through holes aligned with the laser centering sensors are provided on the outside of the vertical support platform. Laser centering reference points aligned with the centering through holes are provided outside the fixed cylinders inside the U-shaped temporary storage box; after completing a picking task, by driving the laser centering sensors inside the U-shaped limit frame A and the U-shaped limit frame B to align with the laser centering reference points by the lifting platform, the loading and unloading control module can control the loading and unloading mechanism to achieve the loading and unloading function.

[0015] The loading and unloading mechanism further includes a loading and unloading motor installed outside the lifting block. The input end of the loading and unloading motor is connected to the laser centering sensor. The loading and unloading motor is located on the back of the vertical support platform and its output end is fixedly connected with a meshing gear. A loading rack and an unloading rack are fixedly connected to the outside of the unloading push plate and the loading push plate respectively through a connecting frame. The unloading rack is located above the lifting block and passes through the transposition slot to mesh with the meshing gear;

[0016] The positions of the unloading racks outside the U-shaped limit frame A and the U-shaped limit frame B intersect, and the positions of the loading racks outside the symmetric U-shaped temporary storage boxes intersect;

[0017] By starting the loading and unloading motor to drive the meshing gear to rotate, the blanking rack and the loading rack can move towards each other to push the picked picking bin that has been completed into the U-shaped temporary storage frame for blanking temporary storage and push the picking bin to be picked into the U-shaped limit frame A or the U-shaped limit frame B for loading and placement.

[0018] The limiting mechanism further includes a receiving groove communicated with the top of the transposition groove. A limiting connection block fixedly connected with the weight limiting block is slidably connected inside the receiving groove. An upward movement groove is communicated between the receiving groove and the sliding groove. An abutting connection column fixedly connected with the limiting connection block is slidably connected inside the upward movement groove;

[0019] The limiting mechanism further includes a through port opened outside the blanking rack and an abutting connection plate fixedly connected to the top of the blanking rack. The through port is used to allow the abutting connection column to pass through. An abutting inclined surface A is arranged on one side of the abutting connection plate close to the abutting connection column; the abutting connection plate can drive the abutting connection column to move upward through the abutting inclined surface A;

[0020] The connecting frame outside the blanking push plate can elastically expand and contract. An abutting inclined surface B is arranged on the side of the weight limiting block close to the picking bin inside the U-shaped temporary storage frame. The lowermost abutting inclined surface B and the picking bin inside the U-shaped limit frame A or the U-shaped limit frame B are on different sides; the picking bin close to the abutting inclined surface B is empty, with a small inertia, and it is sufficient to be limited by the self-weight of the weight limiting block.

[0021] An automated picking consumables warehousing and distribution method using the above-mentioned automated picking consumables warehousing and distribution device includes the following steps:

[0022] S1: Pre-placement of bins: Selectively place picking bins inside the U-shaped limit frame A and the U-shaped limit frame B, and place picking bins at intervals inside the evenly distributed U-shaped temporary storage frames. It is necessary to ensure that the picking bin inside the U-shaped limit frame A or the U-shaped limit frame B and the picking bin inside the lowermost U-shaped temporary storage frame are on different sides;

[0023] S2: Receive order information: The information receiving module sequentially receives the order information transmitted by the warehouse management system. The number of received orders is the same as the number of picking bins inside the U-shaped temporary storage frame. The order information includes the customer's order number, the types and quantities of required consumables, and the delivery destination;

[0024] S3: Order information processing: The information processing module sequentially generates picking tasks according to the order information received by the information receiving module. The picking tasks include picking positions, types and quantities of consumables;

[0025] S4: Travel path planning: The path planning module calculates the optimal travel path from the current position to the target picking position or the target packaging position based on the picking positions generated in the information processing module;

[0026] S5: Operation navigation guidance: The navigation guidance module drives the device to the target picking position or the target packaging position according to the optimal travel path calculated in the path planning module;

[0027] S6: Automatic consumable picking: The picking execution module controls the picking manipulator and the vision recognizer to sequentially perform the picking and recognition of the types and quantities of consumables in the picking task, and repeats S3 - S5 according to the picking task until the corresponding types and quantities of consumables in a picking task are picked into the picking bin inside the U-shaped limit frame A or the U-shaped limit frame B;

[0028] S7: Alternate loading and unloading of bins: The loading and unloading control module controls the rollers inside the U-shaped limit frame A or the U-shaped limit frame B to move to be centered with the rollers inside the U-shaped temporary storage frame, and controls the loading and unloading mechanism to push the picked bin that has completed picking into the U-shaped temporary storage frame for unloading and temporary storage, and push the picking bin to be picked into the U-shaped limit frame A or the U-shaped limit frame B for loading and placement, while enabling the limit mechanism to limit the picking bin;

[0029] S8: Sequentially perform picking tasks: After the picking and temporary storage of a picking task are completed, repeat S3 - S6 sequentially until all picking tasks are completed;

[0030] S9: Delivery and unloading: After the picking and temporary storage of all picking tasks are completed, the path planning module and the navigation guidance module drive the device to the packaging area, and use a forklift to unload the picking bins temporarily stored inside the U-shaped temporary storage frame.

[0031] The present invention has the following beneficial effects:

[0032] 1. After completing a picking task, the present invention can align the rollers inside the U-shaped limit frame A and the rollers inside the U-shaped temporary storage frame through a laser alignment sensor, so that the loading and unloading mechanism can be activated to realize the alternate loading and unloading of the U-shaped limit frame A and the U-shaped limit frame B. After the alternate loading and unloading of the U-shaped limit frame A and the U-shaped limit frame B is completed, the next picking task is performed sequentially. After completing multiple picking tasks, it is then delivered to the packaging area. In this way, the sorting and delivery of multiple orders can be completed in one reciprocating operation, greatly improving the sorting and delivery efficiency of consumables.

[0033] 2. During the process of picking and delivering the picking bins, the straight side of the counterweight limiting block limits the picked bins that have been completed, and the self-weight of the counterweight limiting block limits the picking bins to be picked, so as to prevent the picking bins from easily shifting and detaching from the rollers, thus creating potential safety hazards. Moreover, during the process of loading and unloading, the limiting effect of the counterweight limiting block on the picked bins that have been completed and the picking bins to be picked can be automatically released.

[0034] 3. The present invention can receive order information, process order information, plan driving routes, guide operation navigation, automatically pick consumables, alternately load and unload bins, and finally deliver and unload goods in sequence. Moreover, a single reciprocating operation can complete the sorting and distribution of multiple orders. At the same time, it can automatically limit and release the limit on the picking bins, thereby greatly improving the automation level of the device. Description of the Drawings

[0035] Figure 1 It is the overall structure diagram of a warehousing and distribution device for automatically picking consumables proposed by the present invention;

[0036] Figure 2 is Figure 1 the enlarged structure diagram at position A in

[0037] Figure 3 It is the first part structure diagram of a warehousing and distribution device for automatically picking consumables proposed by the present invention;

[0038] Figure 4 It is the second part structure diagram of a warehousing and distribution device for automatically picking consumables proposed by the present invention;

[0039] Figure 5 It is the third part structure diagram of a warehousing and distribution device for automatically picking consumables proposed by the present invention;

[0040] Figure 6 It is the fourth part structure diagram of a warehousing and distribution device for automatically picking consumables proposed by the present invention;

[0041] Figure 7 is Figure 6 the enlarged structure diagram at position B in

[0042] Figure 8 It is the module connection diagram in the present invention;

[0043] Figure 9 It is the flowchart of a warehousing and distribution method for automatically picking consumables proposed by the present invention.

[0044] In the figure: 1, navigation and distribution base; 2, vertical support platform; 3, lifting mechanism; 301, lifting motor; 302, sliding groove; 303, vertical lead screw; 304, lifting block; 4, lifting platform; 5, picking manipulator; 6, embedded integration system; 601, information receiving module; 602, information processing module; 603, path planning module; 604, navigation and guidance module; 605, picking execution module; 606, loading and unloading control module; 7, U-shaped limit frame A; 8, U-shaped limit frame B; 9, transposition groove; 10, U-shaped temporary storage frame; 11, roller; 12, picking bin; 13, loading and unloading mechanism; 131, unloading push plate; 132, loading push plate; 133, loading and unloading motor; 134, meshing gear; 135, connecting frame; 136, unloading rack; 137, loading rack; 14, limiting mechanism; 141, counterweight limiting block; 142, receiving groove; 143, limiting connecting block; 144, upward movement groove; 145, abutting connecting column; 146, through port; 147, abutting connecting plate; 148, abutting inclined surface A; 149, abutting inclined surface B; 15, vision recognizer; 16, warehouse management system; 17, forklift slot; 18, fixed cylinder; 19, laser centering sensor; 20, centering through hole; 21, laser centering reference point. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] Embodiment 1

[0047] As Figure 1 、 Figures 3 - 6 and Figure 8 shown, a warehousing and distribution device for automatically picking consumables proposed by the present invention includes a navigation and distribution base 1, a vertical support platform 2, a lifting mechanism 3, a lifting platform 4, a picking manipulator 5, and an embedded integration system 6. The navigation and distribution base 1 can perform actions such as moving forward, backward, rotating in place, and automatically avoiding obstacles. The vertical support platform 2 is fixedly connected to the top of the navigation and distribution base 1. The lifting mechanism 3 is arranged on the top of the navigation and distribution base 1. The lifting platform 4 is slidably connected to the front of the vertical support platform 2. The picking manipulator 5 is installed on the top of the lifting platform 4 and a vision recognizer 15 is arranged outside it. The embedded integration system 6 is arranged inside the navigation and distribution base 1. The navigation and distribution base 1, the picking manipulator 5, and the vision recognizer 15 all adopt existing technologies. The specific structures and connection methods of the navigation and distribution base 1, the picking manipulator 5, and the vision recognizer 15 are not specifically described in this embodiment;

[0048] The lifting mechanism 3 includes a lifting motor 301 embedded inside the navigation and distribution base 1 and a sliding groove 302 opened in the middle of the vertical support platform 2. The output end of the lifting motor 301 is fixedly connected to a vertical lead screw 303 rotatably connected inside the sliding groove 302. The outside of the vertical lead screw 303 is threadedly connected to a lifting block 304 slidably connected inside the sliding groove 302. The lifting block 304 is fixedly connected to the lifting platform 4. By starting the lifting motor 301 to drive the vertical lead screw 303 to rotate, the lifting platform 4 can drive the picking manipulator 5, the U-shaped limiting frame A 7, and the U-shaped limiting frame B 8 on its top to move up and down;

[0049] The embedded integration system 6 includes an information receiving module 601 connected to the warehouse management system 16, an information processing module 602 connected to the information receiving module 601, a path planning module 603 connected to the information processing module 602, a navigation and guidance module 604 connected to the path planning module 603, a picking execution module 605 connected to the lifting motor 301, the picking manipulator 5, and the vision recognizer 15, and a loading and unloading control module 606 connected to the lifting motor 301. The information processing module 602 can receive order information in sequence, the information processing module 602 can generate picking tasks in sequence, the path planning module 603 can calculate the optimal driving path, the navigation and guidance module 604 can drive the device to the target picking position or the target packaging position, the picking execution module 605 can control the picking manipulator 5 and the vision recognizer 15 to execute the picking tasks in sequence, and the loading and unloading control module 606 can control the loading and unloading mechanism 13 to realize the loading and unloading function;

[0050] On the top of the lifting platform 4, there are fixedly connected a U-shaped limiting frame A 7 and a U-shaped limiting frame B 8 on both sides of the picking manipulator 5. On the outside of the vertical support platform 2, there are symmetrically opened uniformly distributed transposition grooves 9. On the side of the vertical support platform 2 away from the lifting platform 4, there are symmetrically and fixedly connected uniformly distributed U-shaped temporary storage frames 10. Inside the U-shaped limiting frame A 7, the U-shaped limiting frame B 8, and the U-shaped temporary storage frames 10, there are uniformly rotatably connected rollers 11. The top surfaces of the uniformly distributed rollers 11 inside the U-shaped temporary storage frames 10 are level with the inner bottom surfaces of the transposition grooves 9. There is a forklift slot 17 between the U-shaped temporary storage frames 10 and the uniformly distributed rollers 11 inside them. Through the setting of the forklift slot 17, the picking bins 12 inside the U-shaped temporary storage frames 10 can be unloaded by a forklift. One of the U-shaped limiting frame A 7 and the U-shaped limiting frame B 8 contains a picking bin 12 located above the roller 11. The uniformly distributed U-shaped temporary storage frames 10 contain picking bins 12 located above the roller 11 at intervals. The picking bin 12 inside the U-shaped limiting frame A 7 or the U-shaped limiting frame B 8 and the picking bin 12 inside the lowermost U-shaped temporary storage frame 10 are on different sides;

[0051] Between the U-shaped limit frame A7 and the U-shaped temporary storage frame 10, and between the U-shaped limit frame B8 and the U-shaped temporary storage frame 10, there is a loading and unloading mechanism 13 for alternate loading and unloading. The loading and unloading mechanism 13 includes a blanking push plate 131 arranged inside the U-shaped limit frame A7 or the U-shaped limit frame B8 and a feeding push plate 132 arranged inside the U-shaped temporary storage frame 10. The loading and unloading mechanism 13 further includes a loading and unloading motor 133 installed outside the lifting block 304. The input end of the loading and unloading motor 133 is connected to the laser centering sensor 19. The loading and unloading motor 133 is located on the back of the vertical support platform 2 and its output end is fixedly connected with a meshing gear 134. Outside the blanking push plate 131 and the feeding push plate 132, a blanking rack 136 and a feeding rack 137 are respectively fixedly connected through a connecting frame 135. The blanking rack 136 is located above the lifting block 304 and passes through the transposition slot 9 to mesh with the meshing gear 134. The positions of the blanking racks 136 outside the U-shaped limit frame A7 and the U-shaped limit frame B8 intersect, and the positions of the feeding racks 137 outside the symmetric U-shaped temporary storage frames 10 intersect. By starting the loading and unloading motor 133 to drive the meshing gear 134 to rotate, the blanking rack 136 and the feeding rack 137 can move towards each other to push the selected picking bin 12 that has completed the picking into the U-shaped temporary storage frame 10 and push the picking bin 12 to be picked into the U-shaped limit frame B8;

[0052] Inside the U-shaped limit frame A7, the U-shaped limit frame B8, and the U-shaped temporary storage frame 10, there is a fixed cylinder 18 adapted to the roller 11. Outside the fixed cylinder 18 inside the U-shaped limit frame A7 and the U-shaped limit frame B8, there is a laser centering sensor 19. On the outside of the vertical support platform 2, there is a centering through hole 20 aligned with the laser centering sensor 19. Outside the fixed cylinder 18 inside the U-shaped temporary storage frame 10, there is a laser centering base point 21 aligned with the centering through hole 20. After completing a picking task, by driving the laser centering sensor 19 inside the U-shaped limit frame A7 and the U-shaped limit frame B8 to align with the laser centering base point 21 through the lifting platform 4, the loading and unloading control module 606 can control the loading and unloading mechanism 13 to realize the loading and unloading function.

[0053] The working principle of this embodiment: Ensure that the picking bin 12 is placed in either the U-shaped limit frame A7 or the U-shaped limit frame B8. The picking bins 12 are placed at intervals inside the evenly distributed U-shaped temporary storage frames 10, and the picking bin 12 inside the U-shaped limit frame A7 or the U-shaped limit frame B8 and the picking bin 12 inside the lowermost U-shaped temporary storage frame 10 are on different sides. Then, receive the order information, process it to obtain the picking task, and then plan the driving path, guide the operation navigation, and automatically pick the consumables. The picking execution module 605 can pick the corresponding types and quantities of consumables in the picking task in sequence through the lifting mechanism 3, the picking manipulator 5, and the visual recognizer 15;

[0054] After the corresponding types and quantities of consumables in a picking task are picked into the picking bin 12 inside the U-shaped limit frame A7 (or U-shaped limit frame B8), the device will automatically align the laser centering sensor 19 inside the lifting platform 4, U-shaped limit frame A7, and U-shaped limit frame B8 with the laser centering reference point 21 through the lifting mechanism 3. Then, the loading and unloading control module 606 will control the loading and unloading motor 133 in the loading and unloading mechanism 13 to start and drive the meshing gear 134 to rotate. The rotation of the meshing gear 134 causes the unloading rack 136 and the loading rack 137 to move towards each other. The moving unloading rack 136 and loading rack 137 drive the picked bin 12 that has completed picking inside the U-shaped limit frame A7 and the picked bin 12 to be picked inside the U-shaped temporary storage frame 10 to move towards each other. As a result, the picked bin 12 that has completed picking inside the U-shaped limit frame A7 is pushed into the U-shaped temporary storage frame 10 for unloading and temporary storage, and the picked bin 12 to be picked inside the U-shaped temporary storage frame 10 is pushed into the U-shaped limit frame B8 for loading and placement. Subsequently, the loading and unloading motor 133 rotates in the reverse direction to drive the unloading push plate 131 and the loading push plate 132 to return to their original positions;

[0055] Subsequently, continue to perform the picking task in sequence. After completing the picking and temporary storage of one picking task, perform loading and unloading until all picking tasks are temporarily stored. After completing the picking and temporary storage of all picking tasks, the device will be automatically delivered to the packaging area. Subsequently, the picked bin 12 that has been temporarily stored and completed picking inside the U-shaped temporary storage frame 10 can be unloaded using a forklift.

[0056] The main difference between this embodiment and the prior art is that after completing one picking task, this embodiment can align the rollers 11 inside the U-shaped limit frame A and the rollers 11 inside the U-shaped temporary storage frame 10 through the laser centering sensor, so that the loading and unloading mechanism 13 can be activated to achieve the alternating loading and unloading of the U-shaped limit frame A7 and the U-shaped limit frame B8. After the alternating loading and unloading is completed, continue to perform the next picking task in sequence. After completing multiple picking tasks, deliver them to the packaging area. In this way, the sorting and distribution of multiple orders can be completed in one reciprocating operation, greatly improving the sorting and distribution efficiency of consumables.

[0057] Embodiment 2

[0058] As Figures 1 - 8As shown in the figure, based on the first embodiment, a limiting mechanism 14 for limiting the picking bin 12 is provided inside the transposition slot 9. The limiting mechanism 14 includes a counterweight limiting block 141 arranged above the inside of the transposition slot 9. Both sides of the counterweight limiting block 141 can be in contact with the picking bin 12. The connecting frame 135 outside the blanking push plate 131 can elastically expand and contract. An abutting inclined surface B149 is provided on the side of the counterweight limiting block 141 close to the picking bin 12 inside the U-shaped temporary storage frame 10. The lowest abutting inclined surface B149 and the picking bin 12 inside the U-shaped limiting frame A7 or the U-shaped limiting frame B8 are on different sides. The picking bin 12 placed inside the U-shaped temporary storage frame 10 close to the abutting inclined surface B149 is empty. When the device is emergently braked, the inertia of the empty picking bin 12 is small, and it is sufficient to rely on the self-weight of the counterweight limiting block 141 for limiting;

[0059] The limiting mechanism 14 further includes a receiving groove 142 communicated with the top of the transposition slot 9. A limiting connection block 143 fixedly connected to the counterweight limiting block 141 is slidably connected inside the receiving groove 142. An upward movement groove 144 is communicated between the receiving groove 142 and the sliding groove 302. An abutting connection column 145 fixedly connected to the limiting connection block 143 is slidably connected inside the upward movement groove 144. The abutting connection column 145 can drive the counterweight limiting block 141 to move upward into the inside of the receiving groove 142 through the limiting connection block 143 to release the limiting effect of the counterweight limiting block 141. The limiting mechanism 14 further includes a through port 146 opened outside the blanking rack 136 and an abutting connection plate 147 fixedly connected to the top of the blanking rack 136. The through port 146 is used to allow the abutting connection column 145 to pass through. An abutting inclined surface A148 is provided on one side of the abutting connection plate 147 close to the abutting connection column 145. The abutting connection plate 147 can drive the abutting connection column 145 to move upward through the abutting inclined surface A148.

[0060] The working principle of this embodiment: During the process of picking and distributing the picking bin 12, the straight side of the counterweight limiting block 141 is in contact with the picked picking bin 12 to realize the limiting of the picked picking bin 12. The abutting inclined surface B149 of the counterweight limiting block 141 is in contact with the picking bin 12 to be picked. Since the picking bin 12 to be picked is empty, when the device is emergently braked, its inertia is small, and it is sufficient to rely on the self-weight of the counterweight limiting block 141 for limiting, that is, to realize the limiting of the picking bin 12 to be picked;

[0061] In the process of unloading and loading materials, the unloading rack 136 and the loading rack 137 move toward each other, and the abutting connecting plate 147 will follow the unloading rack 136 to move and drive the abutting connecting column 145 to move upward through the abutting inclined surface A148. The connecting frame 135 outside the unloading push plate 131 will elastically expand and contract, and the upwardly moved abutting connecting column 145 will enter the interior of the receiving groove 142 to release the limiting effect of the counterweight limit block 141. In this way, the picking material box 12 that has completed picking can be unloaded smoothly and enter the interior of the U-shaped temporary storage frame 10 for temporary storage. At the same time, the picking material box 12 to be picked contacts the abutting inclined surface B149 and drives the counterweight limit block 141 to move upward through the abutting inclined surface B149 and enter the interior of the receiving groove 142 to release the limiting effect. In this way, the picking material box 12 to be picked can be loaded smoothly and enter the interior of the U-shaped limit frame B8 for placement.

[0062] The main difference between this embodiment and the prior art is that: in the process of picking and delivering the picking material box 12, the straight side of the counterweight limit block 141 realizes the limitation of the picking material box 12 that has completed picking, and the deadweight of the counterweight limit block 141 realizes the limitation of the picking material box 12 to be picked, so as to prevent the picking material box 12 from easily shifting away from the roller 11 and causing safety hazards, and in the process of loading and unloading, the counterweight limit block 141 can autonomously release the limiting effect of the picking material box 12 that has completed picking and the picking material box 12 to be picked.

[0063] Embodiment 3

[0064] like Figure 9 As shown, based on the first and second embodiments, the present invention proposes a storage and distribution method for automatically picking consumables, comprising the following steps:

[0065] S1: Pre-placement of material boxes: Place a picking material box 12 in one of the U-shaped limiting frame A7 and the U-shaped limiting frame B8, and place the picking material boxes 12 in the evenly distributed U-shaped temporary storage frames 10 at intervals, and ensure that the picking material boxes 12 in the U-shaped limiting frame A7 or the U-shaped limiting frame B8 are located on the opposite side from the picking material boxes 12 in the bottom U-shaped temporary storage frame 10;

[0066] S2: receiving order information: the information receiving module 601 receives the order information transmitted by the warehouse management system 16 in order, the received order quantity is consistent with the quantity of the picking material box 12 located inside the U-shaped temporary storage frame 10, and the order information includes the customer's order number, the type and quantity of the required consumables, and the delivery destination;

[0067] S3: Order information processing: The information processing module 602 generates picking tasks in sequence according to the order information received by the information receiving module 601. The picking tasks include picking locations, types and quantities of consumables;

[0068] S4: Travel path planning: The path planning module 603 calculates the optimal travel path from the current position to the target picking position or the target packing position based on the picking positions generated in the information processing module 602;

[0069] S5: Operation navigation guidance: The navigation guidance module 604 drives the device to the target picking position or the target packing position according to the optimal travel path calculated in the path planning module 603;

[0070] S6: Automatic consumable picking: The picking execution module 605 controls the picking manipulator 5 and the vision recognizer 15 to sequentially perform the picking and recognition of the types and quantities of consumables in the picking task, and repeats S3 - S5 according to the picking task until the corresponding types and quantities of consumables in a picking task are picked into the picking bin 12 inside the U-shaped limit frame A7 or the U-shaped limit frame B8;

[0071] S7: Alternate loading and unloading of bins: The loading and unloading control module 606 controls the roller 11 inside the U-shaped limit frame A7 or the U-shaped limit frame B8 to move to be centered with the roller 11 inside the U-shaped temporary storage frame 10, and controls the loading and unloading mechanism 13 to push the picked bin 12 that has completed picking into the U-shaped temporary storage frame 10 for unloading and temporary storage, and push the bin 12 to be picked into the U-shaped limit frame A7 or the U-shaped limit frame B8 for loading and placement, and at the same time, the limit mechanism 14 limits the picked bin 12;

[0072] S8: Sequentially perform picking tasks: After the picking and temporary storage of a picking task are completed, repeat S3 - S6 sequentially until all picking tasks are completed;

[0073] S9: Delivery and unloading: After the picking and temporary storage of all picking tasks are completed, the path planning module 603 and the navigation guidance module 604 drive the device to the packing area, and use a forklift to unload the picked bin 12 temporarily stored inside the U-shaped temporary storage frame 10.

[0074] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated warehousing and distribution device for picking consumables, comprising a navigation and distribution base (1), a vertical support platform (2), a lifting mechanism (3), a lifting platform (4), a picking manipulator (5) and an embedded integration system (6), characterized in that: The top of the lifting platform (4) is fixedly connected with a U-shaped limiting frame A (7) and a U-shaped limiting frame B (8) located on both sides of the picking manipulator (5). The outer part of the vertical support platform (2) is symmetrically provided with uniformly distributed transposition grooves (9). The side of the vertical support platform (2) far away from the lifting platform (4) is symmetrically and fixedly connected with uniformly distributed U-shaped temporary storage frames (10). Inside the U-shaped limiting frame A (7), the U-shaped limiting frame B (8) and the U-shaped temporary storage frame (10), there are uniformly rotatably connected rollers (11). Inside either the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8), there is a picking bin (12) located above the roller (11). Inside the uniformly distributed U-shaped temporary storage frames (10), the picking bins (12) are placed at intervals above the roller (11). The picking bin (12) inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8) and the picking bin (12) inside the lowermost U-shaped temporary storage frame (10) are located on different sides. Between the U-shaped limiting frame A (7) and the U-shaped temporary storage frame (10), and between the U-shaped limiting frame B (8) and the U-shaped temporary storage frame (10), there are both loading and unloading mechanisms (13) for alternately loading and unloading. The loading and unloading mechanism (13) includes a blanking push plate (131) arranged inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8) and a loading push plate (132) arranged inside the U-shaped temporary storage frame (10). Inside the transposition groove (9), there is a limiting mechanism (14) for limiting the picking bin (12). The limiting mechanism (14) includes a counterweight limiting block (141) arranged above the inside of the transposition groove (9), and both sides of the counterweight limiting block (141) can be in contact with the picking bin (12).

2. The warehousing and distribution device for automated picking consumables according to claim 1, wherein: The vertical support platform (2) is fixedly connected to the top of the navigation and distribution base (1). The lifting mechanism (3) is arranged on the top of the navigation and distribution base (1). The lifting platform (4) is slidably connected to the front of the vertical support platform (2). The picking manipulator (5) is installed on the top of the lifting platform (4) and a visual recognition device (15) is arranged outside it. The embedded integration system (6) is arranged inside the navigation and distribution base (1).

3. The warehousing and distribution device for automated picking consumables according to claim 2, characterized in that: The lifting mechanism (3) includes a lifting motor (301) embedded inside the navigation and distribution base (1) and a sliding groove (302) opened in the middle of the vertical support platform (2). The output end of the lifting motor (301) is fixedly connected with a vertical lead screw (303) rotatably connected inside the sliding groove (302). The outside of the vertical lead screw (303) is threadedly connected with a lifting block (304) slidably connected inside the sliding groove (302). The lifting block (304) is fixedly connected with the lifting platform (4).

4. The warehousing and distribution device for automated picking consumables according to claim 3, wherein: The embedded integration system (6) includes an information receiving module (601) connected to the warehouse management system (16), an information processing module (602) connected to the information receiving module (601), a path planning module (603) connected to the information processing module (602), a navigation and guidance module (604) connected to the path planning module (603), a picking execution module (605) connected to the lifting motor (301), the picking manipulator (5) and the vision recognizer (15), and a loading and unloading control module (606) connected to the lifting motor (301).

5. The warehousing and distribution device for automated picking consumables according to claim 1, characterized in that: A forklift slot (17) is provided between the U-shaped temporary storage frame (10) and the rollers (11) evenly distributed inside it, and the top surfaces of the rollers (11) evenly distributed inside the U-shaped temporary storage frame (10) are level with the inner bottom surface of the transposition slot (9).

6. The warehousing and distribution device for automated picking consumables according to claim 3, characterized in that: Fixed cylinders (18) adapted to the rollers (11) are fixedly connected inside the U-shaped limit frame A (7), the U-shaped limit frame B (8) and the U-shaped temporary storage frame (10). Laser alignment sensors (19) are provided outside the fixed cylinders (18) inside the U-shaped limit frame A (7) and the U-shaped limit frame B (8). Alignment through holes (20) aligned with the laser alignment sensors (19) are provided outside the vertical support platform (2), and laser alignment reference points (21) aligned with the alignment through holes (20) are provided outside the fixed cylinders (18) inside the U-shaped temporary storage frame (10).

7. An automated picking consumable storage and distribution device according to claim 6, characterized in that: The loading and unloading mechanism (13) further includes a loading and unloading motor (133) installed outside the lifting block (304). The input end of the loading and unloading motor (133) is connected to the laser alignment sensor (19). The loading and unloading motor (133) is located on the back of the vertical support platform (2) and its output end is fixedly connected with a meshing gear (134). Lowering push plates (131) and loading push plates (132) are respectively fixedly connected with lower rack teeth (136) and loading rack teeth (137) through connecting frames (135). The lower rack teeth (136) are located above the lifting block (304) and pass through the transposition slot (9) to mesh with the meshing gear (134). The positions of the lower rack teeth (136) outside the U-shaped limit frame A (7) and the U-shaped limit frame B (8) intersect, and the positions of the loading rack teeth (137) outside the symmetric U-shaped temporary storage frames (10) intersect.

8. An automated picking consumables warehousing and distribution device according to claim 7, characterized in that: The limiting mechanism (14) further includes a receiving groove (142) communicating with the top of the transposition slot (9). A limiting connection block (143) fixedly connected to the weight limiting block (141) is slidably connected inside the receiving groove (142). An upward movement groove (144) is communicated between the receiving groove (142) and the sliding groove (302). An abutting connection column (145) fixedly connected to the limiting connection block (143) is slidably connected inside the upward movement groove (144). The limiting mechanism (14) further includes a through port (146) opened outside the blanking rack (136) and an abutting connection plate (147) fixedly connected to the top of the blanking rack (136). The through port (146) is used to allow the abutting connection column (145) to pass through. An abutting inclined surface A (148) is provided on one side of the abutting connection plate (147) close to the abutting connection column (145). The connecting frame (135) outside the blanking push plate (131) can elastically expand and contract. An abutting inclined surface B (149) is provided on the side of the weight limiting block (141) close to the picking bin (12) inside the U-shaped temporary storage frame (10). The lowermost abutting inclined surface B (149) is on the opposite side of the picking bin (12) inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8).

9. A warehousing and distribution method for automated picking consumables, which uses a warehousing and distribution device for automated picking consumables as described in any one of claims 1-8, and is characterized in that, Including the following steps: S1: Pre-placement of bins: Selectively place a picking bin (12) inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8), and place the picking bins (12) at intervals inside the uniformly distributed U-shaped temporary storage frames (10). It is necessary to ensure that the picking bin (12) inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8) is on the opposite side of the picking bin (12) inside the lowermost U-shaped temporary storage frame (10). S2: Receive order information: The information receiving module (601) sequentially receives the order information transmitted by the warehouse management system (16). The number of received orders is the same as the number of picking bins (12) inside the U-shaped temporary storage frame (10). The order information includes the customer's order number, the types, quantities of the required consumables, and the delivery destination. S3: Order information processing: The information processing module (602) sequentially generates picking tasks according to the order information received by the information receiving module (601). The picking tasks include the picking positions, the types and quantities of the consumables. S4: Driving path planning: The path planning module (603) calculates the optimal driving path from the current position to the target picking position or the target packaging position according to the picking positions generated in the information processing module (602). S5: Operation navigation guidance: The navigation guidance module (604) drives the device to the target picking position or the target packaging position according to the optimal driving path calculated in the path planning module (603). S6: Automatic picking of consumables: The picking execution module (605) controls the picking manipulator (5) and the visual recognizer (15) to sequentially perform the picking and recognition of the types and quantities of the consumables in the picking tasks, and repeats S3 - S5 according to the picking tasks until the corresponding types and quantities of the consumables in a picking task are picked into the picking bin (12) inside the U-shaped limiting frame A (7) or the U-shaped limiting frame B (8). S7: Alternate loading and unloading of bins: The loading and unloading control module (606) controls the movement of the rollers (11) inside the U-shaped limit frame A (7) or the U-shaped limit frame B (8) to align with the rollers (11) inside the U-shaped temporary storage frame (10), and controls the loading and unloading mechanism (13) to push the picked bin (12) that has completed picking into the U-shaped temporary storage frame (10) for temporary unloading storage and push the bin (12) to be picked into the U-shaped limit frame A (7) or the U-shaped limit frame B (8) for loading placement. At the same time, the limit mechanism (14) limits the picked bin (12). S8: Perform picking tasks in sequence: After the temporary storage of a picking task is completed, repeat S3 - S6 in sequence until all picking tasks are completed; S9: Delivery and unloading: After the temporary storage of all picking tasks is completed, the path planning module (603) and the navigation and guidance module (604) drive the device to be delivered to the packaging area, and use a forklift to unload the picked bin (12) temporarily stored inside the U-shaped temporary storage frame (10).

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