Sorting system

Abstract

The invention discloses a sorting system. The picking system comprises at least one picking robot and at least one automated guided vehicle. The sorting robot comprises a first docking mechanism, the automatic guiding vehicle comprises a second docking mechanism, and the first docking mechanism is used for being detachably connected with the second docking mechanism. And the automatic guide vehicle is used for moving towards the sorting robot and being in butt joint with the first butt joint mechanism of the sorting robot through the second butt joint mechanism when one sorting robot has a sorting task, and pulling the sorting robot to move after butt joint is completed. And after the picking task is executed, the second butt joint mechanism is disconnected from the first butt joint mechanism. After the first docking mechanism and the second docking mechanism are disconnected, the automatic guide vehicle can automatically move to other positions, the combination mode is flexible and changeable, the utilization rate of the automatic guide vehicle is improved, the number of the automatic guide vehicles put into use in the sorting system can be reduced, the cost of the sorting system is reduced, and the sorting efficiency is improved. And the operation efficiency of the warehouse logistics system is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more particularly to a picking system. Background Art

[0002] In the related art, the picking robot includes a gantry picking mechanism and an automated guided vehicle (AGV). When the picking robot is working, the AGV can drive the gantry picking mechanism to the cargo picking station, where the gantry picking mechanism performs the work of picking cargo to realize the storage and outbound delivery of cargo.

[0003] However, the operating efficiency of AGV is much higher than that of the gantry picking mechanism. When the picking robot is working, it is very likely that the AGV will complete its work while the gantry picking mechanism has not. The AGV needs to wait for the gantry picking mechanism to complete its work before it can perform the subsequent work, which reduces the operating efficiency of the warehouse logistics system. Summary of the invention

[0004] An embodiment of the present invention provides a picking system.

[0005] The picking system provided in the embodiment of the present invention includes at least one picking robot and at least one automatic guided vehicle. The picking robot includes a first docking mechanism, and the automatic guided vehicle includes a second docking mechanism, wherein the first docking mechanism is used to be detachably connected to the second docking mechanism. The automatic guided vehicle is used to move toward the picking robot and dock with the first docking mechanism of the picking robot through the second docking mechanism when one of the picking robots has a picking task, and to pull the picking robot to move after the docking is completed, so that the picking robot performs the picking task. After the picking task is completed, the picking robot is driven to move to the unloading area, the second docking mechanism is controlled to disconnect from the first docking structure, and the picking robot is moved toward another picking robot and docked with the other picking robot, and the other picking robot is pulled to move. The picking robot is used to perform the picking task under the traction of the automatic guided vehicle and perform the unloading task in the unloading area.

[0006] In some embodiments, the picking robot includes a chassis, the first docking mechanism is disposed under the chassis, the automated guided vehicle includes a lifting plate, and the second docking mechanism is disposed on the lifting plate. The lifting plate is configured to lift upward after the automated guided vehicle moves to a target docking position under the chassis, driving the second docking mechanism to move toward the first docking mechanism, so that the first docking mechanism is docked with the second docking mechanism. The lifting plate is configured to move downward, driving the second docking mechanism away from the first docking mechanism, so that the first docking mechanism is disconnected from the second docking mechanism.

[0007] In some embodiments, the picking robot includes an identification plate, the identification plate is disposed under the chassis, and the second docking mechanism includes a distance sensor. After the automated guided vehicle moves under the chassis, the distance sensor is configured to detect the relative position between the second docking mechanism and the identification plate to determine whether the automated guided vehicle has moved to the target docking position.

[0008] In some embodiments, the first docking mechanism includes a first power communication interface, the second docking mechanism includes a first rack and a second power communication interface, and the second power communication interface is disposed on the first rack; the first rack is configured to drive the second power communication interface to move toward the first power communication interface when the second docking mechanism moves toward the first docking mechanism, so that the second power communication interface is connected to the first power communication interface.

[0009] In some embodiments, the first docking mechanism includes a first dust brush, the second docking mechanism includes a second dust brush, the first dust brush is disposed on the first power communication interface, and the second dust brush is disposed on the second power communication interface.

[0010] In some embodiments, the first docking mechanism includes a grid baffle, the second docking mechanism includes a second rack and a gear, one side of the gear meshes with the first rack, and the other side of the gear meshes with the second rack. Both the first rack and the second rack are movably disposed on the lifting plate. The first rack is vertically disposed, the second power communication interface is disposed at the upper end of the first rack, the upper end of the first rack is located at the opening of the lifting plate, and the first rack can pass through the opening. The second rack passes through the lifting plate and is vertically disposed. When the lifting plate jacks up, it drives the gear and the second rack to move upward. After the second rack contacts the grid baffle, the second rack stops moving. During the continuous upward movement of the lifting plate, the gear rotates and continues to move upward along the second rack, and the first rack moves upward as the gear rotates, pushing the second power communication interface out of the opening until the second power communication interface is docked with the first power communication interface.

[0011] In some embodiments, the second docking mechanism includes a spring. One end of the spring is fixed on the lifting plate, and the other end is fixed on the first rack; the upward movement of the first rack can compress the spring. When the lifting plate moves downward, the first rack moves downward under the elastic force of the spring, driving the gear to rotate, and the rotation of the gear drives the second rack to move downward, so that the first rack and the second rack are reset.

[0012] In some embodiments, the first docking mechanism includes a positioning hole, and the second docking mechanism includes a positioning post. The positioning post is disposed on the lifting plate. After the automatic guided vehicle moves to the target docking position under the chassis, the lifting plate is used to jack up, driving the positioning post to move toward the positioning hole, so that the positioning post is inserted into the positioning hole. The lifting plate is used to move downward, driving the positioning post away from the positioning hole.

[0013] In some embodiments, the second docking mechanism includes a strain gauge. The strain gauge is disposed inside the positioning post, and the strain gauge is used to detect the contact pressure of the positioning post. The automatic guided vehicle is used to determine the connection state between the positioning post and the positioning hole according to the contact pressure.

[0014] In some embodiments, the picking robot includes a first energy storage battery, and the automatic guided vehicle includes a second energy storage power supply. When the first docking mechanism is connected to the second docking mechanism, the first energy storage power supply can charge the second energy storage power supply, or the first energy storage power supply can receive the electric energy provided by the second energy storage power supply.

[0015] When the first docking mechanism is connected to the second docking mechanism, the automatic guided vehicle and the picking robot can temporarily form a whole. When the picking robot is low on power, the automatic guided vehicle can supply power to the picking robot, which is beneficial to increasing the battery life of the picking robot. When the automatic guided vehicle is low on power, the picking robot can charge the automatic guided vehicle, which is beneficial to increasing the battery life of the automatic guided vehicle.

[0016] An embodiment of the present invention provides a picking system. The picking system includes at least one picking robot and at least one automatic guided vehicle. The picking robot includes a first docking mechanism, and the automatic guided vehicle includes a second docking mechanism, and the first docking mechanism is used to be detachably connected to the second docking mechanism. The automatic guided vehicle is used to move toward the picking robot and dock with the first docking mechanism of the picking robot through the second docking mechanism when a picking robot has a picking task, and to pull the picking robot to move after the docking is completed, so that the picking robot performs the picking task. After the picking task is completed, the picking robot is driven to move to the unloading area, the second docking mechanism is controlled to disconnect from the first docking structure, and the picking robot is moved toward another picking robot and docked with the other picking robot, and the other picking robot is pulled to move. The picking robot is used to perform picking tasks under the traction of the automatic guided vehicle and perform unloading tasks in the unloading area. After the connection between the first docking mechanism and the second docking mechanism is disconnected, the automatic guided vehicle can move to other positions on its own, without having to wait for a picking robot to complete its work before executing the subsequent work. The combination method is flexible and changeable, which improves the utilization rate of the automatic guided vehicle, can save the number of automatic guided vehicles put into use in the picking system, reduce the cost of the picking system, and improve the operating efficiency of the warehousing and logistics system.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 is a schematic diagram of a picking system according to an embodiment of the present invention;

[0020] Figure 2 is a front view of the docking of the picking robot and the automatic guided vehicle according to the embodiment of the present invention;

[0021] Figure 3 is a top view of the docking of the picking robot and the automatic guided vehicle according to an embodiment of the present invention;

[0022] Figure 4It is a schematic diagram of the structure of the first docking mechanism and the second docking mechanism according to an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the picking robot according to an embodiment of the present invention;

[0024] Figure 6 It is a working schematic diagram of the picking system according to an embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the warehousing work of the picking system according to an embodiment of the present invention;

[0026] Figure 8 It is a schematic diagram of the outbound work of the picking system according to an embodiment of the present invention;

[0027] Figure 9 It is a schematic diagram of the transfer component driving the picking robot to move according to an embodiment of the present invention. Specific Embodiments

[0028] The following details the embodiments of the present invention. The described embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0029] In the related art, the picking robot includes a gantry picking mechanism and an Automated Guided Vehicle (AGV). When the picking robot is working, the AGV can drive the gantry picking mechanism to the goods picking station, and the gantry picking mechanism performs the work of picking goods at the goods picking station to achieve the warehousing and outbound of goods.

[0030] However, the operating efficiency of the AGV is much higher than that of the gantry picking mechanism. When the picking robot is working, it is very likely that the AGV has completed its work while the gantry picking mechanism has not completed its work. The AGV needs to wait for the gantry picking mechanism to complete its work before performing the subsequent work, resulting in a reduction in the operating efficiency of the warehousing and logistics system.

[0031] Refer to Figure 1, the picking system 1000 provided by the embodiment of the present invention includes at least one picking robot 100 and at least one automated guided vehicle 200. The picking robot 100 includes a first docking mechanism 110, and the automated guided vehicle 200 includes a second docking mechanism 210. The first docking mechanism 110 is used for detachably connecting with the second docking mechanism 210. The automated guided vehicle 200 is used to move towards the picking robot 100 and dock with the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210 when a picking task is assigned to a picking robot 100. After docking, the automated guided vehicle 200 towes the picking robot 100 to move, so that the picking robot 100 can perform the picking task. After the picking task is completed, the automated guided vehicle 200 drives the picking robot 100 to move to the unloading area, controls the second docking mechanism 210 to disconnect from the first docking structure, moves towards another picking robot 100 and docks with the other picking robot 100, and then towes the other picking robot 100 to move. The picking robot 100 is used to perform the picking task under the towing of the automated guided vehicle 200 and perform the unloading task in the unloading area.

[0032] Specifically, the automated guided vehicle 200 is detachably connected to the picking robot 100. The automated guided vehicle 200 can be separated from the picking robot 100, and the automated guided vehicle 200 can also be connected to the picking robot 100.

[0033] The picking robot 100 has an independent control system and power supply system. The picking robot 100 can independently perform the picking task of loading goods or the unloading task of unloading goods.

[0034] The automated guided vehicle 200 (Automated Guided Vehicle, AGV) has the function of moving by itself. The automated guided vehicle 200 can carry the picking robot 100 to move to the target position. The target position can be the designated position where the picking robot 100 performs operations, and the picking robot 100 needs to perform corresponding operations at the target position. The automated guided vehicle 200 can also have the function of navigation and positioning, can determine the target position, and carry the picking robot 100 to move to the target position.

[0035] When the picking robot 100 needs to move to a specific target position to perform operations, the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automated guided vehicle 200, and the automated guided vehicle 200 carries the picking robot 100 to move to the target position.

[0036] When the picking robot needs to perform the picking task, the automated guided vehicle 200 first moves to the position of the picking robot 100 and connects to the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210, and the automated guided vehicle 200 carries the picking robot 100 to move towards the picking area.

[0037] When the automatic guided vehicle 200 needs to carry the picking robot 100 and move it to the unloading area, the automatic guided vehicle 200 first moves to the position of the picking robot 100 and connects with the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210. Then the automatic guided vehicle 200 carries the picking robot 100 and moves towards the unloading area.

[0038] A picking robot 100 can be connected to multiple automatic guided vehicles 200 at different times. When the picking robot 100 needs to perform a picking task, the picking robot 100 can be connected to an automatic guided vehicle 200, and the automatic guided vehicle 200 guides the picking robot 100 to move to the picking area. When the picking robot 100 needs to perform an unloading task, the picking robot 100 can be connected to another automatic guided vehicle 200, and the other automatic guided vehicle 200 guides the picking robot 100 to move to the unloading area.

[0039] The automatic guided vehicle 200 can also be docked and used with multiple picking robots 100 at different times. After the automatic guided vehicle 200 carries the picking robot 100 and moves to the target position, the automatic guided vehicle 200 can be separated from the picking robot 100 and move to other positions by itself. After the connection between the second docking mechanism 210 and the first docking mechanism 110 is disconnected, the automatic guided vehicle 200 is no longer restricted by the picking robot 100. The automatic guided vehicle 200 can search for other picking robots 100 that need to be carried and moved by the automatic guided vehicle 200 by itself, connect with another picking robot 100, and carry the other picking robot 100 to move to another target position, so that the other picking robot 100 can perform corresponding operations at the target position. This improves the working efficiency of the warehousing and logistics system.

[0040] For example, robot A1 can be a picking robot 100 that performs unloading operations, and robot A2 can be a picking robot 100 that performs loading operations. The automatic guided vehicle 200 can carry robot A1 and move it to the unloading area. After the automatic guided vehicle 200 moves to the unloading area, the second docking mechanism 210 of the automatic guided vehicle 200 is disconnected from the first docking mechanism 110 of robot A1, and robot A1 performs unloading operations in the unloading area. At this time, robot A2 needs to move to the loading area to perform the operation of loading goods. The automatic guided vehicle 200 then moves under the base 120 of robot A2, connects the second docking mechanism 210 of the automatic guided vehicle 200 with the first docking mechanism 110 of robot A2, and then drives robot A2 to another target position.

[0041] The automatic guided vehicle 200 is not restricted by a single picking robot 100, and the combination method is flexible and changeable, which improves the utilization rate of the automatic guided vehicle 200, can save the number of automatic guided vehicles 200 put into use in the picking system 1000, and reduces the cost of the picking system 1000.

[0042] Referring to Figure 2 and Figure 3 , in some embodiments, the picking robot 100 includes a chassis 120, a first docking mechanism 110 is disposed under the chassis 120, the automatic guided vehicle 200 includes a lifting plate 220, and a second docking mechanism 210 is disposed on the lifting plate 220. The lifting plate 220 is used to lift upward after the automatic guided vehicle 200 moves to a target docking position under the chassis 120, driving the second docking mechanism 210 to move towards the first docking mechanism 110 so that the first docking mechanism 110 is docked with the second docking mechanism 210. The lifting plate 220 is used to move downward, driving the second docking mechanism 210 away from the first docking mechanism 110 so that the first docking mechanism 110 is disconnected from the second docking mechanism 210.

[0043] The lifting plate 220 can raise the position of the second docking mechanism 210 to achieve the docking of the second docking mechanism 210 with the first docking mechanism.

[0044] Specifically, the picking robot 100 includes a chassis 120, and a first docking mechanism 110 is disposed under the chassis 120. The automatic guided vehicle includes a lifting plate, and a second docking mechanism is disposed on the lifting plate. When the automatic guided vehicle 200 is at the target docking position, the first docking mechanism 110 and the second docking mechanism 210 can be accurately docked.

[0045] When the picking robot 100 needs to perform a moving operation, the automatic guided vehicle 200 will move to a target docking position under the base 120 of the picking robot 100. The lifting plate 220 lifts upward, and the lifting plate 220 drives the second docking mechanism 210 to move towards the first docking mechanism 110 so that the first docking mechanism 110 is docked with the second docking mechanism 210.

[0046] When the lifting plate 220 raises the second docking mechanism 210, it also raises the position of the picking robot 100. When the automatic guided vehicle 200 moves while carrying the picking robot 100, there is a certain distance between the picking robot 100 and the ground, and the picking robot 100 does not directly contact the ground, so the picking robot 100 will not rub against the ground and cause damage to the picking robot 100, and the noise generated by ground friction is also avoided.

[0047] After the picking robot 100 moves to the target position and when the first docking mechanism 110 needs to disconnect from the second docking mechanism 210, the lifting plate 220 is used to move downward, driving the second docking mechanism 210 away from the first docking mechanism 110 so that the first docking mechanism 110 disconnects from the second docking mechanism 210.

[0048] Refer to Figure 2 and Figure 3 , in some embodiments, the picking robot 100 includes an identification plate 122. The identification plate 122 is disposed under the chassis 120, and the second docking mechanism 210 includes a distance sensor 211. After the automatic guided vehicle 200 moves under the chassis 120, the distance sensor 211 is used to detect the relative position between the second docking mechanism 210 and the identification plate 122 to determine whether the automatic guided vehicle 200 has moved to the target docking position.

[0049] The distance sensor 211 is used to determine whether the automatic guided vehicle 200 has moved to the target docking position. After the automatic guided vehicle 200 moves to the target docking position, the lifting plate 220 can drive the second docking mechanism 210 to move towards the first docking mechanism 110 so that the first docking mechanism 110 docks with the second docking mechanism 210.

[0050] Specifically, when the picking robot 100 needs to perform a moving operation, the automatic guided vehicle 200 will move under the base of the picking robot 100. After the automatic guided vehicle 200 moves under the chassis 120, the distance sensor 211 emits a detection signal to detect the relative position between the second docking mechanism 210 and the identification plate 122.

[0051] The detection signal emitted by the distance sensor 211 can be a line laser signal, an ultrasonic signal, or other detection signals. The detection signal is sent to the identification plate 122 and then reflected back. The distance sensor 211 can determine the distance between the distance sensor 211 and the identification plate 122 based on the sent detection signal and the received detection signal, that is, the distance between the second docking mechanism 210 and the identification plate 122.

[0052] The distance sensor 211 can emit corresponding detection signals to multiple identification positions on the identification plate 122, can detect the distances between the second docking mechanism 210 and the multiple identification positions, and determine the relative position between the second docking mechanism 210 and the identification plate 122 based on the distances between the second docking mechanism 210 and the multiple identification positions.

[0053] Since the position of the identification board 122 is determined, the position of the second docking mechanism 210 can be determined after determining the relative position between the second docking mechanism 210 and the identification board 122. After determining the position of the second docking mechanism 210, the position of the automatic guided vehicle 200 can be determined to determine whether the automatic guided vehicle 200 has moved to the target docking position.

[0054] Referring to Figure 4 , in some embodiments, the first docking mechanism 110 includes a first power communication interface 111, the second docking mechanism 210 includes a second power communication interface 212 and a first rack 2131, and the second power communication interface 212 is disposed on the first rack 2131; the first rack 2131 is configured to drive the second power communication interface 212 to move toward the first power communication interface 111 when the second docking mechanism 210 moves toward the first docking mechanism 110, so that the second power communication interface 212 is connected to the first power communication interface 111.

[0055] The first rack 2131 is configured to drive the second power communication interface 212 to move toward the first power communication interface 111, so that the second power communication interface 212 is connected to the first power communication interface 111.

[0056] Specifically, the picking robot 100 has an independent control system and a power supply system, and the picking robot 100 can independently perform operations of loading or unloading goods. The automatic guided vehicle 200 also has an independent control system and a power supply system, and the automatic guided vehicle 200 can move independently.

[0057] The power communication line 214 of the automatic guided vehicle 200 can be connected through the first rack 2131 and the second power communication interface 212. The first power communication interface 111 can be a communication interface of the picking robot 100, and the second power communication interface 212 can be a communication interface of the automatic guided vehicle 200. When the first power communication interface 111 is connected to the second power communication interface 212, the control systems of the picking robot 100 and the automatic guided vehicle 200 communicate with each other, and the automatic guided vehicle 200 and the picking robot 100 can temporarily form an integral body to work.

[0058] The first power communication interface 111 can be a power interface of the picking robot 100, and the second power communication interface 212 can be a power interface of the automatic guided vehicle 200. When the first power communication interface 111 is connected to the second power communication interface 212, the picking robot 100 can charge the automatic guided vehicle 200, and the automatic guided vehicle 200 can also charge the picking robot 100.

[0059] Referring to Figure 4, in some embodiments, the first docking mechanism 110 includes a first dust-proof brush 112, the second docking mechanism 210 includes a second dust-proof brush 215, the first dust-proof brush 112 is disposed on the first power communication interface 111, and the second dust-proof brush 215 is disposed on the second power communication interface 212.

[0060] The dust-proof brush can effectively block dust and other impurities from entering the power communication interface, and can reduce the risk of the power communication interface being blocked by dust and other impurities and the internal components being eroded by dust.

[0061] Specifically, the first dust-proof brush 112 is disposed on the first power communication interface 111, and the second dust-proof brush 215 is disposed on the second power communication interface 212. The first dust-proof brush 112 is arranged to block dust and other impurities from entering the first power communication interface 111, and the second dust-proof brush 215 is arranged to block dust and other impurities from entering the second power communication interface 212.

[0062] Refer to Figure 4 , in some embodiments, the first docking mechanism 110 includes a grid baffle 113, the second docking mechanism 210 includes a second rack 2133 and a gear 2132. One side of the gear 2132 meshes with the first rack 2131, and the other side of the gear 2132 meshes with the second rack 2133. Both the first rack 2131 and the second rack 2133 are movably disposed on the lifting plate 220. The first rack 2131 is vertically arranged, the second power communication interface 212 is disposed at the upper end of the first rack 2131, the upper end of the first rack 2131 is located at the opening of the lifting plate 220, and the first rack 2131 can pass through the opening. The second rack 2133 passes through the lifting plate 220 and is vertically arranged. When the lifting plate 220 is lifted upward, it drives the gear 2132 and the second rack 2133 to move upward. After the second rack 2133 contacts the grid baffle 113, the second rack 2133 stops moving. During the continuous upward movement of the lifting plate 220, the gear 2132 rotates and continues to move upward along the second rack 2133. The first rack 2131 moves upward as the gear 2132 rotates, and ejects the second power communication interface 212 from the opening until the second power communication interface 212 is docked with the first power communication interface 111.

[0063] After the second rack 2133 moves upward and contacts the grid baffle 113, the second rack 2133 stops moving, preventing the second rack 2133 from continuing to move upward due to inertia, so that the upward movement position of the second rack 2133 is basically the same as the upward movement position of the lifting plate 220.

[0064] Specifically, during the upward movement of the jacking plate 220, the jacking plate 220 first drives the second rack 2133 to move upward, causing the gear 2132 to rotate, and then causing the first rack 2131 to move upward as the gear 2132 rotates.

[0065] The second power communication interface 212 is provided at the upper end of the first rack 2131, and the upper end of the first rack 2131 is located at the opening of the jacking plate 220. During the upward movement of the jacking plate 220, the position of the upper end of the first rack 2131 gradually rises. The first rack 2131 can pass through the opening and drive the second power communication to be ejected from the opening until the second power communication interface 212 is docked with the first power communication interface 111.

[0066] The second dust brush 215 can be provided above the opening. During the upward movement of the jacking plate 220, the first rack 2131 can pass through the second dust brush 215 above the opening and drive the second power communication to be ejected from the opening until the second power communication interface 212 is docked with the first power communication interface 111.

[0067] The first docking mechanism 110 includes a grid baffle 113. During the upward movement of the jacking plate 220, after the second rack 2133 moves upward and contacts the grid baffle 113, the second rack 2133 stops moving, preventing the second rack 2133 from continuing to move upward due to inertia, so that the upward movement position of the second rack 2133 is basically the same as the upward movement position of the jacking plate 220.

[0068] Refer to Figure 4 , in some embodiments, the second docking mechanism 210 includes a spring 216. One end of the spring 216 is fixed to the jacking plate 220, and the other end is fixed to the first rack 2131; the upward movement of the first rack 2131 can cause the spring 216 to be compressed. When the jacking plate 220 moves downward, the first rack 2131 moves downward under the elastic force of the spring 216, driving the gear 2132 to rotate. The rotation of the gear 2132 drives the second rack 2133 to move downward, causing the first rack 2131 and the second rack 2133 to reset.

[0069] When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the spring 216 can reset the first docking mechanism 110 and the second docking mechanism 210.

[0070] Specifically, one end of the spring 216 is fixed on the lifting plate 220, and the other end is fixed on the first rack 2131. When the first docking mechanism 110 and the second docking mechanism 210 are docked, the upward movement of the first rack 2131 can compress the spring 216. When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the lifting plate 220 moves downward, and the first rack 2131 moves downward under the elastic force of the spring 216, driving the gear 2132 to rotate. The rotation of the gear 2132 drives the second rack 2133 to move downward, so that the first rack 2131 and the second rack 2133 are reset, realizing the reset of the first docking mechanism 110 and the second docking mechanism 210.

[0071] Referring to Figure 4 , in some embodiments, the first docking mechanism 110 includes a positioning hole 114, and the second docking mechanism 210 includes a positioning post 217. The positioning post 217 is arranged on the lifting plate 220. The lifting plate 220 is used to lift upward after the automated guided vehicle 200 moves to the target docking position under the chassis, driving the positioning post 217 to move towards the positioning hole 114, so that the positioning post 217 is inserted into the positioning hole 114. The lifting plate 220 is used to move downward, driving the positioning post 217 to leave the positioning hole 114.

[0072] When the first docking mechanism 110 and the second docking mechanism 210 are docked, the positioning post 217 and the positioning hole 114 are used to fix the connection relationship between the first docking mechanism 110 and the second docking mechanism 210.

[0073] Specifically, when the first docking mechanism 110 and the second docking mechanism 210 are docked, the lifting plate 220 lifts upward, driving the positioning post 217 to move towards the positioning hole 114, so that the positioning post 217 is inserted into the positioning hole 114. The convex part on the upper surface of the positioning post 217 matches the positioning hole 114 to prevent the positioning post 217 from slipping out of the positioning hole 114.

[0074] When the first docking mechanism 110 and the second docking mechanism 210 are disconnected, the lifting plate 220 moves downward, driving the positioning post 217 to leave the positioning hole 114.

[0075] Referring to Figure 4 , in some embodiments, the second docking mechanism 210 includes a strain gauge 218. The strain gauge 218 is arranged inside the positioning post 217. The strain gauge 218 is used to detect the contact pressure of the positioning post. The automated guided vehicle 200 is used to determine the connection state between the positioning post 217 and the positioning hole 114 according to the contact pressure.

[0076] The strain gauge 218 is used to detect the contact pressure of the positioning post, and the automated guided vehicle 200 is used to determine the connection state between the positioning post 217 and the positioning hole 114 according to the contact pressure.

[0077] Specifically, one or more strain gauges 218 may be provided. The multiple strain gauges 218 may be provided at multiple different positions inside the positioning post 217 for detecting the contact pressures at multiple positions on the positioning post.

[0078] The automatic guided vehicle 200 can determine the connection state between the positioning post 217 and the positioning hole 114 based on the detected contact pressure. For example, when the contact pressure is very small, it can be considered that the contact pressure between the positioning post 217 and the positioning hole 114 is small, and the connection state between the positioning post 217 and the positioning hole 114 is poor. When the contact pressure is relatively large, it can be considered that the contact pressure between the positioning post 217 and the positioning hole 114 is large, and the connection state between the positioning post 217 and the positioning hole 114 is good.

[0079] The automatic guided vehicle 200 can determine the connection state between the positioning post 217 and the positioning hole 114 based on the detected multiple contact pressures. For example, one strain gauge 218 may be provided on the left side inside the positioning post 217, and another strain gauge 218 may be provided on the right side inside the positioning post 217. When the contact pressures detected by the two strain gauges 218 are inconsistent, it can be considered that the forces on the left and right sides of the positioning post 217 are inconsistent, and the connection state between the positioning post 217 and the positioning hole 114 is poor. When the contact pressures detected by the two strain gauges 218 are basically the same, it can be considered that the forces on the left and right sides of the positioning post 217 are basically the same, and the connection state between the positioning post 217 and the positioning hole 114 is good.

[0080] When the first docking mechanism 110 and the second docking mechanism 210 need to be docked, the connection state between the positioning post 217 and the positioning hole 114 is determined according to the strain gauge. When it is determined that the connection state between the positioning post 217 and the positioning hole 114 is not good, the automatic guided vehicle 200 will send a corresponding alarm prompt message, indicating that the first docking mechanism 110 and the second docking mechanism 210 cannot be docked and used.

[0081] When it is determined that the connection state between the positioning post 217 and the positioning hole 114 is good, the first docking mechanism 110 and the second docking mechanism 210 are docked, and the automatic guided vehicle 200 can drive the picking robot 100 to move.

[0082] When the first docking mechanism 110 and the second docking mechanism 210 need to be separated, the connection state between the positioning post 217 and the positioning hole 114 is determined according to the strain gauge to determine whether the positioning post 217 has disengaged from the positioning hole 114. When it is determined that the positioning post 217 has not disengaged from the positioning hole 114, the automatic guided vehicle 200 will send a corresponding alarm prompt message, indicating that the first docking mechanism 110 and the second docking mechanism 210 have not been separated successfully.

[0083] When it is determined that the positioning post 217 has disengaged from the positioning hole 114, the first docking mechanism 110 and the second docking mechanism 210 are successfully separated, and the automatic guided vehicle 200 can disengage from the picking robot 100 and move to other positions on its own.

[0084] Referring to Figure 5 , specifically, the picking robot 100 further includes a first energy storage power supply 130, a first control system 140, a temporary storage platform 150, a telescopic member 160, and a rotating member 170. Among them, the first energy storage power supply 130 is the power supply of the picking robot 100 and is used to supply power to the picking robot 100. The control system is used to control the operation of each module of the picking robot 100. The temporary storage platform 150 is used to store goods. The picking robot 100 further includes a forklift and a lifting member. The forklift is used to pick goods, and the lifting member, the telescopic member 160, and the rotating member 170 can realize functions such as the up and down reciprocating lifting of the forklift, the rotation of ±90°, and the hooking of the forklift.

[0085] Referring to Figure 5 , in some embodiments, the picking robot 100 includes a first energy storage power supply 130, and the automatic guided vehicle 200 includes a second energy storage power supply. When the first docking mechanism 110 is connected to the second docking mechanism 210, the first energy storage power supply 130 can charge the second energy storage power supply, or the first energy storage power supply 130 can receive the electric energy provided by the second energy storage power supply.

[0086] In some embodiments, the automatic guided vehicle 200 includes a second energy storage power supply, and the picking robot 100 includes a first energy storage power supply 130. When the second docking mechanism 210 is connected to the first docking mechanism 110, the second energy storage power supply can charge the first energy storage power supply 130, or the second energy storage power supply can receive the electric energy provided by the first energy storage power supply 130.

[0087] When the first docking mechanism 110 is connected to the second docking mechanism 210, the automatic guided vehicle 200 and the picking robot 100 can temporarily form a whole. When the power of the picking robot 100 is insufficient, the automatic guided vehicle 200 can supply power to the picking robot 100, which is beneficial to increasing the endurance of the picking robot 100. When the power of the automatic guided vehicle 200 is insufficient, the picking robot 100 can charge the automatic guided vehicle 200, which is beneficial to increasing the endurance of the automatic guided vehicle 200.

[0088] Specifically, the first energy storage power supply 130 is the power supply of the picking robot 100, and the second energy storage power supply is the power supply of the automatic guided vehicle 200. When the power of the picking robot 100 is insufficient, the second energy storage power supply can supply power to the first energy storage power supply 130. When the power of the automatic guided vehicle 200 is insufficient, the first energy storage power supply 130 can charge the second energy storage power supply.

[0089] Reference Figure 5 Figure 5 , in some embodiments, the picking robot 100 includes a staging platform 150. The staging platform 150 is used to store goods. The picking robot 100 is used to unload the goods on the staging platform 150 to a target position, or load the goods at the target position onto the staging platform 150.

[0090] Specifically, when the picking robot 100 needs to perform a loading operation, the automated guided vehicle 200 first carries the picking robot 100 and moves towards the loading area. After the automated guided vehicle 200 moves to the loading area, the connection between the automated guided vehicle 200 and the picking robot 100 is disconnected, and the automated guided vehicle 200 can move to other positions on its own. The picking robot 100 loads the goods onto the staging platform 150 in the loading area.

[0091] When the picking robot 100 needs to perform an unloading operation, the automated guided vehicle 200 first carries the picking robot 100 and moves towards the unloading area. After the automated guided vehicle 200 moves to the unloading area, the connection between the automated guided vehicle 200 and the picking robot 100 is disconnected, and the automated guided vehicle 200 can move to other positions on its own. The picking robot 100 unloads the goods from the staging platform 150 to the unloading area.

[0092] Reference Figure 5 Figure 5 , in some embodiments, the picking robot 100 includes a lifting member and a forklift. The forklift is connected to the lifting member. The lifting member is used to drive the forklift to rise or fall, so that the forklift can unload the goods on the staging platform 150 to a target position, or load the goods at the target position onto the staging platform 150.

[0093] The forklift can be used as a device for the picking robot 100 to grab goods. The lifting member can drive the forklift to rise or fall to change the position of the forklift, so that the forklift can reach a specific position to grab goods, enabling the picking robot 100 to perform the operations of loading goods or unloading goods.

[0094] Specifically, when the picking robot 100 loads goods, the lifting member can drive the forklift to rise or fall and move to a specific staging platform 150, and load the goods on the specific staging platform 150. When the picking robot 100 unloads goods, the lifting member can drive the forklift to rise or fall and move to a specific staging platform 150, and grab the goods on the specific staging platform 150, so that the picking robot 100 can unload the goods on the specific staging platform 150 to the corresponding unloading area.

[0095] Reference Figure 5, in some embodiments, the picking robot 100 includes a telescopic member 160, and the forklift is connected to the telescopic member 160. The telescopic member 160 is used to drive the forklift to extend or retract, so that the forklift unloads the goods on the temporary storage platform 150 to the target position, or loads the goods at the target position onto the temporary storage platform 150.

[0096] The telescopic member 160 can drive the forklift to extend or retract to change the position of the forklift, so that the forklift can reach a specific position to grab the goods, so that the picking robot 100 can realize the operation of loading or unloading goods.

[0097] Specifically, when the picking robot 100 loads goods, the telescopic member 160 can drive the forklift to extend or retract and move to a specific temporary storage platform 150, and load the goods on the specific temporary storage platform 150. When the picking robot 100 unloads goods, the telescopic member 160 can drive the forklift to extend or retract and move to a specific temporary storage platform 150, and grab the goods on the specific temporary storage platform 150, so that the picking robot 100 can unload the goods on the specific temporary storage platform 150 to the corresponding unloading area.

[0098] Refer to Figure 5 , in some embodiments, the picking robot 100 includes a rotating member 170, and the forklift is connected to the rotating member 170. The rotating member 170 is used to drive the forklift to rotate, so that the forklift unloads the goods on the temporary storage platform 150 to the target position, or loads the goods at the target position onto the temporary storage platform 150.

[0099] The rotating member 170 can drive the forklift to rotate to change the position of the forklift, so that the forklift can reach a specific position to grab the goods, so that the picking robot 100 can realize the operation of loading or unloading goods.

[0100] Specifically, when the picking robot 100 loads goods, the rotating member 170 can drive the forklift to rotate and move to a specific temporary storage platform 150, and load the goods on the specific temporary storage platform 150. When the picking robot 100 unloads goods, the rotating member 170 can drive the forklift to rotate and move to a specific temporary storage platform 150, and grab the goods on the specific temporary storage platform 150, so that the picking robot 100 can unload the goods on the specific temporary storage platform 150 to the corresponding unloading area.

[0101] Refer to Figure 6 and Figure 7, in some embodiments, when the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automated guided vehicle 200, the automated guided vehicle 200 is used to drive the picking robot 100 to move to the warehousing station, so that the picking robot 100 loads the goods of the warehousing sorting conveyor device 310 at the warehousing station onto the temporary storage platform 150 of the picking robot 100.

[0102] Specifically, when the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automated guided vehicle 200, the automated guided vehicle 200 can drive the picking robot 100 to move to the warehousing station. The warehousing sorting conveyor device 310 conveys the goods to the warehousing station, and workers can cooperate with the picking robot 100 at the warehousing station to perform the work of picking and warehousing goods, without the need to use an additional warehousing workstation to perform the work of picking and warehousing goods, reducing the usage cost of the picking system 1000.

[0103] Refer to Figure 6 And Figure 8 , when the first docking mechanism 110 is connected to the second docking mechanism 210, the automated guided vehicle 200 is further used to drive the picking robot 100 to move to the outbound station, so that the picking robot 100 unloads the goods stored on the temporary storage platform 150 at the outbound station onto the outbound sorting conveyor device 320 and exits through the outbound sorting conveyor device 320.

[0104] Specifically, after the picking robot 100 completes the operation of picking boxes on the shelf, the first docking mechanism 110 of the picking robot 100 is connected to the second docking mechanism 210 of the automated guided vehicle 200, and the automated guided vehicle 200 is used to drive the picking robot 100 to move to the outbound station. The picking robot 100 needs to exit the goods through the outbound sorting conveyor device 320. Workers can cooperate with the picking robot 100 at the outbound station to perform the work of goods outbound, without the need to use an additional outbound workstation to perform the work of goods outbound, reducing the usage cost of the picking system 1000.

[0105] Refer to Figure 6 And Figure 9 , in some embodiments, the picking system 1000 further includes a transfer component 400. When the picking robot 100 unloads the goods to an empty state at the outbound station, the transfer component 400 is used to drive the picking robot 100 to move to the warehousing station.

[0106] When the picking robot 100 unloads goods at the outbound station to become unloaded, the transfer assembly 400 is used to drive the picking robot 100 to move to the inbound station. The picking robot 100 can then cooperate with workers at the inbound station to perform the task of picking goods for inbound storage, without additional waiting time, which can improve the working efficiency of the picking system 1000.

[0107] Specifically, station B can be the inbound station, and station A can be the outbound station. The picking robot 100 at station A can perform the task of outbound goods. The goods loaded on the picking robot 100 are sent out of the warehouse through the outbound sorting and conveying device 320. When the picking robot 100 at station A finishes unloading and becomes unloaded, it can be moved from station A to station B by the horizontal transfer assembly 400 at the bottom, and perform the operation of inbound loading at station B. This cycle continues without additional waiting time, which can improve the working efficiency of the picking system 1000.

[0108] An embodiment of the present invention provides a picking system 1000. The picking system 1000 includes at least one picking robot 100 and at least one automated guided vehicle 200. The picking robot 100 includes a first docking mechanism 110, and the automated guided vehicle 200 includes a second docking mechanism 210. The first docking mechanism 110 is used for detachably connecting with the second docking mechanism 210. The automated guided vehicle 200 is used to move towards the picking robot 100 and dock with the first docking mechanism 110 of the picking robot 100 through the second docking mechanism 210 when the picking robot 100 has a picking task. After docking, it pulls the picking robot 100 to move so that the picking robot 100 can perform the picking task. After the picking task is completed, it drives the picking robot 100 to move to the unloading area, controls the second docking mechanism 210 to disconnect from the first docking structure, moves towards another picking robot 100 and docks with that another picking robot 100, and pulls that another picking robot 100 to move. The picking robot 100 is used to perform the picking task under the traction of the automated guided vehicle 200 and perform the unloading task in the unloading area. After the connection between the first docking mechanism 110 and the second docking mechanism 210 is disconnected, the automated guided vehicle 200 can move to other positions by itself, without having to wait for a single picking robot 100 to complete its work before performing subsequent work. The combination method is flexible and variable, improving the utilization rate of the automated guided vehicle 200, saving the number of automated guided vehicles 200 put into use in the picking system 1000, reducing the cost of the picking system 1000, and improving the operating efficiency of the warehousing and logistics system.

[0109] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0110] In addition, the term "connection" should be understood in a broad sense. For example, it may include fixed connection, may also include detachable connection, or integral connection; it may include direct connection, may also be indirectly connected through an intermediate medium, and may also include the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0111] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0112] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a way that is not in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved or in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0113] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A picking system, characterized in that, The picking system includes at least one picking robot and at least one automated guided vehicle; The picking robot includes a first docking mechanism, and the automated guided vehicle includes a second docking mechanism. The first docking mechanism is used for detachably connecting with the second docking mechanism; The automated guided vehicle is configured to move towards the picking robot when the picking robot has a picking task, dock with the first docking mechanism of the picking robot through the second docking mechanism. After docking, it towes the picking robot to move so that the picking robot can perform the picking task. After the picking task is completed, it drives the picking robot to move to the unloading area, controls the second docking mechanism to disconnect from the first docking structure, moves towards another picking robot and docks with the other picking robot, and towes the other picking robot to move; The picking robot is configured to perform the picking task under the towing of the automated guided vehicle and perform the unloading task in the unloading area.

2. The picking system according to claim 1, characterized in that, The picking robot includes a chassis, and the first docking mechanism is arranged under the chassis. The automated guided vehicle includes a lifting plate, and the second docking mechanism is arranged on the lifting plate; The lifting plate is configured to lift upwards after the automated guided vehicle moves to the target docking position under the chassis, drive the second docking mechanism to move towards the first docking mechanism, so that the first docking mechanism is docked with the second docking mechanism; The lifting plate is configured to move downwards, drive the second docking mechanism away from the first docking mechanism, so that the first docking mechanism is disconnected from the second docking mechanism.

3. The picking system according to claim 2, characterized in that, The picking robot includes an identification plate, and the identification plate is arranged under the chassis. The second docking mechanism includes a distance sensor; After the automated guided vehicle moves under the chassis, the distance sensor is used to detect the relative position between the second docking mechanism and the identification plate to determine whether the automated guided vehicle has moved to the target docking position.

4. The picking system according to claim 2, characterized in that, The first docking mechanism includes a first power and communication interface, the second docking mechanism includes a first rack and a second power and communication interface, and the second power and communication interface is arranged on the first rack; The first rack is configured to drive the second power and communication interface to move towards the first power and communication interface when the second docking mechanism moves towards the first docking mechanism, so that the second power and communication interface is connected to the first power and communication interface.

5. The picking system according to claim 4, characterized in that, The first docking mechanism includes a first dust brush, the second docking mechanism includes a second dust brush, the first dust brush is arranged on the first power and communication interface, and the second dust brush is arranged on the second power and communication interface.

6. The picking system according to claim 4, wherein The first docking mechanism includes a grid baffle. The second docking mechanism includes a second rack and a gear. One side of the gear meshes with the first rack, and the other side of the gear meshes with the second rack. Both the first rack and the second rack are movably arranged on the lifting plate. The first rack is vertically arranged. The second power communication interface is arranged at the upper end of the first rack. The upper end of the first rack is located at the opening of the lifting plate, and the first rack can pass through this opening. The second rack passes through the lifting plate and is vertically arranged. The lifting plate jacks up, driving the gear and the second rack to move upward. After the second rack contacts the grid baffle, the second rack stops moving. During the continuous upward movement of the lifting plate, the gear rotates and continues to move upward along the second rack. The first rack moves upward as the gear rotates, pushing the second power communication interface out of the opening until the second power communication interface is docked with the first power communication interface.

7. The picking system according to claim 6, characterized in that, The second docking mechanism includes a spring. One end of the spring is fixed on the lifting plate, and the other end is fixed on the first rack. The upward movement of the first rack can compress the spring. When the lifting plate moves downward, the first rack moves downward under the elastic force of the spring, driving the gear to rotate. The rotation of the gear drives the second rack to move downward, so that the first rack and the second rack are reset.

8. The picking system according to claim 2, wherein The first docking mechanism includes a positioning hole. The second docking mechanism includes a positioning post. The positioning post is arranged on the lifting plate. The lifting plate is used to jack up after the automatic guided vehicle moves to the target docking position under the chassis, driving the positioning post to move towards the positioning hole, so that the positioning post is inserted into the positioning hole. The lifting plate is used to move downward, driving the positioning post to leave the positioning hole.

9. The picking system according to claim 8, wherein The second docking mechanism includes a strain gauge. The strain gauge is arranged inside the positioning post. The strain gauge is used to detect the contact pressure of the positioning post. The automatic guided vehicle is used to determine the connection state between the positioning post and the positioning hole according to the contact pressure.

10. The picking system according to claim 1, characterized in that, The picking robot includes a first energy storage battery, and the automatic guided vehicle includes a second energy storage power supply. When the first docking mechanism is connected to the second docking mechanism, the first energy storage power supply can charge the second energy storage power supply, or the second energy storage power supply can charge the first energy storage power supply.

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