Material box taking and placing device and carrying robot

Abstract

The embodiment of the utility model provides a material box taking and placing device and a carrying robot, and relates to the technical field of warehouse logistics. According to the material box taking and placing device, when the material box located on the goods shelf is taken, the claw stretching and retracting driving mechanism drives the claw stretching and retracting mechanism to drive the claw mechanism to stretch out towards the material box. The claw mechanism is installed at the front end of the claw telescopic mechanism, and the claw telescopic mechanism can drive the claw mechanism to stretch out and draw back so that the claw mechanism can hook the material box on the warehouse goods shelf and move the material box to the material box taking and placing platform or push the material box on the material box taking and placing platform to move the material box to the warehouse goods shelf. According to the material box taking and placing device, the material boxes are carried in a hooking mode, operation gaps do not need to be reserved between the material boxes for a robot, the storage density of the material boxes on a goods shelf is increased, and the storage capacity rate of a warehouse is increased.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing logistics, and particularly to a bin picking and placing device and a handling robot. Background Art

[0002] In the technical field of warehousing logistics, handling robots are usually used to transfer and handle bins such as those located on warehouse shelves.

[0003] Currently, in the handling process of a handling robot, mainly a bin picking and placing device is used to pick up a bin from a warehouse shelf, temporarily store it on the handling robot, and then move the bin to the destination through the movement of the handling robot. In this process, picking up and placing the bin from the warehouse shelf by the bin picking and placing device is an important link.

[0004] Generally, in order to enable the bin picking and placing device to smoothly pick up and place bins from the warehouse shelf, a certain interval space is reserved between the upper and lower layers or left and right columns of bins on the warehouse shelf. However, the existence of too much interval space results in a smaller number of bins that can be stored on the warehouse shelf, thus causing the storage capacity of the warehouse to be not high enough. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a bin picking and placing device and a handling robot, so that the warehouse shelf does not need to reserve an operation gap for the robot, thereby improving the storage capacity rate of the warehouse. The specific technical solutions are as follows:

[0006] The embodiments of the present application provide a bin picking and placing device, including:

[0007] A bottom mounting plate, a claw telescopic driving mechanism, a claw telescopic mechanism, a claw mechanism, and a bin picking and placing platform;

[0008] The claw telescopic driving mechanism and the bin picking and placing platform are mounted on the bottom mounting plate;

[0009] The telescopic end of the claw telescopic mechanism is fixedly connected to the claw mechanism; the fixed end of the claw telescopic mechanism is fixed at the rear end of the bottom mounting plate;

[0010] The claw telescopic driving mechanism is connected to the claw telescopic mechanism and is used to drive the telescopic end of the claw telescopic mechanism to expand and contract, so as to drive the claw mechanism to expand and contract in the front-rear direction of the bin picking and placing platform;

[0011] The claw mechanism is mounted on the telescopic end towards the front end of the bottom mounting plate and is used to, under the drive of the claw telescopic mechanism, extend out of the bin picking and placing device to hook a bin on the warehouse shelf and pull the bin back to the bin picking and placing platform; or, push the bin on the bin picking and placing platform out to the warehouse shelf.

[0012] In some embodiments, the hook mechanism includes:

[0013] A hook fixing plate connected to the front end of the hook telescopic mechanism;

[0014] A hook lifting guide rail is provided on a side of the hook fixing plate away from the hook telescopic mechanism;

[0015] A hook, slidably connected to the hook lifting guide rail via a slider;

[0016] A lifting component is provided on the hook fixing plate, the lifting component is connected to the hook, and the lifting component is used to drive the hook to move up and down along the hook lifting guide rail to hook the material box on the warehouse shelf.

[0017] In some embodiments, the lifting assembly includes:

[0018] A hook driving motor is provided on the hook fixing plate;

[0019] A crank mechanism has a first end fixedly connected to the hook driving motor and the other end hinged to the hook; and is used to lift the hook along the hook lifting guide rail under the drive of the hook driving motor.

[0020] In some embodiments, the crank mechanism includes:

[0021] a crank, one end of which is fixedly connected to the output shaft of the hook drive motor;

[0022] A rocker, wherein a first end of the rocker is hinged to the other end of the crank, and a second end of the rocker is hinged to the hook.

[0023] In some embodiments, the hook claw includes: a hook pull plate, a support plate and a mounting plate connected in sequence;

[0024] The mounting plate is located at the lower part of the hook and is arranged parallel to the hook fixing plate, and is used to be fixedly connected to the slider and hinged to the lifting assembly;

[0025] The supporting plate has a first end connected to the mounting plate, and a second end extending horizontally from the mounting plate toward the material box and connected to the hook-pull plate; the hook-pull plate is bent upward from the second end of the supporting plate and forms a predetermined angle with the supporting plate, so that the hook-pull plate can be driven by the lifting component to be inserted into the groove provided on the outer side of the material box in the height direction to hook and pull the material box.

[0026] In some embodiments, the mounting plate is hinged to the second end of the rocker of the crank mechanism of the lifting assembly through a rotating shaft provided on the hook shaft plate.

[0027] In some embodiments, the hook mechanism further includes:

[0028] The bin sensor is used to detect whether a bin is being hooked and pulled. It is fixedly installed on the support flat plate, facing the hooking plate, and is arranged at a relative interval with the hooking plate, forming an interval area for accommodating the side wall with a groove formed on the outer side of the bin in the case where a bin is being hooked and pulled.

[0029] In some embodiments, a notch is provided at the top of the hooking plate, and a C-shaped member is provided at the notch. The C-shaped member is recessed in a direction away from the bin sensor, so that the detection distance between the bin sensor and the C-shaped member is greater than the distance between the bin sensor and the hooking plate.

[0030] In some embodiments, the bin sensor is fixed to the support flat plate through a bracket. An outlet is provided on a side of the bracket facing away from the hooking plate, and a detection port is provided on a side of the bracket facing the hooking plate;

[0031] The cable of the bin sensor extends out from the outlet; the bin sensor detects whether a bin is being hooked and pulled through the detection port.

[0032] In some embodiments, the hook mechanism further includes: a zero position stop piece; the zero position stop piece is fixedly connected to the hook through a first rib provided on a first side of the connection between the mounting plate and the support flat plate;

[0033] A position detection assembly for cooperating with the zero position stop piece is provided on the hook fixing plate, and the position detection assembly is used to detect the position of the hook.

[0034] In some embodiments, the position detection assembly includes a position detection sensor corresponding to the lower limit position of the hook, and is used to detect whether the zero position stop piece reaches the lower limit position of the hook; or,

[0035] The position detection assembly includes two position detection sensors. One of the two position detection sensors corresponds to the lower limit position of the hook, and the other of the two position detection sensors corresponds to the upper limit position of the hook, and is respectively used to detect whether the zero position stop piece reaches the lower limit position of the hook and whether the zero position stop piece reaches the upper limit position of the hook.

[0036] In some embodiments, the hook mechanism further includes: a wire routing stop piece; the wire routing stop piece is fixedly connected to the hook through a second rib provided on a second side of the connection between the mounting plate and the support flat plate;

[0037] The second rib is provided with a first fixing point, through which the cable extending from the bracket is fixed; the wiring baffle is provided with a second fixing point, through which the cable fixed by the first fixing point is fixed; the length of the cable between the first fixing point and the second fixing point is greater than the stroke of the hook claw moving in the up and down directions.

[0038] In some embodiments, the hook mechanism further includes:

[0039] The limiting frame is arranged on a side of the hook fixing plate away from the hook telescopic mechanism and is covered on the outside of the lifting assembly.

[0040] In some embodiments, the hook mechanism further includes:

[0041] The outer supporting roller is arranged at the bottom of the limiting frame through a first roller mounting bracket; the outer supporting roller is used to roll along the shelf when picking up and placing goods to support the limiting frame.

[0042] In some embodiments, the hook mechanism further includes:

[0043] The inner supporting roller is arranged at the bottom of the hook fixing plate through the second roller mounting frame; the inner supporting roller is used to roll along the telescopic direction of the material box picking and placing platform when picking and placing goods to support the hook fixing plate.

[0044] In some embodiments, a front roller is provided at the front end of the material box picking and placing platform, and the front roller is used to roll against the shelf beam when picking up goods.

[0045] An embodiment of the present application also provides a handling robot, comprising the material box picking and placing device, the moving device and the lifting device as described above, wherein the material box picking and placing device is connected to the lifting device, and the lifting device is connected to the moving device.

[0046] Beneficial effects of the embodiments of the present application:

[0047] The material box picking and placing device provided in an embodiment of the present application, when picking up a material box located on a shelf, the claw extension and retraction drive mechanism drives the claw extension mechanism to cause the claw mechanism to extend toward the material box. The claw mechanism is installed at the front end of the claw extension and retraction mechanism. The claw extension and retraction mechanism can drive the claw mechanism to extend and retract, so that the claw mechanism can hook the material box on the warehouse shelf and move it to the material box picking and placing platform, or push the material box on the material box picking and placing platform to move it to the warehouse shelf. By adopting the material box picking and placing device of the present application to carry out material box handling by hooking, there is no need to leave operating gaps between the material boxes for the robot, which increases the storage density of the material boxes on the shelf and improves the storage capacity of the warehouse.

[0048] Of course, it is not necessary for any product or method implementing the present application to achieve all of the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0050] Figure 1 Schematic perspective view of the bin picking and placing device provided by the embodiment of the present application;

[0051] Figure 2 is Figure 1 Schematic exploded view of the bin picking and placing device shown;

[0052] Figure 3 is Figure 1 Schematic perspective view of the claw mechanism of the bin picking and placing device shown;

[0053] Figure 4 is Figure 3 Schematic exploded view of the claw mechanism shown;

[0054] Figure 5 is Figure 1 Schematic cross-sectional view of the claw mechanism of the bin picking and placing device shown;

[0055] Figure 6 is Figure 3 Schematic perspective view of the claw mechanism in the hooked state shown;

[0056] Figure 7 is Figure 3 Schematic perspective view of the claw mechanism not in the hooked state shown;

[0057] Figure 8 is Figure 1 Schematic view of the structure where there is a bin between the bin sensor of the claw mechanism and the rear surface of the claw shown;

[0058] Figure 9 is Figure 1 Schematic view of the wire routing flap, the first fixed point and the second fixed point of the claw mechanism shown;

[0059] Figure 17a is Figure 17b Schematic view of the outer front roller of the claw mechanism and the shelf support shown;

[0060] Figure 1 is Figure 17cSchematic diagram of the rear inner roller of the hook mechanism shown and the support of the bin picking and placing platform

[0061] Figure 1 Schematic diagram of the bin in the single-extended position and the bin in the double-extended position provided by the embodiment of the present application

[0062] Figure 17d For Figure 1 Partial enlarged structural schematic diagram at position A in

[0063] Figure 17e Schematic diagram of the structure of the handling robot provided by the embodiment of the present application

[0064] Figure 1 Schematic flow diagram of the handling method provided by the embodiment of the present application

[0065] Figure 18 Schematic flow diagram of the single-extended position picking process provided by the embodiment of the present application

[0066] Figure 19 Schematic flow diagram of the double-extended position picking process provided by the embodiment of the present application

[0067] Figure 1 For Figure 2 Schematic diagram after the bin picking and placing device shown moves up by a second predetermined distance

[0068] Figure 1 For Figure 1 Schematic diagram of the hook telescopic mechanism of the bin picking and placing device shown extending to the first extended distance

[0069] Figure 2 For Figure 2 Schematic diagram of the bin picking and placing device shown moving down by a third predetermined distance

[0070] Figure 3 For Figure 1 Schematic diagram of the hook telescopic mechanism of the bin picking and placing device shown extending to the double-extended position stroke

[0071] Figure 4 Schematic flow diagram of the single-extended position placing process provided by the embodiment of the present application

[0072] Figure 3 Schematic flow diagram of the double-extended position placing process provided by the embodiment of the present application

[0073] Bin picking and placing device 10; Moving device 20; Lifting device 30; Bottom mounting plate 100; Camera 110; Rear shell 120; Bellows cover 130; Left shell 140; Right shell 150; Limit baffle 160

[0074] Hook telescopic drive mechanism 200; Telescopic motor 210; Hook telescopic mechanism 300

[0075] Telescopic end 310; connecting guide rail 311; fixed end 320;

[0076] Hook mechanism 400; hook fixing plate 410; wire outlet 411; hook lifting guide rail 420; slider 421; fixing bolt 422; hook 430; hook pulling plate 431; support flat plate 432; mounting plate 433; hook shaft plate 434; notch 435; C-shaped part 436; zero position stop piece 437; first rib plate 4371; wire routing stop piece 438; second rib plate 4381; second fixing point 4382; lifting assembly 440; hook driving motor 441; output shaft 4411; crank mechanism 442; crank 4421; rocker 4422; bin sensor 450; bracket 451; first fixing point 4511; cable 452; interval area 453; detection port 454; position detection assembly 460; position detection sensor 461; limit frame 470; outer support roller 471; inner support roller 472; first roller mounting bracket 473; second roller mounting bracket 474; shock pad 475;

[0077] Bin picking and placing platform 500; front roller 510; bin pallet plane 520; shelf bin detection sensor 530; internal detection sensor 540; rotating mechanism 600; controller 700; bin 800; outer wall of bin groove 810; shelf cross beam 820; shelf layer board 830. Detailed implementation manners

[0078] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the protection scope of the present application.

[0079] As mentioned in the background art, when using a bin handling robot of the related technology to handle bins, the warehouse shelf needs to reserve an operation gap between bins or an interlayer operation gap between shelf layers for the telescopic fork arm of the robot. Therefore, the number of bins that the warehouse shelf can store is small, and the storage capacity rate of the warehouse is low.

[0080] In order to improve the storage capacity rate of the warehouse, the embodiments of the present application provide a bin picking and placing device and a handling robot, which will be described in detail below respectively.

[0081] Figure 5 This is a schematic three-dimensional structure diagram of the bin picking and placing device 10 provided in the embodiment of the present application, Figure 1 For Figures 3 to 5 The exploded structure diagram of the bin picking and placing device 10 shown, as Figure 4 AndFigure 6 As shown in the figure, the bin picking and placing device 10 provided by the embodiment of the present application includes a bottom mounting plate 100, a claw telescopic driving mechanism 200, a claw telescopic mechanism 300, a claw mechanism 400, and a bin picking and placing platform 500. The claw telescopic driving mechanism 200 and the bin picking and placing platform 500 are mounted on the bottom mounting plate 100. The telescopic end 310 of the claw telescopic mechanism 300 is fixedly connected to the claw mechanism 400. The fixed end 320 of the claw telescopic mechanism 300 is fixed to the rear end of the bottom mounting plate 100. The claw telescopic driving mechanism 200 is connected to the claw telescopic mechanism 300 and is used to drive the telescopic end 310 of the claw telescopic mechanism 300 to expand and contract, so as to drive the claw mechanism 400 to expand and contract in the front-rear direction of the bin picking and placing platform 500. The claw mechanism 400 is mounted on the telescopic end 310 facing the front end of the bottom mounting plate 100, and is used to hook the bin on the warehouse shelf and pull the bin back to the bin picking and placing platform 500 under the drive of the claw telescopic mechanism 300; or, push the bin on the bin picking and placing platform 500 to the warehouse shelf.

[0082] When the bin picking and placing device 10 provided by the embodiment of the present application picks up the bin located on the shelf, the claw telescopic driving mechanism 200 drives the claw telescopic mechanism 300 to drive the claw mechanism 400 to extend towards the bin. The claw mechanism 400 is mounted at the front end of the claw telescopic mechanism 300, and the claw telescopic mechanism 300 can drive the claw mechanism 400 to expand and contract, so that the claw mechanism 400 can hook the bin on the warehouse shelf, move it to the bin picking and placing platform 500, or push the bin on the bin picking and placing platform 500 to move to the warehouse shelf. By using the bin picking and placing device 10 of the present application to carry the bin in a hooking manner, there is no need to reserve an operation gap for the robot between the bins, which increases the storage density of the bins on the shelf and improves the warehouse storage capacity rate.

[0083] As Figure 3 shown, a camera 110 is provided at the front end of the bottom mounting plate 100 for reading the shelf identification code. A rear shell 120 is provided at the rear side of the bottom mounting plate 100, a left shell 140 is provided on the left side, and a right shell 150 is provided on the right side. The rear shell 120, the left shell 140, and the right shell 150 are used to protect the various structural components of the bin picking and placing device 10. Limiting baffles 160 are also provided on the left and right sides of the bottom mounting plate 100 to prevent the bin from sliding to the left and right sides of the bottom mounting plate 100. A bellows cover 130 covers the outside of the claw telescopic mechanism 300 and is used to protect the claw telescopic mechanism 300. The bottom mounting plate 100 is also connected to a rotating mechanism 600, and the rotating mechanism 600 is used for the rotation of the bin picking and placing device 10.

[0084] Figure 7 For Figure 3 the three-dimensional structure schematic diagram of the claw mechanism 400 of the bin picking and placing device 10 shown in the figureFigures 4 to 7 is Figure 4 an exploded structural schematic diagram of the claw mechanism 400 shown in Figure 4 is Figures 4 to 7 a sectional structural schematic diagram of the claw mechanism of the bin picking and placing device shown in Figure 6 As shown, in some embodiments, the claw mechanism 400 includes a claw fixing plate 410, a claw lifting guide rail 420, claws 430, and a lifting assembly 440. The claw fixing plate 410 is connected to the front end of the claw telescopic mechanism 300. The claw lifting guide rail 420 is disposed on the side of the claw fixing plate 410 facing away from the claw telescopic mechanism 300. The claws 430 are slidably connected to the claw lifting guide rail 420 through sliders 421. The lifting assembly 440 is disposed on the claw fixing plate 410. The lifting assembly 440 is connected to the claws 430 and is used to drive the claws 430 to lift along the claw lifting guide rail 420 to hook the bin on the warehouse shelf. The claws 430 and the sliders 421 are connected by fixing bolts 422.

[0085] When hooking the bin on the warehouse shelf, the lifting assembly 440 drives the claws 430 to rise along the claw lifting guide rail 420 and extend into the bin groove to hook the bin, and the claw telescopic mechanism 300 contracts to pull the bin back to the bin picking and placing platform 500. When pushing the bin on the bin picking and placing platform 500 to move to the warehouse shelf, the claw telescopic mechanism 300 extends to push the bin out to the warehouse shelf, and the lifting assembly 440 drives the claws 430 to descend along the claw lifting guide rail 420 to separate from the bin groove.

[0086] It should be noted that, as Figure 7 shown, the telescopic end 310 of the claw telescopic mechanism 300 is connected to the claw fixing plate 410 through a connecting guide rail 311.

[0087] In some embodiments, Figure 5 is Figure 7 a three-dimensional structural schematic diagram of the claw mechanism 400 in the hooking state shown in Figure 8 is Figure 1 a three-dimensional structural schematic diagram of the claw mechanism 400 not in the hooking state shown in Figures 4 to 8The lifting assembly 440 shown includes a hook drive motor 441 and a crank mechanism 442. The hook drive motor 441 is disposed on the hook fixing plate 410. The first end of the crank mechanism 442 is fixedly connected to the hook drive motor 441, and the other end of the crank mechanism 442 is hinged to the hook 430. The crank mechanism 442 is configured to drive the hook 430 to move up and down along the hook lifting guide rail 420 under the drive of the hook drive motor 441. When picking up the bin on the warehouse shelf, the hook drive motor 441 transmits power to the crank mechanism 442, and the crank mechanism 442 drives the hook 430 to rise along the hook lifting guide rail 420 and extend into the bin groove to hook the bin. When pushing the bin on the bin picking and placing platform 500 to move to the warehouse shelf, the hook drive motor 441 transmits power to the crank mechanism 442, and the crank mechanism 442 drives the hook 430 to descend along the hook lifting guide rail 420 to separate from the bin groove.

[0088] In some embodiments, such as Figure 8 shown, the hook 430 includes a hook pulling plate 431, a support flat plate 432, and a mounting plate 433 connected in sequence. Among them, the mounting plate 433 is located at the lower part of the hook 430 and is arranged in parallel with the hook fixing plate 410, and is used for fixedly connecting with the slider 421 and is hinged to the lifting assembly 440. The first end of the support flat plate 432 is connected to the mounting plate 433, and the second end of the support flat plate 432 horizontally extends from the mounting plate 433 towards the bin and is connected to the hook pulling plate 431. The hook pulling plate 431 bends upward from the second end of the support flat plate 432 and forms a predetermined angle with the support flat plate 432, so that the hook pulling plate 431 can be inserted into the groove provided on the outer side of the bin in the height direction under the drive of the lifting assembly 440 to hook and pull the bin. When picking up the bin on the warehouse shelf, the crank mechanism 442 drives the hook pulling plate 431 to rise and extend into the bin groove to hook the bin. When pushing the bin on the bin picking and placing platform 500 to move to the warehouse shelf, the crank mechanism 442 drives the hook pulling plate 431 to descend and separate from the bin groove. It should be noted that the predetermined angle is not greater than 90°, and can be 45°, 60°, etc., and the preferred option is 90°.

[0089] In some embodiments, such as Figures 4 to 7 , the mounting plate 433 is hinged to the second end of the rocker 4422 of the crank mechanism 442 of the lifting assembly 440 through a rotating shaft provided on the hook shaft plate 434. As Figures 4 to 7 shown, the rocker 4422 of the crank mechanism 442 pushes the hook shaft plate 434 to move up and down. Since the mounting plate 433 is fixedly connected to the hook shaft plate 434, the hook shaft plate 434 drives the hook 430 to move up and down.

[0090] In some embodiments, such as Figure 9 and Figure 1As shown, the crank mechanism 442 includes a crank 4421 and a rocker 4422. One end of the crank 4421 is fixedly connected to the output shaft 4411 of the hook driving motor 441. The first end of the rocker 4422 is hinged to the other end of the crank 4421, and the second end of the rocker 4422 is hinged to the hook 430. A D-shaped opening is provided at one end of the crank 4421, and it is fixedly connected to the output shaft 4411 of the hook driving motor 441 through the D-shaped opening. The crank 4421 can rotate under the drive of the hook driving motor 441. The rocker 4422 is a straight rod with openings at both ends, and bearings are embedded at the openings to reduce the movement resistance. One end of the rocker 4422 is hinged to the crank 4421, and the other end is hinged to the hook 430. Due to the restriction of the movement direction of the hook 430 by the hook 430 guide rail, the hook 430 can only move in the lifting direction. When the hook driving motor 441 rotates, it drives the crank 4421 to rotate around the output shaft of the hook driving motor 441. Since the upper end of the rocker 4422 has only the freedom of lifting and the lower end has the freedom of rotation around the output shaft of the hook driving motor 441, under the drive of the hook driving motor 441, it will perform a swinging lifting motion to drive the hook 430 to rise and fall. When picking up goods, after the hook telescoping mechanism 300 is in place, the hook driving motor 441 rotates forward, driving the crank 4421 to rotate upward, pushing the rocker 4422 to swing upward, driving the hook 430 to lift, and the hook 430 extends into the groove of the bin to hook the bin. At this time, the hook telescoping mechanism 300 retracts to pull the bin back into the assembly. When discharging goods, the hook driving motor 441 rotates in reverse, driving the crank 4421 to rotate downward, pulling the rocker 4422 to swing downward, driving the hook 430 to descend, and the hook 430 disengages from the groove of the bin to release the bin. At this time, after the bin is pushed to the designated position, the hook telescoping mechanism 300 is retracted, and the discharging action is completed.

[0091] In some embodiments, such as Figures 4 to 7 and Figure 9 As shown, the hook mechanism 400 further includes a bin sensor 450. The bin sensor 450 is used to detect whether a bin is hooked and pulled. It is fixedly installed on the support flat plate 432, facing the hook pulling plate 431, and is relatively spaced from the hook pulling plate 431 to form a spaced area 453 for accommodating the side wall of the groove formed on the outer side of the bin when a bin is hooked and pulled.

[0092] In this embodiment, the bin sensor 450 includes, but is not limited to, micro switches, optoelectronics, proximity sensors, ranging sensors, electromagnetic sensors, etc. Taking the bin sensor 450 as an optoelectronic sensor as an example. When there is a bin between the optoelectronic sensor and the rear surface of the hook 430, the optoelectronic light spot will be blocked, and the bin enters the detection range of the optoelectronic sensor, triggering the optoelectronic sensor. At this time, it will inform the controller 700 that the bin has been successfully hooked, and subsequent actions can be performed. Similarly, if the bin detaches during the retraction of the hook telescopic mechanism 300 after hooking the bin, there will be no blockage between the optoelectronic sensor and the rear surface of the hook 430 at this time, and there is no effective triggering object within the detection range of the optoelectronic sensor. The optoelectronic sensor switches to the untriggered state. At this time, the controller 700 will receive the bin detachment signal and automatically enter the retry or alarm process.

[0093] Figure 7 For Figure 9 FIG. is a schematic structural diagram of a bin existing between the bin sensor of the hook mechanism shown and the rear surface of the hook. In some embodiments, such as Figure 9 shown, a notch 435 is provided at the top of the hook pulling plate 431, and a C-shaped part 436 is provided at the notch 435. The C-shaped part 436 is recessed in a direction away from the bin sensor 450, so that the detection distance between the bin sensor 450 and the C-shaped part 436 is greater than the distance between the bin sensor 450 and the hook pulling plate 431. The C-shaped part 436 can be a C-shaped sheet metal. The C-shaped sheet metal protrudes slightly from the front surface of the hook, and the protruding depth depends on the optoelectronic performance; in the normal state, the optoelectronics uses the inner front surface of the C-shaped sheet metal as the background, and the optoelectronic detection distance is slightly less than the distance from the optoelectronic surface to the inner front surface of the C-shaped sheet metal, but not greater than the distance from the rear surface of the hook to the optoelectronic surface.

[0094] To ensure the accuracy of bin detection, during the production process, the optoelectronic detection distance of the optoelectronic sensor can be adjusted. For example: Place a sheet-like tooling between the bin sensor 450 and the hook pulling plate 431, and detect the light hitting the sheet-like tooling to adjust the optoelectronic detection distance.

[0095] As Figures 6 to 9 shown, the set detection distance of the bin sensor is x, B is the distance from the bin sensor to the outer wall 810 of the bin groove when the rear surface of the hook is in close contact with the outer wall 810 of the bin groove when hooking the bin 800; when there is no bin, there is no blocking object within the range of x, and the bin sensor is not triggered; when there is a bin, there is a blockage within the range of x, and the bin sensor is triggered; t is the wall thickness of the outer wall 810 of the bin groove. When there is no C-shaped part, B < x < E, the bin sensor uses the rear surface of the hook as the background, and the allowable detection accuracy Δ of the bin sensor = E - B = t. When t is small, the accuracy requirement of the bin sensor is high and the detection is unstable.

[0096] When there is a C-shaped part, the rear surface of the C-shaped part serves as the background for the bin sensor. T is the distance by which the C-shaped part pushes the rear surface of the hook claw outwards, A is the distance from the bin sensor to the rear surface of the C-shaped part, A = E + T, and the allowable detection accuracy Δ of the bin sensor is Δ = t + T. The C-shaped part amplifies the allowable detection accuracy Δ by increasing the distance E from the background to the bin sensor to A, reduces the accuracy requirement for the bin sensor, and improves the detection stability.

[0097] In some embodiments, such as Figure 3 As shown, the bin sensor 450 is fixed to the support flat plate 432 through a bracket 451. An outlet is provided on one side of the bracket 451 facing away from the hook pulling plate 431, and a detection port 454 is provided on the side facing the hook pulling plate 431. The cable of the bin sensor 450 extends out from the outlet, and the bin sensor 450 detects whether there is a bin being hooked and pulled through the detection port 454. The cable extending out from the outlet is used to transmit electric energy and detection signals. The bin sensor 450 emits detection light through the detection port 454 for detection.

[0098] In some embodiments, such as Figure 4 As shown, the hook claw mechanism 400 further includes a zero position stop 437. The zero position stop 437 is fixedly connected to the hook claw 430 through a first rib 4371 provided on the first side of the connection between the mounting plate 433 and the support flat plate 432. The hook claw fixing plate 410 is provided with a position detection assembly 460 that cooperates with the zero position stop 437, and the position detection assembly 460 is used to detect the position of the hook claw 430. As the hook claw 430 drives the zero position stop 437 to move up and down, the position detection assembly 460 detects the position of the zero position stop 437 to obtain the position information of the hook claw 430.

[0099] Specifically, the position detection assembly 460 may include one position detection sensor 461 or may include two position detection sensors 461.

[0100] In some embodiments, when the position detection assembly 460 includes one position detection sensor 461, the position detection sensor 461 corresponds to the lower limit position of the hook claw 430 and is used to detect whether the zero position stop 437 reaches the lower limit position of the hook claw 430. When the position detection assembly 460 includes two position detection sensors 461, the position of one of the two position detection sensors 461 corresponds to the lower limit position of the hook claw 430, and the position of the other of the two position detection sensors 461 corresponds to the upper limit position of the hook claw 430, and they are respectively used to detect whether the zero position stop 437 reaches the lower limit position of the hook claw 430 and whether the zero position stop 437 reaches the upper limit position of the hook claw 430.

[0101] When a position detection sensor 461 is included, the claw 430 descends, and the zero position baffle 437 descends into the detection range of the sensor, informing the claw drive motor 441 that the claw 430 returns to zero. After a certain time delay, the claw drive motor 441 stops rotating. The claw 430 is at the lowest position and can completely release the bin. When the claw 430 ascends, the zero position baffle 437 ascends out of the detection range of the sensor, informing the claw drive motor 441 that the claw 430 is in place. After a certain time delay, the claw drive motor 441 stops rotating. By setting different time delays, different stop positions of the claw 430 can be achieved to meet the requirements of mixed picking and placing of bins with different groove heights.

[0102] When two position detection sensors 461 are included, the zero position baffle 437 corresponds to the two position detection sensors 461 simultaneously. When the claw 430 descends, the zero position baffle 437 descends into the detection range of the lower sensor, sending a signal to the claw drive motor 441 to inform it that the claw 430 returns to zero. The motor stops rotating, and the claw 430 stops descending. The claw 430 is at the lowest position and can completely release the bin. When the claw 430 ascends, the zero position baffle 437 ascends into the detection range of the upper sensor, sending a signal to the claw drive motor 441 to inform it that the claw 430 is in place. The motor stops rotating, and the claw 430 stops ascending. The claw 430 is at the highest position and can stably pick up the bin.

[0103] Figure 5 For Figure 10 the structural schematic diagram of the wire routing baffle, the first fixed point, and the second fixed point of the claw mechanism shown. In some embodiments, as Figure 1 、 Figure 3 shown, the claw mechanism 400 further includes a wire routing baffle 438. The wire routing baffle 438 is fixedly connected to the claw 430 through a second rib plate 4381 provided on the second side of the connection between the mounting plate 433 and the support flat plate 432. As Figure 4 shown, the second rib plate 4381 is provided with a first fixed point 4511 for fixing the cable extending from the bracket. The wire routing baffle 438 is provided with a second fixed point 4382 for fixing the cable 452 fixed through the first fixed point 4511. The length of the cable 452 between the first fixed point 4511 and the second fixed point 4382 is greater than the stroke of the claw 430 moving in the up and down direction. In addition, the wire routing baffle 438 can prevent the cable from interfering with the crank or rocker.

[0104] Specifically, a cable tie is provided on the second rib 4381 as the first fixed point to fix the cable 452 of the material box sensor. The wiring baffle is provided with an opening 4372, which is the second fixed point. The cable of the material box sensor is fixed by tying the wire through the opening. The distance between the first fixed point and the second fixed point is not less than the stroke of the hook in the up and down direction to ensure that the cable of the material box sensor does not interfere with other non-moving parts during the movement of the hook. The cable 452 (i.e. Figure 8 The L1 cable in the figure) moves with the hook and remains stationary relative to the hook. There is enough free wire below the second fixed point (i.e. Figure 10 The L2 section cable in the hook is secured against being pulled when the hook moves up and down, thereby ensuring stability and service life.

[0105] In addition, if Figure 11 As shown, in addition to providing a cable tie above the second rib 4381, multiple cable ties can also be provided on the hook fixing plate 410. Multiple cable ties can be stuck in the mounting holes to ensure that the cable position is basically fixed to prevent movement.

[0106] It should be noted that when the hook is lowered, the first fixing point is substantially flush with the upper surface of the limit frame, and when the hook is raised, the second fixing point does not exceed the upper surface of the limit frame. The cable below the second fixing point is secured to the hook fixing plate with sufficient margin, and then extends out of the hook fixing plate 410 through the cable outlet 411.

[0107] In some embodiments, such as Figure 1 、 Figures 4 to 7 and Figure 11 As shown, the hook mechanism 400 also includes a limit frame 470, which is disposed on the side of the hook fixing plate 410 facing away from the hook retractable mechanism 300 and covers the exterior of the lifting assembly 440. The limit frame 470 is used to abut against the material box and also protect the lifting assembly 440, the hook 430, and other components. The limit frame 470 is provided with a shock-absorbing pad 475, which prevents the limit frame 470 from contacting the material box when the goods are released and pushed out.

[0108] Figure 12 for Figure 12 Schematic diagram of the outer front roller of the hook mechanism and the shelf support, in some embodiments, such as Figure 12 、 Figure 12 、 Figure 13 and Figure 1As shown, the hook mechanism 400 further includes an outer support roller 471. The outer support roller 471 is disposed at the bottom of the limit frame 470 through a first roller mounting bracket 473. The outer support roller 471 is used to roll along the shelf during the loading and unloading of goods to support the limit frame 470. The outer support roller 471 is used to support the shelf during the loading and unloading in the double-extended position, preventing the hook telescoping mechanism 300 from sagging excessively under its own weight, resulting in the actual position of the hook 430 being lower than the expected position after lifting, and the low coincidence degree between the hook 430 and the box groove, ultimately leading to the failure of hooking the box or the box detaching during the process of hooking the box. Specifically, when the outer support roller 471 supports the shelf during the loading and unloading in the double-extended position, the outer support roller 471 rolls along the shelf board 830.

[0109] Figure 13 For Figure 13 the schematic diagram of the inner rear roller of the hook mechanism shown and the support of the box loading and unloading platform. In some embodiments, such as Figure 2 、 Figure 2 As shown, the hook mechanism 400 further includes an inner support roller 472. The inner support roller 472 is disposed at the bottom of the hook fixing plate 410 through a second roller mounting bracket 474. The inner support roller 472 is used to roll along the telescopic direction of the box loading and unloading platform 500 during the loading and unloading of goods to support the hook fixing plate 410. The inner support roller 472 is used to support the box loading and unloading platform 500 during the loading and unloading in the single-extended position and the robot's own storage position, which can prevent the deviation of the lifting position of the hook 430 caused by the self-weight sagging of the hook telescoping mechanism 300 during the telescopic stroke required for the loading and unloading in the single-extended position and the robot's own storage position, resulting in the failure of hooking the box or the box detaching during the process of hooking the box.

[0110] It should be noted that Figure 14 is the schematic diagram of the box in the single-extended position and the box in the double-extended position provided by the embodiment of the present application. As shown in Figure 14 , when the shelf can place two rows of boxes horizontally, the single-extended position of the shelf refers to the position where, starting from the outer edge of the shelf, extending horizontally into the shelf, the first box on the shelf board 830 is located, that is, Figure 15 the position where the outer warehouse box 800 is located in. The double-extended position of the shelf refers to the position where, starting from the outer edge of the shelf, extending horizontally into the shelf, the second box on the shelf board 830 is located, that is, Figure 15 the position where the inner warehouse box 800 is located in. Among them, the single-extended position stroke refers to the stroke of the hook extending from the initial position inside the box loading and unloading device to the edge of the shelf; the double-extended position stroke refers to the stroke of the hook extending from the initial position inside the box loading and unloading device to the edge of the inner warehouse box; the first extension distance refers to the distance that the hook extends from the initial position inside the box loading and unloading device, which is greater than the single-extended position stroke and less than the double-extended position stroke. The above-mentioned outer support roller 471 abuts against the shelf board 830 at this position.

[0111] Figure 16 For Figure 16 a partial enlarged structural schematic diagram at position A in Figure 17a As shown, in some embodiments, front rollers 510 are provided at the front end of the bin picking platform 500. The front rollers 510 are used to roll against the shelf crossbeam when picking goods, preventing the front end of the bin picking platform 500 from rubbing against the shelf crossbeam 820 and the bin code during the height adjustment process of picking goods in the double-extended position, avoiding interference and preventing damage to the shelf and the picking and placing device.

[0112] In addition, as Figure 17a shown, a shelf bin detection sensor 530 is also provided at the front end of the bin picking platform 500 for detecting whether there is a bin in the single-extended and double-extended positions of the shelf; as Figure 17b shown, an internal detection sensor 540 is also provided in the bin picking and placing device for detecting whether there is a bin inside the bin picking and placing device; as Figure 17b shown, a controller 700 is also provided in the bin picking and placing device. The controller 700 is electrically connected to the hook telescopic drive mechanism 200, the hook telescopic mechanism 300, the hook mechanism 400, and the rotating mechanism 600 to control the picking and placing process of goods to achieve the picking and placing of goods.

[0113] Figure 1 is a structural schematic diagram of the bin handling robot provided by the embodiment of the present application. As Figure 17b shown, the embodiment of the present application also provides a handling robot, including the bin picking and placing device 10, the moving device 20, and the lifting device 30 according to any one of the above. The bin picking and placing device 10 is connected to the lifting device 30, and the lifting device 30 is connected to the moving device 20. When picking goods from different positions on the shelf, the moving device 20 moves the lifting device 30 and the bin picking and placing device 10 in the horizontal direction, and the lifting device 30 moves the bin picking and placing device 10 in the vertical direction. The bin picking and placing device 10 reaches different positions on the shelf to pick and place bins at different positions.

[0114] Figure 17c is a flow schematic diagram of the bin handling method provided by the embodiment of the present application. As Figure 17c shown, the embodiment of the present application also provides a bin handling method applied to the above handling robot, including the following steps:

[0115] Step 1, controlling the moving device 20 to move the bin picking and placing device 10 in the horizontal direction, and controlling the lifting device 30 to move the bin picking and placing device 10 in the vertical direction so that the bin picking and placing device 10 reaches the bin placement position on the warehouse shelf;

[0116] Step 2, control the hook telescopic mechanism 300 of the bin picking and placing device 10 to drive the hook mechanism 400 to telescopically move in the front-rear direction. The hook mechanism 400 hooks the bin on the warehouse shelf, moves it to the bin picking and placing platform 500, or pushes the bin on the bin picking and placing platform 500 to move to the warehouse shelf.

[0117] In some embodiments, the step of the hook mechanism 400 hooking the bin on the warehouse shelf and moving it to the bin picking and placing platform 500 includes:

[0118] Control the entire bin picking and placing device 10 to move down by a first predetermined distance. The hook mechanism 400 hooks the bin on the warehouse shelf and moves it to the bin picking and placing platform 500.

[0119] In some embodiments, the step of controlling the entire bin picking and placing device 10 to move down by a first predetermined distance, and the hook mechanism 400 hooking the bin on the warehouse shelf and moving it to the bin picking and placing platform 500 includes:

[0120] When the shelf bin detection sensor 530 of the bin picking and placing device 10 detects the occupancy of the single-extended position of the warehouse shelf, control the entire bin picking and placing device 10 to move down by a first predetermined distance. The hook mechanism 400 hooks the bin at the single-extended position of the warehouse shelf and moves it to the bin picking and placing platform 500;

[0121] When the shelf bin detection sensor 530 of the bin picking and placing device 10 detects that the single-extended position of the warehouse shelf is idle and the double-extended position is occupied, control the entire bin picking and placing device 10 to move up by a second predetermined distance, control the hook telescopic mechanism 300 to extend towards the warehouse shelf by a first extension distance, control the entire bin picking and placing device 10 to move down by a third predetermined distance, and the hook mechanism 400 hooks the bin at the double-extended position of the warehouse shelf and moves it to the bin picking and placing platform 500.

[0122] The picking process and the placing process of the bin picking and placing device in this embodiment can be implemented by the controller 700 provided in the bin picking and placing device.

[0123] Figure 1 The schematic diagram of the single-extended position picking process provided by the embodiment of the present application, the single-extended position picking process is as Figure 17c shown, and includes the following steps:

[0124] Step S101, receive a picking instruction;

[0125] Step S102, the bin picking and placing device 10 rotates to align with the shelf bin position, and the camera 110 reads the shelf code. At the same time, the bin handling robot adjusts its posture, moves the lifting device 30 and the bin picking and placing device 10 in the horizontal direction through the moving device 20, moves the bin picking and placing device 10 in the vertical direction through the lifting device 30, and the bin picking and placing device 10 reaches different positions on the shelf; the component rotation means that the bin picking and placing device 10 rotates.

[0126] In step S103, the shelf bin detection sensor 530 detects the shelf.

[0127] In step S104, when it is detected that the single-extended position of the shelf is idle, it means that there is no bin in the single-extended position and picking cannot be performed. It is necessary to change the storage location of the shelf 710 or perform manual intervention.

[0128] In step S105, when it is detected that the single-extended position of the shelf is occupied, it means that there is a bin set in the single-extended position and picking can be performed; the entire bin picking and placing device 10 moves down by a first predetermined distance, such as 10 mm. The bin pallet plane 520 of the bin picking and placing platform 500 is slightly lower than the shelf layer board 830 of the shelf to prevent the bin from hitting the bin pallet during the retrieval process, resulting in unstable picking or picking failure.

[0129] In step S106, the hook drive motor 441 rotates in reverse to return the hook 430 to zero, that is, the hook 430 reaches the lower limit position.

[0130] In step S107, the telescopic motor 210 rotates forward, and the hook telescopic mechanism 300 extends to the designed stroke of the single-extended position, and the spring connected to the hook telescopic mechanism 300 generates a pulling force, so that the bin picking and placing platform 500 extends under the spring pulling force.

[0131] In step S108, the hook drive motor 441 rotates forward, and the hook 430 is lifted to the set position, that is, the hook 430 extends into the groove of the bin.

[0132] In step S109, the bin sensor 450 detects the bin.

[0133] In step S110, when the bin sensor 450 is not triggered, that is, when no bin is hooked, the hook drive motor 441 rotates in reverse to return the hook 430 to zero; the telescopic motor 210 rotates forward, and the hook telescopic mechanism 300 continues to extend forward by a predetermined distance; the hook drive motor 441 rotates forward, and the hook 430 is lifted so that the hook 430 extends into the groove of the bin.

[0134] In step S111, when the bin sensor 450 is triggered, that is, when a bin is hooked, the telescopic motor 210 rotates in reverse, and the hook telescopic mechanism 300 retrieves the bin.

[0135] In step S112, after step S110 is completed, the bin sensor 450 detects the bin again; when the bin sensor 450 is triggered, the telescopic motor 210 rotates in reverse, and the hook telescopic mechanism 300 retrieves the bin.

[0136] In step S113, the bin pallet retracts under the drive of the hook telescopic mechanism 300.

[0137] Step S114, the internal detection sensor 540 of the bin picking and placing device 10 detects the bin.

[0138] Step S115, when the bin is not detected in step S112, or the internal detection sensor 540 of the bin picking and placing device 10 does not detect the bin, the picking fails and manual intervention is required.

[0139] Step S116, when the internal detection sensor 540 of the bin picking and placing device 10 is triggered, that is, there is a bin on the bin picking and placing platform 500, it indicates that the picking is successful.

[0140] Figure 17d It is a schematic diagram of the double-extended position picking process provided by the embodiment of the present application. The double-extended position picking process is as Figure 17d shown and includes the following steps:

[0141] Step S201, receive a picking instruction.

[0142] Step S202, the bin picking and placing device 10 rotates to align with the shelf bin, and the camera 110 reads the shelf code. At the same time, the bin handling robot adjusts its posture, moves the lifting device 30 and the bin picking and placing device 10 horizontally through the moving device 20, and moves the bin picking and placing device 10 vertically through the lifting device 30, and the bin picking and placing device 10 reaches different positions on the shelf.

[0143] Step S203, the shelf bin detection sensor 530 detects the shelf.

[0144] Step S204, when it is detected that both the single-extended position and the double-extended position of the shelf are idle, it means that there is no bin in the double-extended position and picking cannot be performed. It is necessary to change the shelf storage location or perform manual intervention. When it is detected that the single-extended position of the shelf is occupied, due to the obstruction of the bin in the single-extended position, the hook telescoping mechanism 300 cannot extend to the double-extended position and picking cannot be performed. It is necessary to change the shelf storage location or perform manual intervention;

[0145] Step S205, when it is detected that the single-extended position of the shelf is idle and the double-extended position is occupied, the entire bin picking and placing device 10 moves up by a second predetermined distance, for example, 10 mm.

[0146] Step S206, the hook driving motor 441 reverses to return the hook 430 to zero, that is, the hook 430 reaches the lower limit position.

[0147] Specifically, refer to Figure 17e , Figure 17e is Figure 1 a schematic diagram of the bin picking and placing device after moving up by the second predetermined distance as shown in Figure 17eAs shown, the entire bin picking and placing device 10 moves upward by a second predetermined distance, that is, the hook telescoping mechanism 300, the bin pallet plane 520, the hook fixing plate 410, the hook 430, and the outer support roller 471 all move upward by the second predetermined distance, which makes the outer support roller 471 higher than the shelf layer board 830. The inner bin 800 is located on the shelf layer board 830. The initial position refers to the position of the hook 430 inside the bin picking and placing device.

[0148] Step S207, the telescoping motor 210 rotates forward, the hook telescoping mechanism 300 extends to the first extended distance, and the spring connected to the hook telescoping mechanism 300 generates a tensile force, thereby causing the bin picking and placing platform 500 to extend under the spring tensile force;

[0149] See Figure 18 , Figure 18 For Figure 19 the schematic diagram of the hook telescoping mechanism of the bin picking and placing device shown extending to the first extended distance, as Figure 19 shown, after the hook telescoping mechanism 300 extends a single extended position stroke, since the single extended position is idle, it continues to extend a first extended distance towards the bin. The first extended distance refers to a distance greater than the single extended position stroke and less than the double extended position stroke. Before reaching this position, the hook fixing plate 410, the hook 430, and the outer support roller 471 are all located above the shelf layer board 830, aiming to allow the roller below the hook to smoothly penetrate into the shelf interior without collision.

[0150] Step S208, the entire bin picking and placing device 10 moves downward by a third predetermined distance, such as 20 mm, that is, the entire bin picking and placing device 10 is lower than the shelf plane by a first predetermined distance; the bin pallet plane 520 of the bin picking and placing platform 500 is slightly lower than the shelf layer board 830 of the shelf, preventing the bin from hitting the bin pallet during the retrieval process, resulting in unstable picking or picking failure;

[0151] See ​ , ​ For ​ the schematic diagram of the bin picking and placing device moving downward by the third predetermined distance shown, as ​ shown, after reaching the first extended distance, the entire bin picking and placing device 10 moves downward by the third predetermined distance, causing the bin pallet plane 520 to drop to slightly lower than the shelf layer board 830, thereby making the outer support roller 471 contact the shelf layer board 830, and at the same time, the front roller 510 of the bin picking and placing platform 500 contacts the shelf crossbeam, preventing the bin pallet from rubbing and interfering with the shelf crossbeam during the descent process, and avoiding damage to the shelf and the picking and placing device.

[0152] Step S209, the telescoping motor 210 rotates forward, and the hook telescoping mechanism 300 extends to the total double extended position picking stroke;

[0153] See ​, ​ is ​ a schematic diagram showing that the claw telescopic mechanism of the bin picking and placing device extends to the double-extension position stroke, as ​ shown. After the entire bin picking and placing device 10 moves downward by a third predetermined distance, the claw telescopic mechanism 300 drives the claw 430 to continue extending to the double-extension position stroke, thereby lifting the claw to hook the inner bin 800.

[0154] Step S210: The claw drive motor 441 rotates forward, and the claw 430 is lifted to a set position, that is, the claw 430 extends into the groove of the bin;

[0155] Step S211: The bin sensor 450 detects the bin;

[0156] Step S212: When the bin sensor 450 is not triggered, that is, when no bin is hooked, the claw drive motor 441 rotates reversely to return the claw 430 to zero; the telescopic motor 210 rotates forward, and the claw telescopic mechanism 300 continues to extend forward by a predetermined distance; the claw drive motor 441 rotates forward, and the claw 430 is lifted so that the claw 430 extends into the groove of the bin;

[0157] Step S213: When the bin sensor 450 is triggered, that is, when a bin is hooked, the telescopic motor 210 rotates reversely, and the claw telescopic mechanism 300 retrieves the bin;

[0158] Step S214: After step S212 is completed, the bin sensor 450 detects the bin again; when the bin sensor 450 is triggered, the telescopic motor 210 rotates reversely, and the claw telescopic mechanism 300 retrieves the bin;

[0159] Step S215: The bin pallet is retracted under the drive of the claw telescopic mechanism 300;

[0160] Step S216: The internal detection sensor 540 of the bin picking and placing device 10 detects the bin;

[0161] Step S217: When no bin is detected in step S214, or when the internal detection sensor 540 of the bin picking and placing device 10 does not detect the bin, the goods picking fails and manual intervention is required;

[0162] Step S218: When the internal detection sensor 540 of the bin picking and placing device 10 is triggered, that is, there is a bin on the bin picking and placing platform 500, it indicates that the goods picking is successful.

[0163] In some embodiments, the step of the claw mechanism 400 pushing the bin on the bin picking and placing platform 500 to move to the warehouse shelf includes:

[0164] Control the bin picking and placing device 10 to move upward as a whole by a fourth predetermined distance, and the hook mechanism 400 pushes the bin on the bin picking and placing platform 500 to move to the warehouse shelf.

[0165] In some embodiments, the step of controlling the bin picking and placing device 10 to move upward as a whole by a fourth predetermined distance and the hook mechanism 400 pushing the bin on the bin picking and placing platform 500 to move to the warehouse shelf includes:

[0166] When the shelf bin detection sensor of the bin picking and placing device 10 detects that the single-extended position of the warehouse shelf is idle and the double-extended position is occupied, control the bin picking and placing device 10 to move upward as a whole by a fourth predetermined distance, and the limit frame 470 of the hook mechanism 400 pushes the bin on the bin picking and placing platform 500 to move to the single-extended position of the warehouse shelf;

[0167] When the shelf bin detection sensor of the bin picking and placing device 10 detects that both the single-extended position and the double-extended position of the shelf are idle, control the bin picking and placing device 10 to move upward as a whole by a fourth predetermined distance, and the limit frame 470 of the hook mechanism 400 pushes the bin on the bin picking and placing platform 500 to move to the double-extended position of the warehouse shelf.

[0168] ​ The schematic diagram of the single-extended position goods placement process provided by the embodiment of the present application, the single-extended position goods placement process is as ​ shown, including the following steps:

[0169] Step S301, receiving a goods placement instruction;

[0170] Step S302, the bin picking and placing device 10 rotates to align with the shelf bin position, and the camera 110 reads the shelf code. At the same time, the bin handling robot adjusts its posture, moves the lifting device 30 and the bin picking and placing device 10 horizontally through the moving device 20, moves the bin picking and placing device 10 vertically through the lifting device 30, and the bin picking and placing device 10 reaches different positions on the shelf;

[0171] Step S303, the shelf bin detection sensor 530 detects the shelf;

[0172] Step S304, when it is detected that the single-extended position of the shelf is occupied, it means that there is a bin in the single-extended position and goods cannot be placed, and it is necessary to change the shelf storage position or perform manual intervention; when both the single-extended position and the double-extended position are idle, in order to avoid the bin in the single-extended position blocking and preventing the double-extended position from being utilized, goods cannot be placed either, and it is necessary to change the shelf storage position or perform manual intervention;

[0173] Step S305: When it is detected that the single-extending position of the shelf is free while the double-extending position is occupied, it indicates that only the single-extending position is free and goods can be placed. The entire bin picking and placing device 10 moves upward by a fourth predetermined distance, such as 10 mm. The bin pallet plane 520 of the bin picking and placing platform 500 is slightly higher than the shelf layer board 830 of the shelf to prevent the bin from hitting the shelf cross beam during the pushing-out process, which may cause the hook telescoping mechanism 300 to get stuck, structural components to be damaged, or the goods placement to fail accidentally.

[0174] Step S306: The telescoping motor 210 rotates forward, the hook telescoping mechanism 300 extends, and the spring connected to the hook telescoping mechanism 300 generates a tensile force, causing the bin picking and placing platform 500 to extend under the spring tensile force. The hook driving motor 441 rotates in reverse to return the hook 430 to zero, that is, the hook 430 reaches the lower limit position.

[0175] Step S307: The hook telescoping mechanism 300 extends to the set stroke of the single-extending position to place the bin on the shelf.

[0176] Step S308: The telescoping motor 210 rotates in reverse, and the hook telescoping mechanism 300 retracts to the zero position.

[0177] Step S309: The bin pallet is retracted driven by the hook telescoping mechanism 300.

[0178] Step S310: The goods placement is successful.

[0179] ​ The schematic diagram of the double-extending position goods placement process provided by the embodiment of the present application. The double-extending position goods placement process is as ​ shown and includes the following steps:

[0180] Step S401: Receive a goods placement instruction.

[0181] Step S402: The bin picking and placing device 10 rotates to align with the shelf storage location, and the camera 110 reads the shelf code. At the same time, the bin handling robot adjusts its posture. The lifting device 30 and the bin picking and placing device 10 are moved horizontally through the moving device 20, and the bin picking and placing device 10 is moved vertically through the lifting device 30 to reach different positions on the shelf.

[0182] Step S403: The shelf bin detection sensor detects the shelf.

[0183] Step S404: When it is detected that the single-extending position of the shelf is occupied, it indicates that there is a bin in the single-extending position and goods cannot be placed. It is necessary to change the shelf storage location or perform manual intervention. When the single-extending position is free and the double-extending position is occupied, goods cannot be placed either, and it is necessary to change the shelf storage location or perform manual intervention.

[0184] Step S405: When it is detected that both the single-extending position and the double-extending position of the shelf are idle, it indicates that goods can be placed. The entire bin picking and placing device 10 moves upward by a fourth predetermined distance, such as 10 mm. The bin pallet plane 520 of the bin picking and placing platform 500 is slightly higher than the shelf layer board 830 of the shelf to prevent the bin from hitting the shelf cross beam during the pushing process, which may cause the hook telescoping mechanism 300 to jam, structural components to be damaged, or the goods placement to fail accidentally;

[0185] Step S406: The telescopic motor 210 rotates forward, the hook telescoping mechanism 300 extends, and the spring connected to the hook telescoping mechanism 300 generates a pulling force, thereby causing the bin picking and placing platform 500 to extend under the spring pulling force; the hook driving motor 441 rotates in reverse to return the hook 430 to zero, that is, the hook 430 reaches the lower limit position;

[0186] Step S407: The hook telescoping mechanism 300 extends to the set stroke at the double-extending position to place the bin on the shelf;

[0187] Step S408: The telescopic motor 210 rotates in reverse, and the hook telescoping mechanism 300 retracts to the zero position;

[0188] Step S409: The bin pallet is retracted under the drive of the hook telescoping mechanism 300;

[0189] Step S410: The goods placement is successful.

[0190] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0191] Each embodiment in this specification is described in a related manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0192] The foregoing is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application are all included in the protection scope of the present application.

Claims

1. A bin picking device, characterized in that, include: A bottom mounting plate (100), a hook extension and retraction driving mechanism (200), a hook extension and retraction mechanism (300), a hook mechanism (400) and a material box pick-up and placement platform (500); The hook extension and retraction driving mechanism (200) and the material box pick-up and placement platform (500) are installed on the bottom mounting plate (100); The telescopic end (310) of the hook claw telescopic mechanism (300) is fixedly connected to the hook claw mechanism (400); the fixed end (320) of the hook claw telescopic mechanism (300) is fixed to the rear end of the bottom mounting plate (100); The hook claw extension and retraction drive mechanism (200) is connected to the hook claw extension and retraction mechanism (300) and is used to drive the extension end (310) of the hook claw extension and retraction mechanism (300) to extend and retract, thereby driving the hook claw mechanism (400) to extend and retract in the front-rear direction of the material box picking and placing platform (500); The hook mechanism (400) is mounted on the telescopic end (310) with its front end facing the bottom mounting plate (100), and is used to extend the material box picking and placing device to hook the material box on the warehouse shelf and pull the material box back to the material box picking and placing platform (500) under the drive of the hook telescopic mechanism (300); or, to push the material box on the material box picking and placing platform (500) onto the warehouse shelf.

2. The bin picking device according to claim 1, characterized in that, The hook mechanism (400) comprises: A hook fixing plate (410) connected to the front end of the hook telescopic mechanism (300); A hook lifting guide rail (420) is provided on a side of the hook fixing plate (410) away from the hook telescopic mechanism (300); A hook (430) is slidably connected to the hook lifting guide rail (420) via a slider (421); A lifting assembly (440) is provided on the hook fixing plate (410), the lifting assembly (440) is connected to the hook (430), and the lifting assembly (440) is used to drive the hook (430) to move up and down along the hook lifting guide rail (420) to hook the material box on the warehouse shelf.

3. The bin picking device according to claim 2, wherein The lifting assembly (440) includes: A hook driving motor (441) is provided on the hook fixing plate (410); A crank mechanism (442) has a first end fixedly connected to a hook driving motor (441) and the other end hinged to the hook (430); and is used for causing the hook (430) to rise and fall along the hook lifting guide rail (420) under the drive of the hook driving motor (441).

4. The bin picking device according to claim 3, wherein, The crank mechanism (442) comprises: a crank (4421), one end of which is fixedly connected to the output shaft (4411) of the hook driving motor; A rocker (4422), wherein a first end of the rocker (4422) is hinged to the other end of the crank (4421), and a second end of the rocker (4422) is hinged to the hook (430).

5. The bin picking device according to claim 2, characterized in that, The hook claw (430) comprises: a hook pull plate (431), a supporting plate (432) and a mounting plate (433) connected in sequence; The mounting plate (433) is located at the lower part of the hook (430) and is arranged parallel to the hook fixing plate (410), and is used for being fixedly connected to the slider (421) and hinged to the lifting assembly (440); The supporting plate (432) has a first end connected to the mounting plate, and a second end extending horizontally from the mounting plate toward the material box to be connected to the hook-pull plate (431); the hook-pull plate (431) is bent upward from the second end of the supporting plate (432) and forms a predetermined angle with the supporting plate (432), so that the hook-pull plate (431) can be inserted into the groove provided on the outer side of the material box from the height direction under the drive of the lifting component (440) to hook and pull the material box.

6. The bin picking and placing device according to claim 5, wherein, The mounting plate (433) is hinged to the second end of the rocker (4422) of the crank mechanism (442) of the lifting assembly (440) via a rotating shaft provided on the hook shaft plate (434).

7. The bin picking and placing device according to claim 5, wherein, The hook mechanism (400) further includes: The material box sensor (450) is used to detect whether a material box is being hooked and pulled. It is fixedly installed on the supporting plate (432), facing the hook and pull plate (431), and is spaced relative to the hook and pull plate (431) to form a spacing area (453) for accommodating the side wall of the groove formed on the outer surface of the material box when a material box is being hooked and pulled.

8. The bin picking and placing device according to claim 7, characterized in that, A notch (435) is provided at the top of the hook-pull plate (431), and a C-shaped member (436) is provided at the notch (435). The C-shaped member (436) is recessed in a direction away from the material box sensor (450), so that the detection distance between the material box sensor (450) and the C-shaped member (436) is greater than the distance between the material box sensor (450) and the hook-pull plate (431).

9. The bin picking and placing device according to claim 7, characterized in that The material box sensor (450) is fixed to the supporting plate (432) via a bracket (451); a wire outlet is provided on a side of the bracket (451) facing away from the hook plate (431), and a detection port (454) is provided on a side facing the hook plate (431); The cable (452) of the material box sensor (450) extends from the cable outlet; the material box sensor (450) detects whether a material box is hooked or pulled through the detection port (454).

10. The bin picking device according to claim 5, characterized in that, The hook mechanism (400) further includes: a zero-position baffle (437); the zero-position baffle (437) is fixedly connected to the hook (430) via a first rib (4371) provided on a first side of a connection between the mounting plate (433) and the supporting plate (432); The hook fixing plate (410) is provided with a position detection component (460) that cooperates with the zero-position blocking piece (437), and the position detection component (460) is used to detect the position of the hook (430).

11. The bin picking and placing device according to claim 10, wherein The position detection component (460) includes a position detection sensor (461) corresponding to the lower limit position of the hook (430) and used to detect whether the zero-position blocking piece (437) reaches the lower limit position of the hook (430); or, The position detection component (460) includes two position detection sensors (461), the position of one of the two position detection sensors (461) corresponds to the lower limit position of the hook claw (430), and the position of the other of the two position detection sensors (461) corresponds to the upper limit position of the hook claw (430), and is used to detect whether the zero position baffle (437) reaches the lower limit position of the hook claw (430) and whether the zero position baffle (437) reaches the upper limit position of the hook claw (430), respectively.

12. The bin picking and placing device according to claim 7, characterized in that, The hook mechanism (400) further includes: a wiring baffle (438); the wiring baffle (438) is fixedly connected to the hook (430) via a second rib (4381) provided on the second side of the connection between the mounting plate (433) and the supporting plate (432); The second rib (4381) is provided with a first fixing point (4511), and the cable (452) extending from the bracket is fixed through the first fixing point; the wiring baffle (438) is provided with a second fixing point (4382), and the cable (452) fixed by the first fixing point is fixed through the second fixing point; the length of the cable between the first fixing point and the second fixing point is greater than the stroke of the hook (430) moving in the up and down directions.

13. The bin picking device according to claim 2, wherein The hook mechanism (400) further includes: The limiting frame (470) is arranged on a side of the hook fixing plate (410) away from the hook telescopic mechanism (300), and is covered on the outside of the lifting assembly (440).

14. The bin picking and placing device according to claim 13, wherein The hook mechanism (400) further includes: An outer supporting roller (471) is arranged at the bottom of the limiting frame (470) through a first roller mounting bracket (473); the outer supporting roller (471) is used to roll along the shelf when picking up and placing goods to support the limiting frame (470).

15. The bin picking and placing device according to claim 2, wherein, The hook mechanism (400) further includes: An inner supporting roller (472) is arranged at the bottom of the hook fixing plate (410) through a second roller mounting frame (474); the inner supporting roller (472) is used to roll along the telescopic direction of the material box picking and placing platform (500) when picking and placing goods, so as to support the hook fixing plate (410).

16. The bin picking and placing device according to any one of claims 1 to 15, characterized in that, A front roller (510) is provided at the front end of the material box picking and placing platform (500), and the front roller (510) is used to roll against the shelf beam when picking up goods.

17. A handling robot, characterized in that, It comprises a material box picking and placing device (10), a moving device (20) and a lifting device (30) as described in any one of claims 1 to 16, wherein the material box picking and placing device is connected to the lifting device (30), and the lifting device (30) is connected to the moving device (20).

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