Picking equipment and workstations

Abstract

This utility model relates to the field of warehousing technology and discloses a picking device and workstation. The picking device includes: a robotic arm; a suction assembly connected to the robotic arm and configured to pick goods from an inventory container to an order container under the drive of the robotic arm; and an air supply system including: an air source module configured to control the air pressure of the air supply system; a suction assembly connected to the air source module and configured to absorb or release goods; a detection sensor group configured to detect the absorption state of the goods by the suction assembly; and a switch assembly disposed in the air supply system between the air source module and the suction assembly, configured to control the on / off state of the air supply system. Applying this utility model can improve the efficiency of goods picking.

Description

Technical Field

[0001] This utility model relates to the field of warehousing technology, specifically to a picking device and workstation. Background Technology

[0002] In the warehousing sector, it is necessary to pick out goods from inventory that meet the requirements of orders, etc. However, when the number of orders surges, it takes a long time for pickers to complete the picking. In addition, when faced with some complex and scattered inventory layouts, manual picking requires pickers to frequently travel between different picking areas, which not only prolongs the operation path but also increases the risk of mispicking and missed inspection, resulting in high labor costs.

[0003] Furthermore, manual picking is difficult to monitor and dynamically schedule in real time, making it hard to meet the demands of modern warehousing for intelligence, precision, and efficiency. Therefore, automated picking technology is urgently needed to solve these problems. Utility Model Content

[0004] In view of the above problems, this utility model provides a picking device and workstation to solve the problems of low picking efficiency and low degree of automation in the prior art.

[0005] According to one aspect of the present invention, a picking device is provided, the picking device comprising: a robotic arm; a suction assembly connected to the robotic arm and configured to pick goods from an inventory container to an order container under the drive of the robotic arm; and an air circuit system comprising: an air source module configured to control the air pressure of the air circuit, the suction assembly being connected to the air source module and configured to adsorb or release goods; a detection sensor group configured to detect the adsorption state of the goods by the suction assembly; and a switch assembly disposed in the air circuit between the air source module and the suction assembly and configured to control the on / off state of the air circuit.

[0006] In some embodiments, the air source module includes an air compressor and is configured to generate positive pressure gas, and the air path system further includes a vacuum generator assembly; the vacuum generator assembly is connected between the switching assembly and the suction assembly and is configured to control the vacuum level of the suction assembly to control the suction assembly to adsorb or release goods.

[0007] In some embodiments, the suction cup assembly comprises a suction cup group consisting of multiple suction cups, the switch assembly includes multiple switch groups, and the vacuum generator group includes multiple vacuum generators; the multiple switch groups and the multiple vacuum generators constitute multiple control paths, each control path corresponding to one of the multiple suction cups, and each control path is configured to independently control the corresponding suction cup to adsorb or release goods; wherein, each control path includes at least one switch group and at least one vacuum generator, and one switch group is independently connected to one vacuum generator.

[0008] In some embodiments, the input port of the first switch group in the control path is connected to the air compressor, and the output port is connected to the air inlet of the first vacuum generator; the negative pressure port of the first vacuum generator is connected to the suction cup controlled by the control path; wherein, the first switch group is any solenoid valve in the control path, the first vacuum generator corresponds to the first switch group, and they are interconnected.

[0009] In some embodiments, the first switch group includes a vacuum valve and a pressure relief valve; the vacuum valve is connected to the air inlet of the air compressor and the first vacuum generator respectively, and is configured to control the on / off of the positive pressure gas; the pressure relief valve is connected to the negative pressure port of the air compressor and the first vacuum generator respectively, and is configured to control the introduction of external gas to disrupt the negative pressure state.

[0010] In some embodiments, the detection sensor group includes a positive pressure sensor and / or a negative pressure sensor, wherein: the positive pressure sensor is in communication with the switching assembly and is configured to detect the positive pressure value of the air path; the negative pressure sensor is disposed in the air path between the vacuum generator group and the suction device assembly and is configured to detect the negative pressure value of the air path.

[0011] In some embodiments, the air source module further includes a refrigerated dryer, which is connected to the air compressor and the switching assembly respectively; the refrigerated dryer is configured to cool the positive pressure gas and filter out moisture in the air path.

[0012] In some embodiments, the picking device further includes a pre-processing unit, which includes a start valve, a pressure reducing valve, and a separation device; the start valve is connected to the air compressor and the pressure reducing valve respectively, and is configured to control the on / off state of the global air path; the pressure reducing valve is connected to the start valve and the separation device respectively, and is configured to control the reduction of air path pressure; the separation device is connected to the switching assembly and is configured to filter out impurities in the air path.

[0013] In some embodiments, the picking device further includes at least one muffler; the muffler is connected to the exhaust port of the vacuum generator in the control path and is configured to reduce the noise generated by the control path.

[0014] In some embodiments, the picking equipment further includes an air blowing device; the air blowing device is connected to the air compressor and to the suction assembly via the switching assembly, and is configured to move the position of goods in the storage container by blowing air, or to adjust the posture of goods in the storage container.

[0015] In some embodiments, the gas source module includes a vacuum pump and is configured to generate negative pressure gas.

[0016] In some embodiments, the suction device assembly comprises a suction cup group consisting of multiple suction cups, and the switch assembly includes multiple switch groups; the switch groups are connected to the vacuum pump, and the switch groups are configured to independently control the corresponding suction cups to adsorb or release goods.

[0017] In some embodiments, the gas path system further includes a plurality of vacuum filters disposed between a switch group and a suction cup correspondingly controlled by the switch group, and configured to filter out impurities in the gas path.

[0018] In some embodiments, the detection sensor group further includes any one or more of a cargo detection sensor, a drop detection sensor, and a position detection sensor; the cargo detection sensor is disposed on the suction assembly and configured to detect cargo information of the storage container when the suction assembly moves to the cargo detection position of the storage container; the drop detection sensor is disposed on the robotic arm and configured to detect whether the cargo has fallen when the suction assembly picks up the cargo; the position detection sensor is disposed on the suction assembly and configured to detect the moving position of the suction assembly to determine whether the suction assembly has reached the storage container or the order container.

[0019] In some embodiments, the suction cup assembly includes at least one suction cup group, the suction cup group including at least one suction cup, and the suction cup properties of different suction cup groups are different, the suction cup properties including any one or more of the position, size, material, shape and weight of the suction cup in the suction cup group.

[0020] In some embodiments, the suction cups in the suction cup group are arranged in a polygonal pattern.

[0021] According to a second aspect of this embodiment, a workstation is provided, comprising: a carrier configured to hold a plurality of order containers; a workbench configured to hold a target order container, the plurality of order containers including the target order container; a picking device, comprising: a robotic arm; a suction assembly connected to the robotic arm and configured to, under the actuation of the robotic arm, pick goods from inventory containers into the target order container; and an air supply system, comprising an air source module, a detection sensor group, and a switch assembly; the air source module being connected to the suction assembly and configured to control the air pressure of the air supply system; the detection sensor group being configured to detect the suction state of the suction assembly on the goods; and the switch assembly being disposed in the air supply system between the air source module and the suction assembly and configured to control the on / off state of the air supply system.

[0022] In some embodiments, the workstation includes a support frame, and the picking equipment and the worktable are disposed within the internal space formed by the support frame.

[0023] In some embodiments, the support frame is provided with a cargo detection sensor, which is configured to detect the adsorption state of the suction assembly on the cargo.

[0024] In some embodiments, the support frame is provided with a cargo identification sensor, and the position of the cargo identification sensor on the support frame corresponds to the placement area of ​​the storage container; the cargo identification sensor is configured to identify cargo information of the cargo in the storage container, the cargo information including the position of the cargo in the storage container.

[0025] In summary, the picking equipment and workstation according to the embodiments of this utility model can use a robotic arm to drive the suction assembly, and under the pneumatic action of the air circuit system, pick goods from the inventory container to the order container, thereby realizing automatic picking of goods, reducing human intervention, and improving the efficiency and success rate of goods picking; by using the detection sensor group in the air circuit system, the adsorption state of the suction assembly on the goods can be detected, reducing the picking error rate, and also helping to locate fault points and reduce the risk of abnormality of the picking equipment.

[0026] The above description is merely an overview of the technical solutions of the present utility model embodiments. In order to better understand the technical means of the present utility model embodiments and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present utility model embodiments more obvious and understandable, specific embodiments of the present utility model are described below. Attached Figure Description

[0027] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0028] Figure 1 This diagram illustrates the structure of a picking device according to an embodiment of the present invention.

[0029] Figure 2 A schematic diagram of the structure of a robotic arm provided in an embodiment of the present invention is shown;

[0030] Figure 3 A schematic diagram of a suction cup assembly provided in an embodiment of the present invention is shown;

[0031] Figure 4 A schematic diagram of the structure of a gas path system provided in an embodiment of the present invention is shown;

[0032] Figure 5 A schematic diagram of another pneumatic system provided in an embodiment of the present invention is shown;

[0033] Figure 6 A schematic diagram of a control path provided by an embodiment of the present invention is shown;

[0034] Figure 7 A schematic diagram of another control path provided by an embodiment of the present invention is shown;

[0035] Figure 8 This diagram illustrates the structure of yet another pneumatic system provided in this embodiment of the present invention.

[0036] Figure 9 This diagram illustrates the structure of yet another pneumatic system provided in this embodiment of the present invention.

[0037] Figure 10 This diagram illustrates the structure of yet another pneumatic system provided in this embodiment of the present invention.

[0038] Figure 11 This diagram illustrates the structure of yet another pneumatic system provided in this embodiment of the present invention.

[0039] Figure 12 A schematic diagram of the structure of a workstation provided in an embodiment of the present invention is shown. Detailed Implementation

[0040] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] This utility model provides a picking device that can be used to perform picking tasks in a warehouse environment, such as retrieving goods from inventory containers and placing them into corresponding order containers. This enables automated picking, improves picking efficiency and accuracy, and saves labor costs. The picking device provided in this utility model embodiment will be described below with reference to the accompanying drawings.

[0042] Figure 1 This is a schematic diagram of the structure of a picking device provided in an embodiment of the present utility model, as shown below. Figure 1 As shown, the picking device 100 may include a robotic arm 110, a suction assembly 120, and an air supply system 130. The air supply system 130 includes an air source module 131, a detection sensor group 132, and a switch assembly 133. The detection sensor group 132 and the switch assembly 133 adopt an integrated structure, and only a simplified position is shown in the figure.

[0043] The picking equipment 100 can be fixedly installed in the picking area. For example, in a warehousing environment, the picking area, the storage area, etc. are set in different locations. The handling equipment can move the goods in the storage area or the storage containers containing the goods to the picking area. Alternatively, a conveyor line can be set between the storage area and the picking area, and the goods in the storage area or the storage containers containing the goods can be transferred to the picking area through the conveyor line.

[0044] Multiple workstations can be fixedly set up in the picking area, and each workstation is equipped with a picking device 100, which can pick goods transferred to its own workstation.

[0045] In some embodiments, the picking device 100 may also be mounted on a mobile device, so that the picking device 100 can be moved to any location where picking tasks need to be performed as the mobile device moves.

[0046] In the picking equipment 100, the robotic arm 110 is the key equipment for performing automated goods picking, and it can be composed of multiple joints, such as rotary or sliding joints, as well as connecting arms.

[0047] For example, in such Figure 1 The picking device 100 shown includes a robotic arm 100 comprising a fixed base 111, a first connecting rod 112, a first rotary joint 113, a second connecting rod 114, a second rotary joint 115, a third connecting rod 116 and a third rotary joint 117, and a connecting arm 118. The fixed base 111 is used to mount the robotic arm 110 on the ground. Through the combined action of multiple joints and connecting rods, the picking device 100 can move the suction assembly 120 mounted at the end of the connecting arm 118 in three-dimensional space, allowing the suction assembly 120 to move to the picking and placing position of the goods.

[0048] Depending on the specific needs, the robotic arm 110 can also have other structures, and the structure, length, etc., of its joints, links, and other components can all be designed differently. For example, such as... Figure 2 As shown, the robotic arm 110 is connected to a suction device assembly 120 at its end. The robotic arm 110 includes a base 1, a rotary joint 2, a rotary joint 3 and a rotary joint 4, and connecting arms 5, 6 and 7.

[0049] In this structure, the base 1 can be fixedly mounted on the work platform or support frame using screws or the like, providing stable support for the robotic arm 110. Rotary joints 2, 3, and 4 drive connecting arms 5, 6, and 7 in conjunction, causing the end-effector suction assembly 120 to move in space.

[0050] The suction assembly 120 is the actuator at the end of the robotic arm 110 used for vacuum suction to grasp and grab goods. Its core function is to generate suction force through negative pressure to achieve non-contact or light-contact grasping, handling and releasing of goods.

[0051] In some embodiments, the suction cup assembly 120 may be a suction cup assembly, and the suction cup assembly may include at least one suction cup group, each suction cup group including at least one suction cup. The suction cup properties of different suction cup groups are different. Suction cup properties may include any one or more of the following: position, size, material, shape, and weight of the suction cups in the suction cup group.

[0052] For example, such as Figure 1 As shown, the suction cup assembly 120 includes a suction cup group comprising three suction cups, which may differ in material, size, etc. When adsorbing goods, the three suction cups in the suction cup group can cooperate with each other, using different suction forces to pick up the goods to be selected.

[0053] In some embodiments, the suction cups in the suction cup assembly are arranged in a polygonal pattern. Figure 3 A schematic diagram of a suction cup assembly provided in this embodiment is shown, such as... Figure 3 As shown, a suction cup assembly includes a first suction cup, a second suction cup, and a third suction cup. These three suction cups are of different sizes, connected by the same fastener, and arranged in a triangular pattern.

[0054] In some embodiments, the suction cups in a suction cup group may also adopt different shapes, such as being distributed in a circular pattern. The suction cup distribution shapes of different suction cup groups may be the same or different.

[0055] The air system 130 is a system in the picking equipment 100 that uses compressed air or suction air to transmit power and control signals, and is used to provide suction force and release force to the suction assembly 120.

[0056] In the gas path system 130, the gas source module 131, the detection sensor group 132, and the switch assembly 133 are interconnected. When adsorbing goods, a negative pressure is used to generate an adsorption force to adsorb the goods; when releasing goods, external gas is introduced to break the vacuum state, thereby generating a release force.

[0057] Figure 4 A schematic diagram of the structure of a gas path system provided in this embodiment is shown, as follows: Figure 4 As shown, the air source module 131 is configured to control the air pressure of the air circuit, and the suction assembly 120 is connected to the air source module 131. The suction assembly 120 can be used to adsorb or release goods.

[0058] For example, the air source module 131 can be an air compressor that can generate high-pressure compressed gas with a stable pressure, and the air source module 131 is connected to the suction assembly 120 to provide positive pressure airflow for releasing goods to the suction assembly 120.

[0059] For example, the air source module 131 can be a vacuum pump, which can create a vacuum in the air path by drawing in air, so that the suction assembly 120 can pick up the goods.

[0060] The sensor group 132 is configured to detect the adsorption status of the suction assembly 120 on the goods, such as whether the goods are successfully adsorbed or whether they fall off.

[0061] In order to detect the adsorption state of the suction assembly 120 on the goods during the picking process of the suction assembly 120, the detection sensor group 132 may include one or more sensors, such as pressure sensors, vision sensors, etc.

[0062] In some embodiments, the air pressure values ​​at different locations in the air path system 130 are different. In order to detect the air pressure status of the air path and accurately control the suction force or release force when the suction assembly 120 adsorbs or releases goods, the detection sensor group 132 may include one or more pressure sensors, and different pressure sensors may be set at different locations in the air path to measure the air pressure value at the corresponding location in order to accurately control the flow of gas.

[0063] For example, in Figure 4 In the schematic diagram shown, pressure sensor 1 is located in the air path between air source module 131 and suction assembly 120, and is used to measure the air pressure value in the air path.

[0064] In some embodiments, visual sensors can be installed at any position on the suction assembly 120 and the robotic arm 110 to monitor the process of the suction assembly 120 adsorbing or releasing goods, so as to determine whether the goods are adsorbed normally or fall abnormally.

[0065] The switch assembly 133 is disposed in the air path between the air source module 131 and the suction assembly 120, and is configured to control the on / off state of the air path.

[0066] When adsorbing and releasing goods, the suction assembly 120 needs to generate suction or release force. The switch assembly 133 can indirectly control the air pressure value in the air passage by controlling the opening and closing of the air passage, so that positive or negative pressure is generated in the air passage, thereby adsorbing or releasing goods.

[0067] For example, when the air source module 131 is a vacuum pump, when the switch assembly 133 is turned on, the vacuum pump begins to expel air from the air path, causing the suction assembly 120 to generate negative pressure and suck up the goods. When the switch assembly 133 is turned off, air enters the air path, causing the suction assembly 120 to generate positive pressure and release the goods.

[0068] It should be noted that, Figure 4 The connection structure shown is for illustrative purposes only and is used to indicate the air passage connection between components. It should not be considered as a limitation on the connectors, etc.

[0069] Based on the picking equipment 100 provided by this utility model, on the one hand, the robotic arm 110 can drive the suction assembly 120 to pick goods from the inventory container into the order container under the pneumatic action of the pneumatic system 130, thereby realizing automatic picking of goods, reducing human intervention, and improving the efficiency and success rate of goods picking; on the other hand, the detection sensor group 132 in the pneumatic system 130 can monitor the suction state of the suction assembly 120 on the goods, reduce the picking error rate, and also help to locate fault points and reduce the abnormal risk of the picking equipment 100.

[0070] Figure 5 A schematic diagram of another gas path system provided in this embodiment is shown, such as... Figure 5 As shown, the air source module 131 may include an air compressor 1311, which can generate positive pressure gas. The air path system 130 may also include a vacuum generator assembly.

[0071] like Figure 5 As shown, the vacuum generator assembly 134 is connected between the switch assembly 133 and the suction assembly 120, and can control the vacuum level of the suction assembly 120 to control the suction assembly 120 to adsorb or release goods.

[0072] For example, the vacuum generator assembly 134 can use the Venturi effect to convert the gas supplied by the air compressor 1311 into a vacuum negative pressure, and the vacuum degree of the suction device assembly 120 can be controlled by adjusting the air supply pressure.

[0073] To ensure the gas in the gas system 130 is dry and clean, in some embodiments, the gas source module 131 may further include a refrigerated dryer, which is connected to both the air compressor and the switching assembly 133. For example, the gas outlet of the air compressor may be connected to the air inlet of the refrigerated dryer via a pipe, and the air outlet of the refrigerated dryer may be connected to the air inlet of the switching assembly 133 via a pipe.

[0074] The air compressor is configured to generate positive pressure gas; the refrigerated dryer is configured to cool the positive pressure gas and filter out moisture in the gas path.

[0075] For example, the air compressor is the starting point of the air circuit system 130. It can draw in air from the environment and compress it mechanically, such as by a vortex, to increase the pressure of the gas. However, the gas it outputs may contain some impurities, such as moisture and oil in the air. Therefore, the refrigerated dryer connected to the air compressor, as a post-processing device for the compressed gas, can reduce the temperature of the compressed gas to the dew point temperature, so that the moisture in the gas condenses into liquid water due to the temperature drop, and is then discharged from the system by the automatic drainer inside the refrigerated dryer.

[0076] In some embodiments, the picking device 100 may further include a pre-processing device, which can be used to further process and regulate the gas generated by the gas source module 131 to ensure that the gas supplied to the downstream solenoid valve assembly 134 is clean, dry and has stable pressure.

[0077] The pre-treatment unit may include a start-up valve, a pressure-reducing valve, and a separation device. The start-up valve is connected to both the air compressor and the pressure-reducing valve and is configured to control the on / off state of the entire air path. That is, the start-up valve is equivalent to the "master switch" of the entire air path system 130, controlling the flow of gas from the air source module 131 to the pre-treatment unit and all subsequent air paths.

[0078] The pressure reducing valve is connected to both the start valve and the separation device and is configured to control and reduce the gas pressure in the circuit. The pressure reducing valve is used to reduce and stabilize the gas pressure from the air compressor to a preset, lower operating pressure, so as to provide a stable and safe operating pressure for downstream components such as the switch assembly 133 and the suction assembly 120, and avoid damage to components and waste of energy due to excessive pressure.

[0079] The separation device is connected to the switching assembly 133 and is configured to filter out impurities, such as moisture, from the gas path. The separation device may include a water separator, an oil-water separator, etc. By filtering out impurities from the gas path, the moisture content in the gas path is further reduced, protecting the precision valve core of the switching assembly 133 from corrosion caused by moisture and other contaminants when subsequent gas is introduced into the switching assembly 133.

[0080] In practical applications, the attributes of goods, such as shape, size, material, and packaging, vary. To improve the ability of the suction assembly 120 to adsorb goods, in some embodiments, the suction assembly 120 can be composed of multiple suction cups forming a suction cup group. The suction cups in the suction cup group can have the same or different attributes such as position, size, material, shape, and weight.

[0081] The switch assembly 133 includes multiple switch groups, and the vacuum generator group includes multiple vacuum generators. The multiple switch groups and multiple vacuum generators constitute multiple control paths. Each control path corresponds to a multiple suction cup, and the control path is configured to independently control the corresponding suction cup to adsorb or release goods.

[0082] The control path includes at least one switch group and at least one vacuum generator, with each switch group independently connected to a vacuum generator.

[0083] Figure 6 A schematic diagram of a control path provided in this embodiment is shown, such as... Figure 6 As shown, the suction cup assembly 120 includes three suction cups, namely suction cup A, suction cup B and suction cup C; the switch assembly 133 includes three switch groups, namely switch group 1, switch group 2 and switch group 3; and the vacuum generator group 134 includes three vacuum generators, namely vacuum generator 1, vacuum generator 2 and vacuum generator 3.

[0084] like Figure 6 As shown, switch group 1 and vacuum generator 1 constitute control path 1, switch group 2 and vacuum generator 2 constitute control path 2, and switch group 3 and vacuum generator 3 constitute control path 3. Control path 1 is used to control suction cup A to adsorb or release goods, control path 2 is used to control suction cup B to adsorb or release goods, and control path 3 is used to control suction cup C to adsorb or release goods.

[0085] In this structure, one switch group corresponds to one vacuum generator, and the control path formed by the two is used to control one suction cup. The resulting multiple control paths can be used to control multiple suction cups to adsorb or release goods, realizing independent control of multiple suction cups and facilitating the combination of multiple suction cups to complete the task of adsorbing or releasing goods.

[0086] Figure 7 A schematic diagram of another control path provided in this embodiment is shown, such as... Figure 7 As shown, the suction assembly 120 includes three suction cups, namely suction cup A, suction cup B and suction cup C; the switch group 134 includes five switch groups, namely switch group 1, switch group 2, switch group 3, switch group 4 and switch group 5; and the vacuum generator group 132 includes five vacuum generators, namely vacuum generator 1, vacuum generator 2, vacuum generator 3, vacuum generator 4 and vacuum generator 5.

[0087] like Figure 7 As shown, switch group 1 and vacuum generator 1 constitute control path 1, switch group 2 and vacuum generator 2 constitute control path 2, switch group 3 and vacuum generator 3 constitute control path 3, switch group 4 and vacuum generator 4 constitute control path 4, and switch group 5 and vacuum generator 5 constitute control path 5.

[0088] In control pathways 1-2, the gases output from vacuum generators 1 and 2 are collected and connected to suction cup A to control suction cup A to adsorb or release goods. In control pathways 3-4, the gases output from vacuum generators 3 and 4 are collected and connected to suction cup B to control suction cup B to adsorb or release goods. In control pathway 5, the gas output from vacuum generator 5 is directly connected to suction cup C to control suction cup C to adsorb or release goods.

[0089] This structure employs a redundant design with multiple switch groups and multiple vacuum generators forming a single control path, resulting in higher system reliability. Furthermore, by combining and controlling multiple switch groups, the air intake of the vacuum generator can be precisely adjusted, achieving graded control of the suction cup vacuum level. When a component requires maintenance, the system can be maintained by switching to other redundant components without requiring a complete system shutdown.

[0090] With the above structure, one or more control channels correspond to an independent air path, which is controlled by the corresponding switch group and vacuum generator to control a suction cup, forming a closed-loop control unit of "switch group-vacuum generator-suction cup", realizing independent control of each suction cup, and facilitating the combination of multiple suction cups to adsorb or release goods.

[0091] In order to connect the switch group and the vacuum generator, in some embodiments, the input port of the first switch group in the control path is connected to the air compressor, and the output port is connected to the air inlet of the first vacuum generator; the negative pressure port of the first vacuum generator is connected to the suction cup controlled by the corresponding control path.

[0092] In this system, the first switch group is any one of the switch groups in the control path, and the first vacuum generator corresponds to and is connected to the first switch group. For example, in... Figure 6 In the control path diagram shown, the first switch group can be switch group 1, and the corresponding first vacuum generator is vacuum generator 1.

[0093] Based on this connection, when the first switch group is energized, the gas generated by the air compressor enters the first switch group through its input port and flows through its output port to the inlet of the first vacuum generator. As the gas flows within the first vacuum generator, a vacuum is created at the negative pressure port through the Venturi effect, forming a pressure difference between the negative pressure port and the suction cup. The suction cup generates suction due to the vacuum at the negative pressure port, adsorbing the goods. When the first switch group is de-energized and closed, the gas supply is cut off, the vacuum disappears, and the suction cup releases the goods.

[0094] In some embodiments, the first switch group includes a vacuum valve and a pressure relief valve. The vacuum valve and the pressure relief valve are the core functional components in the switch group, each undertaking different gas control tasks. They work together to control the suction assembly 120 to adsorb and release goods.

[0095] The vacuum valve is connected to the air inlet of the air compressor and the first vacuum generator respectively, and is configured to control the on / off of positive pressure gas; the pressure relief valve is connected to the negative pressure port of the air compressor and the first vacuum generator respectively, and is configured to control the introduction of external gas to disrupt the negative pressure state.

[0096] For example, one end of the vacuum valve is connected to the air compressor, and the other end is connected to the air inlet of the first vacuum generator; one end of the pressure relief valve is connected to the air compressor, and the other end is connected to the negative pressure port of the first vacuum generator.

[0097] The opening and closing of the vacuum valve and the pressure relief valve are controlled by energizing or de-energizing the electromagnetic coil. When the vacuum valve is open, the pressure relief valve is closed, and gas flows into the first vacuum generator, creating a negative pressure that drives the suction assembly 120 to generate suction. When the vacuum valve is closed, the pressure relief valve is opened, cutting off the gas supply to the air compressor. The first vacuum generator stops working, and external gas enters the vacuum generator through the negative pressure port, mixing with the negative pressure air in the connected suction assembly 120 to quickly offset the vacuum, causing the suction assembly 120 to lose suction and thus release the goods.

[0098] In order to monitor the operation of the pneumatic system 130 in the picking equipment 100, in some embodiments, the sensor group 132 may include a positive pressure sensor and a negative pressure sensor, wherein the positive pressure sensor is connected to the switching assembly 133 and is configured to detect the positive pressure value of the pneumatic system; the negative pressure sensor is located in the pneumatic system between the vacuum generator group and the suction assembly 120 and is configured to detect the negative pressure value of the pneumatic system.

[0099] refer to Figure 8As shown, in the air path controlling suction cup A, a positive pressure sensor 1 can be installed at the air inlet end of control path 1 and control path 2, i.e., the common air inlet of switch group 1 and switch group 2, and a negative pressure sensor 1 can be installed at the negative pressure port of vacuum generator 1 and vacuum generator 2, to detect the positive and negative pressure values ​​of the gas entering control path 1 and control path 2; a positive pressure sensor 2 can be installed at the air inlet end of control path 3 and control path 4, i.e., the common air inlet of switch group 3 and switch group 4, and a negative pressure sensor 2 can be installed at the negative pressure port of vacuum generator 3 and vacuum generator 4, to detect the positive and negative pressure values ​​of the gas entering control path 3 and control path 4; a positive pressure sensor 3 can be installed at the air inlet end of switch group 5 in control path 5, and a negative pressure sensor 3 can be installed at the negative pressure port of vacuum generator 5, to detect the positive and negative pressure values ​​of the gas entering control path 5.

[0100] In some embodiments, a positive pressure sensor may be provided at the air inlet of the switch group in each control path, or a negative pressure sensor may be provided at the negative pressure port of each vacuum generator to detect the positive and negative pressure values ​​of the gas in each control path.

[0101] Based on this setup, the gas pressure at different locations in the air path can be effectively monitored. This allows the picking equipment to determine if there are any leaks in the air path based on the pressure readings. Furthermore, different items require different suction cup pressures during the picking process. Therefore, by detecting the air path pressure, it is also possible to accurately determine whether the suction cup pressure meets the suction requirements of the corresponding item, or to adjust multiple suction cups to pick up the item. Thus, this method can precisely control the air intake of each control path, accurately controlling the suction cups to perform the item picking task.

[0102] When the suction assembly 120 picks up or releases goods, the gas flows at high speed in the air passage, which can generate significant noise at locations such as the negative pressure port of the vacuum generator. In order to reduce noise, in some embodiments, the picking device 100 may also include at least one silencer.

[0103] The silencer can be connected to the exhaust port of the vacuum generator in the control path and is configured to reduce the noise generated by the control path.

[0104] This structure reduces the noise generated by the intense friction between the airflow and the exhaust port when gas flows at high speed from the inlet of the vacuum generator into the venturi tube, is accelerated through the throat, and is then discharged from the exhaust port.

[0105] In some embodiments, the location and number of silencers can be set according to the number of vacuum generators included in the control path.

[0106] For example, when the control path contains only one vacuum generator, a muffler can be installed at the exhaust port of that vacuum generator. When the control path includes multiple vacuum generators, the multiple vacuum generators may be arranged dispersedly or densely, so a muffler can be installed at the exhaust port of the densely arranged multiple vacuum generators, or a muffler can be installed at the exhaust port of the dispersed multiple vacuum generators respectively.

[0107] When picking goods, there may be a large number of goods placed in the inventory container. The goods to be picked by the picking device 100 may be stacked or located near the edge of the container. In this case, it is difficult for the suction assembly 120 to remove the goods from the container. To solve this problem, in some embodiments, the picking device 100 may also include an air blowing device, which is connected to an air compressor and connected to the suction assembly 120 through a switch assembly 133. The air blowing device can move the position of the goods in the inventory container or adjust the posture of the goods in the inventory container.

[0108] For example, the gas generated by the air compressor enters the blowing air passage through the air passage between the air compressor and the switch assembly 133, and reaches the blowing port of the suction assembly 120, thereby blowing out the gas. When adjusting the position or posture of the goods in the storage container, the blowing device can blow air along the edge of the storage container as the suction assembly 120 moves, causing the posture and position of the goods to change.

[0109] The air blowing device can control the return and alignment of goods, solving the picking difficulties caused by poor initial position of goods and improving the success rate of suction assembly 120.

[0110] In some embodiments, the gas source module 131 may include a vacuum pump, which can be used to generate negative pressure gas. Exemplarily, the vacuum pump expels air from the gas path by mechanical or physical means, thereby creating negative pressure gas in the gas path system 130 to provide suction force for the suction device assembly 120.

[0111] Figure 9 This embodiment shows a schematic diagram of another gas path system provided, such as... Figure 9 As shown, the vacuum pump 1312 is connected to the switch assembly 133. When the switch assembly 133 is turned on, the vacuum pump 1312, as the core power source, actively draws in air to create a negative pressure environment in the air path, causing the suction assembly 120 to generate suction and adsorb the goods. When the switch assembly 133 is turned off, external air enters the air path, thereby disrupting the negative pressure state and causing the suction assembly 120 to release the goods.

[0112] In some embodiments, the suction cup assembly 120 may be a suction cup group consisting of multiple suction cups. The switch assembly 133 includes multiple switch groups. The suction cups in the suction cup group may have the same or different attributes such as position, size, material, shape, and weight.

[0113] The switch assembly is connected to the vacuum pump and is used to independently control the corresponding suction cup to adsorb or release goods. Figure 10 This embodiment shows a schematic diagram of another gas path system provided, such as... Figure 10 As shown, the vacuum pump 1312 is connected to switch group 1, switch group 2 and switch group 3 through air pipes. Switch group 1 is connected to suction cup A and is used to independently control suction cup A to adsorb or release goods. Switch group 2 is connected to suction cup B and is used to independently control suction cup B to adsorb or release goods. Switch group 3 is connected to suction cup C and is used to independently control suction cup C to adsorb or release goods.

[0114] Based on this structure, the adsorption or release of goods can be achieved by utilizing the connection between the vacuum pump and the suction assembly 120.

[0115] In some embodiments, in order to filter out impurities in the gas path, the gas path system 130 may also include a plurality of vacuum filters, which are disposed between a switch group and a suction cup controlled by the switch group, and are configured to filter out impurities in the gas path.

[0116] like Figure 11 As shown, with Figure 10 Based on the air circuit system shown, vacuum filter 1 is installed in the air circuit between switch group 1 and suction cup A to filter out impurities in the control air circuit of suction cup A; vacuum filter 2 is installed in the air circuit between switch group 2 and suction cup A to filter out impurities in the control air circuit of suction cup B; and vacuum filter 3 is installed in the air circuit between switch group 3 and suction cup A to filter out impurities in the control air circuit of suction cup C.

[0117] In this structure, the vacuum pump operates by expending air, thus avoiding the generation of excess impurities in the gas path, resulting in a relatively simple gas path structure.

[0118] In order to monitor the picking process during the operation of the picking equipment 100, in some embodiments, the detection sensor group 132 may also include any one or more of the following: cargo detection sensor, drop detection sensor and position detection sensor.

[0119] The goods detection sensor can be mounted on the suction assembly 120 and configured to detect the goods information of the inventory container when the suction assembly 120 moves to the goods detection position of the inventory container. The goods detection position of the inventory container can be the range of positions where the inventory container is fixed in the picking area. When the end effector of the robotic arm 110 moves to this range of positions, the goods detection sensor on the suction assembly 120 can collect the goods information of the inventory container.

[0120] For example, the cargo detection sensor can be a vision sensor, an RFID (Radio Frequency Identification) sensor, etc. A vision sensor can capture images of the cargo in the inventory container, identify the information and extent of the cargo in the image, allowing the robotic arm 110 to pick the desired cargo from the inventory container without mistakenly picking unwanted cargo. An RFID sensor relies on the RFID tag attached to the cargo; it can identify the tag to determine the information and extent of the cargo to be picked from the inventory container.

[0121] A drop detection sensor can be mounted on the robotic arm 110 and configured to detect whether the goods have fallen when the suction assembly 120 picks up the goods.

[0122] The drop detection sensor can be set at any position on the robotic arm 110. It can be a vision sensor, pressure sensor, photoelectric sensor, etc. By detecting the change of the cargo at the end of the robotic arm 110, it can determine whether the cargo has fallen when the suction assembly 120 is adsorbing the cargo.

[0123] A position detection sensor is disposed on the suction assembly 120 and configured to detect the movement position of the suction assembly 120 to determine whether the suction assembly 120 has reached the inventory container or the order container. The position detection sensor can be a laser sensor, a visual positioning sensor, etc., and can monitor position changes as the suction assembly 120 moves, generate the movement trajectory of the suction assembly 120, and determine whether the suction assembly 120 has reached the inventory container or the order container based on the movement trajectory.

[0124] By setting up sensors, a sensing network can be built for the picking equipment 100, making the picking equipment 100 smarter and more reliable.

[0125] Furthermore, this utility model also provides a workstation that can be used to perform picking tasks. It can be set up in a designated work area and accommodate the equipment and goods required for picking.

[0126] Figure 12 A schematic diagram of a workstation provided in this embodiment is shown, such as... Figure 12As shown, workstation 800 may include carrier 200, workbench 300 and picking equipment 100.

[0127] The carrier 200 can be used to place multiple order containers. An order container is a container for placing picked goods. Depending on the order, an order container can be used to place the goods corresponding to one order, or it can be used to place the goods corresponding to multiple orders with the same attributes, such as the same address.

[0128] Workbench 300 is an auxiliary structure for performing picking tasks and can be used to place target order containers. A target order container refers to the order container where the goods currently being picked by picking equipment 100 will be stored. For example... Figure 12 As shown, the target order container 210 is placed on the workbench 300. At the current moment, the picking equipment 100 is picking the goods from the inventory container 41 into the target order container 210 according to the corresponding order information.

[0129] The partition 70 is a dividing partition between the workbench 300, the picking equipment 100, and the carrier 200. It is used to limit the working range of the workbench 300 and the picking equipment 100 to ensure operational safety. At the same time, there is an open space below the partition 70, through which the order containers that have been picked can be transferred to the carrier 200.

[0130] For example, the scheduling system can determine the goods to be picked and their quantity based on order information, and then schedule the handling equipment 51 to move the inventory container 41 containing the goods to be picked to the picking position of workstation 800, such as... Figure 12 As shown in the picking position 60, the picking equipment 100 can then take out the corresponding number of goods to be picked from the inventory container 41 at the picking position 60 according to the picking instructions of the scheduling system, and put the goods to be picked into the target order container 210 on the workbench 300.

[0131] After the goods in the target order container 210 have been picked, the operator or other robot can transfer the target order container 210 from the bottom open space of the partition 70 to the carrier 200 for storage.

[0132] For example, the workbench 300 may have a rolling device. When all the required goods in the target order container 210 have been picked up, the target order container 210 can be moved to a position close to the carrier 210 by the rolling device. Then, a connecting device, such as a connecting robot, set at the carrier 210 can pick up the target order container 210 and transfer it to the carrier 200 for storage.

[0133] In some embodiments, the picking device 100 includes a robotic arm 110, a suction assembly 120, and an air supply system 130. The air supply system 130 includes an air source module 131, a detection sensor group 132, and a switch assembly 133 (not shown in the figure).

[0134] like Figure 12 As shown, the picking equipment 100 is an automated machine that performs the task of picking goods behind the workbench 300. Its core working structure is a robotic arm 110, a suction assembly 120 and a pneumatic system 130 that provides pneumatic power at the end of the robotic arm 110.

[0135] The suction container assembly 120 is connected to the robotic arm 110 and is configured to pick goods from the inventory container 41 into the target order container 210 under the drive of the robotic arm 110.

[0136] The air supply module 131 is configured to control the air pressure in the air circuit, and the suction assembly 120 is connected to the air supply module 131. For example, the air supply module 131 may be an air compressor that can generate high-pressure compressed gas with a stable pressure, and the air supply module 131 is connected to the suction assembly 120 to provide positive pressure airflow for releasing goods to the suction assembly 120.

[0137] In some embodiments, the air source module 131 may also be a vacuum pump. When the switch assembly 133 is turned on, the vacuum pump begins to expel air from the air path, and the suction assembly 120 generates negative pressure to suck up the goods. When the switch assembly 133 is turned off, air enters the air path, causing the suction assembly 120 to generate positive pressure and release the goods.

[0138] In some embodiments, in a structure with an air compressor as the core power source, a vacuum generator assembly can be connected between the switch assembly 133 and the suction assembly 120. The switch assembly 133 is connected to the air compressor. The vacuum level of the suction assembly 120 can be controlled by the vacuum generator assembly and the switch assembly 133, thereby controlling the suction assembly 120 to adsorb or release goods.

[0139] The sensor group 132 is configured to detect the adsorption status of the suction assembly 120 on the goods. The adsorption status can indicate whether the goods have been successfully adsorbed, whether they have fallen off, etc.

[0140] The switch assembly 133 is disposed in the air path between the air source module 131 and the suction assembly 120, and is configured to control the on / off state of the air path.

[0141] By controlling the opening and closing of the air passage, the switch assembly 133 can indirectly control the air pressure value in the air passage. For example, in an air passage system consisting of an air compressor, a vacuum generator assembly, and a switch assembly, when the vacuum generator assembly starts, it generates negative pressure, and the suction assembly 120 generates suction force; when the vacuum generator assembly stops, external gas is introduced into the vacuum generator assembly, disrupting the negative pressure state, and the suction assembly 120 generates release force.

[0142] In some embodiments, such as Figure 12 As shown, workstation 800 may include support frame 80, picking equipment 100 and worktable 300 disposed in the internal space formed by support frame 500.

[0143] The support frame 80 is used to construct the spatial architecture of the workstation 800. It can be a metal frame used to define the scope of the workstation 800 and to mount the corresponding equipment. For example, the support frame 800 can be a regular cuboid space, or it can be set as an irregular space according to site requirements.

[0144] In order to monitor the picking status of goods, in some embodiments, the support frame 300 may be provided with a goods detection sensor, which is configured to detect the adsorption status of the suction assembly 120 on the goods.

[0145] The cargo detection sensors can be photoelectric sensors, vision sensors, etc., and there can be one or more of them. For example, photoelectric sensors can be installed at the four corners of the top of the support frame 300. During the picking process of the picking equipment 100, the suction state of the suction assembly 120 on the cargo can be detected to determine whether any abnormalities such as falling have occurred, so as to optimize the working mode of the picking equipment 100 and reduce the frequency of picking failures.

[0146] In some embodiments, a cargo identification sensor may also be provided on the support frame 300, and the position of the cargo identification sensor on the support frame 300 corresponds to the placement area of ​​the storage container. The cargo identification sensor may be a vision sensor, an RFID sensor, etc.

[0147] The cargo identification sensor is configured to identify cargo information in an inventory container, including the location of the cargo within the container.

[0148] For example, in such Figure 12 In the workstation 800 shown, picking station 60 is used to place inventory containers. Therefore, a goods identification sensor can be installed on the crossbeam above picking station 60 on the support frame 300. When an inventory container arrives at picking station 60, the location of the goods to be picked in the inventory container is determined by taking an image of the goods in the inventory container or scanning the RFID tag of the goods, and then the goods are picked according to the location of the goods.

[0149] In this way, the information of the goods in the inventory container can be identified each time the inventory container is transferred to the picking position, so that the goods can be picked according to the information, which can improve the accuracy and efficiency of goods picking.

[0150] In summary, the workstation provided in this embodiment can realize automated picking of goods without human intervention, thereby improving the efficiency and accuracy of goods picking.

[0151] It should be noted that the above embodiments are illustrative of the present invention and not restrictive of it, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims listing several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A picking device, characterized in that, The picking equipment includes: robotic arm; A suction cup assembly, connected to the robotic arm, is configured to pick goods from an inventory container into an order container, driven by the robotic arm. The gas system includes: An air source module is configured to control the air pressure of the air circuit. The suction assembly is connected to the air source module and is configured to adsorb or release goods. A sensor array is configured to detect the adsorption state of the suction assembly on the goods; A switch assembly is disposed in the air path between the air source module and the suction assembly, and is configured to control the on / off state of the air path.

2. The picking device according to claim 1, characterized in that The gas source module includes an air compressor and is configured to generate positive pressure gas; the gas path system also includes a vacuum generator assembly. The vacuum generator assembly is connected between the switch assembly and the suction assembly and is configured to control the vacuum level of the suction assembly to control the suction assembly to adsorb or release goods.

3. The picking device according to claim 2, characterized in that The suction device assembly consists of a suction cup group composed of multiple suction cups, the switch assembly includes multiple switch groups, and the vacuum generator group includes multiple vacuum generators; The multiple switch groups and the multiple vacuum generators constitute multiple control paths, each of which corresponds to one of the multiple suction cups, and each control path is configured to independently control the corresponding suction cup to adsorb or release goods. The control path includes at least one switch group and at least one vacuum generator, with each switch group independently connected to a vacuum generator.

4. The picking device according to claim 3, characterized in that, The input port of the first switch group in the control path is connected to the air compressor, and the output port is connected to the air inlet of the first vacuum generator. The negative pressure port of the first vacuum generator is connected to the suction cup controlled by the control path. The first switch group is any one of the solenoid valves in the control path, and the first vacuum generator corresponds to the first switch group and is interconnected with it.

5. The picking device according to claim 4, characterized in that, The first switch group includes a vacuum valve and a pressure relief valve; The vacuum valve is connected to the air inlet of the air compressor and the first vacuum generator respectively, and is configured to control the on / off of the positive pressure gas; The pressure relief valve is connected to the negative pressure ports of the air compressor and the first vacuum generator, respectively, and is configured to control the introduction of external gas to disrupt the negative pressure state.

6. The picking device according to claim 2, characterized in that, The detection sensor group includes a positive pressure sensor and / or a negative pressure sensor, wherein: The positive pressure sensor is connected to the switching assembly and is configured to detect the positive pressure value of the gas path; The negative pressure sensor is located in the air path between the vacuum generator assembly and the suction device assembly, and is configured to detect the negative pressure value of the air path.

7. The picking device according to claim 2, characterized in that, The air source module also includes a refrigerated dryer, which is connected to the air compressor and the switching assembly respectively. The refrigerated dryer is configured to cool the positive pressure gas and filter out moisture from the gas path.

8. The picking device according to claim 2, characterized in that, The picking equipment also includes a pre-processing device, which includes a start-up valve, a pressure reducing valve, and a separation device; The start valve is connected to the air compressor and the pressure reducing valve respectively, and is configured to control the on / off state of the global air circuit; The pressure reducing valve is connected to the starting valve and the separation device respectively, and is configured to control and reduce the gas pressure. The separation device is connected to the switching assembly and is configured to filter out impurities in the gas path.

9. The picking device according to claim 3, characterized in that, The picking device also includes at least one muffler; the muffler is connected to the exhaust port of the vacuum generator in the control path and is configured to reduce the noise generated by the control path.

10. The picking device according to claim 2, characterized in that, The sorting equipment also includes an air blowing device; The blowing device is connected to the air compressor and to the suction assembly via the switching assembly, and is configured to move the position of the goods in the storage container or adjust the posture of the goods in the storage container by blowing air.

11. The picking device according to claim 1, characterized in that, The gas source module includes a vacuum pump and is configured to generate negative pressure gas.

12. The picking device according to claim 11, characterized in that, The suction cup assembly consists of a suction cup group composed of multiple suction cups, and the switch assembly includes multiple switch groups; The switch group is connected to the vacuum pump, and the switch group is configured to independently control the corresponding suction cup to adsorb or release goods.

13. The picking device according to claim 12, characterized in that, The gas path system also includes multiple vacuum filters, which are located between a switch group and a suction cup controlled by the switch group, and are configured to filter out impurities in the gas path.

14. The picking device according to any one of claims 1-13, characterized in that, The detection sensor group also includes any one or more of cargo detection sensors, drop detection sensors, and position detection sensors; The cargo detection sensor is disposed on the suction assembly and is configured to detect cargo information of the storage container when the suction assembly moves to the cargo detection position of the storage container; The drop detection sensor is mounted on the robotic arm and is configured to detect whether the goods have fallen when the suction assembly picks up the goods. The position detection sensor is disposed on the suction assembly and configured to detect the movement position of the suction assembly to determine whether the suction assembly has reached the inventory container or the order container.

15. The picking device according to any one of claims 1-13, characterized in that, The suction cup assembly includes at least one suction cup group, and the suction cup group includes at least one suction cup. Different suction cup groups have different suction cup properties, and the suction cup properties include any one or more of the position, size, material, shape and weight of the suction cup in the suction cup group.

16. The picking device according to claim 15, characterized in that, The suction cups in the suction cup group are arranged in a polygonal pattern.

17. A workstation, characterized in that, include: The vehicle is configured to hold multiple order containers; A workbench is configured to hold a target order container, the plurality of order containers including the target order container; Picking equipment, including: robotic arm; A suction cup assembly, connected to the robotic arm, is configured to pick goods from an inventory container into a target order container, driven by the robotic arm. The gas path system includes a gas source module, a detection sensor group, and a switching assembly; The air source module is connected to the suction assembly, and the air source module is configured to control the air pressure of the air path; The detection sensor group is configured to detect the adsorption state of the suction assembly on the goods; The switch assembly is disposed in the air path between the air source module and the suction assembly, and is configured to control the opening and closing of the air path.

18. The workstation according to claim 17, characterized in that, The workstation includes a support frame, and the picking equipment and the worktable are disposed in the internal space formed by the support frame.

19. The workstation according to claim 18, characterized in that, The support frame is equipped with a cargo detection sensor, which is configured to detect the adsorption state of the cargo by the suction assembly.

20. The workstation according to claim 18, characterized in that, The support frame is equipped with a cargo identification sensor, and the position of the cargo identification sensor on the support frame corresponds to the placement area of ​​the storage container; The cargo identification sensor is configured to identify cargo information in the storage container, the cargo information including the location of the cargo in the storage container.

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