An automated picking device
By designing an automated picking device that utilizes multiple intermediate conveyor lines and collaborative loading and unloading mechanisms, the problem of the slow working rhythm of existing devices has been solved, achieving efficient picking and classified storage and improving picking efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XIAMEN WEICHUANG INTELLIGENT TECH CO LTD
- Filing Date
- 2025-08-12
- Publication Date
- 2026-07-24
AI Technical Summary
Existing picking devices have design and functional deficiencies, resulting in technical problems that cannot be effectively solved. Current devices typically use only one robotic arm to handle both feeding and discharging tasks, leading to a slow work pace, difficulty in improving efficiency, and an inability to fully leverage the advantages of automated equipment.
An automatic picking device was designed, comprising at least two intermediate conveyor lines, a detection device, and a feeding and unloading mechanism. By alternating feeding and processing multiple product tasks in parallel, the device avoids the switching time between feeding and unloading for the robotic arm, thereby improving the work rhythm.
It eliminates the need for repetitive manual operations, reduces manpower input, lowers the error rate, improves picking efficiency, meets the high-efficiency logistics needs of modern large-scale production, and makes the workflow more compact.
Smart Images
Figure CN224542387U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of picking equipment, and more particularly to an automatic picking device. Background Technology
[0002] In the daily operation of automated warehousing systems, the inbound and outbound processes are the core processes that ensure the smooth operation of the logistics supply chain, with the picking of outgoing products being a particularly critical step. The efficiency and accuracy of the picking operation directly affect the shipping speed and order fulfillment quality of the entire warehousing system, thereby impacting customer satisfaction and market competitiveness.
[0003] Currently, the operational model adopted by most enterprises in the production process has obvious drawbacks. Specifically, workers typically first take out a large batch of products from the warehouse at once, place them in a designated area, and then manually inspect each product to select the materials actually needed for production. This traditional picking method not only requires a large amount of manpower for repetitive operations, but also suffers from low overall picking efficiency due to the limited speed of manual picking and its susceptibility to fatigue and distraction. This makes it difficult to meet the urgent needs of modern large-scale production for efficient logistics.
[0004] Meanwhile, although some picking devices have appeared on the market, these existing devices still have many shortcomings in design and function. For example, common picking devices are usually equipped with only one robotic arm, which must simultaneously perform the tasks of feeding and discharging. In actual operation, after completing a feeding operation, the robotic arm must immediately switch to the discharging operation. Because the robotic arm needs a certain amount of time to switch between the two actions, the working rhythm of the entire picking device is not tight enough, and the work efficiency cannot be effectively improved, failing to fully utilize the advantages of automated equipment in picking operations.
[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content
[0006] (a) Technical problems to be solved
[0007] This application provides an automatic picking device that can solve the problem of how to improve picking efficiency in the prior art.
[0008] (II) Technical Solution
[0009] To solve the above-mentioned technical problems, this application provides the following technical solution:
[0010] An automatic picking device is provided, the automatic picking device comprising:
[0011] At least two intermediate conveyor lines, each of which is provided with a loading station, an inspection station and an unloading station, for conveying products to be inspected from the loading station to the inspection station, qualified products to the unloading station and defective products to the loading station;
[0012] The number of testing devices is the same as the number of testing stations. Each testing device is set facing each testing station and is configured to detect whether the product at the testing station is qualified.
[0013] The feeding mechanism is configured to alternately place products to be inspected into two intermediate conveyor stations and remove defective products from the feeding stations; and
[0014] The unloading mechanism is configured to remove qualified products from the unloading station of the intermediate conveyor line.
[0015] In some embodiments, the intermediate conveyor line includes a conveyor belt and a frame, the frame being disposed around the periphery of the upper surface of the conveyor belt for confining the product within the conveyor belt.
[0016] In some embodiments, the detection device is disposed on the frame.
[0017] In some embodiments, the detection device is a visual detection device, which includes a camera facing the detection station.
[0018] In some embodiments, the loading mechanism and / or unloading mechanism includes an XYZ coordinate module and a gripping mechanism disposed on the XYZ coordinate module. The XYZ coordinate module is configured to drive the gripping mechanism to move along the X-axis, Y-axis and Z-axis, and the gripping mechanism is configured to grip the product; wherein the X-axis, Y-axis and Z-axis are perpendicular to each other.
[0019] In some embodiments, the gripping mechanism includes a sponge suction cup disposed on the XYZ coordinate module.
[0020] In some embodiments, the automatic picking device further includes at least two feeding conveying mechanisms, which are disposed on one side of each feeding station and are respectively used to convey a first turnover box containing products to be inspected and a second turnover box containing defective products; the feeding mechanism is configured to move the products to be inspected located in the first turnover box to the feeding station and move the defective products located in the feeding station to the second turnover box.
[0021] In some embodiments, the automatic picking device further includes a feeding conveyor mechanism disposed on one side of the feeding station for conveying a third turnover box containing qualified products; the feeding mechanism is configured to move qualified products from the feeding station to the third turnover box.
[0022] (III) Beneficial Effects
[0023] Compared with the prior art, the beneficial effects of the technical solution provided in this application include at least the following:
[0024] When the automatic picking device of this application is in operation, the feeding mechanism starts working, alternately placing the products to be inspected into the feeding stations of the two intermediate conveyor lines. For example, a product is first placed into the feeding station of the first intermediate conveyor line, then another product is placed into the feeding station of the second intermediate conveyor line, and so on in a cycle. After the intermediate conveyor lines start, the products to be inspected placed at the feeding stations are smoothly transported to the inspection station. At the inspection station, the products will remain for a period of time, waiting for the inspection device to perform the inspection. The number of inspection devices corresponds one-to-one with the number of inspection stations. Each inspection device is precisely oriented towards its corresponding inspection station. When a product is transported to the inspection station, the inspection device immediately starts the inspection program, using preset inspection standards and methods to inspect various indicators of the product to determine whether the product is qualified. After the inspection is completed, the inspection device will feed back the inspection results to the system's control module. After the inspection is completed, if the product is qualified, the intermediate conveyor line will continue to transport it to the unloading station; if the product is defective, the intermediate conveyor line will transport it back to the feeding station. When defective products are transported back to the loading station, the loading mechanism promptly removes them to prevent them from re-entering the conveying and inspection process and affecting overall efficiency. The unloading mechanism, on the other hand, focuses on removing qualified products from the unloading station on the intermediate conveyor line. Following system instructions and rhythm, it accurately grabs qualified products from the unloading station and places them in designated storage areas or subsequent processing stations.
[0025] As can be seen, the automatic picking device of this application, through the coordinated work of the feeding mechanism, intermediate conveyor lines, detection device, and unloading mechanism, eliminates the need for extensive manual repetitive sorting operations throughout the picking process. The feeding mechanism automatically handles the alternating feeding of products and the removal of defective products, the intermediate conveyor line is responsible for product transport, the detection device automatically detects whether products are qualified, and the unloading mechanism automatically removes qualified products. Compared with traditional manual picking methods, this significantly reduces manpower input, lowers the error rate caused by human fatigue and distraction, and improves picking efficiency, meeting the demands of modern large-scale production for efficient logistics. Furthermore, this device is equipped with at least two intermediate conveyor lines, and the feeding mechanism alternately places products into the feeding stations of these two intermediate conveyor lines. This design allows the device to handle the transport and detection tasks of multiple products in parallel, avoiding the waiting time caused by action transitions when a single robotic arm simultaneously performs both feeding and unloading actions. For example, while products on one intermediate conveyor line are being inspected at the inspection station, another intermediate conveyor line can simultaneously perform loading or unloading operations, thereby improving the overall working rhythm of the device, making the workflow more compact, effectively improving the working efficiency of the picking device, and giving full play to the advantages of automated equipment in picking operations. Attached Figure Description
[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0027] Figure 1 This is a perspective view of the automatic picking device in the embodiments of this application;
[0028] Figure 2 This is a top view of the automatic picking device in the embodiments of this application;
[0029] Figure 3 This is a side view of the automatic picking device in the embodiments of this application;
[0030] Figure 4 This is a front view of the automatic picking device in the embodiments of this application.
[0031] Figure label:
[0032] 1. Intermediate conveyor line
[0033] 11. Conveyor belt
[0034] 12. Framework
[0035] 2. Detection device
[0036] 21. Camera
[0037] 3. Feeding mechanism
[0038] 31. XYZ coordinate module
[0039] 311. X-axis moving module
[0040] 312. Y-axis moving module
[0041] 313. Z-axis movement module
[0042] 32. Grabbing mechanism
[0043] 321. Sponge suction cup
[0044] 4. Feeding mechanism
[0045] 5. Feeding and conveying mechanism
[0046] 51. First Turnover Box
[0047] 52. Second turnover box
[0048] 6. Material feeding and conveying mechanism
[0049] 61. Third turnover box
[0050] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0051] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.
[0052] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.
[0053] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.
[0054] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.
[0055] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values that would be recognized by one of ordinary skill in the art.
[0056] Existing common picking devices are usually equipped with only one robotic arm, which needs to perform both feeding and discharging tasks simultaneously. In actual operation, after completing a feeding operation, the robotic arm needs to immediately switch to the discharging operation. Because the robotic arm needs a certain amount of time to switch between the two actions, the working rhythm of the entire picking device is not tight enough, the work efficiency is difficult to improve effectively, and the advantages of automated equipment in picking operations cannot be fully utilized.
[0057] To address the aforementioned technical problems, this embodiment provides an automatic picking device.
[0058] Figure 1 This is a perspective view of the automatic picking device in the embodiments of this application. Figure 2 This is a top view of the automatic picking device in the embodiments of this application. Figure 3 This is a side view of the automatic picking device in the embodiments of this application. Figure 4 This is a front view of the automatic picking device in the embodiments of this application.
[0059] See Figures 1 to 4 As shown, the automatic picking device in this embodiment includes: an intermediate conveyor line 1, a detection device 2, a feeding mechanism 3, and a discharging mechanism 4.
[0060] There are at least two intermediate conveyor lines 1. Each intermediate conveyor line 1 is equipped with a loading station, an inspection station, and an unloading station, which are used to transport products to be inspected from the loading station to the inspection station, transport qualified products to the unloading station, and transport defective products to the loading station.
[0061] For example, the intermediate conveyor line 1 includes a conveyor belt 11 and a frame 12. The frame 12 is disposed around the upper surface of the conveyor belt 11 to confine the product within the conveyor belt 11. The conveyor belt 11 of the intermediate conveyor line 1 operates, moving the product placed on it. The frame 12, disposed around the upper surface of the conveyor belt 11, serves as a limiting element, preventing the product from deviating from the conveyor belt 11 during transport and ensuring that the product accurately reaches the loading station, inspection station, and unloading station. To reduce travel distance, the inspection station is located in the middle of the conveyor belt 11, while the loading and unloading stations are located at both ends of the conveyor belt 11.
[0062] Specifically, a frame 12 is installed around the upper surface of the conveyor belt 11. The frame 12 can be made of metal and is fixed to the support structure of the conveyor belt 11 by welding or bolting. The dimensions of the frame 12 should be designed according to the maximum external dimensions of the product to ensure that the product can be transported smoothly within the frame 12 without getting stuck. For example, if the product is circular, the length and width of the frame 12 should be slightly larger than the diameter of the product, and the ends should be rounded to fit the shape of the product. The height is determined according to the stacking height of the products and the requirements for conveying stability. In practical applications, the drive motor of the conveyor belt 11 is started, and the conveyor belt 11 begins to run. The product to be tested is placed on the conveyor belt 11, and the frame 12 will restrict the movement range of the product.
[0063] To accurately detect the product's position, position sensors, photoelectric sensors, etc., can be installed on the intermediate conveyor line 1 to detect the product's position. After the product arrives at its designated position, the position signal is fed back to the controller. The controller then controls the conveyor belt 11 to stop based on the position signal, thus stopping the product at the corresponding workstation.
[0064] The number of testing devices 2 is the same as the number of testing stations. Each testing device 2 is set facing each testing station and is configured to test whether the products at the testing station are qualified.
[0065] The inspection device 2 is mounted on the frame 12, fixing its approximate relative position to the inspection station of the intermediate conveyor line 1, eliminating the need for subsequent adjustments and making installation more convenient. Taking the visual inspection device 2 as an example, first, the camera 21 is installed in a suitable position on the frame 12, ensuring that the camera 21's field of view can cover the entire inspection station. The installation angle of the camera 21 should be adjusted according to the shape of the product and the inspection requirements to ensure that the key features of the product can be clearly captured. Then, the data transmission cable and power cable of the camera 21 are connected, connecting the camera 21 to the image processing system. When the product is conveyed to the inspection station, the camera 21, under the control of the image processing system, captures the product image or barcode and transmits the image or barcode data to the image processing system. The image processing system analyzes and processes the image or barcode, determining whether the product is qualified according to the preset inspection standards.
[0066] The feeding mechanism 3 is configured to alternately place the products to be tested into the feeding stations of the two intermediate conveyor lines 1, and remove defective products from the feeding stations.
[0067] The unloading mechanism 4 is configured to remove qualified products from the unloading station of the intermediate conveyor line 1.
[0068] For example, the loading mechanism 3 and the unloading mechanism 4 include an XYZ coordinate module 31 and a gripping mechanism 32 disposed on the XYZ coordinate module 31. The XYZ coordinate module 31 is configured to drive the gripping mechanism 32 to move along the X-axis, Y-axis, and Z-axis, and the gripping mechanism 32 is configured to grip the product; wherein the X-axis, Y-axis, and Z-axis are perpendicular to each other. The loading mechanism 3 and the unloading mechanism 4 can be symmetrically arranged on the frame.
[0069] Specifically, the XYZ coordinate module 31 includes an X-axis movement module 311, a Y-axis movement module 312, and a Z-axis movement module 313 connected in sequence. These modules can be existing movement modules, such as lead screw movement modules. There are two X-axis movement modules 311, which are installed in parallel on the frame. The Y-axis movement module 312 is installed on the drive end of the X-axis movement module 311, and the Z-axis movement module 313 is installed on the drive end of the Y-axis movement module 312.
[0070] If the gripping mechanism 32 uses a sponge suction cup 321, select a sponge suction cup 321 of appropriate size and shape, and fix it to the drive end of the Z-axis moving module 313 through the connector. The material of the sponge suction cup 321 has good flexibility and adsorption properties, and can adapt to the gripping of products with different shapes and surfaces.
[0071] The automatic picking device also includes at least two feeding conveyor mechanisms 5, which are located on one side of each feeding station and are used to convey the first turnover box 51 containing the products to be inspected and the second turnover box 52 containing the defective products, respectively. The feeding mechanism 3 is configured to move the products to be inspected located in the first turnover box 51 to the feeding station and move the defective products located in the feeding station to the second turnover box 52.
[0072] The automatic picking device also includes a feeding conveyor 6, which is located on one side of the feeding station and is used to convey the third turnover box 61 containing qualified products; the feeding mechanism 4 is configured to move the qualified products from the feeding station to the third turnover box 61.
[0073] During operation, the XYZ coordinate module 31 of the loading mechanism 3 drives the gripping mechanism 32 to move above the first turnover box 51 according to a preset program. Then, the Z-axis moving module 313 descends, causing the sponge suction cup 321 to contact the product surface and generate an adsorption force, thus gripping the product. Next, the Z-axis moving module 313 rises, while the X-axis moving module 311 and Y-axis moving module 312 move, bringing the product to the loading station of the intermediate conveyor line 1. The Z-axis moving module 313 then descends to place the product at the loading station. For defective products at the loading station, the gripping mechanism 32 of the loading mechanism 3 grips them in a similar manner and places them into the second turnover box 52. The unloading mechanism 4 works similarly to the loading mechanism 3, gripping qualified products at the unloading station and placing them into the third turnover box 61.
[0074] The automatic picking device in this embodiment operates as follows: The XYZ coordinate module 31 of the feeding mechanism 3 starts working according to a preset program, driving the gripping mechanism 32 to pick up the product to be inspected. According to the set alternating feeding logic, the feeding mechanism 3 moves the picked-up product to be inspected above the feeding station of one of the intermediate conveyor lines 1, and the Z-axis descends to place the product on the feeding station. Then, in the same manner, the next product to be inspected is picked up from the first turnover box 51 and placed on the feeding station of another intermediate conveyor line 1, realizing alternating feeding between the two intermediate conveyor lines 1. Subsequently, the conveyor belt 11 of the intermediate conveyor line 1 starts operating, moving the product to be inspected placed on the feeding station towards the inspection station. When the product is transported to the inspection station, the camera 21 starts working and captures an image of the product. The camera 21 transmits the captured image to the image processing system, which analyzes and processes the image, determining whether the product is qualified according to preset product qualification standards (such as appearance size, shape, surface defects, etc.). If a product is qualified, it is marked as a qualified product; if a product is unqualified, it is marked as a defective product. When the detection device 2 determines that the product at the detection station is a defective product, the intermediate conveyor line 1 continues to operate, transporting the defective product back to the loading station. The XYZ coordinate module 31 of the loading mechanism 3 operates again, driving the gripping mechanism 32 to move above the defective product at the loading station. The sponge suction cup 321 descends to grip the defective product, and then moves it above the loading conveyor 5 that places the second turnover box 52, placing the defective product into the second turnover box 52. For qualified products, the intermediate conveyor line 1 continues to transport them to the unloading station. The XYZ coordinate module 31 of the unloading mechanism 4 drives the gripping mechanism 32 (sponge suction cup 321) to move above the qualified product at the unloading station. The sponge suction cup 321 descends to grip the qualified product. The unloading mechanism 4 moves the gripped qualified product above the unloading conveyor 6 that places the third turnover box 61, placing the qualified product into the third turnover box 61. After completing a full cycle of loading, inspection, handling of defective products, and unloading of qualified products, the automatic picking device continues to cycle through the above process, continuously processing new products to be inspected until all products in the first turnover box 51 have been processed or a stop command is received. Throughout the entire process, the various components work together to achieve automatic product picking and classified storage.
[0075] In summary, the automated picking device of this embodiment, through the coordinated operation of the loading mechanism 3, intermediate conveyor line 1, detection device 2, and unloading mechanism 4, eliminates the need for extensive manual repetitive sorting operations throughout the picking process. The loading mechanism 3 automatically handles the alternating loading of products and the removal of defective products, the intermediate conveyor line 1 is responsible for product transport, the detection device 2 automatically detects whether products are qualified, and the unloading mechanism 4 automatically removes qualified products. Compared to traditional manual picking methods, this significantly reduces manpower input, lowers the error rate caused by human fatigue and distraction, and improves picking efficiency, meeting the demands of modern large-scale production for efficient logistics. Furthermore, this device is equipped with at least two intermediate conveyor lines 1, and the loading mechanism 3 alternately places products into the loading stations of these two intermediate conveyor lines 1. This design allows the device to handle the transport and detection tasks of multiple products in parallel, avoiding the waiting time caused by action transitions when a single robotic arm simultaneously performs both infeeding and unloading actions. For example, while a product on one intermediate conveyor line 1 is being inspected at an inspection station, another intermediate conveyor line 1 can simultaneously perform loading or unloading operations, thereby improving the overall working rhythm of the device, making the workflow more compact, effectively improving the working efficiency of the picking device, and giving full play to the advantages of automated equipment in picking operations.
[0076] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.
[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0078] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.
Claims
1. An automatic picking device, characterized in that, include: At least two intermediate conveyor lines, each of which is provided with a loading station, an inspection station and an unloading station, for conveying products to be inspected from the loading station to the inspection station, qualified products to the unloading station and defective products to the loading station; The number of testing devices is the same as the number of testing stations. Each testing device is set facing each testing station and is configured to detect whether the product at the testing station is qualified. The feeding mechanism is configured to alternately place products to be inspected into two intermediate conveyor stations and remove defective products from the feeding stations; and The unloading mechanism is configured to remove qualified products from the unloading station of the intermediate conveyor line.
2. The automatic picking device according to claim 1, characterized in that, The intermediate conveyor line includes a conveyor belt and a frame, the frame being disposed around the upper surface of the conveyor belt to confine the product within the conveyor belt.
3. The automatic picking device according to claim 2, characterized in that, The detection device is mounted on the frame.
4. The automatic picking device according to claim 1, characterized in that, The detection device is a visual detection device, which includes a camera facing the detection station.
5. The automatic picking device according to claim 1, characterized in that, The loading and / or unloading mechanism includes an XYZ coordinate module and a gripping mechanism disposed on the XYZ coordinate module. The XYZ coordinate module is configured to drive the gripping mechanism to move along the X-axis, Y-axis and Z-axis. The gripping mechanism is configured to grip the product. The X-axis, Y-axis and Z-axis are perpendicular to each other.
6. The automatic picking device according to claim 5, characterized in that, The gripping mechanism includes a sponge suction cup disposed in the XYZ coordinate module.
7. The automatic picking device according to claim 1, characterized in that, The automatic picking device further includes at least two feeding conveying mechanisms, which are disposed on one side of each feeding station and are used to convey a first turnover box containing products to be inspected and a second turnover box containing defective products, respectively. The feeding mechanism is configured to move the products to be inspected located in the first turnover box to the feeding station and move the defective products located in the feeding station to the second turnover box.
8. The automatic picking device according to claim 1, characterized in that, The automatic picking device also includes a feeding conveyor mechanism, which is located on one side of the feeding station and is used to convey a third turnover box containing qualified products; the feeding mechanism is configured to move the qualified products from the feeding station to the third turnover box.