Stacked bin sorting system and method, and sorting robot

Abstract

The present application relates to the technical field of intelligent warehousing, and discloses a stacked bin sorting system and method and a sorting robot. The stacked bin sorting system comprises a bin stacking storage area, a bin sorting robot, a warehouse exit conveying apparatus, and a sorting and packing platform; the bin stacking storage area is configured to store bins, and the bins are stacked and placed on the ground; the bin sorting robot is configured to destack and sort out bins waiting for warehouse exit and carry said bins to the warehouse exit conveying apparatus; the bin sorting robot has the function of single-layer temporary storage of the bins and / or stacking of the temporarily stored bins; the warehouse exit conveying apparatus is configured to receive the single-layer or multi-layer stacked bins waiting for warehouse exit carried by the bin sorting robot and to convey said bins to the sorting and packing platform; and when the multi-layer stacked bins waiting for warehouse exit need to be conveyed, the warehouse exit conveying apparatus is provided with a bin destacking device. The present application involves multiple bin pickup and bin storage modes suitable for different bin stacking amount requirements, and the bin sorting robot works in concert with different warehouse exit and warehouse entry apparatuses, thereby improving the conveying efficiency.

Description

Stacked bin picking system, picking robot and method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to application number 2024103278845 filed with the China Patent Office on March 21, 2024 and entitled “A stacked bin picking system, picking robot and method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of intelligent warehousing technology, and in particular to a stacked bin picking system, a picking robot, and a method. Background Art

[0004] In current warehousing systems, bins are typically stored in either rack-based or non-rack-based storage methods, with robotic transfers used to move bins between storage areas and sorting stations. However, existing warehousing systems still present challenges in terms of transport efficiency and cost.

[0005] To sum up, the existing technology is based on the improvement of the shelf storage method, and the corresponding handling robot picking method is relatively simple. The picking system cannot flexibly configure other equipment for different handling methods, resulting in some equipment in the picking system cannot be effectively utilized, increasing costs; and the handling robot and the docking equipment cannot be effectively connected, affecting the efficiency of material box transportation.

[0006] Application Contents

[0007] In response to the shortcomings of the existing technology, the purpose of this application is to provide a stacked bin picking system, picking robot and method, which has multiple bin retrieval and storage methods, suitable for the needs of different bin stacking quantities. By cooperating with different outbound and inbound equipment, the conveying efficiency can be improved.

[0008] In order to achieve the above objectives, this application is implemented through the following technical solutions:

[0009] In a first aspect, an embodiment of the present application provides a stacked bin picking system, comprising:

[0010] A bin stacking storage area configured to store bins, wherein the bins are stacked and placed on the ground;

[0011] The bin picking robot is provided with at least one telescopic fork module, configured to unstack and pick out bins to be shipped, and transport the bins to be shipped to the shipping conveyor; the bin picking robot has the function of temporarily storing bins in a single layer and / or stacking bins;

[0012] Outbound conveying equipment is configured to receive the single-layer or multi-layer stacked outbound boxes carried by the box picking robot and convey the boxes to be outbound to the picking and packing platform;

[0013] Wherein, when it is necessary to transport multiple layers of stacked boxes to be shipped out, the shipping conveying equipment is provided with a box destacking device.

[0014] As an optional implementation, the bin picking robot further includes a support frame and a mobile chassis mounted on the bottom of the support frame, wherein the mobile chassis is equipped with an autonomous navigation module;

[0015] The support frame is provided with a plurality of temporary storage locations on at least one side, and a pick-up and drop-out opening is formed between adjacent temporary storage locations; and at least one telescopic fork module can be lifted and rotated relative to the support frame.

[0016] As an optional implementation method, at least one telescopic fork module is installed on the upper part of the lifting and rotating frame module, and the lifting and rotating frame module is connected to the lifting drive module; the telescopic fork module can fork single-layer or multi-layer material boxes and rotate with the lifting and rotating frame module to the corresponding pick-up and placement port.

[0017] As an optional implementation, two telescopic fork modules are provided along the height direction of the support frame, wherein the lower telescopic fork module is connected to the lifting and rotating frame module, and the upper telescopic fork module is connected to the lifting and rotating frame module or the lifting drive module;

[0018] The lifting and rotating frame module is connected to the lifting drive module.

[0019] As an optional implementation, the telescopic fork module includes telescopic forks arranged in pairs, each telescopic fork includes at least two stages of fork arms, and the last stage of fork arms is oppositely mounted with a box-retrieving clamp.

[0020] As an optional implementation, the box-taking clamp is a box-taking telescopic claw or a box-taking swinging claw;

[0021] When the box-taking fixture is a telescopic claw for taking a box, the telescopic claw extends when it reaches the box-taking position of the material box and retracts when it reaches the box-putting position;

[0022] When the box-taking telescopic pusher claw is a box-taking swinging pusher claw, the box-taking swinging pusher claw swings out when it reaches the box-taking position of the material box, and swings back when it reaches the box-putting position.

[0023] As an optional implementation, the telescopic fork module further includes a fork frame, and the telescopic fork is arranged inside the fork frame;

[0024] The telescopic fork is connected to a telescopic driving mechanism so that the fork arms at all levels can be telescoped at the same time.

[0025] As an optional implementation, the lifting and rotating frame module includes a tray frame and a rotating frame. The tray frame is slidably matched with the support frame and connected to the lifting drive module; the rotating frame is connected to the tray frame through a rotating drive mechanism.

[0026] As an optional implementation, the rotation drive mechanism includes a rotation drive motor and a rotating device. The rotating device is arranged at the center of the tray rack, and the rotation drive motor is connected to the rotating rack via the rotating device.

[0027] As an optional implementation, the lifting drive module includes a lifting drive motor and a transmission mechanism driven by the lifting drive motor.

[0028] As an optional implementation, when temporary storage locations are provided on both sides of the support frame, the number of temporary storage locations on both sides is the same or different;

[0029] The temporary storage position is formed by a storage rack installed on the side of the support frame, and a plurality of storage racks are distributed at intervals along the height direction of the support frame.

[0030] As an optional implementation, the system further includes an inbound conveying device configured to transfer the incoming bins to the bin picking robot in a single layer or multiple layers at a time; wherein, when transferring multiple layers of bins, the inbound conveying device is provided with a bin unpacking device;

[0031] The bin picking robot is further configured to transport the bins to be stored to the bin stacking storage area for storage.

[0032] As an optional implementation method, the outbound conveying equipment and the inbound conveying equipment both include a conveying mechanism, which is configured to directly convey the single outbound box to the picking and packing platform when the box picking robot carries a single outbound box, or to directly convey the inbound box to the box picking robot.

[0033] As an optional implementation, the outbound conveying equipment and the inbound conveying equipment both include a bin workstation, and the bin workstation is configured to pick up and place bins on the multi-layer temporary storage position on one side of the bin picking robot at a time; or,

[0034] It is configured to place the stacked boxes to be stored in the temporary storage position of the box picking robot once or multiple times.

[0035] As an optional implementation, the material box workstation also has a stacking function.

[0036] As an optional implementation, the material box to be shipped out includes a material box that has stored materials or an empty material box.

[0037] In a second aspect, an embodiment of the present application further provides a bin picking robot, comprising:

[0038] A support frame, a mobile chassis is installed at the bottom of which, the mobile chassis is equipped with an autonomous navigation module; at least one side of the support frame is provided with a plurality of temporary storage locations, and a pick-up and drop-off port is formed between adjacent temporary storage locations;

[0039] At least one telescopic fork module is installed on the upper part of the lifting and rotating frame module, and the telescopic fork module can fork a single-layer or multi-layer material box and rotate with the lifting and rotating frame module to the corresponding pick-up and placement opening;

[0040] The lifting drive module is installed on the supporting frame, and the lifting drive module is connected to the lifting and rotating frame module.

[0041] As an optional implementation, the telescopic fork module includes telescopic forks arranged in pairs, each telescopic fork includes at least two stages of fork arms, and the last stage of fork arms is oppositely mounted with a box-removing clamp;

[0042] In a third aspect, an embodiment of the present application further provides a stacked bin picking method, using the bin picking robot, comprising:

[0043] The bin picking robot moves to a set position in the bin stacking storage area, and the telescopic fork module separates the non-target bins above the target bin from the target bin to retrieve the target bin;

[0044] The telescopic fork module stores the target material box in a temporary storage position by rotating;

[0045] Repeat the above steps until the set number of target bins are cached in the temporary storage location.

[0046] As an optional implementation, the telescopic fork module separating non-target boxes above the target box from the target box to obtain the target box includes:

[0047] When there is a set of the telescopic fork modules, the telescopic fork modules take the non-target material box above the target material box and transfer it to a temporary storage position;

[0048] The telescopic fork module picks up the target material box.

[0049] As an optional implementation, the telescopic fork module separating non-target boxes above the target box from the target box to obtain the target box includes:

[0050] When there are at least two sets of telescopic fork modules,

[0051] The upper telescopic fork module moves the non-target boxes above the target box vertically upwards at one time;

[0052] The lower telescopic fork module picks up the target material box.

[0053] As an optional implementation, the telescopic fork module separating non-target boxes above the target box from the target box to obtain the target box includes:

[0054] When there are at least two sets of telescopic fork modules,

[0055] The upper telescopic fork module moves the non-target boxes above the target box vertically upwards in multiple times and rotates them to the temporary storage position;

[0056] The lower telescopic fork module picks up the target material box.

[0057] As an optional implementation, the temporary storage location buffers a single or multiple stacked boxes.

[0058] The beneficial effects of this application are as follows:

[0059] (1) The bin picking system of the present application includes a bin stacking storage area, a bin picking robot, an outbound conveying device, an inbound conveying device and a picking and packing platform. The bin picking robot can fork a single layer or multiple layers of bins at a time, and the temporary storage location can cache single items or stack them. The outbound conveying device and the inbound conveying device are set in different forms according to different material picking situations of the bin picking robot. The bin picking robot can directly transport the cached target bins to the picking platform, and can also transport them to the picking platform through a conveyor line set in the middle. When the cached target bins are stacked on the picking robot, a destacking mechanism can be set on the conveyor line to realize destacking. Therefore, the bin picking robot can achieve efficient cooperation with other modules, thereby improving the transportation efficiency.

[0060] (2) The telescopic fork module of the bin picking robot of the present application can be set to single-layer or multi-layer. In the case of single-layer telescopic fork module and multi-layer telescopic fork module, both modules correspond to a variety of ways of picking and storing bins, making the structural form of the bin picking robot more flexible and able to effectively utilize the various parts of the structure of the bin picking robot; the bin picking robot is provided with a telescopic fork module with a bin picking clamp, so that the telescopic fork module has sufficient stability when picking up the bin; and a lifting and rotating frame module and a lifting and driving module are provided, so that the bin can be transferred between the telescopic fork module and the temporary storage position, so that the bin picking robot has a variety of ways of picking and storing bins, which is suitable for the needs of different bin stacking quantities, thereby enhancing the applicability of the bin picking robot.

[0061] (3) The boxes in the box stacking storage area of ​​the present application are stacked directly on the ground. There is no need to plan a large area as a unified storage area. Boxes can be stacked in any free area to achieve storage, thereby improving space utilization and having a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The drawings in the specification, which constitute a part of this application, are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0063] FIG1 is a diagram of a single-layer material box conveying system according to one or more embodiments of the present application;

[0064] FIG2 is a diagram of a multi-layer container conveying system according to one or more embodiments of the present application;

[0065] FIG3 is a second diagram of a multi-layer container conveying system according to one or more embodiments of the present application;

[0066] FIG4 is a third diagram of a multi-layer container conveying system according to one or more embodiments of the present application;

[0067] FIG5 is a perspective view of a single-layer fork-type container picking robot according to one or more embodiments of the present application;

[0068] FIG6 is a front view of a single-layer fork-type container picking robot according to one or more embodiments of the present application;

[0069] FIG7 is a schematic diagram of a single-layer fork single-take and single-store method according to one or more embodiments of the present application;

[0070] FIG8 is a schematic diagram of stacking and storing single-layer forks according to one or more embodiments of the present application;

[0071] FIG9 is a schematic diagram of mixed loading and unloading of single-layer forks according to one or more embodiments of the present application;

[0072] FIG10 is a perspective view of a double-layer fork box picking robot according to one or more embodiments of the present application;

[0073] FIG11 is a schematic diagram of a double-layer fork for single-order retrieval and storage according to one or more embodiments of the present application;

[0074] FIG12 is a schematic diagram of stacking and storing double-layer forks according to one or more embodiments of the present application;

[0075] FIG13 is a schematic diagram of mixed loading and storage using a double-layer fork according to one or more embodiments of the present application;

[0076] FIG14 is a schematic diagram of a support frame structure according to one or more embodiments of the present application;

[0077] FIG15 is a schematic structural diagram of a lifting and rotating frame module according to one or more embodiments of the present application;

[0078] FIG16 is a schematic structural diagram of a lifting drive module according to one or more embodiments of the present application;

[0079] FIG17 is a schematic structural diagram of a telescopic fork module for installing a telescopic claw for box retrieval according to one or more embodiments of the present application;

[0080] FIG18 is a schematic structural diagram of a telescopic fork module for mounting a box-taking swinging claw according to one or more embodiments of the present application;

[0081] FIG19 is a perspective view of a mobile chassis according to one or more embodiments of the present application;

[0082] FIG20 is a front view of a mobile chassis according to one or more embodiments of the present application;

[0083] FIG21 is a schematic structural diagram of a conveying mechanism according to one or more embodiments of the present application;

[0084] FIG22 is a schematic diagram of the connection between the conveying mechanism and the bin picking robot according to one or more embodiments of the present application;

[0085] FIG23 is a schematic diagram of the cooperation between the conveying mechanism and the box unpacking and stacking device according to one or more embodiments of the present application;

[0086] FIG24 is a schematic diagram of the docking of a bin picking robot and a bin stacking device according to one or more embodiments of the present application;

[0087] FIG25 is a schematic diagram of the connection between the conveying mechanism and the material box workstation according to one or more embodiments of the present application;

[0088] FIG26 is a schematic diagram of the cooperation between the bin picking robot and the bin workstation according to one or more embodiments of the present application;

[0089] FIG27 is a schematic diagram of the cooperation between the material box workstation and the box unpacking and stacking device according to one or more embodiments of the present application;

[0090] Figure 28 is a schematic diagram of the picking and packing station structure according to one or more embodiments of the present application.

[0091] Among them, 10, material box stacking storage area, 20, material box picking robot, 30, outbound conveying equipment, 40, inbound conveying equipment, 50, picking and packing platform;

[0092] 100, mobile chassis, 200, support frame, 300, lifting drive module, 400, lifting and rotating frame module, 500, telescopic fork module, 600, box unpacking and stacking device, 700, material box workstation;

[0093] 101, housing, 102, steering and drive module, 103, autonomous navigation module; 201, pick-and-place port, 202, temporary storage location, 203, storage rack, 204, linear guide rail, 205, slider; 301, lifting drive motor, 302, reducer, 303, fixed frame, 304, drive shaft, 305, active pulley, 306, passive pulley, 307, synchronous belt; 401, pallet rack, 402, Rotating frame, 403, slewing bearing, 404, rotary drive motor; 501, fork frame, 502, first-level fork arm, 503, second-level fork arm, 504, telescopic drive mechanism, 505, telescopic claw for box retrieval, 506, swing claw for box retrieval; 601, conveying mechanism, 602, pick-and-place docking mechanism, 701, raw material line rack, 702, main conveying line rack, 703, order material box line rack, 704, picking line rack. DETAILED DESCRIPTION

[0094] This embodiment provides a stacked bin picking system, including a bin stacking storage area 10, a bin picking robot 20, an outbound conveying device 30, an inbound conveying device 40 and a picking and packing platform 50. The picking and packing platform 50 is arranged between the outbound conveying device 30 and the inbound conveying device 40. The bin stacking storage area 10 is configured to store bins, and the bins are stacked and placed on the ground; wherein, the bin stacking storage area 10 may store stacked empty bins. When the bin to be outbound is an empty bin, the empty bin serves as an order box; the order box is a bin for storing all materials contained in each order.

[0095] The bin picking robot 10 temporarily stores and stacks bins. The outbound conveyor 30 receives single- or multi-layered bins picked up by the bin picking robot 20 and transports them to the picking and packing station 50. The inbound conveyor 40 transfers incoming bins to the bin picking robot 20 in single or multi-layered layers. All components of the picking system are centrally controlled by the warehouse management module.

[0096] It should be noted that the material box picking system provided in this embodiment uses a set of outbound conveying equipment 30 for outbound conveying, and a set of inbound conveying equipment 40 is configured for inbound conveying. Of course, a set of outbound conveying equipment 30 or a set of inbound conveying equipment 40 can also be used to realize inbound and outbound at the same time, and this application does not impose any restrictions on this.

[0097] In this embodiment, the bin picking robot 20 has multiple temporary storage locations 202. Each temporary storage location 202 can store bins in a single layer or in a stacked format. When a single temporary storage location 202 stores bins in a single layer, the single layer of bins is directly transported by the outbound conveyor 30. When multiple layers of bins are stacked in a single temporary storage location 202, the outbound conveyor 30 must be equipped with a destacking device 600. When multiple layers of bins are transferred into the warehouse, the inbound conveyor must also be equipped with a destacking device 600.

[0098] That is, when a single-layer target material box is cached on the temporary storage position 202 of the material box picking robot 20, the material box picking robot 20 can transport the single-layer target material box directly to the picking and packing platform 50 through the outbound conveying equipment 30; when multiple layers of target material boxes are cached on the material box picking robot 20, the outbound conveying equipment 30 can disassemble the multiple layers of target material boxes into single layers by setting up a box destacking device 600 and then transport them to the picking and packing platform 50; when it is necessary to pick and place multiple target material boxes on the temporary storage position 202 at one time, the outbound conveying equipment 30 can pick and place multiple target material boxes on the temporary storage position 202 at one time by setting up a material box workstation 700, disassemble the stacked multiple layers of target material boxes into single layers and then transport them to the picking and packing platform 50; the disassembly function here can be realized by the material box workstation 700 itself, or it can be realized by adding a box destacking device 600 on the exit side of the material box workstation 700 as shown in Figures 4 and 27.

[0099] It should be noted that, when a single temporary storage location 202 is used to stack and store multiple layers of material boxes, if the outbound conveying equipment 30 is provided with a material box workstation 700 , there is no need to separately provide a box unstacking device 600 .

[0100] The bin picking robot 20 of this embodiment may have one telescopic fork module 500 or multiple telescopic fork modules 500 , and each telescopic fork module 500 may pick up a single layer or multiple layers of bins at a time.

[0101] As shown in Figure 1, the material box picking robot 20 corresponding to the outbound conveying equipment 30 and the inbound conveying equipment 40 has a telescopic fork module 500, and the telescopic fork module 500 can fork a single layer of material boxes at a time. At this time, the material box picking robot 20 directly transports the single layer of material boxes to the outbound conveying equipment 30 (only having a conveying mechanism 601); when entering the warehouse, the material box picking robot 20 directly forks the single layer of material boxes to be entered on the inbound conveying equipment 40.

[0102] The material box picking robot 20 corresponding to the outbound conveying equipment 30 and the inbound conveying equipment 40 has at least two telescopic fork modules 500, and each telescopic fork module 500 can fork multiple layers of material boxes. At this time, the outbound conveying equipment 30 and the inbound conveying equipment 40 are provided with a box unpacking device 600 as shown in Figure 2 or a material box workstation 700 as shown in Figure 3.

[0103] It can be understood that in other embodiments, the outbound conveying equipment 30 and the inbound conveying equipment 40 may correspond to the bin picking robots 20 with different numbers of telescopic fork modules 500. For example, the bin picking robot 20 corresponding to the outbound conveying equipment 30 has one telescopic fork module 500, and the bin picking robot 20 corresponding to the inbound conveying equipment 40 has two telescopic fork modules 500. The specific setting is based on the transfer volume requirements of the bin.

[0104] Specifically, when the bin picking robot 20 has one telescopic fork module 500, the cost is low and the scope of application is wide. Compared with the form of using two telescopic fork modules 500, a single telescopic fork module 500 can pick up bins stacked at a higher height, and can also pick up bins at a lower height, and the stacking scenarios of use are wider. In this way, more bins can be stacked within the same height range, thereby improving the utilization rate of storage space.

[0105] When the bin picking robot 20 has multiple telescopic fork modules 500, the efficiency of unpacking and stacking boxes is high. Taking the bin picking robot 20 with two telescopic fork modules 500 as an example, the upper fork can separate all non-target boxes above the target bin at one time; due to the weight or number of layers required for a single pick-up, the upper fork can pick up non-target boxes in multiple times and place the non-target boxes in the temporary storage position 202; so that the lower fork can directly obtain the target bin, and the efficiency of picking and transferring boxes is higher.

[0106] As shown in Figure 10, two telescopic fork modules 500 are arranged in sequence along the height direction of the support frame 200. The lower telescopic fork module is connected to the lifting drive module 300 via the lifting and rotating frame module 400, and the upper telescopic fork module 500 is connected to the lifting drive module 300. In other words, the upper telescopic fork module only has a lifting function, which is suitable for picking up all non-target bins in a single fork. Of course, if there are many non-target bins above the target bin, the upper telescopic fork module 500 is connected to the lifting drive module 300 via the lifting and rotating frame module 400, which means that the upper telescopic fork has both rotation and lifting functions.

[0107] As shown in Figures 5 and 6, the bin picking robot 20 includes a support frame 200, a mobile chassis 100, a telescopic fork module 500, a lifting and rotating frame module 400, and a lifting drive module 300. The mobile chassis 100 is installed at the bottom of the support frame 200 and is configured to enable the robot to walk; the lifting and rotating frame module 400 is installed on the inner side of the support frame 200, and the telescopic fork module 500 is installed on the lifting and rotating frame module 400. The lifting and rotating frame module 400 realizes the rotation movement of the telescopic fork module 500 after picking up the goods; the lifting and rotating frame module 400 is connected to the lifting drive module 300, and the lifting drive module 300 drives the lifting and rotating frame module 400 and the telescopic fork module 500 to rise or fall along the support frame 200.

[0108] At the same time, as shown in Figure 14, temporary storage positions 202 are set on both sides of the support frame 200, which are configured to store single-layer or multi-layer material boxes; after the telescopic fork module 500 picks up the goods, it rotates 90° to the left or right under the action of the lifting and rotating frame module 400 to transfer the material box to the temporary storage position 202.

[0109] In this embodiment, the cargo picking side of the telescopic fork module 500 is referred to as the front, the side opposite to the cargo picking side is referred to as the rear, and the two sides of the telescopic fork module 500 are referred to as the left side and the right side respectively.

[0110] In this embodiment, the support frame 200 is made of a rectangular frame structure made of profiles. In order to ensure that the lifting and rotating frame module 400 and the telescopic fork module 500 can move smoothly along the support frame 200, a linear guide rail 204 is installed on the inner side of each column of the support frame 200. A slider 205 is provided on the linear guide rail 204, and the slider 205 is fixedly connected to the lifting and rotating frame module 400.

[0111] Temporary storage positions 202 are provided on both sides of the support frame 200. The temporary storage positions 202 on both sides can be set according to actual needs. For example, they can be set to store single-layer material boxes or store multiple layers of material boxes stacked into a group, or store multiple layers of material boxes stacked into multiple groups. The number of temporary storage positions 202 set on both sides can be the same or different, and this embodiment does not impose any restrictions on this. The temporary storage positions 202 are formed by storage racks 203 installed on the outside of the support frame 200. The upper space of each storage rack 203 is the temporary storage position 202. A pick-up and drop-out port 201 is formed between the connecting ends of adjacent storage racks 203 and the support frame 200. The pick-up and drop-out port 201 is used to realize the transfer of the material box between the telescopic fork module 500 and the temporary storage position 202.

[0112] It should be noted that the storage methods of the multiple temporary storage locations 202 may be the same or different, and this embodiment does not impose any limitation on this.

[0113] For the bin picking robot 20 with a single fork or a double fork, the temporary storage location 202 has the functions of temporarily storing non-target bins and caching target bins. This embodiment can perform or not perform functional division according to actual needs.

[0114] Specifically, as shown in Figures 7-9, the process of unloading bins with a single fork is as follows: the single fork picks up a single or multiple layers of non-target bins at a time, and through one or more separations, places all non-target bins in a temporary storage location 202. A single temporary storage location 202 can cache non-target bins individually or in stacks. The fork then picks up a target bin. Similarly, a single temporary storage location 202 can cache target bins individually or in stacks. After placing a set number of target bins in the temporary storage location 202, all non-target bins are re-picked to their original stacking locations to complete the picking of the target bins.

[0115] As shown in Figures 11 to 13, the process of unloading boxes with two forks is as follows: the non-target boxes are separated from the target boxes one or more times. During a single separation, the upper fork lifts the single-layer or multi-layer non-target boxes above the target box, and the lower fork picks up the target box and places it in the temporary storage position 202 for buffering. During multiple separations, the upper fork lifts the single-layer or multi-layer non-target boxes, and the lower fork stores the non-target boxes in the temporary storage position 202 one or more times; alternatively, the upper fork lifts multiple non-target boxes and rotates them to the temporary storage position 202 until all non-target boxes are removed; each temporary storage position 202 can store a single-layer or multi-layer non-target box; then the lower fork stores the target box in the remaining temporary storage positions 202, and the temporary storage positions 202 can store single-layer or multi-layer target boxes; finally, the lower fork picks up all non-target boxes and returns them to the original stacking position.

[0116] As shown in Figure 14, the telescopic fork module 500 includes a fork frame 501, two telescopic forks and a telescopic drive mechanism 504. The fork frame 501 is configured to connect to the lifting and rotating frame module 400 and can accommodate a material box. In this embodiment, the fork frame 501 has a U-shaped structure, and the two telescopic forks are relatively installed on the inner side of the fork frame 501. Each telescopic fork includes at least two fork arms, and the fork arms are extended and retracted to achieve the picking up of the material box and the retraction after picking up the goods.

[0117] The fork arm connected to the fork frame 501 is the primary fork arm 502, and the fork arm farthest from the fork frame 501 is the final fork arm. This embodiment uses a two-stage fork arm as an example, namely a primary fork arm 502 and a secondary fork arm 503. The primary fork arm 502 slides with the inner wall of the fork frame 501, and the secondary fork arm 503 slides with the primary fork arm 502. The primary fork arm 502 and the secondary fork arm 503 are connected to a telescopic drive mechanism 504, which enables simultaneous telescopic movement of the primary fork arm 502, 503.

[0118] In this embodiment, the telescopic driving mechanism 504 includes but is not limited to a motor+synchronous belt mechanism and a motor+rack and pinion mechanism.

[0119] The secondary fork arm 503 is oppositely mounted with a box-picking fixture, which is a telescopic claw 505 or a swinging claw 506. When the box-picking fixture is a telescopic claw 505, as shown in FIG17 , the telescopic claw 505 is a component with a telescopic function, such as an electromagnetic telescopic rod, an electric push rod, etc. The telescopic claw 505 is arranged in a direction perpendicular to the telescopic direction of the telescopic fork. The telescopic claw 505 extends when it reaches the box-picking position and retracts when it reaches the box-putting position. The arrangement of the telescopic claw 505 ensures that the fork can effectively grip the box and improves the stability of the fork in picking up the box. Each secondary fork arm 503 is equipped with multiple telescopic claws 505, and the number of telescopic claws 505 is determined according to the number of boxes to be picked up at one time.

[0120] When the box taking fixture is a box taking swinging claw 506, as shown in Figure 18, the box taking swinging claw 506 is rotationally connected to the secondary fork arm 503, and the box taking swinging claw 506 is driven to rotate by a motor + gear, or other rotation driving methods are adopted.

[0121] In the prior art, the two fork arms need to move left and right after extending forward to clamp the material box, while in the present application, the fork arms only need to be extended back and forth, which can increase the load capacity and stability of the fork arms.

[0122] As shown in Figure 15, the lifting and rotating frame module 400 includes a tray frame 401, a rotating frame 402, and a rotating drive mechanism. The tray frame 401 is disposed inside the support frame 200 and its shape is adapted to the cross-section of the support frame 200. The support frame 200 is fixed to the slider 205, allowing the support frame 200 to move along the support frame 200. The rotating frame 402 is connected to the tray frame 401 via the rotating drive mechanism, which can drive the rotating frame 402 to rotate.

[0123] In this embodiment, the rotation drive mechanism includes a rotation drive motor 404 and a slewing bearing 403. The slewing bearing 403 is arranged at the center position of the tray rack 401, and the rotating rack 402 is installed on the upper part of the slewing bearing 403. The rotation drive motor 404 is connected to the rotating rack 402 through the slewing bearing 403. The slewing bearing 403 is driven by the rotation drive motor 404 to rotate, thereby driving the rotation of the rotating rack 402; the rotation drive motor 404 can realize forward and reverse rotation, thereby realizing bidirectional rotation of the rotating rack 402, to correspond to the pick-up and placement ports 201 on both sides of the support frame 200.

[0124] The rotating frame 402 is connected to the bottom of the fork frame 501, and its shape can be set arbitrarily as long as it can support the fork frame 501. In this embodiment, the rotating frame 402 is set as an I-shaped structure.

[0125] As shown in Figure 16, the lifting drive module 300 serves as the lifting mechanism 602 of the lifting and rotating frame module 400 and the telescopic fork module 500. It is driven by a motor and can achieve linear motion, such as a motor-driven belt transmission mechanism, a chain transmission mechanism, etc. This embodiment is described in detail using the belt transmission mechanism as an example.

[0126] To ensure the stability of lifting, the lifting drive module 300 includes two sets of transmission mechanisms, each of which is driven by the same lifting drive motor 301; each set of transmission mechanisms includes two belt transmission mechanisms. The belt transmission mechanism includes a driving pulley 305 and a passive pulley 306, which are connected by a synchronous belt 307; the driving pulleys 305 of the same transmission mechanism are connected by a drive shaft 304, which is connected to the lifting drive motor 301 through a reducer 302, and the reducer 302 is fixed to the side of the support frame 200 through a fixed frame 303.

[0127] The synchronous belt 307 is an open belt, and its opening is fixed on the lifting and rotating frame module 400 , so that the lifting and rotating frame module 400 is driven to move by the movement of the synchronous belt 307 .

[0128] As shown in Figures 19 and 20, the mobile chassis 100 includes a housing 101, a steering and drive module 102 mounted on the bottom of the housing 101, and an autonomous navigation module 103 mounted within the housing 101. The autonomous navigation module 103 can guide and control the mobile chassis 100 to achieve autonomous navigation according to a planned path, driving the actuators on the mobile chassis 100 to reach the target location and perform the corresponding actions. The mobile chassis 100 can be an AGV with autonomous navigation capabilities.

[0129] After the bin picking robot 20 receives the control signal, the mobile chassis 100 starts, autonomously navigates, and moves to the designated position. The lifting drive motor 301 drives the drive shaft 304 to rotate through the reducer 302. The active pulley 305 fixed to the drive shaft 304 pulls the synchronous belt 307, causing the lifting and rotating frame module 400 to rise and fall along the linear guide rail 204 in the support frame 200 to reach the target bin retrieval position. At this time, the telescopic drive mechanism 504 in the telescopic fork module 500 is activated, driving the first fork arm 502 and the second fork arm 503 to extend synchronously. Then, the telescopic claws 505 installed on the second fork arms 503 on both sides extend and insert into the grooves on both sides of the bin. The lifting drive module 300 is activated again, and after raising the telescopic fork module 500 and the bin to a certain height, the first fork arm 502 and the second fork arm 503 are synchronously retracted, driving the bin to retract.

[0130] The rotary drive motor 404 is activated to drive the slewing bearing 403 to rotate, thereby driving the rotating frame 402 and the telescopic fork module 500 to rotate 90°. The rotary drive motor 404 can realize forward and reverse rotation, thereby realizing the bidirectional box delivery action of the telescopic fork module 500 to the temporary storage positions 202 on both sides.

[0131] After the lifting and rotating frame module 400 drives the telescopic fork module 500 to rotate to the target position, the telescopic drive mechanism 504 is activated again, driving the first-level fork arm 502 and the second-level fork arm 503 to extend synchronously again. After extending into place, the lifting drive motor 301 is activated again, driving the lifting and rotating frame module 400 and the telescopic fork module 500 to descend to a certain height. After the storage rack 203 lifts the material box, the box-taking telescopic claws 505 installed on the second-level fork arms 503 on both sides are retracted, and then the first-level fork arm 502 and the second-level fork arm 503 are retracted synchronously, thereby realizing the unloading of the material box.

[0132] After the picking robot 20 completes the picking tasks of all target bins, the system sends a control signal, and the mobile chassis 100 autonomously navigates and moves to the bin unloading position.

[0133] The present embodiment adopts the structural design of the telescopic fork module 500, for example, the telescopic fork is provided with a multi-stage fork arm, and the end fork arm is installed with a telescopic claw 505 for picking up the box or a swinging claw 506 for picking up the box, etc., so that the telescopic fork module 500 has sufficient stability when picking up the material box; and a lifting and rotating frame module 400 and a lifting and driving module 300 are provided, so that the material box can be transferred between the telescopic fork module 500 and the temporary storage position 202, so that the material box picking robot 20 has a variety of box picking and storage methods, which is suitable for the requirements of different material box stacking quantities, thereby enhancing the applicability of the material box picking robot 20.

[0134] At the same time, this embodiment is configured with different outbound conveying devices 30 and inbound conveying devices 40 according to the number of bins picked by the bin picking robot 20. When a single-layer bin is in and out of the warehouse, as shown in Figures 1, 21, and 22, the outbound conveying device 30 and the inbound conveying device 40 both include a conveying mechanism 601, which can be a roller conveyor line, a conveyor belt, or other mechanism capable of automatic conveying.

[0135] When multi-layer material boxes are put in and out of the warehouse, as shown in Figures 2, 23 and 24, the outbound conveying equipment 30 and the inbound conveying equipment 40 respectively include a conveying mechanism 601 and a box unpacking and stacking device 600 arranged at one end of the conveying mechanism 601, wherein the box unpacking and stacking device 600 is implemented using existing technology and will not be described again here; the box unpacking operation during outbound delivery and the box stacking operation during inbound delivery are performed through the box unpacking and stacking device 600.

[0136] Alternatively, when multi-layer material boxes are put in and out of the warehouse, as shown in Figures 3, 25 and 26, the outbound conveying equipment 30 and the inbound conveying equipment 40 respectively include a conveying mechanism 601 and a material box workstation 700 arranged at one end of the conveying mechanism 601. A plurality of pick-up and placement docking mechanisms 602 are arranged in the height direction in the material box workstation 700. The telescopic method of the pick-up and placement docking mechanism 602 is the same as the telescopic method of the telescopic fork module 500, and can be raised and lowered to the temporary storage position 202 corresponding to different positions to realize the transfer of the material box.

[0137] It should be noted that a material box workstation 700 can be set up regardless of whether single-layer material boxes or multi-layer material boxes are being put in and out of the warehouse. This is because the material box workstation 700 has multiple liftable pick-up and placement docking mechanisms 602. The pick-up and placement docking mechanisms 602 correspond to temporary storage positions 202 at different heights, and can pick up and place material boxes placed on multiple temporary storage positions 202 at one time, thereby improving the efficiency of entering and exiting the warehouse.

[0138] As shown in Figure 28, the picking and packing platform 50 can automatically or manually pick materials from the material box and transfer the material box; the picking and packing platform 50 includes a raw material line rack 701, a main conveying line rack 702 and an order material box line rack 703 arranged in sequence from the outbound conveying equipment 30 end to the inbound conveying equipment 40 end, and multiple picking line racks 704 are arranged on one side of the main conveying line rack 702; the above-mentioned line racks can be implemented using a roller conveyor line.

[0139] This embodiment reduces costs and installation difficulty by providing a bin stacking and storage area 10 without shelves. The bin picking robot 20 is configured with a temporary storage area 202. After picking, it can directly transport multiple target bins to the picking platform, saving costs and improving the space utilization of the temporary storage area 202. The bin picking robot 20 can also be transported to the picking platform via an intermediate conveyor line. When the target bins are stacked and cached on the bin picking robot 20, a de-packing device can be installed on the conveyor line to de-pack the stacked bins.

[0140] The outbound and inbound processes of the bin picking system in this embodiment are as follows:

[0141] a. Material box outbound process:

[0142] 1. The warehouse management module obtains detailed order information and converts the order information into system instructions, which are then passed to the bin picking robot 20, the outbound conveyor equipment 30, the inbound conveyor equipment 40, and the picking and packing platform 50.

[0143] Among them, the warehouse management module is an existing computer control system and will not be described in detail here.

[0144] 2. The bin picking robot 20 enters the bin stacking storage area 10, takes out the bins to be shipped from the corresponding location according to the instructions issued by the warehouse management module, and stacks them in a buffer on the bin picking robot 20. The material retrieval efficiency can be automatically calculated based on the order information to determine the number of stacking layers.

[0145] 3. The bin picking robot 20 runs to the outbound conveying device 30 , docks with it, and moves the target bins to be shipped stored in the temporary storage locations 202 on both sides to the outbound conveying device 30 .

[0146] 4. The outbound conveying equipment 30 is docked with the material box picking robot 20. For single-layer material boxes, the outbound conveying equipment 30 directly conveys the material boxes to the picking and packing platform 50; for stacked material boxes, the destacking device 600 or the material box workstation 700 at the outbound conveying equipment 30 first destacking the stacked material boxes into single-layer material boxes, and then conveys them to the picking and packing platform 50.

[0147] b. Material box return process:

[0148] It should be noted that, since the bin picking robot 20 is provided with a temporary storage position 202, when the bins are returned to the warehouse, the bin picking robot 20 can directly use the fork to pick up the single-layer or multi-layer bins transported by the warehouse conveying equipment 40, and store them in the bin stacking storage area 10, as shown in b.1.1 to b.1.2 below; or, the bins to be stored in the warehouse can be stored in the temporary storage position 202 first, and then the bin picking robot 20 can store them in the bin stacking storage area 10, as shown in b.2.1 to b.2.2 below.

[0149] b.1.1. After a bin enters the inbound conveyor 40, the bin picking robot 20 directly picks up a single-layer bin. Alternatively, after the unpacking device 600 within the inbound conveyor 40 stacks the single-layer bins into multiple layers, the bin picking robot 20 directly picks up the multiple layers.

[0150] b.1.2. The bin picking robot 20, in accordance with the instructions of the warehouse management module, carries the clamped bins to be stored to the target storage position in the bin stacking storage area 10, takes the bins to be stored out of the bin picking robot 20, and restacks them to the corresponding position in the bin stacking storage area 10. The system can optimize the location of the bins at any time according to order requirements.

[0151] b.2.1. After incoming bins enter the inbound conveyor 40, the bin picking robot 20 directly picks up a single-layer bin and stores it in the temporary storage area 202. Alternatively, the unpacking device 600 within the inbound conveyor 40 stacks the single-layer bins into multi-layer bins, and the bin picking robot 20 directly picks up the multi-layer bins and stores them in the temporary storage area 202. Alternatively, the bin workstation 700 directly stacks the incoming bins into stacks and places them all at once in each of the temporary storage areas 202 of the bin picking robot 20.

[0152] b.2.2. After receiving the instruction from the warehouse management module, the bin picking robot 20 carries the bins to be stored in the temporary storage position 202 to the bin stacking storage area 10, and takes out the bins to be stored in multiple temporary storage positions 202 and stores them in the corresponding positions of the bin stacking storage area 10 respectively; the system can optimize the position of the bins at any time according to order requirements.

[0153] It should be noted that the above-mentioned material boxes to be stored include newly stored material boxes and material boxes to be returned to the warehouse after picking.

[0154] Since the bin picking robot 20 has a single fork or multiple forks, this embodiment describes the bin picking process with a single fork or a double fork:

[0155] (1) For a single-fork bin picking robot 20:

[0156] After receiving the control command, the bin picking robot 20 reaches the bin picking position in the bin stacking storage area 10, and the telescopic fork module 500 rises and falls to the bin picking position, the fork extends, and clamps the bin through the bin picking clamp; the telescopic fork module 500 rises to lift the picked bin and retracts.

[0157] When the material box picked up is a non-target material box, the telescopic fork module 500 is lifted to any corresponding temporary storage position 202, and the non-target material box is transferred to the temporary storage position 202 through the rotation of the lifting and rotating frame module 400, the extension of the fork, and the release of the box picking clamp; the telescopic fork module 500 continues to perform the next box picking operation until the target material box is picked up.

[0158] It should be noted that at this time, the fork can separate all non-target boxes above the target box from the target box at one time, or it can separate the non-target boxes above the target box from the target box in multiple times. This depends on many factors, including but not limited to the number and weight of the non-target boxes, the load capacity of the fork, and the number of non-target boxes that can be stored in each temporary storage position.

[0159] When the picked-up material box is the target material box, the telescopic fork module 500 is lifted to another corresponding temporary storage position 202 , and the lifting and rotating frame module 400 rotates, the fork is extended, and the box-picking clamp is released to transfer the target material box to the temporary storage position 202 .

[0160] The bin picking robot 20 moves to the outbound conveyor 30. If the telescopic fork module 500 picks up a single-layer target bin at a time, the outbound conveyor 30 directly transports the bin to the picking and packing station 50. If the telescopic fork module 500 picks up multiple layers of target bins at a time, the destacking device 600 destacking the multiple layers into single layers, which are then transported to the picking and packing station 50 by the conveyor mechanism 601. Alternatively, the bin workstation 700 may retrieve the target bins stored in all temporary storage locations on one side at a time or in multiple times, and then the destacking device in the bin workstation 700 destacking the multiple stacked bins into single layers, which are then transported to the picking and packing station 50 by the conveyor mechanism 601.

[0161] After sorting and adding materials at the picking and packing station 50, the picking and packing station 50 transports the material boxes to the storage conveying equipment 40. After the material boxes are stacked, they are forked by the material box picking robot 20 to the storage location for storage.

[0162] The bin picking robot 20 transfers the bins to be stored to the bin stacking storage area 10 for stacking and storage.

[0163] (2) The difference between the dual-fork bin picking robot 20 and the single-fork robot is that the upper telescopic fork module 500 (fork) lifts the non-target bin, and the lower fork directly picks up the target bin.

[0164] The rest of the process is the same as that of single fork and will not be repeated here.

[0165] This embodiment optimizes the workflow and improves the operating efficiency of the entire conveying process by combining different types of equipment and adopting different methods of picking and storing boxes in response to different bin picking requirements.

[0166] This embodiment provides a bin picking robot, including a support frame 200, a mobile chassis 100, a telescopic fork module 500, a lifting and rotating frame module 400, and a lifting drive module 300. The mobile chassis 100 is installed at the bottom of the support frame 200, and the mobile chassis 100 is equipped with an autonomous navigation module; a plurality of temporary storage positions 202 are provided on at least one side of the support frame 200, and a pick-up and release port 201 is formed between adjacent temporary storage positions 202.

[0167] The support frame 200 is equipped with at least one telescopic fork module 500. When one telescopic fork module 500 is installed, it connects to the lifting and rotating frame module 400, enabling rotation. The lifting and rotating frame module 400 is connected to the lifting drive module 300 mounted on the support frame 200, allowing the telescopic fork module 500 to rise and fall along with the lifting and rotating frame module 400. When two telescopic fork modules 500 are installed, the upper telescopic fork module 500 can only rise and fall, used to lift the remaining bins above the target bin. The lower telescopic fork module 500 has both rising and falling functions, capable of picking up the target bin.

[0168] The telescopic fork module 500 includes telescopic forks arranged in pairs. Each telescopic fork includes at least two stages of fork arms. The last stage of fork arms is oppositely mounted with a box-taking fixture to ensure stability in taking and placing the material box.

[0169] The telescopic fork module 500 of this embodiment can pick up single-layer or multi-layer containers at a time. Each temporary storage location 202 can store single-layer or multi-layer containers, i.e., single-piece or stacked containers. The container picking robot is equipped with at least one telescopic fork module 500, and various container unloading methods are formed according to different fork types, as follows:

[0170] The single-fork unloading process is as follows: a single fork picks up a single or multiple layers of non-target bins at a time, separating them one or more times and placing all non-target bins in a temporary storage location 202. A single temporary storage location 202 can buffer non-target bins individually or in stacks. The fork then picks up a target bin. Similarly, a single temporary storage location 202 can buffer target bins individually or in stacks. After picking up a set number of target bins and placing them in the temporary storage location 202, all non-target bins are re-picked back to their original stacking locations, completing the picking of the target bins.

[0171] The process of unloading boxes by the double forks is: separating non-target boxes from target boxes once or multiple times, which is pre-set according to the number of layers of boxes stacked in the box stacking storage area 10, the load capacity of the forks, the maximum weight of the boxes, etc.

[0172] During a single separation, the upper fork lifts the single-layer or multi-layer non-target bins above the target bin, and the lower fork picks up the target bin and places it in the temporary storage location 202 for buffering. During multiple separations, the upper fork lifts multiple non-target bins and rotates to the corresponding material extraction port, placing the non-target bins in the temporary storage location 202 until all non-target bins are retrieved; each temporary storage location 202 can store single-layer or multi-layer non-target bins; then the lower fork picks up the target bin and stores it in the temporary storage location 202, which can also store single-layer or multi-layer target bins; finally, the fork picks up all non-target bins and returns them to their original stacking locations.

[0173] This embodiment provides a bin picking method, which uses the bin picking robot described in the embodiment. The bin picking robot 20 moves to a set position in the bin stacking storage area 10, and the telescopic fork module 500 separates the non-target bins above the target bin from the target bin to retrieve the target bin; the telescopic fork module 500 stores the target bin in the temporary storage position 202 by rotating; and the above actions are repeated until a set number of target bins are cached in the temporary storage position 202.

[0174] The non-target bins are separated from the target bins as follows:

[0175] (1) When there is a set of telescopic fork modules 500, i.e., a single fork, the telescopic fork module 500 takes a non-target box above the target box. The telescopic fork module 500 can fork a single layer or multiple layers of non-target boxes at a time and transfer them to the temporary storage position 202. The temporary storage position 202 can store a single layer or multiple layers of non-target boxes. After the telescopic fork module 500 places all non-target boxes in the temporary storage position 202, the telescopic fork module 500 takes the target box.

[0176] (2) When there are two sets of telescopic fork modules 500, i.e., double forks, there are two situations:

[0177] The first is that the upper fork can pick up all non-target boxes at one time. In this case, the upper fork only has the lifting function. The upper telescopic fork module 500 moves the single-layer or multi-layer non-target boxes above the target box vertically upward, and the lower telescopic fork module 500 picks up the single-layer or multi-layer target box at one time and puts the target box into the temporary storage position 202. The temporary storage position 202 can store single-layer or multi-layer target boxes.

[0178] The second type is that the upper fork picks up non-target boxes multiple times to move all non-target boxes above the target box. In this case, the upper fork has both rotation and lifting functions. The upper telescopic fork module 500 picks up a set number of non-target boxes at a time, and rotates to place the non-target boxes in the temporary storage position 202. The above operation is repeated multiple times until all non-target boxes are moved away. Each temporary storage position 202 can store a single layer or multiple layers of non-target boxes; the lower telescopic fork module 500 picks up a single layer or multiple layers of target boxes at a time, and places the target box in the temporary storage position 202. The temporary storage position 202 can store a single layer or multiple layers of target boxes.

[0179] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. Industrial Applicability

[0180] The stacked bin picking system, picking robot and method of the present application have multiple ways of taking and storing bins, which are suitable for the needs of different bin stacking quantities. By cooperating with different outbound and inbound equipment, the transportation efficiency can be improved.

Claims

1. A stacked bin picking system, characterized in that: include: A bin stacking storage area configured to store bins, wherein the bins are stacked and placed on the ground; The bin picking robot is provided with at least one telescopic fork module, configured to unstack and pick out bins to be shipped, and transport the bins to be shipped to the shipping conveyor; the bin picking robot has the function of temporarily storing bins in a single layer and / or stacking bins; Outbound conveying equipment is configured to receive the single-layer or multi-layer stacked outbound boxes carried by the box picking robot and convey the outbound boxes to the picking and packing platform; Wherein, when it is necessary to transport multiple layers of stacked boxes to be shipped out, the shipping conveying equipment is provided with a box destacking device.

2. A stacked bin picking system according to claim 1, characterized in that: The bin picking robot further includes a support frame and a mobile chassis mounted on the bottom of the support frame, wherein the mobile chassis is equipped with an autonomous navigation module; The support frame is provided with a plurality of temporary storage locations on at least one side, and a pick-up and drop-out opening is formed between adjacent temporary storage locations; and at least one telescopic fork module can be lifted and rotated relative to the support frame.

3. A stacked bin picking system according to claim 2, characterized in that: At least one telescopic fork module is installed on the upper part of the lifting and rotating frame module, and the lifting and rotating frame module is connected to the lifting drive module; the telescopic fork module can fork single-layer or multi-layer material boxes and rotate with the lifting and rotating frame module to the corresponding pick-up and placement port.

4. A stacked bin picking system according to claim 2 or 3, characterized in that: Two telescopic fork modules are provided along the height direction of the support frame, wherein the lower telescopic fork module is connected to the lifting and rotating frame module, and the upper telescopic fork module is connected to the lifting and rotating frame module or the lifting drive module; The lifting and rotating frame module is connected to the lifting drive module.

5. A stacked bin picking system according to any one of claims 1 to 3, characterized in that: The telescopic fork module includes telescopic forks arranged in pairs, each of the telescopic forks includes at least two stages of fork arms, and the last stage of the fork arms is oppositely mounted with a box-retrieving clamp.

6. A stacked bin picking system according to claim 5, characterized in that: The box-taking clamp is a telescopic claw or a swinging claw; When the box-taking fixture is a telescopic claw for taking a box, the telescopic claw extends when it reaches the box-taking position of the material box and retracts when it reaches the box-putting position; When the box-taking telescopic pusher claw is a box-taking swinging pusher claw, the box-taking swinging pusher claw swings out when it reaches the box-taking position of the material box, and swings back when it reaches the box-putting position.

7. The stacked bin picking system according to claim 5, characterized in that: When the box-taking clamp is a telescopic claw for taking a box, the telescopic direction of the telescopic claw is perpendicular to the telescopic direction of the telescopic fork.

8. The stacked bin picking system according to claim 5, characterized in that: The telescopic fork module further includes a fork frame, and the telescopic fork is arranged inside the fork frame; The telescopic fork is connected to a telescopic driving mechanism so that the fork arms at all levels can be telescoped at the same time.

9. The stacked bin picking system according to claim 3, wherein: The lifting and rotating frame module includes a tray frame and a rotating frame. The tray frame is slidably matched with the supporting frame and is connected to the lifting drive module. The rotating frame is connected to the tray frame through a rotating drive mechanism.

10. A stacked bin picking system according to claim 9, characterized in that: The rotary drive mechanism includes a rotary drive motor and a rotary device. The rotary device is arranged at the center of the tray frame, and the rotary drive motor is connected to the rotary frame through the rotary device.

11. The stacked bin picking system according to claim 3, characterized in that: The lifting drive module includes a lifting drive motor and a transmission mechanism driven by the lifting drive motor.

12. The stacked bin picking system according to claim 2, wherein: When temporary storage locations are provided on both sides of the support frame, the number of temporary storage locations on both sides is the same or different; The temporary storage position is formed by a storage rack installed on the side of the support frame, and a plurality of storage racks are distributed at intervals along the height direction of the support frame.

13. The stacked bin picking system according to claim 1, wherein: The invention also includes an inbound conveying device, which is configured to transfer the incoming bins to the bin picking robot in a single layer or multiple layers at a time; wherein, when transferring multiple layers of bins, the inbound conveying device is provided with a bin unpacking device; The bin picking robot is further configured to transport the bins to be stored to the bin stacking storage area for storage.

14. A stacked bin picking system according to claim 13, characterized in that: The outbound conveying equipment and the inbound conveying equipment both include a conveying mechanism, which is configured to directly convey a single outbound material box to a picking and packing station when the material box picking robot carries the single outbound material box, or to directly convey the inbound material box to the material box picking robot.

15. The stacked bin picking system according to claim 13, wherein: The outbound conveying equipment and the inbound conveying equipment both include a bin workstation, and the bin workstation is configured to pick up and place bins on the multi-layer temporary storage position on one side of the bin picking robot at a time; or, It is configured to place the stacked boxes to be stored in the temporary storage position of the box picking robot once or multiple times.

16. A stacked bin picking system according to claim 15, characterized in that: The material box workstation also has a stacking and unstacking function.

17. A stacked bin picking system according to claim 16, characterized in that: The material box workstation is provided with a box destacking device, and the box destacking device in the material box workstation is configured to destacking a plurality of stacked material boxes into single-layer material boxes.

18. The stacked bin picking system according to claim 1, wherein: The material box to be shipped out includes a material box that has stored materials or an empty material box.

19. A bin picking robot, characterized in that: include: A supporting frame, with a mobile chassis mounted at the bottom thereof, wherein the mobile chassis is equipped with an autonomous navigation module; The support frame is provided with a plurality of temporary storage locations on at least one side, and a take-out opening is formed between adjacent temporary storage locations; At least one telescopic fork module is installed on the upper part of the lifting and rotating frame module, and the telescopic fork module can fork a single-layer or multi-layer material box and rotate with the lifting and rotating frame module to the corresponding pick-up and placement opening; The lifting drive module is installed on the supporting frame, and the lifting drive module is connected to the lifting and rotating frame module.

20. The bin picking robot according to claim 19, characterized in that: The telescopic fork module includes telescopic forks arranged in pairs, each telescopic fork includes at least two stages of fork arms, and the last stage of fork arms is oppositely mounted with a box-retrieving clamp.

21. A stacked bin picking method, characterized in that: The bin picking robot according to claim 19 or 20 comprises: The bin picking robot moves to a set position in the bin stacking storage area, and the telescopic fork module separates the non-target bins above the target bin from the target bin to retrieve the target bin; The telescopic fork module stores the target material box in a temporary storage position by rotating; Repeat the above steps until the set number of target bins are cached in the temporary storage location.

22. The method according to claim 21, characterized in that The telescopic fork module separates non-target boxes on the target box from the target box to obtain the target box, including: When there is a set of the telescopic fork modules, the telescopic fork modules take the non-target material box above the target material box and transfer it to a temporary storage position; The telescopic fork module picks up the target material box.

23. The method according to claim 21, characterized in that The telescopic fork module separates non-target boxes on the target box from the target box to obtain the target box, including: When there are at least two sets of telescopic fork modules, The upper telescopic fork module moves the non-target boxes above the target box vertically upwards at one time; The lower telescopic fork module picks up the target material box.

24. The method according to claim 21, characterized in that The telescopic fork module separates non-target boxes on the target box from the target box to obtain the target box, including: When there are at least two sets of telescopic fork modules, The upper telescopic fork module moves the non-target boxes above the target box vertically upwards in multiple times and rotates them to the temporary storage position; The lower telescopic fork module picks up the target material box.

25. The method according to claim 21, wherein the temporary storage location buffers single-layer or multi-layer stacked boxes.

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