阅读说明：本技术 一种机械手 (Mechanical arm ) 是由 侯世国 王根 韩超 郑金梁 邸治榕 王柏峰 何英圣 王丹 于 2019-11-20 设计创作，主要内容包括：本发明涉及货物分拣技术领域,具体公开了一种机械手。机械手包括：机械手支架；夹放部,包括间隔且正对设置于机械手支架上的第一夹手和第二夹手,第一夹手和第二夹手被配置为能够相互靠近或远离,以夹取或放开目标货物；吸附部,设置于机械手支架上,被配置为吸附或放开目标货物。本发明提供的机械手包括夹放部和吸附部,在机械手拣取目标货物时,可以同时夹紧和吸附目标货物,从而提高了机械手的抓取力和稳定性,从而避免目标货物脱落问题,提高拣货作用的效率和安全性。(The invention relates to the technical field of cargo sorting, and particularly discloses a manipulator. The manipulator includes: a manipulator support; the clamping and releasing part comprises a first clamping hand and a second clamping hand which are arranged on the manipulator bracket at intervals and opposite to each other, and the first clamping hand and the second clamping hand are configured to be capable of approaching to or departing from each other so as to clamp or release the target goods; and the adsorption part is arranged on the manipulator bracket and is configured to adsorb or release the target goods. The manipulator provided by the invention comprises the clamping part and the adsorption part, and can simultaneously clamp and adsorb target goods when the manipulator picks the target goods, so that the grabbing force and the stability of the manipulator are improved, the problem of falling off of the target goods is avoided, and the efficiency and the safety of a goods picking function are improved.)

1. A manipulator, characterized by comprising:

a manipulator support (41);

a clamping and releasing part (42) which comprises a first clamping hand (421) and a second clamping hand (422) which are arranged on the manipulator support (41) at intervals and face each other, wherein the first clamping hand (421) and the second clamping hand (422) are configured to be capable of approaching to or departing from each other so as to clamp or release target goods;

and an adsorption unit (43) provided on the manipulator support (41) and configured to adsorb or release the target cargo.

2. The manipulator according to claim 1, wherein the suction portion (43) is provided between the first gripper (421) and the second gripper (422).

3. The manipulator according to claim 2, characterized in that the manipulator (4) further comprises an adsorption driving member (44), and an output end of the adsorption driving member (44) is in driving connection with the adsorption part (43) and can drive the adsorption part (43) to move up and down.

4. The manipulator according to claim 3, wherein the clamping and releasing section (42) further comprises a clamping and releasing driving section (423) provided on the manipulator support (41), the clamping and releasing driving section (423) being configured to drive the first gripper (421) and the second gripper (422) to approach or separate from each other.

5. The manipulator according to claim 4, characterized in that the clamping and releasing drive part (423) comprises a link mechanism which is a parallelogram plane link mechanism, and the manipulator support (41), the first gripper (421) and the second gripper (422) are all rotationally connected with the link mechanism.

6. The robot hand of claim 5, wherein the link mechanism comprises:

the connecting rod comprises a first connecting rod (4231) and a second connecting rod (4232), one end of the first connecting rod (4231) is rotatably connected with the manipulator support (41), and the other end of the first connecting rod (4231) is rotatably connected with the first clamping hand (421); one end of the second connecting rod (4232) is rotatably connected with the manipulator support (41), and the other end of the second connecting rod is rotatably connected with the second clamping hand (422);

the intermediate connecting rod comprises a first intermediate connecting rod (4233) and a second intermediate connecting rod (4234), one end of the first intermediate connecting rod (4233) is rotatably connected with the first connecting rod (4231), and the other end of the first intermediate connecting rod (4233) is rotatably connected with the manipulator support (41); one end of the second intermediate connecting rod (4234) is rotatably connected with the second connecting rod (4232), and the other end of the second intermediate connecting rod is rotatably connected with the manipulator support (41);

one of one end of the link and the other end of the intermediate link is movable up and down with respect to the manipulator support (41).

7. The manipulator according to claim 6, wherein the suction driving member (44) is slidably connected to the manipulator support (41), and the other ends of the first intermediate link (4233) and the second intermediate link (4234) are rotatably connected to the suction driving member (44).

8. The manipulator according to claim 7, wherein the clamping drive portion (423) further includes a link drive (4235), and the link drives (4235) are connected to the manipulator support (41) and the suction drive (44) to drive one of the manipulator support (41) and the suction drive (44) to move up and down.

9. The manipulator according to claim 7, characterized in that one of the suction drive member (44) and the manipulator support (41) is provided with a first slide rail (45), and the other is provided with a first slide groove slidably connected to the first slide rail (45).

10. The manipulator according to claim 1, characterized in that the first gripper (421) and the second gripper (422) are both flexible grippers.

Technical Field

The invention relates to the technical field of cargo sorting, in particular to a manipulator.

Background

The rapid development of electronic commerce drives the development of the logistics industry, and the automation and the unmanned logistics operation are important measures for enterprises to improve the logistics operation efficiency and reduce the logistics cost. In warehouse operations, the speed and efficiency of picking will directly affect the operational efficiency of the entire warehouse and the distribution center.

The manipulator is used for grabbing various complex materials in the picking process, and the grabbing force and stability of the manipulator are critical to the efficiency and safety of the picking operation. The existing mechanical arm has small grabbing force when grabbing goods, poor stability for grabbing goods and easy problem of untightness in grabbing and falling off of goods, thereby seriously affecting the efficiency and safety of goods picking function.

Disclosure of Invention

The invention aims to provide a manipulator, which is used for improving the stability of the manipulator in grabbing goods and avoiding the problem of commodity falling off due to infirm grabbing, thereby improving the efficiency and safety of goods picking action.

In order to achieve the purpose, the invention adopts the following technical scheme:

a manipulator, comprising:

a manipulator support;

a clamping and releasing part which comprises a first clamping hand and a second clamping hand which are arranged on the manipulator bracket at intervals and face each other, wherein the first clamping hand and the second clamping hand can be arranged to approach or move away from each other so as to clamp or release the target goods;

and the adsorption part is arranged on the manipulator bracket and is configured to adsorb or release the target goods.

Preferably, the suction portion is provided between the first gripper and the second gripper.

Preferably, the manipulator further comprises an adsorption driving element, and an output end of the adsorption driving element is in driving connection with the adsorption part and can drive the adsorption part to ascend and descend.

Preferably, the clamping and placing part further comprises a clamping and placing driving part arranged on the manipulator support, and the clamping and placing driving part is configured to drive the first clamping hand and the second clamping hand to approach or move away from each other.

Preferably, the clamping and placing driving part comprises a link mechanism, the link mechanism is a parallelogram plane link mechanism, and the manipulator support, the first clamping hand and the second clamping hand are rotatably connected with the link mechanism.

Preferably, the link mechanism includes:

the connecting rod comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected with the manipulator support, and the other end of the first connecting rod is rotatably connected with the first clamping hand; one end of the second connecting rod is rotatably connected with the manipulator support, and the other end of the second connecting rod is rotatably connected with the second clamping hand;

the middle connecting rod comprises a first middle connecting rod and a second middle connecting rod, one end of the first middle connecting rod is rotatably connected with the first connecting rod, and the other end of the first middle connecting rod is rotatably connected with the manipulator support; one end of the second middle connecting rod is rotatably connected with the second connecting rod, and the other end of the second middle connecting rod is rotatably connected with the manipulator support;

one of one end of the connecting rod and the other end of the intermediate connecting rod can move up and down relative to the manipulator support.

Preferably, the adsorption driving part is connected with the manipulator support in a sliding mode, and the other ends of the first middle connecting rod and the second middle connecting rod are connected with the adsorption driving part in a rotating mode.

Preferably, the clamping and releasing driving part further comprises a connecting rod driving part, and the connecting rod driving part is connected with the manipulator support and the adsorption driving part so as to drive one of the manipulator support and the adsorption driving part to move up and down.

Preferably, one of the adsorption driving part and the manipulator support is provided with a first slide rail, and the other is provided with a first sliding chute in sliding connection with the first slide rail.

Preferably, the first gripper and the second gripper are both flexible grippers.

The invention has the beneficial effects that:

the manipulator provided by the invention comprises the clamping part and the adsorption part, and can simultaneously clamp and adsorb target goods when the manipulator picks the target goods, so that the grabbing force and the stability of the manipulator are improved, the problem of falling off of the target goods is avoided, and the efficiency and the safety of a goods picking function are improved. The adsorption part has strong adaptability to the shape of target goods, and target goods in the forms of barreling, bagging, bottling, box packaging and the like can be adapted. And the target goods with regular shapes and small mass can be directly sucked by the suction part. To the commodity of irregular shape, surperficial unevenness, can directly snatch with pressing from both sides the portion of putting to avoid the problem that the manipulator can't snatch because of the shape of target goods leads to.

Drawings

Fig. 1 is a schematic structural diagram of a picking system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a pick and place mechanism connected to a vertical sliding assembly according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first view angle of a robot according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a second view of a robot according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a third view angle of the robot according to the first embodiment of the present invention.

In the figure:

1. a first storage mechanism; 11. a shelf; 12. a turnover box;

2. a second storage mechanism;

3. a pick and place mechanism; 31. a telescopic part; 32. a temporary placing area; 33. taking and placing the bracket; 34. a support plate; 35. a base; 36. clamping and placing the component; 361. a mechanical arm;

4. a manipulator;

41. a manipulator support;

42. a clamping part;

421. a first gripper; 422. a second gripper;

423. a clamping and placing driving part; 4231. a first link; 4232. a second link; 4233. a first intermediate link; 4234. a second intermediate link; 4235. a connecting rod driving member; 4236. a first screw; 4237. a first nut;

43. an adsorption part; 44. adsorbing the driving member; 45. a first slide rail; 46. a first connecting plate; 47. a second connecting plate; 48. a third connecting plate; 49. a fourth connecting plate;

5. a horizontal sliding assembly; 6. a vertical slide assembly; 7. and (5) a sorting box.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements associated with the present invention are shown in the drawings.

In the present invention, orientation words such as "upper", "lower", "left" and "right" are used, unless otherwise specified, to indicate that the picking system of the present invention is defined in normal use, and "inner" and "outer" refer to the inner and outer contours of each component itself. These directional terms are used for ease of understanding and are not intended to limit the scope of the present invention.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

The embodiment provides a goods picking system, which is used for picking goods in an order, but is not limited to the goods picking system, and can also be used for picking goods in other occasions, so that the flexibility of the goods picking system is improved, the operation range of the goods picking system is enlarged, and the work efficiency of goods picking operation is improved.

As shown in fig. 1 and 2, the picking system provided in the present embodiment includes a first storage mechanism 1 and a pick-and-place mechanism 3. The first storage mechanism 1 is used for storing target goods. The pick-and-place mechanism 3 is disposed at one side of the first storage mechanism 1, the pick-and-place mechanism 3 includes a pick-and-place assembly 36 and a temporary placement area 32, and the pick-and-place mechanism 3 is configured to be capable of moving horizontally and vertically relative to the first storage mechanism 1, so that the pick-and-place assembly 36 can pick target goods at different positions on the first storage mechanism 1 and place the target goods in the temporary placement area 32.

The pick-and-place mechanism 3 of the picking system provided by this embodiment can move horizontally and vertically relative to the first storage mechanism 1, so that the pick-and-place mechanism 3 moves to different target positions (i.e. near the storage positions of the target goods), and further obtains all the target goods placed on the first storage mechanism 1, thereby improving the flexibility of the picking system and increasing the application range thereof. The picking and placing mechanism 3 can move to different target positions to pick out different target goods, and can place one of the different target goods in the temporary placing area 32, and then the picking and placing mechanism 3 conveys all the target goods in the temporary placing area 32 to a destination, so that the picking and placing mechanism 3 is prevented from picking and placing the goods between one target position and the destination one by one, the frequency of returning to the destination is greatly reduced, and the work efficiency of the goods picking function is improved.

The picking system provided by the embodiment breaks through the current situation that the picking of the existing clamping and placing assembly 36 can only be carried out from one picking point to the destination, and the limitation that the clamping and placing assembly 36 cannot move, enlarges the picking range of the clamping and placing assembly 36, and simultaneously improves the access rate of a plurality of target goods. The goods picking system provided by the embodiment has the advantages of wider application range, small limitation and strong adaptability to general e-commerce warehouses.

In order to enlarge the operation range of the pick-and-place mechanism 3, the picking system further comprises a second storage mechanism 2, the second storage mechanism 2 is arranged in parallel with the first storage mechanism 1, the pick-and-place mechanism 3 is arranged between the first storage mechanism 1 and the second storage mechanism 2, and the clamping and placing assembly 36 can also be used for picking target goods at different positions on the second storage mechanism 2. In order to improve the automation degree and simplify the structure of the picking system, the first storage mechanism 1 and the second storage mechanism 2 are preferably identical in structure. The first storing means 1 will be described below as an example.

The first storage mechanism 1 includes a shelf 11 and a plurality of turnover boxes 12 disposed on the shelf 11, the turnover boxes 12 are used for storing target goods, and the pick-and-place mechanism 3 can pick the goods from the turnover boxes 12. Preferably, the plurality of turnover boxes 12 are horizontally arranged on the shelf 11 in sequence, and a plurality of rows of turnover boxes 12 are arranged on the shelf 11.

Preferably, in order to facilitate picking up goods, the goods stored in each turnover box 12 are of the same type, a two-dimensional code containing information of the goods type may be further pasted on each turnover box 12, and the picking and placing mechanism 3 includes a reading device capable of reading information of the two-dimensional code. Or, the picking system may further include a controller, where a storage location of the target goods is stored in the controller, and the controller controls the pick-and-place mechanism 3 to move to the storage location of the target goods to pick up the target goods.

Furthermore, in order to facilitate the movement of the pick and place mechanism 3, the picking system further comprises a horizontal sliding assembly 5 and a vertical sliding assembly 6, wherein the vertical sliding assembly 6 is slidably arranged on the horizontal sliding assembly 5, and the pick and place mechanism 3 is slidably arranged on the vertical sliding assembly 6.

Specifically, the longitudinal direction of the horizontal sliding assembly 5 coincides with the longitudinal direction of the rack 11. The horizontal sliding component 5 comprises a horizontal sliding rail, a horizontal driving component and a horizontal transmission component in driving connection with the horizontal driving component.

The vertical sliding assembly 6 comprises a vertical column, a vertical driving piece and a vertical transmission piece, wherein the vertical driving piece and the vertical transmission piece are fixed on the vertical column. The lower end of the upright post is provided with a sliding chute which is connected with the horizontal sliding rail in a sliding way, and the upright post is connected with the horizontal transmission part in a transmission way. The vertical transmission piece is in driving connection with the pick-and-place mechanism 3 so as to drive the pick-and-place mechanism 3 to move up and down relative to the support.

The horizontal driving piece and the vertical driving piece can be motors or motors, and the horizontal driving piece and the vertical driving piece can be gears and racks meshed with the gears, or synchronous belts, or screws and nuts connected to the screws in a rotating mode.

The pick-and-place mechanism 3 further comprises a pick-and-place support 33, and the pick-and-place mechanism 3 is connected to the vertical driving member through the pick-and-place support 33, that is, the pick-and-place support 33 is connected with the vertical driving member of the vertical sliding assembly 6.

The pick-and-place mechanism 3 further comprises a telescopic part 31, the telescopic part 31 and the temporary placing area 32 are both arranged on the pick-and-place bracket 33, the telescopic part 31 is arranged on one side of the temporary placing area 32, preferably, the telescopic part 31 and the temporary placing area 32 are sequentially arranged along a direction parallel to the horizontal sliding rail, and the telescopic part 31 is located between the temporary placing area 32 and the vertical sliding assembly 6. The extending and retracting direction of the extending and retracting portion 31 is perpendicular to the longitudinal direction of the horizontal slide rail, and the extending and retracting portion 31 can extend into the shelves 11 of the first storage mechanism 1 and the second storage mechanism 2, so that the turnover box 12 can be transferred between the extending and retracting portion 31 and the shelves 11, that is, when the target product needs to be sorted, the extending and retracting portion 31 can take out the turnover box 12 from the shelves 11, and the turnover box 12 can be positioned on the extending and retracting portion 31. After the picking of the target products is completed, the telescopic portion 31 returns the turnover box 12 thereon to the rack 11. The arrangement of the telescopic part 31 ensures that the space occupied in the roadway is small when picking the goods, and the blind area for picking the goods by the picking and placing mechanism 3 can be reduced.

Preferably, in order to enable the turnover box 12 to be replaced between the shelf 11 and the expansion/contraction section 31, the expansion/contraction section 31 is slidably connected to the pick-and-place holder 33 and can be raised and lowered with respect to the pick-and-place holder 33, and the staging area 32 is connected to the expansion/contraction section 31. Preferably, the telescopic part 31 is a three-stage telescopic fork.

The first storage mechanism 1 further includes a placing area at one end thereof, and the pick-and-place mechanism 3 drives the sorting box 7 to be selectively placed in one of the temporary placing area 32 and the placing area. Before the pick-and-place mechanism 3 selects the target goods, the pick-and-place mechanism 3 firstly moves to the lower part of the placing area, the telescopic part 31 moves upwards and drives the temporary placing area 32 to move upwards, and therefore the sorting box 7 is transferred from the placing area to the temporary placing area 32. After all the target products are sorted, the pick-and-place mechanism 3 moves to the upper side of the placing area, the telescopic part 31 moves downwards and drives the temporary placing area 32 to move downwards, and therefore the sorting boxes 7 are transferred from the temporary placing area 32 to the placing area. The telescopic portion 31 is located between the staging area 32 and the vertical sliding assembly 6 so as not to interfere with the staging area 32 in accessing the sorting bins 7.

As shown in fig. 2, in order to facilitate the picking and placing of the target cargo by the picking and placing assembly 36, the telescopic portion 31 and the temporary placing area 32 are both located below the picking and placing assembly 36, and the picking and placing assembly 36 is configured to rotate between the telescopic portion 31 and the temporary placing area 32. When the target goods need to be picked from the turnover box 12, the clamping and placing assembly 36 rotates to the position right above the turnover box 12, and after the target goods are picked by the clamping and placing assembly 36, the target goods are rotated to the position right above the sorting box 7 and are placed into the sorting box 7.

Preferably, a support plate 34 is connected to the pick-and-place holder 33, and the support plate 34 is disposed above the telescopic portion 31 and the staging area 32. The fulcrum 34 is rotatably provided with a base 35 so that the base 35 can rotate in a horizontal plane. A clamping assembly 36 is attached to the base 35.

Further, the clamping and placing assembly 36 comprises a mechanical arm 361 and a mechanical arm 4, one end of the mechanical arm 361 is connected with the mechanical arm 4, the other end of the mechanical arm 361 is hinged to the base 35, the mechanical arm 361 rotates relative to the base 35 to drive the mechanical arm 4 to lift, and the base 35 rotates relative to the support plate 34, so that the mechanical arm 4 rotates between the expansion part 31 and the temporary placing area 32.

This embodiment still provides a manipulator 4 to improve manipulator 4 stability when snatching the target goods, avoid because of snatching insecurity, lead to the problem that commodity drops, thereby improve the efficiency and the security of choosing the goods effect.

As shown in fig. 3 to 5, the robot 4 includes a robot holder 41, a clamping section 42, and a suction section 43. The robot holder 41 is connected to one end of the robot arm 361. The grasping and placing section 42 includes a first grasping hand 421 and a second grasping hand 422 which are provided on the robot arm support 41 at an interval and face each other, and the first grasping hand 421 and the second grasping hand 422 are configured to be capable of approaching each other or moving away from each other to grasp or release the target cargo; the suction unit 43 is provided on the robot arm holder 41 and configured to suck or release the target cargo.

The manipulator 4 that this embodiment provided puts portion 42 and absorption portion 43 including pressing from both sides, when manipulator 4 picks target goods, can press from both sides tightly simultaneously and adsorb target goods to the power of grabbing and the stability of manipulator 4 have been improved, thereby avoid target goods problem of droing, improve efficiency and the security of picking the goods effect. The adsorbing portion 43 has a strong adaptability to the shape of the target cargo, and can be adapted to target cargo in the form of a barrel, a bag, a bottle, a box, or the like. And the target cargo with regular shape and small mass can be directly sucked by the suction part 43. For the commodities with irregular shapes and uneven surfaces, the clamping part 42 can be used for directly grabbing, so that the problem that the manipulator 4 cannot grab due to the shape of the target goods is solved.

In order to avoid interference between the placing part 42 and the suction part 43 and to reduce the volume of the robot arm 4, it is preferable that the suction part 43 is disposed between the first gripper 421 and the second gripper 422. The suction part 43 may include a suction cup and a vacuum generator communicating with the suction cup, and the vacuum generator controls the suction cup to be turned on/off to perform a sucking/dropping operation of the target goods.

In this embodiment, in order to enable the adsorption part 43 to adsorb target cargos with different heights, and when adsorbing the target cargos, the first gripper 421 and the second gripper 422 do not interfere with the adsorption part 43, the manipulator 4 further includes an adsorption driving part 44, and an output end of the adsorption driving part 44 is in driving connection with the adsorption part 43 and can drive the adsorbed part 43 to move up and down. The adsorption driving member 44 may be an air cylinder or an oil cylinder, or a screw-nut mechanism.

Further, the manipulator support 41 is provided with an accommodating cavity, and the adsorption driving member 44 is disposed in the accommodating cavity.

The first gripper 421 and the second gripper 422 are both flexible grippers. Illustratively, the flexible gripper may include a leather sheath made of rubber or flexible plastic, the leather sheath being filled with air, and the shape of the flexible gripper may be changed by changing the air pressure within the leather sheath. The flexible clamping hands can not cause damage to target goods, and simultaneously support the sorting operation in an environment at the temperature of 20 ℃ below zero. Furthermore, the sides of the first gripper 421 and the second gripper 422 close to each other are horizontal planes, so as to increase the contact area with the target cargo and improve the gripping stability.

The clamping and releasing part 42 includes a clamping and releasing driving part 423 disposed on the manipulator support 41, and the clamping and releasing driving part 423 is configured to drive the first clamping hand 421 and the second clamping hand 422 to approach or move away from each other, that is, the clamping and releasing driving part 423 controls the opening and closing degree of the first clamping hand 421 and the second clamping hand 422 to clamp or release the target cargo.

In order to reduce the stress of the clamping and releasing driving portion 423, the clamping and releasing portion 42 further includes a first connecting plate 46 and a second connecting plate 47, one end of the first connecting plate 46 is rotatably connected to the manipulator support 41, the other end of the first connecting plate is rotatably connected to one end of the second connecting plate 47, and the other end of the second connecting plate 47 is connected to the first clamping hand 421.

The clamping part 42 further comprises a third connecting plate 48 and a fourth connecting plate 49, the first connecting plate 46 and the third connecting plate 48 are symmetrically arranged, the fourth connecting plate 49 and the second connecting plate 47 are symmetrically arranged, one end of the third connecting plate 48 is rotatably connected to the manipulator support 41, the other end of the third connecting plate 48 is rotatably connected to one end of the fourth connecting plate 49, and the other end of the fourth connecting plate 49 is connected with the second clamping hand 422.

Preferably, the clamping and placing driving portion 423 further includes a link mechanism, the link mechanism is a parallelogram plane link mechanism, and the manipulator support 41, the first gripper 421 and the second gripper 422 are rotatably connected to the link mechanism.

Further, the link mechanism includes a link and an intermediate link. The connecting rods include a first connecting rod 4231 and a second connecting rod 4232, one end of the first connecting rod 4231 is rotatably connected with the manipulator support 41, and the other end of the first connecting rod 4231 is rotatably connected with the second connecting plate 47, that is, the other end of the first connecting rod 4231 is rotatably connected with the first gripper 421 through the second connecting plate 47. One end of the second link 4232 is rotatably connected to the manipulator support 41, and the other end is rotatably connected to the fourth link plate 49. That is, the other end of the second link 4232 is rotatably connected to the second gripper 422 via the fourth link plate 49.

The intermediate links include a first intermediate link 4233 and a second intermediate link 4234. The first intermediate link 4233 has one end rotatably connected to the first link 4231 and the other end rotatably connected to the suction driving member 44. One end of the second intermediate link 4234 is rotatably connected to the second link 4232, and the other end is rotatably connected to the suction driving member 44.

Further, the first intermediate link 4233 is connected to an intermediate position in the longitudinal direction of the first link 4231, and the second intermediate link 4234 is connected to an intermediate position in the longitudinal direction of the second link 4232. The first intermediate link 4233, the second intermediate link 4234, a section of the first link 4231, and a section of the second link 4232 form a parallelogram.

The other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 are both capable of moving up and down relative to the manipulator support 41, so as to adjust an angle between the first link 4231 and the second link 4232, and further adjust an interval between the first gripper 421 and the second gripper 422, so that the first gripper 421 grips or releases the target cargo. Specifically, in order to achieve relative up-and-down movement of the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 with the robot arm support 41, the adsorption driving member 44 is slidably connected with the robot arm support 41.

Of course, in another embodiment, the other end of the first intermediate link 4233 is directly and rotatably connected to the manipulator support 41, the other end of the second intermediate link 4234 is directly and rotatably connected to the manipulator support 41, and the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 slide up and down on the manipulator support 41, thereby adjusting the angle between the first link 4231 and the second link 4232.

In addition, in another embodiment, the other end of the first intermediate link 4233 and the other end of the second intermediate link 4234 may not be able to slide up and down with respect to the manipulator support 41, but one end of the link is slidably connected to the manipulator support 41 and is able to move up and down with respect to the manipulator support 41, thereby adjusting the angle between the first link 4231 and the second link 4232.

In this embodiment, the suction driving member 44 is fixedly connected to the robot arm 361, so as to prevent the suction portion 43 from being lifted when the robot holder 41 is lifted relative to the suction driving member 44.

In order to lift the robot arm support 41, the clamping drive unit 423 further includes a link drive 4235. The link driving member 4235 controls the manipulator support 41 to slide up and down, so that one end of the first link 4231 and one end of the second link 4232 are lifted, an included angle between the first link 4231 and the second link 4232 is changed, and finally, the opening and closing degree of the first gripper 421 and the second gripper 422 is changed.

The link drivers 4235 are connected to the robot arm support 41 and the suction driver 44 to drive the robot arm support 41 and the suction driver 44 to move relatively. Specifically, the link driving member 4235 includes a first screw 4236 rotatably connected to the manipulator support 41, a first nut 4237 screwed with the first screw 4236, and a driving motor drivingly connected to the first screw 4236, wherein the first nut 4237 is fixedly connected to the suction driving member 44, and the driving motor rotates forward and backward to drive the manipulator support 41 to ascend and descend.

In order to improve the lifting stability of the manipulator support 41, one of the adsorption driving element 44 and the manipulator support 41 is provided with a first slide rail 45, and the other is provided with a first sliding groove connected with the first slide rail 45 in a sliding manner. In this embodiment, the first slide rail 45 is disposed on the absorption driving member 44, and the first sliding slot is disposed on the robot holder 41.

When the manipulator 4 clamps the target goods, the suction and grabbing mode is adopted, and the two working modes are specifically adopted, namely 'first suction and then grabbing' and 'sucking and grabbing at the same time'.

When the manipulator 4 adopts the working mode of 'sucking first and then grabbing', the working steps are as follows:

1. when the target goods start to be grabbed, firstly, the mechanical arm 361 drives the first gripper 421 and the second gripper 422 to move to the position right above the target goods to be grabbed;

2. the link driving part 4235 controls the link mechanism to change the opening degree of the opening and closing of the first gripper 421 and the second gripper 422 until the opening degree is consistent with the width of the target cargo;

3. the vacuum generator works, the adsorption part 43 generates suction force, and the adsorption driving part 44 drives the adsorption part 43 to descend to be close to the surface of the target cargo;

4. after the adsorption part 43 adsorbs the target goods, the adsorption driving part 44 drives the adsorption part 43 to ascend, and simultaneously the first clamping hand 421 and the second clamping hand 422 perform a clamping action, so that the target goods are fixed and prevented from falling off;

5. after the target goods are grabbed, the mechanical arm 361 starts to rotate, and drives the first gripper 421 and the second gripper 422 to reach the position right above the sorting box 7. Then the first gripper 421 and the second gripper 422 are opened, the adsorption driving member 44 drives the adsorption part 43 to descend to the proper position, the vacuum generator stops operating, and the target goods fall into the sorting box 7. Thus, one grabbing action is completed.

When the manipulator 4 adopts a working mode of 'sucking and grabbing at the same time', the working steps are as follows:

1. the mechanical arm 361 drives the first gripper 421 and the second gripper 422 to move right above the target goods to be grabbed;

2. the link driving part 4235 controls the link mechanism to drive the opening degrees of the first gripper 421 and the second gripper 422 to be consistent with the width of the target cargo;

3. when the vacuum generator works, the adsorption part 43 generates suction force, the adsorption driving part 44 drives the adsorption part 43 to descend and approach to the surface of the target cargo, and meanwhile, the clamping part 42 descends to approach to the target cargo;

4. the adsorption part 43 adsorbs the target goods, and the clamping part 42 clamps the target goods;

5. after the target goods are clamped, the mechanical arm 361 drives the mechanical arm 4 and the target goods to move towards the sorting box 7;

6. when the manipulator 4 reaches the position directly above the sorting box 7, the clamping and placing unit 42 first performs the opening operation, the suction unit 43 descends to the proper position, and the vacuum generator stops operating, so that the target goods fall into the sorting box 7. Thus, one grabbing action is completed.

Of course, a picking system for picking the goods in the sorting box 7 into the turnover box 12 is also within the protection scope of the present invention.

Example two

The second embodiment provides a picking method, which can use the picking system according to the first embodiment, and can also be used in any other picking system capable of implementing the method.

The picking method comprises the following steps: step S1, moving the pick-and-place mechanism 3 to the target position; the target position in the present embodiment means that the telescoping section 31 can transfer the turnover box 12 on the rack 11 to the target position.

Step S2, the pick-and-place mechanism 3 picks up the target goods on the first storage mechanism 1 at the target position; of course, in this step, the pick and place mechanism 3 may also pick up the target goods located on the second storage mechanism 2.

Step S3, the pick-and-place mechanism 3 places the target cargo in the temporary placement area 32;

step S4, repeating steps S1-S3 until all target goods are placed in the temporary placement area 32.

The first storage mechanism 1 includes a turnover box 12 for storing target goods, and the pick-and-place mechanism 3 includes a telescopic portion 31 and a clamping assembly 36. Step S2 includes: the telescopic part 31 is extended out, so that the turnover box 12 stored with the target goods is positioned on the telescopic part 31; the telescopic part 31 is contracted and restored to the original position; the pick and place assembly 36 picks up the target cargo located within the container 12.

The picking system further includes a placing area provided with sorting boxes 7, and before step S1, the picking system further includes: the pick-and-place mechanism 3 moves to the placing area and the sorting box 7 is placed on the temporary placing area 32. In step S3, the pick-and-place mechanism 3 places the target goods in the sorting box 7 located on the temporary placing section 32.

Compared with a manual goods picking mode, the goods picking method provided by the embodiment can greatly improve the goods picking efficiency, the automatic storage and taking of the target goods uses mechanical and automatic equipment, the operation and processing speed is high, the labor intensity of operators is reduced, the labor cost is saved, and the error rate is also reduced.

Of course, the method of sorting the goods in the sorting box 7 into the turnover box 12 is also within the protection scope of the present invention.

Illustratively, the picking method may specifically comprise the steps of:

1. the picking and placing mechanism 3 is positioned between the first storage mechanism 1 and the second storage mechanism 2, a turnover box 12 is placed on each goods position of a goods shelf 11 of the first storage mechanism 1 and the second storage mechanism 2, and a sorting box 7 is placed at one end of the goods shelf 11. The sorting box 7 is used for temporarily storing the grabbed target goods. The picking and placing mechanism 3 is controlled and driven by a PLC, and after a user places an order, the picking and placing mechanism 3 firstly picks the sorting box 7 from one end of the goods shelf 11;

2. the pick-and-place mechanism 3 moves to the target position;

3. the telescopic part 31 extends to the bottom of the turnover box 12, then the turnover box 12 is lifted along with the upward movement of the taking and placing mechanism 3, the telescopic part 31 is contracted to the original position, the turnover box 12 is taken out of the telescopic part 31, and the box taking operation is completed;

4. after the turnover box 12 is taken out, the mechanical arm 4 moves to the coordinate position of the target goods, and the goods in the turnover box 12 can be partitioned according to grids, so that the coordinates are conveniently positioned;

5. the manipulator 4 clamps the target goods in a manner of 'first suction and then grabbing', the opening degree of the first clamping hand 421 and the second clamping hand 422 is adjusted to adapt to the size of the target goods, then the adsorption driving part 44 descends to drive the adsorption part 43 to be close to the surface of the target goods, after the adsorption part 43 sucks the target goods, the adsorption driving part 44 drives the adsorption part 43 to ascend, and meanwhile, the first clamping hand 421 and the second clamping hand 422 are tightened to fix the target goods;

6. the manipulator 4 grabs the target goods and then moves to the sorting box 7, and the target goods are placed in the sorting box 7;

7. the expansion part 31 returns the turnover box 12 to the original shelf 11;

8. repeating the step 2 to the step 7 to finish the goods taking of the target goods in the order;

9. the picking and placing mechanism 3 returns the picked sorting boxes 7 to the placing area of the goods shelf 11;

10. the staff takes all the target goods in the sorting box 7 and packs and delivers.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.