CN108584268A

CN108584268A - One kind plucking fruit formula sorting system and sorting AGV, sorting goods shelf

Info

Publication number: CN108584268A
Application number: CN201810645592.0A
Authority: CN
Inventors: 柳智; 周南松
Original assignee: Shanghai Tuo Hua Robot Co Ltd
Current assignee: Shanghai Tuo Hua Robot Co Ltd
Priority date: 2018-06-21
Filing date: 2018-06-21
Publication date: 2018-09-28

Abstract

The invention discloses one kind plucking fruit formula sorting system and sorting AGV, sorting goods shelf, and plucking fruit formula sorting system includes：Host computer, several sorting AGV and several sorting goods shelfs；Host computer obtains sorting task；Host computer issues sorting walking path to corresponding sorting AGV according to the positions sorting AGV for being assigned sorting task；The sorting walking path that sorting AGV is received according to its own is moved at corresponding sorting goods shelf；Kinds of goods in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV by the sorting structure at goods putting position, and kinds of goods are positioned in corresponding stock lattice by rear picking mechanism；Sorting AGV moves to target unloading area after completing the sorting task of itself, and the kinds of goods in stock lattice are delivered to corresponding destination by the rear AGV that sorts.It is the system high efficiency of the present invention, simple, and dimensional footprint is small, utilization rate is high.

Description

One kind plucking fruit formula sorting system and sorting AGV, sorting goods shelf

Technical field

The present invention relates to storage technique field, espespecially one kind plucking fruit formula sorting system and sorting AGV, sorting goods shelf.

Background technology

With the popularization and fast development of manual intelligent, artificial intelligence is also gradually applied to intelligent warehousing system, and It is universal with net quotient, the market of domestic and international logistics also enlivening more, and logistics competition is increasingly fierce, and intelligence is carried out by AGV Can sorting be intelligent storage (logistics) important link, goods sorting is scene common in logistics, and intelligent sorting already becomes Indispensable link in intelligent storage.

Intelligent sorting greatly reduces the cost of labor of logistics company and the task amount of staff, and sorting efficiency is high Effect, can 24 hours normal operations, need to rest unlike manual sorting；It is missed caused by also greatly reducing manual sorting's possibility It picks and leakage picks.But existing intelligent sorting is all based on greatly manipulator or shunts pipeline and the cooperation progress of AGV, wherein passing through machine Tool hand carries out sorting and manipulator is needed to carry out position identification to kinds of goods, AGV respectively, and whole operation flow is complicated cumbersome and when consuming Between, and since storage needs for manipulator manoeuvring space so that the space availability ratio of intelligent storage is not high；By shunting pipeline It carries out sorting to take up a large area, not met with the present situation of current an inch of land is an inch of gold.Therefore, a kind of efficient, simple, occupation of land how is improved The small intelligent storage sorting system of area is problem urgently to be resolved hurrily in the industry.

Invention content

The object of the present invention is to provide one kind pluck fruit formula sorting system and sorting AGV, sorting goods shelf so that intelligent sorting and Conveying is efficient, simple, and whole system dimensional footprint is small, and space availability ratio is high.

Technical solution provided by the invention is as follows：

One kind plucking fruit formula sorting system, including：

Host computer, several sorting AGV and several sorting goods shelfs；

The sorting AGV includes AGV ontologies, picking mechanism, stock mechanism and goods putting mechanism；It is the picking mechanism, described Stock mechanism and the goods putting mechanism may be contained within the AGV ontologies；The stock mechanism is equipped with several and mutually independent deposits Goods lattice；The stock lattice are set in the working range of the picking mechanism so that the picking mechanism can will be positioned over its own Kinds of goods be delivered in the corresponding compartment；The compartment is set in the working range of the goods putting mechanism so that institute Destination can be delivered to by the kinds of goods in the compartment by stating goods putting mechanism；

The sorting goods shelf includes shelf ontology, sorting structure；The shelf ontology is equipped with several and mutually independent puts Goods yard, each described goods putting position are set there are one the sorting structure, and the sorting structure is used to convey the goods of the goods putting position Advance at the shipment end of product towards the goods putting position；

The host computer obtains sorting task；

The host computer is according to each in the positions sorting AGV for being assigned sorting task, and corresponding sorting task The position of the sorting goods shelf that kinds of goods are placed generates corresponding sorting walking path, issues sorting walking path to corresponding Sort AGV；

The sorting walking path that sorting AGV is received according to its own is moved at corresponding sorting goods shelf；Set on goods putting Kinds of goods in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV by the sorting structure at position, and rear picking mechanism will Kinds of goods are positioned in corresponding stock lattice；Sorting AGV moves to target unloading area after completing the sorting task of itself, rear to sort Kinds of goods in stock lattice are delivered to corresponding destination by AGV by the goods putting mechanism of itself.

In the technical program, directly cooperate to complete kinds of goods with sorting AGV by the sorting goods shelf for placing kinds of goods Sorting, conveying；And entire sort process and transmission process are all planned and are monitored in advance by host computer, to realize sorting The optimization distribution and intelligent monitoring of task, and enterprise directly can obtain required data according to the related data of host computer, reduce enterprise The complexity and difficulty of industry called data, convenient for enterprise to the control of whole system.Formation gets in stocks, sorts respectively, respectively respectively Unloading, management and monitoring to entirely store in a warehouse realization modularization, compartmentalization, is obtained by host computer whole whenever and wherever possible convenient for enterprise The information of a intelligent storage process so that enterprise can overall monitor from order placement to order completion process, obtain data Information is quick, saves the human and material resources and time cost of enterprise；Convenient for the intelligence of storage process and automatic management and prison Control.Since the branch construction for sorting is in sorting AGV and sorting goods shelf so that this system is without in addition setting specially department's sorting Manipulator or shunting pipeline, adjacent sorting goods shelf only need to there are sorting AGV walk space, greatly reduce sorting system The space hold of system, intelligent storage, improves the utilization rate of the unit area of intelligent storage, reduce the use of intelligent storage at This；More preferably, sorting goods shelf and sorting AGV need to only realize that the kinds of goods at corresponding goods putting position can be delivered to point by primary docking Pick AGV, and follow-up picking mechanism by kinds of goods be delivered to stock lattice can during sorting AGV rows to next stop position into Row greatly improves the working efficiency of intelligent storage to which the time that whole system realizes sorting and transmission process be greatly saved. Since this system is whole mechanical automation, intelligent sorting, conveys, cost of labor and times of staff are greatly reduced Business amount, and sorting efficiency is efficient, is accidentally picked caused by can also greatly reducing manual sorting's possibility in addition and leakage picks, since sorting malfunctions User is caused to need to sort the phenomenon that kinds of goods needed for acquisition cause to waste user time again, it can to promote sorting accuracy rate Promote the usage experience of user.

It is further preferred that the goods putting mechanism includes thrust plate and drives the first driving portion of the thrust plate；It is described Close to destination side, rotation is equipped with the thrust plate to stock lattice；The thrust plate with drive its own towards destination rotate or The the first driving portion connection resetted；The stock lattice are obliquely installed in predetermined angle in sorting AGV so that kinds of goods are in its own weight It is slid towards destination under power；Sorting AGV is moved to target unloading area so that stock lattice are corresponding with corresponding destination to be set It sets；First driving portion drives the thrust plate to be rotated towards destination side afterwards so that kinds of goods in stock lattice its from It is slid towards destination under body gravity；Or, the goods putting mechanism includes pushing part and the second driving portion；Each described stock lattice Pushing part equipped with one for driving kinds of goods to be moved towards destination, and for driving the pushing part closer or far from purpose Second driving portion on ground；Sorting AGV is moved to target unloading area so that stock lattice are correspondingly arranged with corresponding destination；Afterwards Second driving portion drives the pushing part to be rotated towards destination side so that the kinds of goods in stock lattice are in the pushing part Promotion under towards destination move.

In the technical program, the mode of movement that kinds of goods are delivered to destination by stock lattice can be unpowered conveying (gravity Conveying) and power conveying, when mode of movement is unpowered conveying, in order to avoid falling for kinds of goods, preferably by rotatable Thrust plate is come function whether realizing kinds of goods conveying；When mode of movement is that power conveys, then it is not necessarily to that thrust plate is arranged at this time, only needs Control the keying of goods putting mechanism.Realization method is varied, can be specifically configured according to the demand of client, meets different The demand of client realizes the diversification of this system.

It is further preferred that the sorting structure includes pushing part, Synchronization Component and drive component；The pushing part Set on the end of the goods putting position far from shipment end side, the end is oppositely arranged with the shipment end；The promotion Portion is connect with the Synchronization Component；The driving component drives the Synchronization Component so that the pushing part pushes the goods putting Kinds of goods on position advance towards the shipment end；The driving component is set to sorting AGV；AGV is sorted according to the sorting received Walking path is moved at corresponding sorting goods shelf, and the driving component is docked with the Synchronization Component；The driving component afterwards The Synchronization Component is driven, makes the pushing part that the kinds of goods in corresponding sorting task to be sorted to the picking machine of corresponding sorting AGV Structure.

In the technical program, since sorting task is distributed unitedly by host computer, the driving portion of sorting structure is set to Which component, then the component, which needs to be arranged, is used for the communication module that sending and receiving contracture picks task, since sorting AGV itself has sending and receiving The function of receipts can will be set to sorting AGV to reduce the cost of this system positioned at the driving portion of the sorting structure in goods putting area On so that when sorting AGV is expert to corresponding goods putting position, the driving portion for providing power for the other component of sorting structure is opened Beginning work to realize that kinds of goods are sorted to sorting AGV in sorting goods shelf, and then realizes sorting.Certainly, driving portion is set to sorting When shelf, communication module (wireless communication module or wire communication module) need to be set on sorting goods shelf.

It is further preferred that the Synchronization Component includes synchronous belt and the first synchronizing wheel, described in the synchronous belt and two The tensioning connection of first synchronizing wheel；Two first synchronizing wheels are set at the goods putting position；The driving component includes that third is driven Dynamic portion and the first driving gear engaged with the synchronous belt；Or, the Synchronization Component includes synchronous chain and the second synchronizing wheel, The synchronous chain and two the second synchronizing wheel tensionings connect；Two second synchronizing wheels are set at the goods putting position；Institute Drive component is stated to include fourth drive part and drive gear with the second of the synchronous chain engagement.

In the technical program, synchronous belt or synchronous chain advance to goods putting position when realizing sort process to picking and placeing a kinds of goods A variety of designs of distance so that the accurate sorting of various sizes of kinds of goods quantitatively.

It is further preferred that the picking mechanism includes picking lattice and transfer structure；The transfer structure includes lifting group Part, the lifting assembly includes the first guide rail being arranged along the short transverse of the stock mechanism, along prolonging for first guide rail The hoistable platform that exhibition direction can move reciprocatingly, and drive the 5th driving portion of the hoistable platform movement；The picking lattice It is set to the hoistable platform so that the picking lattice can move reciprocatingly along short transverse；5th driving portion drives institute It states hoistable platform and the picking lattice is delivered at the respective heights position of the goods putting position where the kinds of goods of corresponding sorting task； Kinds of goods in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV by the sorting structure for being set to goods putting position afterwards；It is described 5th driving portion drives the hoistable platform and the kinds of goods in the picking lattice is positioned over to the height and position of corresponding stock lattice Place.

In the technical program, the setting of lifting assembly makes picking lattice can be sorted along short transverse multiple to be set along short transverse The kinds of goods for the goods putting position set realize one-to-many picking function, greatly reduce structure complexity, the space hold of sorting AGV Rate, the manufacturing cost for saving sorting AGV.The setting of guide rail improves the stability and linearity of lifting assembly operation, to Improve the accuracy in sorting AGV sort process.

It is further preferred that the transfer structure further includes traversing component, the traversing component includes along the stock machine Second guide rail of the second direction setting of structure, the slip base that can be moved reciprocatingly along the extension direction of second guide rail, and Drive the 6th driving portion of the slip base movement；Wherein, short transverse is vertical with second direction；The traversing component is installed on The hoistable platform, the picking lattice are installed on the slip base；So that the picking lattice can be done along short transverse, second direction It moves back and forth；5th driving portion drives the hoistable platform and the picking lattice is delivered to the kinds of goods of corresponding sorting task At the respective heights position of the goods putting position at place；6th driving portion drives slip base and the picking lattice is delivered to correspondence The correspondence horizontal position of goods putting position where the kinds of goods of sorting task；The sorting structure for being set to goods putting position afterwards appoints corresponding sorting Kinds of goods in business are sorted to the picking mechanism of corresponding sorting AGV；5th driving portion drives the hoistable platform and will be described Kinds of goods in picking lattice are positioned at the height and position of corresponding stock lattice；6th driving portion drives the slip base and will Kinds of goods in the picking lattice are positioned over the horizontal position of corresponding stock lattice.

In the technical program, traversing component makes picking lattice that can sort multiple horizontally disposed put in the horizontal direction The kinds of goods in goods yard realize one-to-many picking function, greatly reduce the structure complexity for sorting AGV, space occupancy rate, saving The manufacturing cost of sorting AGV.The setting of guide rail improves the stability and linearity of lifting assembly operation, to improve point Pick the accuracy in AGV sort process.

It is further preferred that the transfer structure further includes rotary components, the rotary components include described for rotating The shaft of picking lattice, and drive the 7th driving portion of the shaft rotation；The picking lattice are installed on the shaft so that institute The 7th driving portion is stated to rotate the shaft and the picking lattice is driven to topple over or reset towards the stock lattice；Or, the transfer Structure further includes push-rod assembly, and the push-rod assembly includes the push rod for pushing kinds of goods, and the driving push rod it is close or The 8th driving portion far from stock lattice；The push-rod assembly is set to the picking lattice；Or, the transfer structure further includes that belt is defeated Sending component, the belt conveying component include first conveyer belt, driving wheel and the 9th driving portion；The first conveyer belt with it is described Driving wheel tensioning connection；9th driving portion drives the driving wheel rotation so that the first conveyer belt is deposited described in Advance cargo aircraft structure side；The side of the first conveyer belt is equipped with baffles so that the baffles and the first conveyer belt Upper surface enclose and set to form the picking lattice.

In the technical program, stock lattice are transported to for the ease of the kinds of goods of goods putting lattice, reduce kinds of goods in the stagnant of picking lattice The time is stayed, to improve the sorting efficiency of this system, the kinds of goods positioned at picking lattice can be transported to stock lattice in several ways. It can specifically be selected according to the demand of client, improve the diversification and specific aim of this system.Preferably, setting can also be passed through Baffles carry out fall phenomenon of the kinds of goods in transfer process, to improve the work precision of this system.

It is further preferred that the sorting structure includes the tenth driving portion, and connected by the second conveying belt tension First driving wheel and the first driven wheel；Second conveyer belt forms the goods putting position；Tenth driving portion driving described the One driving wheel rotates so that second conveyer belt drives the kinds of goods on the goods putting position to advance towards the shipment end；Sorting AGV is moved to according to the sorting walking path received at corresponding sorting goods shelf, is set to the tenth driving of sorting goods shelf Portion drives the first driving wheel rotation so that the kinds of goods in corresponding sorting task are sorted to corresponding point by second conveyer belt Pick the picking mechanism of AGV；Or, the sorting structure includes the 11st driving portion, helical feed part and for shelving kinds of goods Support plate；11st driving portion be set to the end of the goods putting position far from shipment end side, the end with it is described Shipment end is oppositely arranged；Helical feed part one end is connect with the 11st driving portion, the helical feed part it is another End is connect with the support plate；11st driving portion drives the helical feed part rotation, pushes in the support plate Kinds of goods are advanced towards the shipment end；Sorting AGV is moved to according to the sorting walking path received at corresponding sorting goods shelf, The 11st driving portion set on sorting goods shelf drives the helical feed part so that the support plate will correspond to sorting task In kinds of goods be sorted to the picking mechanism of corresponding sorting AGV；Or, the sorting structure includes linear motor, for shelving kinds of goods Set shelf, and for pushing the plectrum set the kinds of goods on shelf and advanced towards shipment end side；The straight line Motor is set to the end of the goods putting position far from shipment end side, and the end is oppositely arranged with the shipment end；It is described Plectrum is set to the push rod of the linear motor；So that the linear motor drives the kinds of goods set described in the plectrum promotion on shelf It advances towards the shipment end；Sorting AGV is moved to according to the sorting walking path received at corresponding sorting goods shelf, is set to The linear motor of sorting goods shelf drives the plectrum so that the shelf of setting are corresponded to goods in sorting task by the plectrum Product are sorted to the picking mechanism of corresponding sorting AGV.

In the technical program, sorting structure may also set up on sorting goods shelf, it is worth noting that, sorting goods shelf needs at this time Communication module is set, since communication module is to pick task for sorting goods shelf sending and receiving contracture, in practical applications, Communication module and sorting goods shelf can be the one-to-one relationship of quantity or one-to-many relationship.

It is further preferred that the target unloading area is equipped with several by taking the counter of goods lattice to form, described in each The destination is formed by goods lattice；The counter is additionally provided with the man-machine interface for obtaining kinds of goods demand inventory；The host computer It receives kinds of goods demand inventory and generates the sorting task.

In the technical program, when this system is applied to closed intelligent storage, then host computer needs reception kinds of goods to need Inventory is sought to realize the acquisition of sorting task, takes the goods of the inventory corresponding to goods lattice to each convenient for consumer or staff Product extract.

The present invention also provides a kind of sorting AGV, including：

AGV ontologies, picking mechanism, stock mechanism and goods putting mechanism；

The picking mechanism, the stock mechanism and the goods putting mechanism may be contained within the AGV ontologies；

The stock mechanism is equipped with several mutually independent stock lattice；

The stock lattice are set in the working range of the picking mechanism so that the picking mechanism can will be positioned over it certainly The kinds of goods of body are delivered in the corresponding compartment；

The compartment is set in the working range of the goods putting mechanism so that the goods putting mechanism can be by the compartment Interior kinds of goods are delivered to destination.

In the technical program, a kind of sorting AGV with sorting and conveying function is provided so that this sorting AGV Unmanned intelligent storage field is can be applied to, to save the human cost of enterprise.By for place the sorting goods shelfs of kinds of goods with Sorting AGV directly cooperations are to complete sorting, the conveying of kinds of goods；And entire sort process and transmission process are all prior by host computer It is planned and is monitored, to realize the optimization distribution and intelligent monitoring of sorting task, and enterprise can be directly according to host computer Related data obtains required data, reduces the complexity and difficulty of enterprise's called data, convenient for enterprise to the control of whole system. Formation gets in stocks, sorts, unloads respectively respectively respectively, management and monitoring to entirely store in a warehouse realization modularization, compartmentalization, convenient for enterprise Industry obtains the information of entire intelligent storage process by host computer whenever and wherever possible so that enterprise can overall monitor under order Reach order completion process, acquisition data information is quick, saves the human and material resources and time cost of enterprise；Convenient for storage process Intelligence and automatic management and monitoring.Since the branch construction for sorting is in sorting AGV and sorting goods shelf so that this Manipulator or shunting pipeline of the system without the special department's sorting of in addition setting, adjacent sorting goods shelf need to only walk there are sorting AGV Space greatly reduces the space hold of sorting system, intelligent storage, improves the utilization of the unit area of intelligent storage Rate reduces the use cost of intelligent storage；More preferably, sorting goods shelf and sorting AGV need to only realize that primary docking can be by correspondence Goods putting position at kinds of goods be delivered to sorting AGV, and follow-up picking mechanism by kinds of goods be delivered to stock lattice can sorting AGV rows extremely It is carried out during next stop position, to which the time that whole system realizes sorting and transmission process be greatly saved, greatly The big working efficiency for improving intelligent storage.Since this system is whole mechanical automation, intelligent sorting, conveying, substantially reduce The task amount of cost of labor and staff, and sorting efficiency is efficient, can also to greatly reduce manual sorting in addition may make At accidentally pick and leakage picks, due to sorting error cause user need to sort again obtain needed for kinds of goods cause to waste user time Phenomenon can promote the usage experience of user to promote sorting accuracy rate.

It is further preferred that the stock mechanism further include supporting rack, it is multiple along the short transverse interval of support frame as described above The stock position of setting and several be arranged at intervals in a second direction each stock position upper surface baffle；Phase Two baffles of neighbour's setting and the stock position form the stock lattice.

In the technical program, multiple stock lattice substantially increase sorting AGV along the arrangement of short transverse and horizontal direction Sorting and conveying capacity, substantially increase sorting AGV working efficiency.

It is further preferred that the goods putting mechanism includes thrust plate and drives the first driving portion of the thrust plate；It is described Close to destination side, rotation is equipped with the thrust plate to stock lattice；The thrust plate with drive its own towards destination rotate or The the first driving portion connection resetted；The stock lattice are obliquely installed in predetermined angle in the sorting AGV so that kinds of goods its from It is slid towards destination under body gravity；Or, the goods putting mechanism includes pushing part and the second driving portion；Each described stock lattice Pushing part equipped with one for driving kinds of goods to be moved towards destination, and for driving the pushing part closer or far from purpose Second driving portion on ground.

It is further preferred that kinds of goods are sorted to the picking mechanism by the sorting structure in goods putting area, wherein if goods putting area by The sorting goods shelf of dry independent goods putting position is constituted；Each described goods putting position is equipped with sorting structure, and the sorting structure includes using In the driving lever for pushing kinds of goods to be moved close to the sorting AGV, synchronous belt and the first synchronizing wheel；The synchronous belt and two institutes The tensioning connection of the first synchronizing wheel is stated, two first synchronizing wheels are installed on the goods putting position；The driving lever and the synchronous belt Connection；The sorting AGV is equipped with the first driving gear engaged with the synchronous belt, and for driving first sliding tooth Take turns the third driving portion of rotation；Third driving portion driving the first driving gear rotation so that the synchronous belt direction The picking mechanism kinematic simultaneously drives the driving lever to advance close to the picking mechanism；Or, sorting structure of the kinds of goods by goods putting area It is sorted to the picking mechanism, wherein goods putting area is made of the sorting goods shelf of several independent goods putting positions；Each described goods putting Position is equipped with sorting structure, and the sorting structure includes the driving lever for pushing kinds of goods to be moved close to the sorting AGV, synchronizes chain, And second synchronizing wheel；The synchronous chain and two the second synchronizing wheel tensionings connect, two the second synchronizing wheel installations In the goods putting position；The driving lever and the synchronous chain link；The sorting AGV is equipped with to be driven with the second of the synchronous chain engagement Moving gear, and the fourth drive part for driving the second driving gear rotation；Fourth drive part driving described the Two driving gear rotations so that the synchronous chain is towards the picking mechanism kinematic and drives the driving lever close to the picking machine Structure is advanced.

In the technical program, since sorting task is distributed unitedly by host computer, the driving portion of sorting structure is set to Which component, then the component, which needs to be arranged, is used for the communication module that sending and receiving contracture picks task, since sorting AGV itself has sending and receiving The function of receipts can will be set to sorting AGV to reduce the cost of this system positioned at the driving portion of the sorting structure in goods putting area On so that when sorting AGV is expert to corresponding goods putting position, the driving portion for providing power for the other component of sorting structure is opened Beginning work to realize that kinds of goods are sorted to sorting AGV in sorting goods shelf, and then realizes sorting.Synchronous belt or synchronous chain realize To a variety of designs of goods putting position forward travel distance when sort process is to picking and placeing a kinds of goods so that various sizes of kinds of goods are quantitatively Accurate sorting.

It is further preferred that the picking mechanism includes picking lattice and transfer structure；The transfer structure includes lifting group Part, the lifting assembly includes the first guide rail being arranged along the short transverse of the stock mechanism, along prolonging for first guide rail The hoistable platform that exhibition direction can move reciprocatingly, and drive the 5th driving portion of the hoistable platform movement；The picking lattice It is set to the hoistable platform so that the picking lattice can move reciprocatingly along short transverse.

It is further preferred that the transfer structure further includes traversing component, the traversing component includes along the stock machine Second guide rail of the second direction setting of structure, the slip base that can be moved reciprocatingly along the extension direction of second guide rail, and Drive the 6th driving portion of the slip base movement；Wherein, short transverse is vertical with second direction；The traversing component is installed on The hoistable platform, the picking lattice are installed on the slip base；So that the picking lattice can be done along short transverse, second direction It moves back and forth.

It is further preferred that the transfer structure further includes rotary components, the rotary components include described for rotating The shaft of picking lattice, and drive the 7th driving portion of the shaft rotation；The picking lattice are installed on the shaft so that institute The 7th driving portion is stated to rotate the shaft and the picking lattice is driven to topple over or reset towards the stock lattice；Or, the transfer Structure further includes push-rod assembly, and the push-rod assembly includes the push rod for pushing kinds of goods, and the driving push rod it is close or The 8th driving portion far from stock lattice；The push-rod assembly is set to the picking lattice；Or, the transfer structure further includes that belt is defeated Sending component, the belt conveying component include first conveyer belt, driving wheel and the 9th driving portion；The first conveyer belt with it is described Driving wheel tensioning connection；9th driving portion drives the driving wheel rotation so that the first conveyer belt is deposited described in Advance cargo aircraft structure side；The side of the conveyer belt is equipped with baffles so that the baffles are upper with the first conveyer belt Surface, which is enclosed, to be set to form the picking lattice.

It is further preferred that the picking lattice include the bottom plate for support kinds of goods, and enclose set on the floor peripheral Guardrail；The guardrail is equipped with the first kinds of goods channel close to the position of stock lattice side.

In the technical program, kinds of goods are contained by guardrail, avoid kinds of goods by goods putting bit transition to picking lattice when, because The factors such as the effect of difference in height, power cause kinds of goods to be toppled over, roll etc. to be easy to the bad phenomenon fallen from picking lattice.

It is further preferred that the guardrail includes several sequentially connected sub- guardrails；Son shield close to goods putting area side Column is the first sub- guardrail, and the first sub- guardrail rotation is set to the bottom plate；The first sub- guardrail and its own direction of driving The tenth driving portion connection that goods putting area for placing kinds of goods rotates or far resets；And/or the transfer structure further includes leading goods Component, it is described to lead that goods component includes supporting plate and several are arranged at intervals at the upper surface of the supporting plate in a second direction Partition board；Two partition boards being disposed adjacent enclose the second kinds of goods channel for setting and being formed and being slided for kinds of goods with the supporting plate； Second kinds of goods channel is communicated with first kinds of goods channel, and second kinds of goods channel extends towards stock lattice.

In the technical program, in order to reduce sorting AGV because guardrail there are due to occur interference problem occur with sorting goods shelf, I.e. guardrail has been higher by goods putting position, so that the kinds of goods of goods putting position can not be moved to goods putting lattice.

In the technical program, leads goods component and effectively prevent what the kinds of goods of picking lattice occurred during being transferred to stock lattice It the bad phenomenons such as falls, misplace, to improve the sorting accuracy of sorting AGV.

The present invention also provides a kind of sorting goods shelfs, including：

Shelf ontology and sorting structure；

The shelf ontology is equipped with several mutually independent goods putting positions,

Each described goods putting position is set there are one the sorting structure, and the sorting structure is used to convey the goods putting position Advance at the shipment end of kinds of goods towards the goods putting position.

In the technical program, this sorting goods shelf has the function of automatic sorting, can be applied in unmanned intelligent storage so that this Sorting AGV can be applied to unmanned intelligent storage field, to save the human cost of enterprise.If the dried food and nuts that well-behaved picking is provided with Position can complete multi-quantity kinds of goods get in stocks and goods putting, improve the quantity in stock of intelligent storage.Pass through the sorting for placing kinds of goods Shelf directly cooperate to complete sorting, the conveying of kinds of goods with sorting AGV；And entire sort process and transmission process are all by upper Machine planned and monitored in advance, and to realize the optimization distribution and intelligent monitoring of sorting task, and enterprise can be directly according to upper The related data of position machine obtains required data, reduces the complexity and difficulty of enterprise's called data, convenient for enterprise to whole system Control.Formation gets in stocks, sorts, unloads respectively respectively respectively, and modularization, the management of compartmentalization and prison are realized to entirely storing in a warehouse Control, the information of entire intelligent storage process is obtained convenient for enterprise, so that enterprise can supervise comprehensively by host computer whenever and wherever possible From order placement to order completion process, acquisition data information is quick, saves the human and material resources and time cost of enterprise for control；Just In the intelligence and automatic management and monitoring of storage process.Since the branch construction for sorting is in sorting AGV and sorting goods On frame so that specially the manipulator of department's sorting or shunting pipeline, adjacent sorting goods shelf only need to be there are without in addition setting for this system AGV walkings space is sorted, the space hold of sorting system, intelligent storage is greatly reduced, improves the list of intelligent storage The utilization rate of plane product, reduces the use cost of intelligent storage；More preferably, sorting goods shelf and sorting AGV need to only be realized primary right The kinds of goods at corresponding goods putting position can be delivered to sorting AGV by connecing, and follow-up picking mechanism kinds of goods are delivered to stock lattice can It is carried out during sorting AGV rows to next stop position, sorting and conveying is realized to which whole system be greatly saved The time of process greatly improves the working efficiency of intelligent storage.Due to this system be whole mechanical automation, intelligent sorting, Conveying, greatly reduces cost of labor and the task amount of staff, and sorting efficiency is efficient, can also greatly reduce people in addition Work point pick may caused by accidentally pick and leakage picks, since sorting error causes user to need to sort kinds of goods needed for acquisition again and lead to wave The phenomenon that taking user time it can promote the usage experience of user to promote sorting accuracy rate.

It is further preferred that the sorting structure includes the 11st driving portion, and connected by the second conveying belt tension The first driving wheel and the first driven wheel；Second conveyer belt forms the goods putting position；11st driving portion drives institute State the rotation of the first driving wheel so that second conveyer belt drives the kinds of goods on the goods putting position to advance towards the shipment end； Or, the sorting structure includes the 12nd driving portion, helical feed part and the support plate for shelving kinds of goods；Described tenth Two driving portions are set to the end of the goods putting position far from shipment end side, and the end is oppositely arranged with the shipment end； Helical feed part one end is connect with the 12nd driving portion, and the other end and the support plate of the helical feed part connect It connects；12nd driving portion drives the helical feed part rotation, pushes kinds of goods in the support plate towards the shipment It advances at end；Or, the sorting structure includes linear motor, the shelf of setting for shelving kinds of goods, and described set goods for pushing The plectrum that kinds of goods on frame advance towards shipment end side；The linear motor is set to the goods putting position far from the shipment The end of side is held, the end is oppositely arranged with the shipment end；The plectrum is set to the push rod of the linear motor；So that The linear motor drives the kinds of goods set on shelf described in the plectrum promotion to advance towards the shipment end.

In the technical program, sorting structure may also set up on sorting goods shelf, it is worth noting that, sorting goods shelf needs at this time Communication module is set, since wireless communication module is to pick task for sorting goods shelf sending and receiving contracture, in practical application In, communication module and sorting goods shelf can be the one-to-one relationship of quantity or one-to-many relationship.

It is further preferred that the sorting structure includes pushing part, Synchronization Component and drive component；The pushing part Set on the end of the goods putting position far from shipment end side, the end is oppositely arranged with the shipment end；The promotion Portion is connect with the Synchronization Component；The driving component drives the Synchronization Component so that the pushing part pushes the goods putting Kinds of goods on position advance towards the shipment end；The driving component is set to sorting AGV.

In the technical program, since sorting task is distributed unitedly by host computer, the driving portion of sorting structure is set to Which component, then the component, which needs to be arranged, is used for the communication module that sending and receiving contracture picks task, since sorting AGV itself has sending and receiving The function of receipts can will be set to sorting AGV to reduce the cost of this system positioned at the driving portion of the sorting structure in goods putting area On so that when sorting AGV is expert to corresponding goods putting position, the driving portion for providing power for the other component of sorting structure is opened Beginning work to realize that kinds of goods are sorted to sorting AGV in sorting goods shelf, and then realizes sorting.

It is further preferred that the Synchronization Component includes synchronous belt and the first synchronizing wheel, described in the synchronous belt and two The tensioning connection of first synchronizing wheel；Two first synchronizing wheels are set at the goods putting position；The driving component includes the 13rd Driving portion and the first driving gear engaged with the synchronous belt；It is synchronized or, the Synchronization Component includes synchronous chain and second Wheel, the synchronous chain and two the second synchronizing wheel tensionings connect；Two second synchronizing wheels are set at the goods putting position； The driving component includes the 14th driving portion and drives gear with the second of the synchronous chain engagement.

It is further preferred that each described goods putting position is set, there are one identify label；At least two goods putting position and/or Size is similar and different；And/or at least one goods putting position is equipped with multiple sub- goods putting positions for placing identical kinds of goods, often One sub- goods putting position, which corresponds to, places a kinds of goods.

In the technical program, the number of the kinds of goods of each goods putting position of each sorting goods shelf is obtained for the ease of host computer The information such as amount, title, consequently facilitating host computer according to the inventory information formation sorting task appropriate in each goods yard and on The binding of goods task, each goods putting position and kinds of goods can be by identifying that label is bound.Preferably, in order to improve goods putting position Space availability ratio can realize the optimal profit in sorting goods shelf space according to the size of goods putting position come the kinds of goods of mode correspondingly-sized With.

One kind provided by the invention plucks fruit formula sorting system and sorting AGV, sorting goods shelf, can bring following at least one Advantageous effect：

1, it in the present invention, directly cooperates to complete kinds of goods with sorting AGV by the sorting goods shelf for placing kinds of goods Sorting, conveying；And entire sort process and transmission process are all planned and are monitored in advance by host computer, to realize that sorting is appointed The optimization distribution and intelligent monitoring of business, and enterprise directly can obtain required data according to the related data of host computer, reduce enterprise The complexity and difficulty of called data, convenient for enterprise to the control of whole system.Formation gets in stocks, sorts, unloads respectively respectively respectively Goods, management and monitoring to entirely store in a warehouse realization modularization, compartmentalization are obtained by host computer entire whenever and wherever possible convenient for enterprise The information of intelligent storage process so that enterprise can overall monitor from order placement to order completion process, obtain data letter Breath is quick, saves the human and material resources and time cost of enterprise；Convenient for the intelligence and automatic management and monitoring of storage process. Since the branch construction for sorting is in sorting AGV and sorting goods shelf so that this system is without the special department's sorting of in addition setting Manipulator or shunting pipeline, adjacent sorting goods shelf only need to greatly reduce sorting system there are sorting AGV walkings space The space hold of system, intelligent storage, improves the utilization rate of the unit area of intelligent storage, reduce the use of intelligent storage at This；More preferably, sorting goods shelf and sorting AGV need to only realize that the kinds of goods at corresponding goods putting position can be delivered to point by primary docking Pick AGV, and follow-up picking mechanism by kinds of goods be delivered to stock lattice can during sorting AGV rows to next stop position into Row greatly improves the working efficiency of intelligent storage to which the time that whole system realizes sorting and transmission process be greatly saved. Since this system is whole mechanical automation, intelligent sorting, conveys, cost of labor and times of staff are greatly reduced Business amount, and sorting efficiency is efficient, is accidentally picked caused by can also greatly reducing manual sorting's possibility in addition and leakage picks, since sorting malfunctions User is caused to need to sort the phenomenon that kinds of goods needed for acquisition cause to waste user time again, it can to promote sorting accuracy rate Promote the usage experience of user.

2, in the present invention, according to metastasis characteristic of the kinds of goods between different institutions, adaptability provides branch mode A variety of achievable modes, meet the needs of different clients；More preferably, the building enclosure that kinds of goods fall is prevented by setting, improved The precision of transfer avoids kinds of goods from falling phenomenon.

Description of the drawings

Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to pluck fruit formula sorting system and point Pick AGV, above-mentioned characteristic, technical characteristic, advantage and its realization method of sorting goods shelf are further described.

Fig. 1 is a kind of example structure schematic diagram for plucking fruit formula sorting system of the present invention；

Fig. 2 is the first structural schematic diagram when sorting goods shelf of the invention is in mated condition with sorting AGV；

Fig. 3 is the structural schematic diagram during stock of the sorting AGV of the present invention；

Fig. 4 is that kinds of goods are delivered to the first example structures of stock lattice and show by the stock mechanism of the sorting AGV of the present invention It is intended to；

Fig. 5 is that kinds of goods are delivered to a kind of example structure schematic diagram of picking lattice by the sorting AGV of the present invention；

Fig. 6 is the structural schematic diagram at another visual angle of Fig. 5；

Fig. 2-6 is a kind of sorting flowage structure schematic diagram for plucking fruit formula sorting system of the present invention；

Fig. 7 is second of structural schematic diagram when sorting goods shelf of the invention is in mated condition with sorting AGV；

Fig. 8 is that kinds of goods are delivered to second of example structure of stock lattice and show by the stock mechanism of the sorting AGV of the present invention It is intended to；

Fig. 9 is that kinds of goods are delivered to the third example structures of stock lattice and show by the stock mechanism of the sorting AGV of the present invention It is intended to；

Figure 10 is the first example structure schematic diagram of the sorting goods shelf of the present invention；

Figure 11 is the first example structure schematic diagram of the sorting structure of the sorting goods shelf of the present invention；

Figure 12 is second of example structure schematic diagram of the sorting structure of the sorting goods shelf of the present invention；

Figure 13 is the first example structure schematic diagram of the sorting goods shelf of the present invention；

Figure 14 is the third example structure schematic diagram of the sorting structure of the sorting goods shelf of the present invention；

Figure 15 is the 4th kind of example structure schematic diagram of the sorting structure of the sorting goods shelf of the present invention；

Figure 16 is the 5th kind of example structure schematic diagram of the sorting structure of the sorting goods shelf of the present invention.

Drawing reference numeral explanation：

1. host computer；

2. sorting AGV, 21.AGV ontologies, 221. picking lattice, 2211. bottom plates, 2212. guardrails, 22121. first kinds of goods are logical Road, 22122. first sub- guardrails, 22211. first guide rails, 22212. hoistable platforms, 22213. the 5th driving portions, 22214. thirds Conveyer belt, 22215. the 4th conveyer belts, 22221. second guide rails, 22222. slip bases, 22223. the 6th driving portions, 22231. turns Axis, 22232. mounting bases, 22241. push rods, 22242. first mounting plates, 22243. the 8th driving portions, 22251. supporting plates, 22252. partition boards, 22253. second kinds of goods channels, 22261. first conveyer belts, 231. supporting racks, 232. stock lattice, 2321. deposit Goods yard, 2322. baffles, 241. thrust plates, 242. first driving portions, 251. first driving gears, 252. third driving portions；

3. sorting goods shelf, 31. shelf ontologies, 311. goods putting positions, 3111. identification labels, 3112. shipment ends, 32. sorting knots Structure, 3211. the 11st driving portions, 3212. second conveyer belts, 3231. the 12nd driving portions, 3232. helical feed parts, 3241. Synchronous belt, 3242. first sub- synchronizing wheels, 3243. driving levers, 3244. second mounting plates, 3245. second sub- synchronizing wheels, 3251. is straight Line motor, 3252. plectrums；

41. counter, 411. take goods lattice, 412. man-machine interfaces；

5. charged area, 51. charging columns；

6. kinds of goods.

Specific implementation mode

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, control is illustrated below The specific implementation mode of the present invention.It should be evident that drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings Attached drawing, and obtain other embodiments.

To make simplified form, part related to the present invention is only schematically shown in each figure, their not generations Its practical structures as product of table.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures Component, only symbolically depict one of those, or only marked one of those.Herein, "one" not only table Show " only this ", can also indicate the situation of " more than one ".Herein, it should be noted that unless otherwise specific Regulation and restriction, term " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, can also be It is detachably connected, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also lead to It crosses intermediary to be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be with Concrete condition understands the concrete meaning of above-mentioned term in the present invention.Herein, short transverse refers to being sorted in practical application The short transverse of AGV or sorting goods shelf.

In embodiment one, as shown in Figs. 1-3, a kind of sorting AGV, including：AGV ontologies 21, picking mechanism, stock mechanism With goods putting mechanism；Picking mechanism, stock mechanism and goods putting mechanism may be contained within AGV ontologies 21；Stock mechanism is equipped with several phases Mutual independent stock lattice 232；Stock lattice 232 are set in the working range of picking mechanism so that picking mechanism can will be positioned over it The kinds of goods 6 of itself are delivered in corresponding compartment；Compartment is set in the working range of goods putting mechanism so that goods putting mechanism can Kinds of goods 6 in compartment are delivered to destination.In practical applications, by for placing the sorting goods shelfs 3 of kinds of goods 6 and sorting AGV2 directly cooperations are to complete sorting, the conveying of kinds of goods 6；And entire sort process and transmission process are all prior by host computer 1 It is planned and is monitored, to realize the optimization distribution and intelligent monitoring of sorting task, and enterprise can be directly according to host computer 1 Related data obtains required data (such as day (moon, season or year) sales volume, day (moon, season or year) sales volume, day (moon, season or year) Sell bill of goods etc.), the complexity and difficulty of enterprise's called data are reduced, convenient for enterprise to the control of whole system.

In embodiment two, as shown in figures 1-8, on the basis of embodiment one, stock mechanism further include supporting rack 231, The spaced stock position 2321 of multiple short transverses along supporting rack 231 and several be arranged at intervals in a second direction The baffle 2322 of the upper surface of each stock position 2321；Two baffles 2322 being disposed adjacent and it is set to two baffles Stock position 2321 between 2322 forms a stock lattice 232, wherein second direction is vertical with short transverse.So that branch Formation multilayer (at least two layers) stock lattice 232 on support 231, and the quantity of each layer of stock lattice 232 is at least one. In practical application, the tablet that each layer of stock position 2321 is preferably fixed on by one piece on supporting rack 231 is constituted.Preferably, such as Shown in Fig. 2-9, supporting rack 231 is equipped with four layers of stock lattice 232, and each layer of stock lattice 232 are set there are three stock lattice 232.Value It must illustrate, the quantity (one of the 232 specific number of plies (one or more layers) of stock lattice and each layer of stock lattice 232 It is a or more than one) can be configured according to application scenarios.Such as when this sorting AGV2 is suitable for pharmaceuticals industry or Self-service Library When, since the product packaging specification of pharmaceuticals industry and the size of books are all smaller, for storing Medicine box or books The size of stock lattice 232 is programmable smaller, then the quantity and the number of plies for sorting the stock lattice 232 on AGV2 can compare It is more；When this sorting AGV2 is suitable for supermarket or logistics, since super incity thing varies, the express delivery in same logistics Part also varies, and therefore, the size and number of the stock lattice 232 of difference sorting AGV2 can be similar and different.

In embodiment three, as shown in Figs. 1-5, on the basis of embodiment one or two, goods putting mechanism includes thrust plate 241 With the first driving portion 242 of driving thrust plate 241；Each stock lattice 232 is set there are one goods putting mechanism；Stock lattice 232 are close The rotation of destination side is equipped with thrust plate 241；Thrust plate 241 and the first drive for driving its own to rotate or reset towards destination Dynamic portion 242 connects；Stock lattice 232 are obliquely installed in predetermined angle in sorting AGV2 so that the direction under its own gravity of kinds of goods 6 Destination slides.I.e. in practical applications, it when sorting AGV2 completes the sorting task of its own, needs at least one stock When kinds of goods 6 in lattice 232 are delivered to destination, since stock position 2321 is inclined on supporting rack 231, sorting During AGV2 sorts kinds of goods 6 and conveying kinds of goods 6, thrust plate 241 and baffle 2322 and stock position 2321 enclose and set shape jointly At accommodation space be stock lattice 232, at this point, even if kinds of goods 6 under the action of its own gravity towards 241 side of thrust plate Sliding, but because of the barrier effect of thrust plate 241 so that kinds of goods 6 can be very good to be housed in stock lattice 232, but reach When target unloading area, AGV2 is sorted at this time by overturning thrust plate 241 so that thrust plate 241 is directed away from stock The direction of 232 side of lattice is overturn, when the overturning of thrust plate 241 is to stock position 2321 in same plane, at this point, thrust plate 241 form an inclined-plane with stock position 2321 so that kinds of goods 6 are interior towards destination sliding in stock lattice 232.Certainly, it is actually answering In, thrust plate 241 also may be reversed to the position less than 2321 place plane of stock position so that kinds of goods 6 are slided by stock position 2321 There is faster sliding velocity when moving to thrust plate 241.Preferably, in order to save the space of AGV, the first driving portion 242 is preferably It is set to the lower surface (i.e. the lower surface of stock position 2321) of each stock lattice 232.

In example IV, as shown in figures 1 to 6, on the basis of embodiment one, two or three, goods putting mechanism includes pushing part With the second driving portion；Each stock lattice 232 is set there are one goods putting mechanism, and stock lattice 232 are equipped with one for driving 6 direction of kinds of goods The pushing part of destination movement, and for driving second driving portion of the pushing part closer or far from destination.The present embodiment with Can distinguishing for embodiment three be, stock position 2321 can not be obliquely installed on supporting rack 231, but horizontally disposed.At this time Goods putting mechanism can be belt conveyor, linear motor and push jack combination etc., just do not repeat one by one here.

In embodiment five, as shown in figs. 1-11, on the basis of embodiment one, two, three or four, kinds of goods 6 are by goods putting area Sorting structure 32 be sorted to the picking mechanism, wherein goods putting area by several independent goods putting positions 311 3 structure of sorting goods shelf At；Each described goods putting position 311 is equipped with sorting structure 32, and sorting structure 32 includes pushing part, Synchronization Component and driving group Part；Pushing part is set to end of the goods putting position 311 far from 3112 side of shipment end, and end is oppositely arranged with shipment end 3112；It pushes Portion is connect with Synchronization Component；Drive component drives Synchronization Component so that pushing part pushes the kinds of goods 6 on goods putting position 311 towards going out Advance at goods end 3112；Drive component is set to sorting AGV2.It is further preferred that sorting structure 32 includes for pushing kinds of goods 6 to lean on The driving lever 3243 of nearly sorting AGV2 movements, synchronous belt 3241 (or synchronous chain) and the first synchronizing wheel；Synchronous belt 3241 and two The tensioning connection of first synchronizing wheel, two the first synchronizing wheels are installed on goods putting position 311；Driving lever 3243 is connect with synchronous belt 3241；Point It picks AGV2 and is equipped with the first driving gear 251 engaged with synchronous belt 3241, and for driving the first driving gear 251 to rotate Third driving portion 252 (being the 13rd driving portion of sorting goods shelf 3 hereinafter)；First driving of the driving of third driving portion 252 Gear 251 rotates so that synchronous belt 3241 is towards picking mechanism kinematic and driving lever 3243 is driven to advance close to picking mechanism.It is preferred that Ground, the first synchronizing wheel can be the first sub- synchronizing wheel 3242 with 3241 frictional connection of synchronous belt, i.e., the first sub- synchronizing wheel 3242 with The contact position of synchronous belt 3241 contacts for smooth flat.Certainly, it in order to improve the accuracy of the movement of synchronous belt 3241, that is, improves and divides The accuracy picked, the first synchronizing wheel can be the second sub- synchronizing wheel 3245 engaged with synchronous belt 3241.Certainly, above-mentioned synchronous belt 3241 applicable situations are also applied for synchronous chain.Certainly, sorting structure 32 may also include threaded rod, threaded block and driving spiral shell The motor of rasp bar rotation, wherein the clicking section for stirring shipment end 3112 side advance of the kinds of goods 6 towards goods putting position 311 and spiral shell Line block connects, and threaded block is threadedly coupled with threaded rod, and motor is set on sorting AGV2, and wherein the push rod of motor is set with screw thread There is cross male-female engagement portion, so that motor can drive threaded rod precession and back-out.

In embodiment six, as shown in figures 1-8, on the basis of embodiment one, two, three, four or five, picking mechanism includes Picking lattice 221 and transfer structure；Transfer structure includes lifting assembly, and lifting assembly includes the short transverse setting along stock mechanism The first guide rail 22211, the hoistable platform 22212 that can be moved reciprocatingly along the extension direction of the first guide rail 22211, and driving The 5th driving portion 22213 that hoistable platform 22212 moves；Picking lattice 221 are set to hoistable platform 22212 so that picking lattice 221 It can move reciprocatingly along short transverse.Preferably, lifting assembly further includes 22214, two the 4th conveyer belts of third conveyer belt 22215, the second driving wheel, the second driven wheel, the first synchronizing shaft, the second synchronizing shaft, third synchronizing wheel, the 4th synchronizing wheel, third Driven wheel, the 4th driven wheel；Wherein, third conveyer belt 22214 and the tensioning of the second driving wheel and the second driven wheel connect；Second master Driving wheel is sheathed on the first synchronizing shaft with third synchronizing wheel；And one of them the 4th conveyer belt 22215 and third synchronizing wheel and third Synchronizing wheel tensioning connection；Second driven wheel and the 4th synchronizing wheel are sheathed on the second synchronizing shaft；Another the 4th conveyer belt 22215 with 4th synchronizing wheel and the tensioning connection of the 4th driven wheel；First synchronizing shaft and the equal axis of the second synchronizing shaft are connected to the top of supporting rack 231, And third conveyer belt 22214 is set to the top of supporting rack 231, two the 4th conveyer belts 22215 are divided into the left and right of supporting rack 231 Both sides；The both sides of hoistable platform 22212 are connect with two the 4th conveyer belts 22215 respectively so that the 5th driving portion 22213 drives When the second driving wheel positive and negative rotation, synchronous belt 3241 moves two the 4th conveyer belts 22215 and rises or falls, and then drives lifting flat The lifting of platform 22212, to drive picking lattice 221 to be lifted along the short transverse of supporting rack 231, to realize according to host computer 1 It is required that being delivered to different kinds of goods 6 in the corresponding stock lattice 232 of different layers.Preferably, the size of picking lattice 221 is small In the size of stock lattice 232.

It is worth noting that docking for the ease of mechanism for sorting and sorting goods shelf 3, the first driving gear 251 (or second Drive gear) it is preferably two, it is respectively arranged at the left and right sides of hoistable platform 22212 so that sorting AGV2 needs on its left side When the sorting goods shelf 3 of right both sides realizes the sorting of kinds of goods 6, sorts AGV2 and replace without rotating, directly move left and right and divided with realizing It is not docked with both sides sorting goods shelf 3, greatly reduces the reserved walking space of AGV, to improve the space utilization of system Rate.It is worth noting that since picking lattice 221 are disposed on hoistable platform 22212, in order to improve sorting AGV2 and sorting The adaptability and harmony that shelf 3 dock, as Figure 7-9, the first driving gear 251 (or second driving gear) can be suitably It is configured higher than hoistable platform 22212 by mounting plate.It is worth noting that the side that sorting AGV2 is docked with sorting goods shelf 3 Formula can be to sort the left and right sides (being left and right directions perpendicular to the direction of sorting AGV2 travelling routes) and the sorting goods of AGV2 It docks in the front (i.e. the shipment end 3112 of goods putting position 311) of frame 3；Or the advance sides AGV2 (are sorted in the front of sorting AGV2 To side be front) docked with the positive of sorting goods shelf 3.Above two docking mode only need to by first drive gear 251 (or Second driving gear) position carry out adaptability adjustment.

In embodiment seven, as shown in figures 1-8, on the basis of embodiment one, two, three, four, five or six, transfer structure Further include traversing component, traversing component includes the second guide rail 22221 being arranged along the second direction of stock mechanism, along the second guide rail The slip base 22222 that 22221 extension direction can move reciprocatingly, and drive the 6th driving portion of the movement of slip base 22222 22223；Wherein, short transverse is vertical with second direction；Traversing component is installed on hoistable platform 22212, and picking lattice 221 are installed on Slip base 22222；So that picking lattice 221 can move reciprocatingly along short transverse, second direction.Preferably, the second guide rail 22221 Set on hoistable platform 22212, slip base 22222 is connect with 22221 male-female engagement of the second guide rail.Preferably, it is sorted to improve The structural compactness of AGV2, the 6th driving portion 22223 are preferably linear motor.It is worth noting that in practical applications, though So, traversing component is set on hoistable platform 22212, but is horizontally oriented mobile or short transverse in realization picking lattice 221 Movement have no sequencing, can specifically be designed according to practical application or be operated according to the instruction of host computer 1, for example, Sorting AGV2 is moved to before corresponding sorting goods shelf 3, and picking lattice 221 can be according to the instruction of host computer 1 by lifting assembly and cross It moves component and is delivered to specified altitude assignment position and horizontal position so that docked with sorting goods shelf 3 as long as sorting AGV2 is realized Sort operation is carried out immediately；And after picking lattice 221 get corresponding kinds of goods 6, sorting AGV2 can be moved immediately, in sorting AGV2 During moving to next corresponding sorting goods shelf 3, lifting assembly, traversing component can complete kinds of goods 6 and be placed on stock Operation in lattice 232, so as to shorten the time of entire sorting and transmission process.

In embodiment eight, as shown in figures 1-8, on the basis of embodiment one, two, three, four, five, six or seven, transfer knot Structure further includes rotary components, and rotary components include the shaft 22231 and the rotation of drive shaft 22231 for rotating picking lattice 221 The 7th driving portion turned；Picking lattice 221 are installed on shaft 22231 so that the 7th driving portion rotating shaft 22231 simultaneously drives picking Lattice 221 are toppled over or are resetted towards stock lattice 232.Preferably, two mounting bases that shaft 22231 is oppositely arranged by two 22232 are installed on hoistable platform 22212, and 22231 axis of shaft is connected to mounting base 22232, then at this point, traversing component preferably passes through peace Loading board is fixed in shaft 22231, so that shaft 22231 when being rotated towards goods putting lattice, drives the direction together of picking lattice 221 Stock lattice 232 tilt so that the kinds of goods 6 in picking lattice 221 enter stock lattice 232 under the action of its own gravity.In order to keep away Exempt from kinds of goods 6 during goods putting position 311 is transferred to picking lattice 221 and kinds of goods 6 are being transferred to goods putting lattice by picking lattice 221 During before, because the first kinds of goods channel 22121 there are due to may fall there is a phenomenon where kinds of goods 6, therefore, shaft The bottom plate 2211 of 22231 initial position (i.e. the state of above-mentioned two process) picking lattice 221 is directed towards far from stock lattice 232 Side is inclined, i.e. end height bottom plate 2211 end far from stock lattice 232 side of the bottom plate 2211 close to 232 side of stock lattice Portion.

In embodiment nine, as shown in figs. 1-7, on the basis of embodiment one, two, three, four, five, six or seven, transfer knot Structure further includes push-rod assembly, push-rod assembly include push rod 22241 for pushing kinds of goods 6 and driving push rod 22241 it is close or The 8th driving portion 22243 far from stock lattice 232；Push-rod assembly is set to picking lattice 221.The present embodiment is by kinds of goods 6 by goods putting Lattice are transferred to the another embodiment of stock lattice 232, and stock lattice 232 at this time are without rotation.Preferably, 221 edge of picking lattice The both sides in the direction that push rod 22241 is advanced are equipped with guardrail, and kinds of goods 6 is avoided to fall because of the promotion of push rod 22241 phenomenon. Since push rod 22241 needs to be set to position of the stock position 2321 far from 232 side of stock lattice, the 8th driving portion 22243 Short transverse can be higher than goods putting lattice, at this point, the 8th driving portion 22243 is preferably installed on lifting by the first mounting plate 22242 Platform 22212.

In embodiment ten, as shown in figs 1-9, on the basis of embodiment one, two, three, four, five, six or seven, transfer knot Structure further includes belt conveying component, and belt conveying component includes first conveyer belt 22261, driving wheel and the 9th driving portion；First Conveyer belt 22261 is connected with driving wheel tensioning；9th driving portion drives driving wheel rotation so that 22261 direction of first conveyer belt Advance stock mechanism side；The side of conveyer belt is equipped with baffles (the i.e. first sub- guardrail 22122) so that baffles are defeated with first It send the upper surface of band 22261 to enclose to set to form picking lattice 221.Preferably, direction of travel court of the baffles along first conveyer belt 22261 Extend to stock lattice 232 and forms the guardrail for preventing kinds of goods 6 from falling.

In embodiment 11, as shown in figs 1-9, in the base of embodiment one, two, three, four, five, six, seven, eight, nine or ten On plinth, picking lattice 221 include the bottom plate 2211 for support kinds of goods 6, and enclose the guardrail 2212 set on 2211 periphery of bottom plate；Shield Column 2212 is equipped with the first kinds of goods channel 22121 close to the position of 232 side of stock lattice.Preferably, guardrail 2212 includes several Sequentially connected sub- guardrail；Sub- guardrail close to goods putting area side is the first sub- guardrail 22122, the rotation of the first sub- guardrail 22122 Set on bottom plate 2211；Goods putting area rotation or remote reset of its own direction of first sub- guardrail 22122 and driving for placing kinds of goods 6 The tenth driving portion connection.Preferably, transfer structure further includes leading goods component, and it includes supporting plate 22251, Yi Jiruo to lead goods component The partition board 22252 of the dry upper surface for being arranged at intervals at supporting plate 22251 in a second direction；Two partition boards being disposed adjacent 22252 enclose the second kinds of goods channel 22253 for setting and being formed and being slided for kinds of goods 6 with supporting plate 22251；Second kinds of goods channel 22253 It is communicated with the first kinds of goods channel 22121, and the second kinds of goods channel 22253 extends towards stock lattice 232.Preferably, for the ease of Kinds of goods 6 are in the sliding of supporting plate 22251, when picking lattice 221 and stock lattice 232 are there are when difference in height, if kinds of goods 6 are to pass through shaft When 22231 rotary dumpings to stock lattice 232, then 22251 preferred angled of supporting plate is arranged；Certainly, supporting plate 22251 at this time can be with Mounting plate for installing shaft 22231 is same plate, i.e. supporting plate 22251 is rotated together with shaft 22231.When kinds of goods 6 are When realizing transfer by push rod 22241, first conveyer belt 22261, when stock lattice 232 and picking lattice 221 are there are when difference in height, hold 22251 preferred angled of supporting plate is arranged；Certain supporting plate 22251 can be end of the first conveyer belt 22261 close to 232 side of stock lattice End；Supporting plate 22251 can be also horizontally disposed with.

In embodiment 12, as Figure 1-10 shows, a kind of sorting goods shelf, including：Shelf ontology 31 and sorting structure 32； Shelf ontology 31 is equipped with several mutually independent goods putting positions 311, each goods putting position 311 is set there are one sorting structure 32, point Advance at the shipment end 3112 for picking kinds of goods 6 towards goods putting position 311 of the structure 32 for conveying goods putting position 311.

In embodiment 13, as Figure 1-10 shows, on the basis of embodiment 12, each goods putting position 311 is equipped with One identification label 3111, in this way, in practical applications, can realize goods by scanning kinds of goods 6 and identification label 3111 respectively The binding of product 6 and goods putting position 311, consequently facilitating host computer 1 obtains the correlations such as title, quantity, the bar code of kinds of goods 6 in the goods yard Information.Certainly, in practical applications, it can also realize kinds of goods 6 in the pendulum of sorting goods shelf 3 scanner or by way of being manually entered It puts.Preferably, the size of at least two goods putting positions 311 is similar and different.So that in practical application, it can be according to the size of kinds of goods 6 Difference be positioned over the size of the corresponding goods putting position of size 311, to improve the utilization rate of goods putting position 311.Certainly, goods putting The size of position 311 also can be identical, improves the applicability in sorting goods yard, because goods putting position 311 can be more than the size of kinds of goods 6, but goods The size of product 6 cannot be more than goods putting position 311.Preferably at least a goods putting position 311 is equipped with multiple for placing identical kinds of goods 6 Sub- goods putting position 311, each sub- goods putting position 311, which corresponds to, places a kinds of goods 6.To realize that goods putting position 311 can place multiple goods Product 6.

In embodiment 14, as shown in figures 1-15, on the basis of embodiment 12 or 13, sorting structure 32 includes 11st driving portion 3211 (the tenth driving portion for plucking fruit formula sorting system i.e. hereinafter), and pass through the second conveyer belt 3212 It is tensioned the first driving wheel and the first driven wheel of connection；Second conveyer belt 3212 forms goods putting position 311；11st driving portion 3211 The first driving wheel is driven to rotate so that the second conveyer belt 3212 drives the kinds of goods 6 on goods putting position 311 towards 3112 row of shipment end Into.Preferably, the second conveyer belt 3212 includes two sub- conveyer belts, i.e., each goods putting position 311 is by two sub- conveyer belt assemblies It constitutes, the sub- conveyer belt assembly of two of which passes through lazy-tongs synchronous transport.

In embodiment 15, as represented in figures 1 through 14, on the basis of embodiment 12 or 13, sorting structure 32 includes 12nd driving portion 3231 (the 11st driving portion for plucking fruit formula sorting system i.e. hereinafter), helical feed part 3232 and Support plate for shelving kinds of goods 6；12nd driving portion 3231 is set to end of the goods putting position 311 far from 3112 side of shipment end, End is oppositely arranged with shipment end 3112；3232 one end of helical feed part is connect with the 12nd driving portion 3231, helical feed part 3232 other end is connect with support plate；12nd driving portion 3231 drives helical feed part 3232 to rotate, and pushes in support plate Kinds of goods 6 towards shipment end 3112 advance.

In embodiment 16, as illustrated in figs. 1-16, on the basis of embodiment 12 or 13, sorting structure 32 includes Linear motor 3251, the shelf of setting for shelving kinds of goods 6, and kinds of goods 6 on shelf are set towards the shipment end for pushing The plectrum 3252 that 3112 sides are advanced；Linear motor 3251 is set to end of the goods putting position 311 far from 3112 side of shipment end, end It is oppositely arranged with shipment end 3112；Plectrum 3252 is set to the push rod of linear motor 3251；So that linear motor 3251 drives plectrum 3252 push the kinds of goods 6 set on shelf to advance towards shipment end 3112.

In embodiment 17, as shown in figs. 1-11, on the basis of embodiment 12 or 13, sorting structure 32 includes Pushing part, Synchronization Component and drive component；Pushing part is set to end of the goods putting position 311 far from 3112 side of shipment end, end It is oppositely arranged with shipment end 3112；Pushing part is connect with Synchronization Component；Drive component drives Synchronization Component so that pushing part pushes Kinds of goods 6 on goods putting position 311 advance towards shipment end 3112；Drive component is set to sorting AGV2.Preferably, Synchronization Component includes Synchronous belt 3241 and the first synchronizing wheel, synchronous belt 3241 and two the first synchronizing wheel tensionings connect；Two the first synchronizing wheels are set to At goods putting position 311；Drive component includes the 13rd driving portion and the first driving gear 251 engaged with synchronous belt 3241.Or Synchronization Component includes synchronous chain and the second synchronizing wheel, and synchronous chain and two the second synchronizing wheel tensionings connect；Two the second synchronizing wheels At goods putting position 311；Drive component include the 14th driving portion and with synchronous chain engage second driving gear.It is preferred that Ground, Synchronization Component are installed on the second mounting plate 3244 between two neighboring goods putting position 311 so that Synchronization Component is close to goods putting The setting of 311 sides of position.

In embodiment 18, as illustrated in figs. 1-16, one kind plucking fruit formula sorting system, including：Host computer 1, on several State the sorting goods shelf 3 described in sorting AGV2 and several above-mentioned any one described in any one；It includes AGV sheets to sort AGV2 Body 21, picking mechanism, stock mechanism and goods putting mechanism；Picking mechanism, stock mechanism and goods putting mechanism may be contained within AGV ontologies 21；Stock mechanism is equipped with several mutually independent stock lattice 232；Stock lattice 232 are set in the working range of picking mechanism, are made Obtaining picking mechanism can be delivered to the kinds of goods 6 for being positioned over its own in corresponding compartment；Compartment is set to the work of goods putting mechanism Make in range so that the kinds of goods 6 in compartment can be delivered to destination by goods putting mechanism；Sorting goods shelf 3 include shelf ontology 31, Sorting structure 32；Shelf ontology 31 be equipped with several mutually independent goods putting positions 311, each goods putting position 311 set there are one point Structure 32 is picked, the shipment end 3112 that sorting structure 32 is used to convey kinds of goods 6 towards the goods putting position 311 of goods putting position 311 is advanced；It is upper Machine 1 obtains sorting task；Host computer 1 is according to the positions sorting AGV2 for being assigned sorting task, and corresponding sorting task In the position of sorting goods shelf 3 placed of each kinds of goods 6 generate corresponding sorting walking path, issue sorting walking path To corresponding sorting AGV2；The sorting walking path that sorting AGV2 is received according to its own is moved to corresponding sorting goods shelf 3 Place；Kinds of goods 6 in corresponding sorting task are sorted to the picking of corresponding sorting AGV2 by the sorting structure 32 at goods putting position 311 Kinds of goods 6 are positioned in corresponding stock lattice 232 by mechanism, rear picking mechanism；Sorting AGV2 is moved after completing the sorting task of itself To target unloading area, the kinds of goods 6 in stock lattice 232 are delivered to corresponding mesh by the rear AGV2 that sorts by the goods putting mechanism of itself Ground.

In practical applications, host computer 1 is unified for the sorting AGVi2 lifes for being assigned sorting task Pj (j >=1, and j ∈ N) At corresponding sorting walking path, due to 1 advance planning track route of host computer so that each sorting AGV2 can be according to itself Sorting walking path carry out picking execute the sorting task of itself, can reduce it is each sorting AGV2 sorting picking process It is middle the probability collided occur.If host computer 1 to sorting AGV2 after distributing sorting task Pj, acquisition is assigned sorting task Pj Sorting AGVi2 (i >=1, and i ∈ N) position, and obtain in the sorting task Pj that sorting AGVi2 is distributed every 6 position of a kinds of goods, according to each 6 institute of kinds of goods in the sorting positions AGVi2 and sorting task Pj corresponding with the AGVi Place the corresponding sorting walking path Si of position generation of sorting goods shelf 3 (i.e. goods putting position 311), host computer 1 is by the sorting Walking path Si is issued to sorting AGVi2.

Preferably, the sorting walking path Si that host computer 1 generates is that sorting AGVi2 is sorted from itself position to advancing The shortest path of all kinds of goods 6 in itself sorting task Pj can reduce sorting AGVi2 and repeat to walk back and forth to carry out sorting goods The number of product 6 promotes the efficiency that sorting AGVi2 completes itself sorting task Pj, later kinds of goods 6 is completed to further be promoted The efficiency of demand inventory reduces the time that user waits for picking, improves the usage experience of user.

Specifically, sorting AGVi2 obtain the sorting task Pj that issues of host computer 1 and host computer 1 issues correspond to from Status picks the sorting walking path Si of task Pj, then sorts AGVi2 according to the sorting walking path Si received from itself institute Movement is proceeded by position, until be moved at corresponding sorting goods shelf 3, that is, the picking mechanism for sorting AGVi2 is moved to pair In the working range for the sorting structure 32 at the goods yard of sorting goods shelf 3 answered, by sorting the picking mechanism of AGVi2 and dividing The sorting structure 32 of picking frame 3 coordinates docking between the two so that the kinds of goods 6 on sorting goods shelf 3 are tied in picking mechanism and sorting Under the mutual cooperation of structure 32, after the kinds of goods 6 on goods putting position 311 are positioned over picking mechanism, picking mechanism will be put with stock mechanism The transfer of kinds of goods 6 being placed in picking mechanism is positioned in the corresponding stock lattice 232 of stock mechanism, so far, sorts AGVi2's The sorting structure 32 of picking mechanism, stock mechanism and sorting goods shelf 3 just completes primary sorting, according to above-mentioned flow, sorts AGVi2 Continue the place sorting for the next kinds of goods 6 to be sorted being moved to according to the sorting walking path Si of itself in sorting task Pj At the position of shelf 3, continue to sort, until sorting AGVi2 completes at least one of sorting task list of itself point After picking task P, sorting AGVi2 moved to target unloading area, when sorting AGVi2 after being moved to target unloading area, The kinds of goods 6 for being stored in stock mechanism are launched to destination by the unloading mechanism set on sorting AGVi, are appointed to complete sorting The Discharging Process of business.The present invention is by the interaction between host computer 1 and sorting AGVi2, to control scheduling sorting AGVi2 complete At just destination being gone to unload after sorting task Pj, whole process does not need user and voluntarily carries out unloading operation, by sorting Sorting task is completed in AGVi2, sorting goods shelf 3 and the cooperation cooperation of host computer 1, is reduced and is manually participated in, promotes sorting efficiency.

In embodiment 19, as shown in Fig. 1-5 figures, on the basis of embodiment 18, goods putting mechanism includes thrust plate 241 and drive the first driving portion 242 of the thrust plate 241；Close to destination side, rotation is equipped with thrust plate to stock lattice 232 241；Thrust plate 241 is connect with the first driving portion 242 for driving its own to rotate or reset towards destination；Stock lattice 232 are in Predetermined angle is obliquely installed in sorting AGV2 so that kinds of goods 6 slide under its own gravity towards destination；Sort AGV2 movements To target unloading area so that stock lattice 232 are correspondingly arranged with corresponding destination；The first driving portion 242 drives thrust plate afterwards 241 rotate towards destination side so that the kinds of goods 6 in stock lattice 232 slide under its own gravity towards destination；

In embodiment 20, as shown in Fig. 1-6 figures, on the basis of embodiment 18, goods putting mechanism includes pushing part With the second driving portion；Each described stock lattice 232 is equipped with one and is used to drive the pushing part that kinds of goods 6 are moved towards destination, with And for driving second driving portion of the pushing part closer or far from destination；Sorting AGV2 is moved to target unloading area so that Stock lattice 232 are correspondingly arranged with corresponding destination；The second driving portion drives pushing part to be rotated towards destination side afterwards so that Kinds of goods 6 in stock lattice 232 move under the promotion of pushing part towards destination.

In embodiment 21, as shown in Fig. 1-13 figures, on the basis of embodiment 18,19 or 20, sorting Structure 32 includes pushing part, Synchronization Component and drive component；Pushing part is set to goods putting position 311 far from 3112 side of shipment end End, end is oppositely arranged with shipment end 3112；Pushing part is connect with Synchronization Component；Drive component drives Synchronization Component, makes Obtaining pushing part pushes the kinds of goods 6 on goods putting position 311 to advance towards shipment end 3112；Drive component is set to sorting AGV2；Sorting AGV2 is moved to according to the sorting walking path received at corresponding sorting goods shelf 3, and drive component is docked with Synchronization Component；Afterwards Drive component drives Synchronization Component, makes pushing part that the kinds of goods 6 in corresponding sorting task to be sorted to the picking of corresponding sorting AGV2 Mechanism.Preferably, Synchronization Component includes synchronous belt 3241 and the first synchronizing wheel, and synchronous belt 3241 and two the first synchronizing wheels are tensioned Connection；Two the first synchronizing wheels are set at goods putting position 311；Drive component include third driving portion 252 and with synchronous belt 3241 First driving gear 251 of engagement.Certainly, Synchronization Component may also comprise synchronous chain and the second synchronizing wheel, and synchronous chain and two the The tensioning connection of two synchronizing wheels；Two the second synchronizing wheels are set at goods putting position 311；Drive component include fourth drive part and with it is same Walk the second driving gear of chain engagement.

In embodiment 22, as shown in Fig. 1-8 figures, on the basis of embodiment 18,19,20 or 21 On, picking mechanism includes picking lattice 221 and transfer structure；Transfer structure includes lifting assembly, and lifting assembly includes along stock machine First guide rail 22211 of the short transverse setting of structure, the lifting that can be moved reciprocatingly along the extension direction of the first guide rail 22211 are flat Platform 22212, and drive the 5th driving portion 22213 of the movement of hoistable platform 22212；Picking lattice 221 are set to hoistable platform 22212 so that picking lattice 221 can move reciprocatingly along short transverse；5th driving portion 22213 drives hoistable platform 22212 simultaneously Picking lattice 221 are delivered at the respective heights position of the goods putting position 311 where the kinds of goods 6 of corresponding sorting task；It is set to and puts afterwards Kinds of goods 6 in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV2 by the sorting structure 32 in goods yard 311；5th drives Dynamic portion 22213 drives hoistable platform 22212 and the kinds of goods 6 in picking lattice 221 is positioned over to the height position of corresponding stock lattice 232 Set place.

In embodiment 23, as shown in Fig. 1-9 figures, in embodiment 18,19,20,21 or 22 On the basis of, transfer structure further includes traversing component, and traversing component includes second the leading of being arranged of second direction along stock mechanism Rail 22221, the slip base 22222 that can be moved reciprocatingly along the extension direction of the second guide rail 22221, and driving slip base 6th driving portion 22223 of 22222 movements；Wherein, short transverse is vertical with second direction；Traversing component is installed on hoistable platform 22212, picking lattice 221 are installed on slip base 22222；So that picking lattice 221 can do reciprocal fortune along short transverse, second direction It is dynamic；5th driving portion 22213 drives hoistable platform 22212 and picking lattice 221 is delivered to where the kinds of goods 6 of corresponding sorting task Goods putting position 311 respective heights position at；6th driving portion 22223 drives slip base 22222 and is delivered to picking lattice 221 The correspondence horizontal position of goods putting position 311 where the kinds of goods 6 of corresponding sorting task；It is set to the sorting structure of goods putting position 311 afterwards 32 are sorted to the kinds of goods 6 in corresponding sorting task the picking mechanism of corresponding sorting AGV2；The driving lifting of 5th driving portion 22213 Kinds of goods 6 in picking lattice 221 are simultaneously positioned at the height and position of corresponding stock lattice 232 by platform 22212；6th driving portion 22223 driving slip bases 22222 and the horizontal position that the kinds of goods 6 in picking lattice 221 are positioned over to corresponding stock lattice 232.

In embodiment 24, picture 1-4 shown in figure, in embodiment 18,19,20,21,22 or On the basis of 23, transfer structure further includes rotary components, and rotary components include the shaft for rotating picking lattice 221 22231 and drive shaft 22231 rotate the 7th driving portion；Picking lattice 221 are installed on shaft 22231 so that the 7th driving Portion's rotating shaft 22231 simultaneously drives picking lattice 221 to topple over or reset towards stock lattice 232；When kinds of goods 6 are shifted in goods putting position 311 To goods putting lattice, picking lattice 221 are delivered to 232 (kinds of goods 6 of stock lattice corresponding with the kinds of goods 6 by lifting assembly and traversing component Realized and distributed by host computer 1 with the correspondences of stock lattice 232) position, rear 22231 turns of 7th driving portion drive shaft It is dynamic so that kinds of goods 6 slide towards stock lattice 232 in picking lattice 221 and enter in stock lattice 232；7th driving portion driving afterwards takes Goods lattice 221 is reset to original state.

In embodiment 25, as shown in Fig. 1-7 figures, in embodiment 18,19,20,21,22 or On the basis of 23, transfer structure further includes push-rod assembly, and push-rod assembly includes the push rod 22241 for pushing kinds of goods 6, with And driving push rod 22241 is closer or far from the 8th driving portion 22243 of stock lattice 232；Push-rod assembly is set to picking lattice 221；When After kinds of goods 6 are transferred to goods putting lattice in goods putting position 311, it is right with the kinds of goods 6 that picking lattice 221 are delivered to by lifting assembly and traversing component The position for the stock lattice 232 (correspondence of kinds of goods 6 and stock lattice 232 is realized by host computer 1 to be distributed) answered, rear 8th driving 22243 driving push rod 22241 of portion is moved towards stock position 2321 so that kinds of goods 6 slide in picking lattice 221 towards stock lattice 232 And enter in stock lattice 232；22243 driving push rod 22241 of the 8th driving portion is reset to original state afterwards.

In embodiment 26, as shown in Fig. 1-9 figures, in embodiment 18,19,20,21,22 or On the basis of 23, transfer structure further includes belt conveying component, and belt conveying component includes first conveyer belt 22261, drives Driving wheel and the 9th driving portion；First conveyer belt 22261 is connected with driving wheel tensioning；9th driving portion drives driving wheel rotation, makes First conveyer belt 22261 is obtained towards stock mechanism side to advance；The side of first conveyer belt 22261 is equipped with baffles (i.e. first Sub- guardrail 22122) so that the upper surface of baffles and first conveyer belt 22261, which is enclosed, to be set to form picking lattice 221；When kinds of goods 6 are in putting After goods yard 311 is transferred to goods putting lattice, picking lattice 221 are delivered to stock corresponding with the kinds of goods 6 by lifting assembly and traversing component The position of lattice 232 (correspondence of kinds of goods 6 and stock lattice 232 is realized by host computer 1 and distributed), rear 9th driving portion driving the One conveyer belt 22261 is moved towards stock position 2321 so that kinds of goods 6 slide and entered towards stock lattice 232 in picking lattice 221 and deposit In goods lattice 232.It is worth noting that since first conveyer belt 22261 is that tensioning is connected to driving wheel, the present embodiment 9th driving portion carries out reset operation without negative direction driving first conveyer belt 22261.

In embodiment 27, as shown in Fig. 1-15 figures, embodiment 18,19,20,22,23, On the basis of 24,25 or 26, sorting structure 32 includes the tenth driving portion, and passes through the second conveyer belt 3212 It is tensioned the first driving wheel and the first driven wheel of connection；Second conveyer belt 3212 forms goods putting position 311；Tenth driving portion driving the One driving wheel rotates so that the second conveyer belt 3212 drives the kinds of goods 6 on goods putting position 311 to advance towards shipment end 3112；Sorting AGV2 is moved to according to the sorting walking path received at corresponding sorting goods shelf 3, and be set to sorting goods shelf 3 the described tenth drives Dynamic portion drives the first driving wheel rotation so that second conveyer belt 3212 sorts the kinds of goods 6 in corresponding sorting task To the picking mechanism of corresponding sorting AGV2.

In embodiment 28, as shown in Fig. 1-14 figures, embodiment 18,19,20,22,23, On the basis of 24,25 or 26, sorting structure 32 include the 11st driving portion, helical feed part 3232 and Support plate for shelving kinds of goods 6；11st driving portion is set to end of the goods putting position 311 far from 3112 side of shipment end, end It is oppositely arranged with shipment end 3112；3232 one end of helical feed part is connect with the 11st driving portion, helical feed part 3232 it is another One end is connect with support plate；11st driving portion drives helical feed part 3232 to rotate, and pushes kinds of goods 6 in support plate towards going out It advances at goods end 3112；Sorting AGV2 is moved to according to the sorting walking path received at corresponding sorting goods shelf 3, is set to sorting The 11st driving portion driving helical feed part 3232 of shelf 3 so that the kinds of goods 6 in corresponding sorting task are sorted to by support plate The picking mechanism of corresponding sorting AGV2.

In embodiment 29, as shown in Fig. 1-16 figures, embodiment 18,19,20,22,23, On the basis of 24,25 or 26, sorting structure 32 includes linear motor 3251, and goods is set for shelve kinds of goods 6 Frame, and for pushing the plectrum 3252 set the kinds of goods on shelf 6 and advanced towards 3112 side of shipment end；Linear motor 3251 is set In end of the goods putting position 311 far from 3112 side of shipment end, end is oppositely arranged with shipment end 3112；Plectrum 3252 is set to straight line The push rod of motor 3251；So that linear motor 3251 drives the promotion of plectrum 3252 to set the kinds of goods 6 on shelf towards shipment end 3112 It advances；Sorting AGV2 is moved to according to the sorting walking path received at corresponding sorting goods shelf 3, is set to sorting goods shelf 3 Linear motor 3251 drives plectrum 3252 so that plectrum 3252 by it is described set shelf and correspond to the kinds of goods 6 in sorting task be sorted to The picking mechanism of corresponding sorting AGV2.

In embodiment 29, as shown in Fig. 1-5 figures, embodiment 18,19,20,21,22, On the basis of 23,24,25,26,27 or 28, target unloading area is taken by being equipped with several The counter 41 of goods lattice 411 forms, each takes goods lattice 411 to form destination；Counter 41 is additionally provided with clear for obtaining kinds of goods demand The man-machine interface 412 of single (kinds of goods type, quantity, brand etc.)；Host computer 1 receives kinds of goods demand inventory and generates sorting task. It is worth noting that the different clients that kinds of goods demand inventory can periodically be obtained by man-machine interface 412 for the upper time are defeated The sub- kinds of goods demand inventory entered, therefore, the same sorting AGV2 can correspond to one or more sub- kinds of goods demand inventories；One sub- goods Product demand inventory can correspond to a sorting AGV2 or multiple sortings AGV2.One sub- kinds of goods demand inventory can correspond to a kind of kinds of goods 6 Or a variety of kinds of goods 6.In sorting AGV2 executes sorting and transportational process, 232 correspondences one of a stock lattice of AGV2 are sorted Sub- demand inventory, and a sub- demand inventory can correspond to multiple stock lattice 232.It is further preferred that for the ease of stock lattice 232 Kinds of goods 6 enter take goods lattice 411 in, when thrust plate 241 be in rollover states, the end of thrust plate 241 with take goods lattice 411 it is right It connects.The height of goods lattice 411 is taken to be less than the height of stock lattice 232, it is further preferred that by the number of plies and stock lattice of goods lattice 411 232 number of plies is identical.Preferably, take goods lattice 411 identical as the size of stock lattice 232 in left-right direction.

Preferably, it is closed sorting system originally to pluck fruit formula sorting system, can be applied to closed lending system, medicine purchase System, closed unmanned supermarket system, closed express mail clamping and placing system are bought, at this point, entire enclosure space can be by multiple counters 41 It encloses and sets to be formed, and the setting of man-machine interface 412 is arranged towards client, and by one of goods lattice 411 port towards client's direction, Another port is arranged towards enclosure space, consequently facilitating more people are carried out at the same time.Preferably, in order to avoid criminal is by taking Goods lattice 411 enters internal system, it is therefore preferred that each takes goods lattice 411 to be equipped with automatic opening-closing door close to enclosure space side System, i.e. host computer 1 can control the keying of automatic open close door system, to take goods lattice when kinds of goods need to enter from stock lattice 232 When 411, then this is controlled by goods lattice 411, door is opened, and when stock lattice 232 are transferred to by goods lattice 411, then host computer 1 controls Door is closed.Preferably, this system further includes charged area 5, the charged area 5 be equipped with for sorting AGV2 charging several (one or more) charging column 51.Preferably, sorting AGV2 can self monitor itself amount of batteries and voluntarily go to charging zone Domain 5 is gone to charge, and its electricity service condition is issued host computer 1 so that host computer 1 according to the working condition of its battery come The work of regulation and control sorting AGV2.Preferably, all driving portions being set on sorting AGV2 are used in conjunction with sorting with AGV ontologies 21 The battery of AGV2.

It should be noted that the driving portion of above-described embodiment is preferably motor (applicable rotary motion), or in order to improve knot The compactedness of structure, part driving portion are preferably linear motor or cylinder (being applicable in linear motion).It can be freely combined as needed. The above is only a preferred embodiment of the present invention, it is noted that for those skilled in the art, Without departing from the principles of the invention, several improvements and modifications can also be made, these improvements and modifications also should be regarded as this hair Bright protection domain.

Claims

1. one kind plucking fruit formula sorting system, which is characterized in that including：

Host computer, several sorting AGV and several sorting goods shelfs；

The sorting AGV includes AGV ontologies, picking mechanism, stock mechanism and goods putting mechanism；The picking mechanism, the stock Mechanism and the goods putting mechanism may be contained within the AGV ontologies；The stock mechanism is equipped with several mutually independent stock lattice； The stock lattice are set in the working range of the picking mechanism so that the picking mechanism can will be positioned over the kinds of goods of its own It is delivered in the corresponding compartment；The compartment is set in the working range of the goods putting mechanism so that the goods putting Kinds of goods in the compartment can be delivered to destination by mechanism；

The sorting goods shelf includes shelf ontology, sorting structure；The shelf ontology is equipped with several mutually independent goods putting positions, Each described goods putting position is set there are one the sorting structure, and the sorting structure is used to convey the kinds of goods direction of the goods putting position Advance at the shipment end of the goods putting position；

The host computer obtains sorting task；

The host computer is according to each kinds of goods in the positions sorting AGV for being assigned sorting task, and corresponding sorting task The position for the sorting goods shelf placed generates corresponding sorting walking path, issues sorting walking path to corresponding sorting AGV；

The sorting walking path that sorting AGV is received according to its own is moved at corresponding sorting goods shelf；At goods putting position Sorting structure the kinds of goods in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV, rear picking mechanism is by kinds of goods It is positioned in corresponding stock lattice；Sorting AGV moves to target unloading area after completing the sorting task of itself, and the rear AGV that sorts leads to Kinds of goods in stock lattice are delivered to corresponding destination by the goods putting mechanism for crossing itself.

2. according to claim 1 pluck fruit formula sorting system, it is characterised in that：

The goods putting mechanism includes thrust plate and drives the first driving portion of the thrust plate；

Close to destination side, rotation is equipped with the thrust plate to the stock lattice；The thrust plate with drive its own towards purpose The first driving portion connection that ground is rotated or resetted；The stock lattice are obliquely installed in predetermined angle in sorting AGV so that kinds of goods exist It is slid towards destination under its own gravity；Sorting AGV is moved to target unloading area so that stock lattice and corresponding destination It is correspondingly arranged；First driving portion drives the thrust plate to be rotated towards destination side afterwards so that the kinds of goods in stock lattice It is slid towards destination under its own gravity；Or,

The goods putting mechanism includes pushing part and the second driving portion；

Each described stock lattice is equipped with one and is used to drive the pushing part that kinds of goods are moved towards destination, and described for driving Second driving portion of the pushing part closer or far from destination；

Sorting AGV is moved to target unloading area so that stock lattice are correspondingly arranged with corresponding destination；Second driving afterwards Portion drives the pushing part to be rotated towards destination side so that kinds of goods in the stock lattice direction under the promotion of the pushing part It moves destination.

3. according to claim 1 pluck fruit formula sorting system, it is characterised in that：

The sorting structure includes pushing part, Synchronization Component and drive component；It is separate that the pushing part is set to the goods putting position The end of shipment end side, the end are oppositely arranged with the shipment end；The pushing part connects with the Synchronization Component It connects；The driving component drives the Synchronization Component so that the pushing part pushes the kinds of goods on the goods putting position described in Advance at shipment end；The driving component is set to sorting AGV；

Sorting AGV be moved at corresponding sorting goods shelf according to the sorting walking path received, the driving component with it is described Synchronization Component docks；The driving component drives the Synchronization Component afterwards, makes the pushing part by the goods in corresponding sorting task Product are sorted to the picking mechanism of corresponding sorting AGV.

4. according to claim 3 pluck fruit formula sorting system, it is characterised in that：

The Synchronization Component includes synchronous belt and the first synchronizing wheel, and the synchronous belt and two the first synchronizing wheel tensionings connect It connects；Two first synchronizing wheels are set at the goods putting position；The driving component include third driving portion and with it is described same Walk the first driving gear with engagement；Or,

The Synchronization Component includes synchronous chain and the second synchronizing wheel, and the synchronous chain and two the second synchronizing wheel tensionings connect It connects；Two second synchronizing wheels are set at the goods putting position；The driving component include fourth drive part and with it is described same Walk the second driving gear of chain engagement.

5. according to claim 1 pluck fruit formula sorting system, it is characterised in that：

The picking mechanism includes picking lattice and transfer structure；The transfer structure includes lifting assembly, the lifting assembly packet The first guide rail for including the short transverse setting along the stock mechanism, can move reciprocatingly along the extension direction of first guide rail Hoistable platform, and driving hoistable platform movement the 5th driving portion；The picking lattice are set to the hoistable platform, So that the picking lattice can move reciprocatingly along short transverse；

5th driving portion drives the hoistable platform and the picking lattice is delivered to where the kinds of goods of corresponding sorting task Goods putting position respective heights position at；The sorting structure of goods putting position is set to afterwards to be sorted to the kinds of goods in corresponding sorting task pair The picking mechanism of AGV should be sorted；5th driving portion drives the hoistable platform and places the kinds of goods in the picking lattice At the height and position of corresponding stock lattice.

6. according to claim 5 pluck fruit formula sorting system, it is characterised in that：

The transfer structure further includes traversing component, and the traversing component includes being arranged along the second direction of the stock mechanism Second guide rail, the slip base that can be moved reciprocatingly along the extension direction of second guide rail, and driving the slip base movement The 6th driving portion；Wherein, short transverse is vertical with second direction；The traversing component is installed on the hoistable platform, described Picking lattice are installed on the slip base；So that the picking lattice can move reciprocatingly along short transverse, second direction；

5th driving portion drives the hoistable platform and the picking lattice is delivered to where the kinds of goods of corresponding sorting task Goods putting position respective heights position at；6th driving portion drives slip base and the picking lattice is delivered to corresponding sorting The correspondence horizontal position of goods putting position where the kinds of goods of task；The sorting structure for being set to goods putting position afterwards will be in corresponding sorting task Kinds of goods be sorted to the picking mechanism of corresponding sorting AGV；5th driving portion drives the hoistable platform and by the picking Kinds of goods in lattice are positioned at the height and position of corresponding stock lattice；6th driving portion drives the slip base and will be described Kinds of goods in picking lattice are positioned over the horizontal position of corresponding stock lattice.

7. according to claim 5 pluck fruit formula sorting system, it is characterised in that：

The transfer structure further includes rotary components, and the rotary components include the shaft for rotating the picking lattice, and Drive the 7th driving portion of the shaft rotation；The picking lattice are installed on the shaft so that the 7th driving portion rotation The shaft simultaneously drives the picking lattice to topple over or reset towards the stock lattice；Or,

The transfer structure further includes push-rod assembly, and the push-rod assembly includes the push rod for pushing kinds of goods, and driving institute State eightth driving portion of the push rod closer or far from stock lattice；The push-rod assembly is set to the picking lattice；Or,

The transfer structure further includes belt conveying component, and the belt conveying component includes first conveyer belt, driving wheel and Nine driving portions；The first conveyer belt is connected with driving wheel tensioning；9th driving portion drives the driving wheel rotation, So that the first conveyer belt is advanced towards stock mechanism side；The side of the first conveyer belt is equipped with baffles, makes The upper surface of the baffles and the first conveyer belt encloses and sets to form the picking lattice.

8. according to claim 1 pluck fruit formula sorting system, it is characterised in that：

The sorting structure include the tenth driving portion, and by the second conveying belt tension connect the first driving wheel and first from Driving wheel；Second conveyer belt forms the goods putting position；Tenth driving portion drives the first driving wheel rotation so that institute Stating the second conveyer belt drives the kinds of goods on the goods putting position to advance towards the shipment end；AGV is sorted according to the sorting received Walking path is moved at corresponding sorting goods shelf, and the tenth driving portion for being set to sorting goods shelf drives first driving wheel Rotation so that the kinds of goods in corresponding sorting task are sorted to the picking mechanism of corresponding sorting AGV by second conveyer belt；Or,

The sorting structure includes the 11st driving portion, helical feed part and the support plate for shelving kinds of goods；Described tenth One driving portion is set to the end of the goods putting position far from shipment end side, and the end is oppositely arranged with the shipment end； Helical feed part one end is connect with the 11st driving portion, and the other end and the support plate of the helical feed part connect It connects；11st driving portion drives the helical feed part rotation, pushes kinds of goods in the support plate towards the shipment It advances at end；Sorting AGV is moved to according to the sorting walking path received at corresponding sorting goods shelf, is set to the institute of sorting goods shelf It states the 11st driving portion and drives the helical feed part so that the kinds of goods in corresponding sorting task are sorted to pair by the support plate The picking mechanism of AGV should be sorted；Or,

The sorting structure includes linear motor, the shelf of setting for shelving kinds of goods, and for pushing described set on shelf The plectrum that kinds of goods advance towards shipment end side；The linear motor is set to the goods putting position far from shipment end side End, the end is oppositely arranged with the shipment end；The plectrum is set to the push rod of the linear motor；So that described straight Line motor drives the kinds of goods set on shelf described in the plectrum promotion to advance towards the shipment end；AGV is according to receiving for sorting Sorting walking path be moved at corresponding sorting goods shelf, the linear motor for being set to sorting goods shelf drives the plectrum, So that the shelf of setting are corresponded to the picking mechanism that the kinds of goods in sorting task are sorted to corresponding sorting AGV by the plectrum.

9. according to any one of claims 1 to 8 pluck fruit formula sorting system, it is characterised in that：

By taking the counter of goods lattice to form equipped with several, each is described to form the purpose by goods lattice for the target unloading area Ground；

The counter is additionally provided with the man-machine interface for obtaining kinds of goods demand inventory；

The host computer receives kinds of goods demand inventory and generates the sorting task.

10. a kind of sorting AGV, which is characterized in that including：

The stock lattice are set in the working range of the picking mechanism so that the picking mechanism can will be positioned over its own Kinds of goods are delivered in the corresponding compartment；

The compartment is set in the working range of the goods putting mechanism so that the goods putting mechanism can will be in the compartment Kinds of goods are delivered to destination.

11. sorting AGV according to claim 10, it is characterised in that：

The stock mechanism further include supporting rack, the spaced stock position of multiple short transverses along support frame as described above and Several are arranged at intervals at the baffle of the upper surface of each stock position in a second direction；

Two baffles being disposed adjacent and the stock position form the stock lattice.

12. sorting AGV according to claim 10, it is characterised in that：

The goods putting mechanism includes thrust plate and drives the first driving portion of the thrust plate；The stock lattice are close to destination one Side rotation is equipped with the thrust plate；The thrust plate connects with the first driving portion for driving its own to rotate or reset towards destination It connects；The stock position is obliquely installed in predetermined angle in the sorting AGV so that kinds of goods are under its own gravity towards destination Sliding；Or,

The goods putting mechanism includes pushing part and the second driving portion；Each described stock lattice is equipped with one for driving kinds of goods direction The pushing part of destination movement, and for driving second driving portion of the pushing part closer or far from destination.

13. sorting AGV according to claim 10, it is characterised in that：

Kinds of goods are sorted to the picking mechanism by the sorting structure in goods putting area, wherein goods putting area is by several independent goods putting positions Sorting goods shelf is constituted；Each described goods putting position is equipped with sorting structure, and the sorting structure includes for pushing kinds of goods close to institute State the driving lever of sorting AGV movements, synchronous belt and the first synchronizing wheel；The synchronous belt and two first synchronizing wheels are tensioned Connection, two first synchronizing wheels are installed on the goods putting position；The driving lever and the synchronous band connection；The sorting AGV Equipped with the first driving gear engaged with the synchronous belt, and the third driving for driving the first driving gear rotation Portion；Third driving portion driving the first driving gear rotation so that the synchronous belt is towards the picking mechanism kinematic And the driving lever is driven to advance close to the picking mechanism；Or,

Kinds of goods are sorted to the picking mechanism by the sorting structure in goods putting area, wherein goods putting area is by several independent goods putting positions Sorting goods shelf is constituted；Each described goods putting position is equipped with sorting structure, and the sorting structure includes for pushing kinds of goods close to institute State the driving lever of sorting AGV movements, synchronous chain and the second synchronizing wheel；The synchronous chain and two second synchronizing wheels are tensioned Connection, two second synchronizing wheels are installed on the goods putting position；The driving lever and the synchronous chain link；The sorting AGV Gear, and the 4th driving for driving the second driving gear rotation are driven equipped with second with the synchronous chain engagement Portion；Fourth drive part driving the second driving gear rotation so that the synchronous chain is towards the picking mechanism kinematic And the driving lever is driven to advance close to the picking mechanism.

14. according to the sorting AGV described in claim 10-13 any one, it is characterised in that：

The picking mechanism includes picking lattice and transfer structure；

The transfer structure includes lifting assembly, the lifting assembly include along the stock mechanism short transverse be arranged the One guide rail, the hoistable platform that can be moved reciprocatingly along the extension direction of first guide rail, and the driving hoistable platform move The 5th dynamic driving portion；

The picking lattice are set to the hoistable platform so that the picking lattice can move reciprocatingly along short transverse.

15. sorting AGV according to claim 14, it is characterised in that：

The transfer structure further includes traversing component, and the traversing component includes being arranged along the second direction of the stock mechanism Second guide rail, the slip base that can be moved reciprocatingly along the extension direction of second guide rail, and driving the slip base movement The 6th driving portion；Wherein, short transverse is vertical with second direction；The traversing component is installed on the hoistable platform, described Picking lattice are installed on the slip base；So that the picking lattice can move reciprocatingly along short transverse, second direction.

16. sorting AGV according to claim 14, it is characterised in that：

The transfer structure further includes belt conveying component, and the belt conveying component includes first conveyer belt, driving wheel and Nine driving portions；The first conveyer belt is connected with driving wheel tensioning；9th driving portion drives the driving wheel rotation, So that the first conveyer belt is advanced towards stock mechanism side；The side of the conveyer belt is equipped with baffles so that institute It encloses and sets to form the picking lattice in the upper surface for stating baffles and the first conveyer belt.

17. sorting AGV according to claim 14, it is characterised in that：

The picking lattice include the bottom plate for support kinds of goods, and enclose the guardrail set on the floor peripheral；

The guardrail is equipped with the first kinds of goods channel close to the position of stock lattice side.

18. sorting AGV according to claim 17, it is characterised in that：

The guardrail includes several sequentially connected sub- guardrails；Sub- guardrail close to goods putting area side is the first sub- guardrail, institute It states the first sub- guardrail rotation and is set to the bottom plate；The first sub- guardrail and the goods putting for driving its own direction to be used to place kinds of goods The tenth driving portion connection that area rotates or far resets；And/or

The transfer structure further includes leading goods component, it is described lead goods component include supporting plate and several in a second direction between Partition board every the upper surface for being set to the supporting plate；Two partition boards being disposed adjacent are enclosed with the supporting plate to be set to form use In the second kinds of goods channel of kinds of goods sliding；Second kinds of goods channel is communicated with first kinds of goods channel, and second goods Product channel extends towards stock lattice.

19. a kind of sorting goods shelf, which is characterized in that including：

Shelf ontology and sorting structure；

Each described goods putting position is set there are one the sorting structure, and the sorting structure is used to convey the kinds of goods of the goods putting position Advance towards the shipment end of the goods putting position.

20. sorting goods shelf according to claim 19, it is characterised in that：

The sorting structure includes the 11st driving portion, and the first driving wheel and first connected by the second conveying belt tension Driven wheel；Second conveyer belt forms the goods putting position；11st driving portion drives the first driving wheel rotation, makes Obtaining second conveyer belt drives the kinds of goods on the goods putting position to advance towards the shipment end；Or,

The sorting structure includes the 12nd driving portion, helical feed part and the support plate for shelving kinds of goods；Described tenth Two driving portions are set to the end of the goods putting position far from shipment end side, and the end is oppositely arranged with the shipment end； Helical feed part one end is connect with the 12nd driving portion, and the other end and the support plate of the helical feed part connect It connects；12nd driving portion drives the helical feed part rotation, pushes kinds of goods in the support plate towards the shipment It advances at end；Or,

The sorting structure includes linear motor, the shelf of setting for shelving kinds of goods, and for pushing described set on shelf The plectrum that kinds of goods advance towards shipment end side；The linear motor is set to the goods putting position far from shipment end side End, the end is oppositely arranged with the shipment end；The plectrum is set to the push rod of the linear motor；So that described straight Line motor drives the kinds of goods set on shelf described in the plectrum promotion to advance towards the shipment end.

21. sorting goods shelf according to claim 19, it is characterised in that：

The sorting structure includes pushing part, Synchronization Component and drive component；

The pushing part is set to the end of the goods putting position far from shipment end side, and the end is opposite with the shipment end Setting；

The pushing part is connect with the Synchronization Component；The driving component drives the Synchronization Component so that the pushing part The kinds of goods on the goods putting position are pushed to advance towards the shipment end；

The driving component is set to sorting AGV.

22. sorting goods shelf according to claim 21, it is characterised in that：

The Synchronization Component includes synchronous belt and the first synchronizing wheel, and the synchronous belt and two the first synchronizing wheel tensionings connect It connects；Two first synchronizing wheels are set at the goods putting position；The driving component include the 13rd driving portion and with it is described First driving gear of synchronous belt engagement；Or,

The Synchronization Component includes synchronous chain and the second synchronizing wheel, and the synchronous chain and two the second synchronizing wheel tensionings connect It connects；Two second synchronizing wheels are set at the goods putting position；The driving component include the 14th driving portion and with it is described Second driving gear of synchronous chain engagement.

23. according to the sorting goods shelf described in claim 19-22 any one, it is characterised in that：

Each described goods putting position identifies label there are one setting；And/or

The size of at least two goods putting positions is similar and different；And/or

At least one goods putting position is equipped with multiple sub- goods putting positions for placing identical kinds of goods, and each sub- goods putting position, which corresponds to, puts Set a kinds of goods.