CN109807068A - Sorting equipment and method for sorting - Google Patents
Sorting equipment and method for sorting Download PDFInfo
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- CN109807068A CN109807068A CN201711168424.9A CN201711168424A CN109807068A CN 109807068 A CN109807068 A CN 109807068A CN 201711168424 A CN201711168424 A CN 201711168424A CN 109807068 A CN109807068 A CN 109807068A
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- Prior art keywords
- transfer
- package
- sorting
- delivery window
- sorting equipment
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
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- Sorting Of Articles (AREA)
Abstract
The embodiment of the present application discloses a kind of sorting equipment and method for sorting.One specific embodiment of the sorting equipment includes: piece supplying table, for conveying package；Transfer robot, for by the transfer of packages in piece supplying table to corresponding delivery window；Multiple delivery windows, it is provided with transfer container below each delivery window in multiple delivery windows, for storing the package fallen from the delivery window, wherein, at least partly sorting website corresponding to delivery window is different in multiple delivery windows, and lower section refers to direction of the delivery window towards ground.The sorting equipment can effectively improve the utilization rate in space by being set as multilayered structure.The quantity of delivery window can be arranged according to the quantity of sorting website simultaneously, to realize resilient expansion, improve the applicability of sorting equipment.
Description
Technical field
This application involves warehouse logistics technologies, and in particular to packages technology more particularly to sorting equipment and sorting side
Method.
Background technique
Packages refer to through a set of sorting system or sorting equipment, and the different package set in destination is distributed to
At different Ji Bao, to realize unified collection, storage and the transport wrapped up same destination.
With the fast development of internet, the quantity of online shopping personnel is more and more, this also allows for the quantity of package sharply
Increase.Therefore, packages seem even more important in entire delivery system, and then propose more need to sorting equipment
It asks.
Summary of the invention
The purpose of the application is to propose a kind of sorting equipment and method for sorting, mentions to solve background section above
The technical issues of.
In a first aspect, the embodiment of the present application provides a kind of sorting equipment.The sorting equipment includes: piece supplying table, for defeated
Send package；Transfer robot, for by the transfer of packages in piece supplying table to corresponding delivery window；Multiple delivery windows, multiple deliveries
It is provided with transfer container below each delivery window in window, for storing the package fallen from the delivery window, wherein multiple
At least partly sorting website corresponding to delivery window is different in delivery window, and lower section refers to direction of the delivery window towards ground.
In some embodiments, sorting equipment includes recognizer component, for obtaining the encoded information superscribed, is moved with controlling
Robot is carried by transfer of packages to corresponding delivery window.
In some embodiments, sorting equipment includes acquisition component and multi-axis robot；Acquisition component is located at piece supplying table
Top, and it is located at the front of multi-axis robot, for acquiring the status information of the package in piece supplying table, wherein status information packet
Include the location information of package；Multi-axis robot is located at the side of piece supplying table, is used for according to status information, by the package in piece supplying table
It is transferred to transfer robot.
In some embodiments, recognizer component is set to the preset direction of the motion path of multi-axis robot, wherein default
Direction include at least one of the following: front, rear, left, right, above and below.
In some embodiments, status information further includes the dimensional parameters information of package, for calculating the volume of package, with
Determine the state of transfer container, wherein state includes fully loaded.
In some embodiments, it is provided with sliding slot below delivery window, for the package fallen from delivery window to be delivered to
Transfer container.
In some embodiments, sorting equipment further includes detection components, positioned at the lower section of delivery window, is held for detecting transfer
The state of device, wherein state includes fully loaded.
In some embodiments, sorting equipment further includes transport robot, and the transfer container for will be fully loaded with is transported to pre-
If position, and/or the lower section for unloaded transfer container to be transported to delivery window corresponding to fully loaded transfer container.
In some embodiments, sorting equipment further includes bracket, is used to support transfer container, and height of the bracket apart from ground
Degree is greater than the height of transport robot.
In some embodiments, sorting equipment further includes pipeline, for conveying package；And transport robot is further
For: fully loaded transfer container is transported to pipeline, so that pipeline is by fully loaded transfer container transport to predeterminated position.
Second aspect, the embodiment of the present application provide a kind of method for sorting, which is used for as appointed in first aspect
Sorting equipment described in one implementation.The method for sorting includes: the transfer of packages that will convey in piece supplying table to transfer machine
On people；Control corresponding delivery window of the transfer robot by transfer of packages into multiple delivery windows；Wherein, in multiple delivery windows
Transfer container is provided with below each delivery window, for storing the package fallen from the delivery window, in multiple delivery windows extremely
Sorting website corresponding to small part delivery window is different.
In some embodiments, sorting equipment includes recognizer component, and control transfer robot by transfer of packages at most
Corresponding delivery window in a delivery window, comprising: receive the encoded information superscribed that recognizer component obtains；Encoded information is sent out
It send to transfer robot, so that transfer robot is by delivery window indicated by transfer of packages to encoded information.
In some embodiments, sorting equipment includes acquisition component and multi-axis robot, and will be conveyed in piece supplying table
In transfer of packages to transfer robot, comprising: receive the status information of the package of acquisition component acquisition, wherein status information packet
Include the location information of package；Location information is sent to multi-axis robot, so that multi-axis robot crawl package, and package is turned
Move to transfer robot.
In some embodiments, status information further includes the dimensional parameters information and method of package further include: according to packet
The dimensional parameters information wrapped up in, calculates the volume of package；For each transfer container in each transfer container, held according to the transfer
The volume of each package in device and the transfer volume of a container prestored, determine the state of the transfer container, wherein state packet
It includes fully loaded.
In some embodiments, sorting equipment further includes detection components and method further include: receives the detection components
Detection information, wherein detection information includes from the dimensional parameters information for the package that delivery window is fallen and/or transfer container
The elevation information of package；According to detection information, the state of transfer container is determined, wherein state includes fully loaded.
In some embodiments, sorting equipment further includes transport robot and method further include: determines transfer container
State is full load, sends control signal to transport robot so that transport robot fully loaded transfer container is transported to it is pre-
If position, and/or make transport robot that unloaded transfer container is transported to delivery window corresponding to fully loaded transfer container
Lower section.
Sorting equipment and method for sorting provided by the embodiments of the present application, by the way that delivery window is arranged, and in each delivery window
Transfer container is arranged in lower section, and the sorting equipment of multilayered structure may be implemented, to increase the utilization of the solid space in place, reduces
The occupancy of the plane space in place.And the quantity of delivery window can be set according to the variation of the quantity of sorting website, it can expand
Malleability is stronger.Meanwhile traditional sorting trolley along pipeline loopy moving is replaced with transfer robot, it can be along shortest path
Package is transported to corresponding delivery window by diameter, to improve sorting efficiency.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of existing halved belt sorter；
Fig. 2 is the structural schematic diagram of one embodiment of sorting equipment provided by the present application；
Fig. 3 is structural schematic diagram of the sorting equipment in one embodiment of off-sorting station；
Fig. 4 is structural schematic diagram of the sorting equipment in the one embodiment in the area Ji Bao；
Fig. 5 is structural schematic diagram of the sorting equipment in one embodiment of buffer area；
Fig. 6 is the flow chart of one embodiment of method for sorting provided by the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The packages of the prior art usually use halved belt sorter, as shown in Figure 1, it illustrates in the prior art
The structural schematic diagram of halved belt sorter.
As can be known from Fig. 1, halved belt sorter is usually by for packet pipeline 11, code-reading apparatus 13, annular circulation conveying line
14, cross traveling trolley 15, chute 16, transfer container 17 etc. form.Specific sort process are as follows: firstly, by manually by all packages
For the separation of the enterprising pedestrian's work order part of packet pipeline 11 and the upward operation of bar code (position 12 as shown in fig. 1)；Later, it will wrap
It wraps up in annular 14 system of circulation conveying line of feeding, code-reading apparatus 13 is equipped in the inlet of annular circulation conveying line 14, for obtaining
Take package information；Then, in this annular 14 system of circulation conveying line, many individually cross traveling trolleys 15 is contained, are hung down
Directly arranged in annular circulation conveying line 14；In sorting, package is sent into an individual cross traveling trolley 15 after reading code by package
On, it being reached through system-computed at specified position, it will include laterally moved out annular circulation conveying line 14 that cross traveling trolley 15, which moves,
And be sent into through chute 16 in specified transfer container 17, to complete packages.Several transfer containers 17 are according to sorting station
The difference of point is arranged in the outside of annular circulation conveying line 14, for receiving the package of the feeding of cross traveling trolley 15.Transfer container 17
After being filled with, manually transfer container 17 can be transported to buffer area.
However, in the sorting mode of existing halved belt sorter, need by artificial link by it is all wrap up into
The separation of row single-piece and the upward operation of bar code, increase artificial working strength, simultaneously because artificial participation leads to error rate
It is higher.Meanwhile needing to configure the quantity of cross traveling trolley according to the quantity of sorting website.It is more to sort website, and due to intersecting
Characteristic with sorting system cycle arrangement, the quantity of required cross traveling trolley just need more, and then occupied ground space is big, and
Resilient expansion ability is weaker.In addition, restriction of the sorting speed of this sorting mode by conveying linear velocity, it is even more impossible to improve wink
When sorting efficiency.And the automation control of halved belt sorter is complicated, after equipment fault, need to integrally stop transport maintenance, to failure
It can be operated again after reparation.The cost of investment and the operation and maintenance of whole system is also higher.So this sorting mode is not
It is suitable for now to the demand of sorting equipment.
With continued reference to Fig. 2, the structural schematic diagram of one embodiment of sorting equipment provided by the present application is shown.The application
In sorting equipment may include piece supplying table 21, transfer robot 22, multiple delivery windows 23.Wherein, in multiple delivery windows 23
The lower section of each delivery window 23 is provided with transfer container 24.Wherein, lower section refers to direction of the delivery window 23 towards ground.
In the present embodiment, piece supplying table 21 can be used for conveying package.Transfer robot 22 can be used for piece supplying table 21
On transfer of packages to corresponding delivery window 23.Transfer container 24 can be used for storing the throwing from being located above its (transfer container)
Pass the package that window is fallen.Herein, top is the direction opposite with lower section, i.e. direction of the sorting equipment away from ground.And it is multiple
At least partly sorting website corresponding to delivery window 23 is different in delivery window 23.
Here sorting website can (but being not limited to) be destination according to package, divided according to province, city or area
Distribution Center.After package reaches these sorting websites, the sub- grade collection that the sorting website is managed can also be further sorted
Scatterplot.Certainly, sorting website, which is also possible to wrap up, is dispensed into the last Distribution Center before addressee.It is understood that sorting
Website divides more detailed, and the quantity of corresponding delivery window 23 is more.Such as corresponding some area, Beijing of each delivery window 23
Website is sorted, the quantity of such delivery window 23 and the quantity in all areas of Beijing are identical.
Specifically, it after package is placed in piece supplying table 21, can be moved along piece supplying table 21.At this point, personnel may stand in
Then package thereon is placed on transfer robot 22 by the two sides of piece supplying table 21 by manual type.Meanwhile it can pass through
Manual type identifies the destination of package, and then determines that package to corresponding delivery window, and sends information to transfer machine
Device people 22.Then, transfer robot 22 carries package and is moved to corresponding delivery window 23.After reaching corresponding delivery window 23,
The pallet that transfer robot 22 carries package can produce relative rotation, thus by transfer of packages thereon to delivery window 23, and
Carry out the transfer of next package.The off-sorting station of sorting equipment can be divided into here, i.e., the sorting equipment positioned at off-sorting station can
To be in same layer.Then, package is fallen from delivery window 23, and falls into the transfer container 24 positioned at 23 lower section of delivery window.Arrive this
In can be divided into the area Ji Bao of sorting equipment, the area Ji Jibao is located at the lower layer of off-sorting station.Finally, when transfer container 24 is loaded with packet
It, can be by being manually transported to different buffer areas after wrapping up in.And it can also be by manually the transfer of other (not being loaded with package) be held
Device 24 is transported to the position where the transfer container 24 for being loaded with package, to continue to complete packages.Buffer area and collection at this time
Packet area may be at the same layer of sorting equipment, can also be located at the lower layer in the area Ji Bao.
Sorting equipment in the present embodiment, by being arranged each region subdivision to form multilayered structure, to increase place
Solid space utilization, reduce the occupancy of the plane space in place, facilitate reduce soil use cost.And it can root
The quantity of delivery window is set according to the variation of the quantity of sorting website, and scalability is stronger, and the scope of application is wider.Meanwhile with shifting
Robot is carried to replace traditional sorting trolley along pipeline loopy moving, package can be transported to correspondence along shortest path
Delivery window, so as to improve sorting efficiency.
In some optional implementations of the present embodiment, in order to reduce labor intensity, sorting is further increased
Efficiency, sorting equipment may include recognizer component (being not shown in Fig. 2).Recognizer component can be used for obtaining the coding letter superscribed
Breath, to control transfer robot for transfer of packages to corresponding delivery window.Herein, encoded information may include bar code information
Or two-dimensional barcode information.And may include in encoded information at least one of following: the destination information of package, destination are corresponding
The identification information of identification information or delivery window.In this way, when the encoded information superscribed is sent to transfer robot by recognizer component
Afterwards, transfer robot can determine the corresponding delivery window of the package.It is understood that the specific location of recognizer component is in this Shen
Please in be not intended to limit, recognizer component may be mounted in piece supplying table, be also possible to man-hour manually hand-held, can also be mounted on transfer machine
On people.The probability of human error generation can also be reduced by the way that recognizer component is arranged in this way.
In order to realize full-automatic sorting, sorting efficiency is improved, can be shown respectively with further reference to shown in Fig. 3-Fig. 5
The structural schematic diagram of the not same district of sorting equipment (off-sorting station, the area Ji Bao and buffer area).
Identical with sorting equipment shown in Fig. 2 to be, sorting equipment in the present embodiment equally includes piece supplying in off-sorting station
Platform 21, transfer robot 22 and multiple delivery windows 23.And the lower section of each delivery window 23 is provided with transfer container (in such as Fig. 4
Shown in transfer container 24).
Unlike sorting equipment shown in Fig. 2, the sorting equipment in the present embodiment can also include acquisition component 25
With multi-axis robot 26.Acquisition component 25 can be used for acquiring the status information of the package in piece supplying table 21.Wherein, status information
It may include the location information of package.At this point, in order to preferably acquire the status information of package, as shown in figure 3, acquisition group
Part 25 can be located at the top of piece supplying table 21, and be located at the front of multi-axis robot 26.Multi-axis robot 26 can be located at piece supplying
The side of platform 21.And multi-axis robot 26 can calculate according to the status information collected of acquisition component 25 and be wrapped in piece supplying
Accurate location on platform 21, so that the transfer of packages in piece supplying table 21 to transfer robot 22 is realized automatically grabbing for package.
As an example, status information can also include the space layout situation of package, so that it is determined that the package in piece supplying table whether there is
Overlapping piece situation.Status information can also include the dimensional parameters information of package.At this point, multi-axis robot 26 can be according to package
Dimensional parameters information calculates grasp mode, so as to realize the crawl of various sizes of package, improves applicability.
It is understood that top here can be the surface of piece supplying table 21.But in order to preferably acquire packet
The status information wrapped up in, as shown in figure 3, top here is also possible to the oblique upper side of piece supplying table 21.Meanwhile front here is
Refer to the side wrapped up along the moving direction being wrapped in piece supplying table without multi-axis robot 26 (by before multi-axis robot)
To.That is, package first passes through acquisition component 25, using multi-axis robot 26.Herein, in order to improve sorting efficiency,
Multi-axis robot 26, transfer robot 22 and multiple delivery windows 23 can be located at the same side of piece supplying table 21.
In the present embodiment, in order to further realize the full-automatic sorting of sorting equipment, labor intensity, identification are reduced
Component 27 can be set in the preset direction of the motion path of multi-axis robot 26.Wherein, preset direction may include with down toward
One item missing: front, rear, left, right, above and below.In this way in the sort process of package, superscribed without restriction
The specific direction on the surface where encoded information.During multi-axis robot 26 is grabbed and wrapped up, recognizer component 27 can be right
Scanning etc. is taken pictures or is shot in six faces of package, to acquire the encoded information that identification superscribes.Encoded information is sent to
After transfer robot 22, transfer robot 22 is according to encoded information by transfer of packages to corresponding delivery window 23.
In addition, in order to avoid be wrapped in fall during damage, as shown in figure 4, the lower section of delivery window 23 can be with
It is provided with sliding slot 28.Sliding slot 28 is used to the package fallen from delivery window 23 being delivered to transfer container 24.Package can be in this way
It 28 is fallen along the chute under gravity.As an example, can be carried out to the surface of sliding slot thick to further function as buffer function
Rugosity processing, with increase sliding slot 28 and package between frictional force or sliding slot can be set to helical form, with alleviate package
Gliding speed.
In order to further increase sorting efficiency, as shown in figure 4, sorting equipment can also include transport robot 29.Transhipment
Robot 29 is used to the transfer container 24 being fully loaded with being transported to predeterminated position.And/or transport robot 29 for will zero load in
Turn the lower section that container 24 is transported to delivery window 23 corresponding to fully loaded transfer container 24.Here predeterminated position can with but it is unlimited
In for buffer area.
It is understood that can use the size of package when status information further includes the dimensional parameters information of package
Parameter information calculates the volume of package.According to the volume of package quantity and each package in transfer container 24, can determine
The state of transfer container 24.Wherein, the state of transfer container may include being fully loaded with.Namely package is filled in transfer container.?
Here, each transfer container can be batch production, so these transfer volumes of a container are usually known and roughly the same
's.
Specifically, transfer container 24 can be placed on bracket.And height of the bracket apart from ground should be greater than transhipment machine
The height of people 29.That is, after transfer container 24 is placed on bracket, between the lower surface and ground of transfer container 24 away from
From the height for being greater than transport robot 29.In this way, working as the sum of volume of all packages in transfer container 24 close to the transfer
The volume of container 24, or not less than the transfer container 24 volume when, to transport robot 29 send control signal.Transport machine
People 29 can drive into the lower section of the transfer container 24 and be held up, and be transported to buffer area storage.At this point it is possible to another transhipment
Robot 29 sends control signal, and the transfer container 24 of unloaded (not being loaded with package) is transported on the bracket.It is understood that
It is that, when space of the transfer container between ground itself is sufficient to accommodate transport robot, bracket can be not provided with.
As an example, sorting equipment can also include detection components (not shown).Detection components, which can be located at, delivers
The lower section of window, for detecting the state of transfer container.Wherein, which may include being fully loaded with.Such as detection components can be and take the photograph
As head, it is mounted on each sliding slot 28, it is every so as to calculate to acquire the dimensional parameters of the 28 each packages fallen along the chute
The volume of a package.In this way, can equally determine transfer container according to the sum of the volume for each package for falling into transfer container 24
Whether 28 be fully loaded.Certainly, in order to reduce production cost, each detection components can be set along the orientation interval of transfer container
It sets, detection components each in this way can simultaneously detect multiple transfer containers.Such as detection components can also be sensing again
Device is mounted on the side wall of each transfer container 28, to detect the elevation information of the package in transfer container 28.In this way, with
Package constantly falls into transfer container 28 and accumulates, and where the height of package reaches detection components when height, detection components can
To issue feedback signal, so that it is determined that the state of transfer container is fully loaded.Transinformation and memory space can be reduced in this way
Occupancy, thus be conducive to improve sorting equipment treatment effeciency.
Meanwhile as shown in figure 5, sorting equipment is also provided with pipeline 20 in buffer area.When transport robot 29 will
When transfer container 24 is transported to the inlet of pipeline 20, transport robot 29 stops movement, while the skin in transport robot
Band rotation makes 24 transverse shifting of transfer container disposed thereon, is i.e. moves in the direction of the arrow to pipeline 20 in Fig. 5.At this point, defeated
Line sending 20 also starts operating, and the velocity of rotation of the two matches, transfer container 24 is completely moved on pipeline 20.Turn in this way
Fortune robot 29 can carry out the transhipment of next transfer container.Transfer container 24 is delivered to corresponding area by pipeline 20
Domain further increases the whole sorting efficiency of sorting equipment so as to reduce the shipping time of transport robot 29.
It is understood that not only occupied ground is small for the sorting equipment in the application, intelligence degree is high, greatly reduces
Manual intervention, and scalability is strong, can be adjusted according to production capacity.In addition, maintenance, repair are convenient.Some part breaks down
When, it can be replaced in short-term by manually, to will not influence the operation of entire sorting equipment.Even if single transfer robot or conveyance
When device people is broken down, it can also be put into and repair on one side, the normal work without will affect other robot.
The application also proposed a kind of method for sorting.The method for sorting can be used for dividing described in the various embodiments described above
Pick device.Specifically it may refer to Fig. 6, it illustrates the flow charts of one embodiment of method for sorting provided by the present application.This point
The method of picking may include steps of:
It step 601, will be in the transfer of packages to transfer robot that conveyed in piece supplying table.
In the present embodiment, control system can control other devices and package be delivered in piece supplying table, such as AGV
(Automated Guided Vehicle, automated guided vehicle).It at this time can be by manual type by the packet in piece supplying table
It wraps up in and is transferred on transfer robot.
In some optional implementations of the present embodiment, sorting equipment may include acquisition component and multi-axis machine
People.At this point, may include: the packet for receiving acquisition component acquisition by the transfer of packages to transfer robot conveyed in piece supplying table
The status information wrapped up in, wherein status information includes the location information of package；Location information is sent to multi-axis robot, so that
Multi-axis robot crawl package, and by transfer of packages to transfer robot.Wired connection or wireless connection can be passed through herein
Mode carry out the data between each component transmission.The specific sort process of package may refer to the phase in Fig. 2 and Fig. 3 embodiment
Description is closed, is not being repeated herein.
Step 602, corresponding delivery window of the control transfer robot by transfer of packages into multiple delivery windows.
In the present embodiment, control system can control transfer robot for transfer of packages to corresponding delivery window.Wherein,
It is provided with transfer container below each delivery window in multiple delivery windows, for storing the package fallen from the delivery window.
And at least partly sorting website corresponding to delivery window is different in multiple delivery windows.Specific control process may refer to Fig. 2 implementation
Associated description in example, details are not described herein again.
In some optional implementations of the present embodiment, sorting equipment can also include recognizer component.At this point, control
Corresponding delivery window of the transfer robot by transfer of packages into multiple delivery windows may include: to receive recognizer component to obtain
The encoded information superscribed；Encoded information is sent to transfer robot, so that transfer robot is by transfer of packages to encoding letter
The indicated delivery window of breath.Here encoded information can be bar code information, be also possible to two-dimensional barcode information.And encoded information
In may include it is at least one of following: the mark letter of the destination information of package, the corresponding identification information in destination or delivery window
Breath.
Optionally, when above-mentioned status information further includes the dimensional parameters information of package, this method can also include: basis
The dimensional parameters information of package, calculates the volume of package；For each transfer container in each transfer container, according to the transfer
The volume of each package in container and the transfer volume of a container prestored, determine the state of the transfer container, wherein state
Including fully loaded.
As an example, sorting equipment can also include detection components and this method can also include: reception detection components
Detection information, wherein detection information may include the dimensional parameters information and/or transfer container of the package fallen from delivery window
In package elevation information；According to detection information, the state of transfer container is determined, wherein state includes fully loaded.
Further, sorting equipment can also include transport robot.This method can also comprise determining that transfer is held at this time
The state of device is full load, control signal is sent to transport robot, so that transport robot transports fully loaded transfer container
To predeterminated position, and/or make transport robot that unloaded transfer container is transported to delivery corresponding to fully loaded transfer container
The lower section of window.
Method for sorting provided by the present application, by controlling transfer robot for the transfer of packages conveyed in piece supplying table to correspondence
Delivery window, then the transfer container being disposed below is fallen by delivery window, to complete packages.Utilize point of multilayered structure
Device is picked, the utilization of the solid space in place can be increased, reduces the occupancy of the plane space in place.And it can be according to sorting
The quantity of website changes the quantity of delivery window is arranged, and scalability is stronger.Meanwhile it being replaced with transfer robot traditional
Along the sorting trolley of pipeline loopy moving, package can be transported to corresponding delivery window along shortest path, divided to improve
Pick efficiency.And independent operating between each transfer robot, influence will not be interfered with each other, whole operation effect is helped to improve
Rate.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (16)
1. a kind of sorting equipment, which is characterized in that the sorting equipment includes:
Piece supplying table, for conveying package；
Transfer robot, for by the transfer of packages in the piece supplying table to corresponding delivery window；
Multiple delivery windows are provided with transfer container below each delivery window in the multiple delivery window, for store from
The package that the delivery window is fallen, wherein at least partly sorting website corresponding to delivery window is different in the multiple delivery window, institute
It states lower section and refers to direction of the delivery window towards ground.
2. sorting equipment according to claim 1, which is characterized in that the sorting equipment includes recognizer component, for obtaining
The encoded information superscribed is taken, to control the transfer robot for transfer of packages to corresponding delivery window.
3. sorting equipment according to claim 2, which is characterized in that the sorting equipment includes acquisition component and multiaxis machine
Device people；
The acquisition component is located at the top of the piece supplying table, and is located at the front of the multi-axis robot, described for acquiring
The status information of package in piece supplying table, wherein the status information includes the location information of package；
The multi-axis robot is located at the side of the piece supplying table, is used for according to the state information, will be in the piece supplying table
Transfer of packages is to the transfer robot.
4. sorting equipment according to claim 3, which is characterized in that the recognizer component is set to the multi-axis robot
Motion path preset direction, wherein the preset direction include at least one of the following: front, rear, left, right, on
Side and lower section.
5. sorting equipment according to claim 3, which is characterized in that the status information further includes the dimensional parameters of package
Information, for calculating the volume of package, with the state of the determination transfer container, wherein the state includes fully loaded.
6. sorting equipment according to claim 1, which is characterized in that be provided with sliding slot below the delivery window, be used for
The package fallen from the delivery window is delivered to the transfer container.
7. sorting equipment according to claim 1, which is characterized in that the sorting equipment further includes detection components, is located at
The lower section of delivery window, for detecting the state of transfer container, wherein the state includes fully loaded.
8. sorting equipment described in one of -7 according to claim 1, which is characterized in that the sorting equipment further includes transhipment machine
People, the transfer container for will be fully loaded with are transported to predeterminated position, and/or for unloaded transfer container to be transported in fully loaded
Turn the lower section of delivery window corresponding to container.
9. sorting equipment according to claim 8, which is characterized in that the sorting equipment further includes bracket, is used to support
Transfer container, and height of the bracket apart from ground is greater than the height of the transport robot.
10. sorting equipment according to claim 8, which is characterized in that the sorting equipment further includes pipeline, for defeated
Send package；And
The transport robot is further used for: fully loaded transfer container being transported to the pipeline, so that the pipeline
By fully loaded transfer container transport to the predeterminated position.
11. a kind of method for sorting, which is characterized in that the method for sorting is for the sorting dress as described in one of claim 1-10
It sets, the method for sorting includes:
It will be in the transfer of packages to transfer robot that conveyed in piece supplying table；
Control corresponding delivery window of the transfer robot by the transfer of packages into multiple delivery windows；
Wherein, it is provided with transfer container below each delivery window in the multiple delivery window, for storing from the delivery
The package that window is fallen, at least partly sorting website corresponding to delivery window is different in the multiple delivery window.
12. method for sorting according to claim 11, which is characterized in that the sorting equipment includes recognizer component, and
Corresponding delivery window of the control transfer robot by the transfer of packages into multiple delivery windows, comprising:
Receive the encoded information superscribed that the recognizer component obtains；
The encoded information is sent to the transfer robot, so that the transfer robot is by the transfer of packages to described
Delivery window indicated by encoded information.
13. method for sorting according to claim 11, which is characterized in that the sorting equipment includes acquisition component and multiaxis
Robot, and
In the transfer of packages to transfer robot that will be conveyed in piece supplying table, comprising:
Receive the status information of the package of the acquisition component acquisition, wherein the status information includes the package
Location information；
The location information is sent to the multi-axis robot, so that the multi-axis robot grabs the package, and by institute
Transfer of packages is stated to the transfer robot.
14. method for sorting according to claim 13, which is characterized in that the status information further includes the ruler of the package
Very little parameter information, and the method also includes:
According to the dimensional parameters information of the package, the volume of the package is calculated；
For each transfer container in each transfer container, according to the volume of each package in the transfer container and prestore
The transfer volume of a container, determines the state of the transfer container, wherein the state includes fully loaded.
15. method for sorting according to claim 11, which is characterized in that the sorting equipment further includes detection components, with
And the method also includes:
Receive the detection information of the detection components, wherein the detection information includes the size of the package fallen from delivery window
The elevation information of parameter information and/or the package in transfer container；
According to the detection information, the state of transfer container is determined, wherein the state includes fully loaded.
16. method for sorting according to claim 14 or 15, which is characterized in that the sorting equipment further includes transhipment machine
People, and the method also includes:
The state for determining transfer container is full load, and Xiang Suoshu transport robot sends control signal, so that the transhipment machine
Fully loaded transfer container is transported to predeterminated position by people, and/or is transported to the transport robot by unloaded transfer container
The lower section of delivery window corresponding to fully loaded transfer container.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711168424.9A CN109807068A (en) | 2017-11-21 | 2017-11-21 | Sorting equipment and method for sorting |
| JP2020522691A JP7100124B2 (en) | 2017-11-21 | 2018-10-09 | Sorting device and sorting method |
| PCT/CN2018/109461 WO2019100857A1 (en) | 2017-11-21 | 2018-10-09 | Sorting device and sorting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711168424.9A CN109807068A (en) | 2017-11-21 | 2017-11-21 | Sorting equipment and method for sorting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109807068A true CN109807068A (en) | 2019-05-28 |
Family
ID=66600662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711168424.9A Pending CN109807068A (en) | 2017-11-21 | 2017-11-21 | Sorting equipment and method for sorting |
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| Country | Link |
|---|---|
| JP (1) | JP7100124B2 (en) |
| CN (1) | CN109807068A (en) |
| WO (1) | WO2019100857A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2019100857A1 (en) | 2019-05-31 |
| JP2021500224A (en) | 2021-01-07 |
| JP7100124B2 (en) | 2022-07-12 |
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