CN109985817A - A kind of sorting system and method for sorting - Google Patents

A kind of sorting system and method for sorting Download PDF

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Publication number
CN109985817A
CN109985817A CN201910390369.0A CN201910390369A CN109985817A CN 109985817 A CN109985817 A CN 109985817A CN 201910390369 A CN201910390369 A CN 201910390369A CN 109985817 A CN109985817 A CN 109985817A
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CN
China
Prior art keywords
consolidating
load
track
transport vehicle
sorting
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Pending
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CN201910390369.0A
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Chinese (zh)
Inventor
彭兴文
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Beijing Geekplus Technology Co Ltd
Beijing Jizhijia Technology Co Ltd
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Beijing Jizhijia Technology Co Ltd
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Application filed by Beijing Jizhijia Technology Co Ltd filed Critical Beijing Jizhijia Technology Co Ltd
Priority to CN201910390369.0A priority Critical patent/CN109985817A/en
Publication of CN109985817A publication Critical patent/CN109985817A/en
Pending legal-status Critical Current

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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

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  • Warehouses Or Storage Devices (AREA)

Abstract

The invention belongs to warehouse logistics technical field, a kind of sorting system and method for sorting are specifically disclosed.Sorting system includes shipping area, upper layer delivery track, track transport vehicle and outbound pipeline；Multiple consolidating the load containers are provided in shipping area, consolidating the load container is used to receive the package of sorting machine people carrying；The side of shipping area is arranged in outbound pipeline；Upper layer delivery track is laid on the top of shipping area, and at least covers front end and the shipping area of outbound pipeline；Track transport vehicle includes the drive wheel mechanism that track transport vehicle can be driven to run in upper layer delivery track and the grasping mechanism for capableing of vertical lifting, and track transport vehicle can run the top of any consolidating the load container to shipping area along upper layer delivery track, and the crawl of consolidating the load container is placed to outbound pipeline.Method for sorting is applied to above-mentioned sorting system.Sorting system and method for sorting provided by the invention, can reduce the space occupied of sorting system, reduce the cost of sorting, improve sorting flexibility.

Description

A kind of sorting system and method for sorting
Technical field
The present invention relates to warehouse logistics technical field more particularly to a kind of sorting systems and method for sorting.
Background technique
The fast development of e-commerce both brought unprecedented opportunity to develop to delivery industry, also gave Courier Service Propose stern challenge.How high efficiency, low cost, flexibly accurately carry out packages be always that this industry faces Problem.Traditional artificial matrix form sorting mainly faces low efficiency, and error rate is high, artificial intensity is big, difficult, management difficulty etc. of advertising for workers Problem.The conventional automated sorting device such as halved belt sorter mainly faces that investment is big, return is slow, flexibility and scalability difference Problem can not adapt to the variation demand of each period Wave crest and wave trough in utilization rate of equipment and installations, and band sorter of reporting to the leadship after accomplishing a task belongs to serial system It unites, a point all can cause whole carbel sorting to stop working after breaking down on main line.Therefore, flexible automation packet Wrap up in critical issue and urgent need that sorting has become delivery industry seeking development.
Flourishing for robot technology brings huge technological change for entire logistic industry in recent years, also to sorting Industry brings new technology and new design concept.Express delivery robot sorting system, using the form of " robot+steel platform ", Package is placed on robot bogey by operator in piece supplying table, and robot carries package and runs to steel drop piece bin position By package delivering to drop piece bin to complete packages task.
Although above-mentioned packages machine people's system, more traditional artificial sorting mode substantially increase sorting efficiency, relatively hand over The conventional automated modes such as fork band sorter have many advantages, such as that at low cost, flexibility is high again, thus have obtained the extensive concern of industry And Rapid Popularization.However steel platform use and build and high cost and longer investment cycle so that above-mentioned System is all had a greatly reduced quality in terms of flexibility and cost.Therefore, the sort plan for seeking a kind of high efficiency becomes logistics row The technical issues of industry is urgently broken through.
Summary of the invention
It is an object of the present invention to provide a kind of sorting systems, reduce the cost of sorting system, and it is flexible to improve sorting Property.
It is another object of the present invention to provide a kind of method for sorting, reduce the cost of sorting, improve sorting flexibility.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of sorting system, including shipping area, upper layer delivery track, track transport vehicle and outbound pipeline；
Multiple consolidating the load containers are provided in the shipping area, the consolidating the load container is used to receive the packet of sorting machine people carrying It wraps up in；
The side of the shipping area is arranged in the outbound pipeline；
The upper layer delivery track is laid on the top of the shipping area, and at least covers the front end of the outbound pipeline And the shipping area；
The track transport vehicle includes the driving that the track transport vehicle can be driven to run in the upper layer delivery track Wheel mechanism and the grasping mechanism for capableing of vertical lifting, and the track transport vehicle can be run along the upper layer delivery track to institute The top of any consolidating the load container in shipping area is stated, and consolidating the load container crawl is placed to the outbound pipeline On.
As a kind of optinal plan of sorting system, the grasping mechanism includes:
Grabbing assembly, for grabbing or decontroling the consolidating the load container；
Telescopic adjustment component connect with the vehicle body of the track transport vehicle and the grabbing assembly respectively, is configured as band Move the grabbing assembly vertical lifting.
As a kind of optinal plan of sorting system, the telescopic adjustment component includes:
Telescopic drive motor is arranged on the vehicle body；
Wireline reel, is horizontally set on the bottom of the vehicle body, and the wireline reel and the telescopic drive motor is defeated Axis connection out；
Hawser, one end are wound around on the wireline reel, and the other end is connect with the grabbing assembly.
As a kind of optinal plan of sorting system, the telescopic adjustment component further include:
The bottom of the vehicle body is arranged in leading block, and the central axis of the leading block is horizontally disposed, the hawser One end of the wireline reel is not connected with to connect around the leading block with the grabbing assembly.
As a kind of optinal plan of sorting system, the grabbing assembly includes electric gripper.
As a kind of optinal plan of sorting system, it is provided on the consolidating the load container suitable with grabbing assembly cooperation With portion.
As a kind of optinal plan of sorting system, the consolidating the load container is consolidating the load material bag, the opening of the consolidating the load material bag Periphery is provided with the hollow winder of multistage, and every section of hollow winder is arranged along the circumferential direction of the consolidating the load material bag, and every section It is equipped with tether in the hollow winder, the locking portion, and two are provided between adjacent two sections of hollow winders One end of the root tether adjacent with locking portion described in this is connect with the locking portion.
As a kind of optinal plan of sorting system, the grabbing assembly includes electromagnet, and the locking portion is made of metal At magnetic absorption member.
As a kind of optinal plan of sorting system, the consolidating the load material bag is arranged in consolidating the load material frame, the consolidating the load material frame Upper end quadrangle be convexly equipped with pillar, the locking portion is cyclic structure, and the locking portion is four, when the consolidating the load material bag When being arranged in the consolidating the load material frame, the locking portion is set on the pillar.
As a kind of optinal plan of sorting system, the upper layer delivery track includes the first rail along first direction setting Road, uniform intervals are arranged more first tracks in a second direction, and adjacent two first tracks form and supply the rail The current first passage of road transport vehicle, each consolidating the load container are respectively positioned between two neighboring first track；
The drive wheel mechanism includes the first drive wheel mechanism, and first drive wheel mechanism includes that at least a pair first is driven The central axis of driving wheel, first driving wheel is vertical with the first direction, and when the track transport vehicle is along described first When direction is run, two first driving wheels in a pair of first driving wheel ride upon two neighboring described first respectively On track.
As a kind of optinal plan of sorting system, the consolidating the load container in the shipping area is arranged in ranks, and every It arranges the consolidating the load container to arrange along the first direction, consolidating the load container described in every row is arranged in a second direction, the second direction It is vertical with the first direction.
As a kind of optinal plan of sorting system, it is formed between consolidating the load container described in adjacent rows for the sorter The longitudinal direction being formed between the interconnection and/or adjacent two column consolidating the load container of device people operation for sorting machine people operation leads to Road.
As a kind of optinal plan of sorting system, at least one end of first track is connected with public current platform, The upper surface of the public current platform is parallel with the upper surface of first track, and each first track with it is described Public current platform connection.
As a kind of optinal plan of sorting system, the outbound pipeline is provided with a plurality of, a plurality of outbound conveying Line is arranged along the first direction, and every outbound pipeline extends in a second direction, two at least adjacent institutes State the top that the first track is located at the outbound pipeline.
As a kind of optinal plan of sorting system, the upper layer delivery track further includes second be arranged in a second direction Track, first track and second track are in transverse and longitudinal cross-distribution；
The drive wheel mechanism further includes the second drive wheel mechanism, and second drive wheel mechanism includes at least a pair of second The central axis of driving wheel, second driving wheel is parallel with the first direction, and when the track transport vehicle is along described the When two directions are run, two second driving wheels in a pair of second driving wheel ride upon two neighboring described the respectively On two tracks.
As a kind of optinal plan of sorting system, the upper layer delivery track at least towards the outbound pipeline one End is provided with Accreditation Waiting Area, and the Accreditation Waiting Area is used for for parking the idle track transport vehicle.
As a kind of optinal plan of sorting system, the two neighboring first passage spacing side by side setting, and adjacent two One end of a first passage is connected to form serpentine channel by curved channel, and the width of the serpentine channel is equivalent everywhere；It is described The both ends of serpentine channel are connected to by interface channel, and the width of the interface channel is equal to the width of the serpentine channel.
As a kind of optinal plan of sorting system, the interface channel be semicircular arc channel or U-shaped channel, it is described go out The front end of library pipeline is located at the lower section of adjacent two first tracks or the front end of the outbound pipeline positioned at described U-shaped Below the horizontal edge in channel.
A kind of method for sorting, including shipping area, upper layer delivery track, track transport vehicle, outbound pipeline and control system； Multiple consolidating the load containers are provided in the shipping area, the consolidating the load container is used to receive the package of sorting machine people carrying；It is described The side of the shipping area is arranged in outbound pipeline；The upper layer delivery track is laid on the top of the shipping area, And at least cover the front end of the outbound pipeline；The track transport vehicle includes that the track transport vehicle can be driven described The drive wheel mechanism of upper layer delivery track operation and the grasping mechanism for capableing of vertical lifting, and the track transport vehicle can be along institute It states upper layer delivery track to run to the top of any consolidating the load container, and consolidating the load container crawl is placed to the outbound On pipeline, the method for sorting comprising steps of
Package is thrown in consolidating the load container by the sorting machine people；
The control system detects whether to fill the consolidating the load container of the package, if so, then the control system determines The position of target consolidating the load container；
The control system, which is dispatched the track transport vehicle and run along the upper layer delivery track to the target consolidating the load, to be held The top of device；
The grasping mechanism of the track transport vehicle declines, after being grabbed to the consolidating the load container, the gripper Structure drives the consolidating the load container to rise；
The track transport vehicle according to the target consolidating the load of the target consolidating the load container, determines that target outbound conveys Line；
The control system controls track transport vehicle operation to target above the target consolidating the load container and goes out Above the pipeline of library；
The grasping mechanism drives the consolidating the load container decline until the consolidating the load container and the target outbound pipeline Contact.
The beneficial effects of the present invention are:
Sorting system provided by the invention is used in carrying consolidating the load by the way that upper layer delivery track is arranged above shipping area The track transport vehicle and consolidating the load container of container are spatially layered setting, improve the space utilization rate in region, and be avoided that rail The interference of road transport vehicle and sorting machine people operation improves the efficiency that sorting and outbound are carried；Meanwhile collection is set in shipping area Upper layer delivery track is arranged in goods container above shipping area, does not need to carry out building for steel platform, significantly reduces sorting system The construction cost of system；And since the setting of consolidating the load container in shipping area does not need to be limited to being arranged every mouth for conventional steel platform, The flexibility for improving the setting of consolidating the load container, enhances the flexibility degree of sort process；Meanwhile track transport vehicle can be realized The continuity of packages and outbound operation is realized in carrying of the consolidating the load container between shipping area and outbound pipeline.
Method for sorting provided by the invention reduces sorting cost, it is flexible to improve sorting by using above-mentioned sorting system Property.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the sorting system that the embodiment of the present invention one provides；
Fig. 2 is the top view of structure in Fig. 1；
Fig. 3 is the structural schematic diagram of sorting system provided by Embodiment 2 of the present invention；
Fig. 4 is the top view of structure in Fig. 3；
Fig. 5 is the structural schematic diagram for the sorting system that the embodiment of the present invention three provides；
Fig. 6 is the top view of structure in Fig. 5.
It is marked in figure as follows:
The upper layer 1- delivery track；The first track of 11-；111- first passage；The second track of 12-；121- second channel；13- Curved channel；The first arc track of 131-；The second arc track of 132-；14- interface channel；141- third arc track；142- 4th arc track；The public current platform of 15-；The Accreditation Waiting Area 16-；
2- track transport vehicle；21- vehicle body；The first driving wheel of 22-；The second driving wheel of 23-；24- grasping mechanism；
3- shipping area；31- consolidating the load material frame；32- interconnection；33- vertical passage；
4- outbound pipeline.
Specific embodiment
The present invention 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 the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
In the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection ", " fixation " are answered It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection, It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary Logical or two elements interaction relationship.For the ordinary skill in the art, can be understood with concrete condition above-mentioned The concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower" It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above " Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of First feature horizontal height is less than second feature.
In the description of the present embodiment, term " on ", "lower", " right side ", etc. orientation or positional relationships be based on shown in attached drawing Orientation or positional relationship, be merely for convenience of description and simplification operation, rather than the device or element of indication or suggestion meaning It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition, Term " first ", " second " are only used to distinguish between description, and have no special meaning.
Embodiment one
Fig. 1 is the structural schematic diagram of sorting system provided in an embodiment of the present invention, and Fig. 2 is the top view of structure in Fig. 1.Such as Shown in Fig. 1 and Fig. 2, the present invention provides a kind of sorting systems, and which are mainly applied to the sort operation of courier packages, making will be different The package concentration on target consolidating the load ground is delivered in corresponding consolidating the load container, to realize the concentration outbound operation of package.
Sorting system provided in this embodiment includes shipping area 3, sorting machine people, upper layer delivery track 1, outbound pipeline 4 and track transport vehicle 2.Wherein, multiple consolidating the load containers are provided in shipping area 3, consolidating the load container is located at same for receiving package The target consolidating the load of package in consolidating the load container it is identical；Sorting machine people is for carrying and throwing the package for being covered with address information It is handed in consolidating the load container corresponding with address information；Upper layer delivery track 1 is horizontally set on the top of shipping area 3, and and consolidating the load Container is at a distance of preset height；Track transport vehicle 2 is arranged on upper layer delivery track 1, and can run along upper layer delivery track 1 to collection Above any consolidating the load container of goods area 3, and the grasping mechanism 24 of vertical lifting is capable of in setting on track transport vehicle 2, will be filled The consolidating the load container of package grabs and transports placement and grabs and put to corresponding outbound pipeline 4, and by empty consolidating the load container Set the predeterminated position in shipping area 3；The consolidating the load container that outbound pipeline 4 is used to be mounted with package carries out outbound processing, and defeated It send to corresponding outbound mouth or freight；Control system, for regulating and controlling sorting machine people, track transport vehicle 2 and outbound conveying The operation of line 4 etc..
In the present embodiment, it by the way that upper layer delivery track 1 is arranged above shipping area 3, is used in and carries consolidating the load container Track transport vehicle 2 and consolidating the load container are spatially layered setting, improve the space utilization rate in region, and be avoided that rail transport The interference of vehicle 2 and sorting machine people operation improves the efficiency that sorting and outbound are carried；Meanwhile consolidating the load is set in shipping area 3 and is held Upper layer delivery track 1 is arranged in device above shipping area 3, does not need to carry out building for steel platform, significantly reduces sorting system Construction cost；And since the setting of consolidating the load container in shipping area 3 does not need to be limited to being arranged every mouth for conventional steel platform, mention The high flexibility of consolidating the load container setting, enhances the flexibility degree of sort process；Meanwhile track transport vehicle 2 can be realized The continuity of packages and outbound operation is realized in carrying of the consolidating the load container between shipping area 3 and outbound pipeline 4.
In the present embodiment, it superscribes and is covered with label code, label code includes at least the posting address information of package, and receives Part address information includes at least with target consolidating the load corresponding address.Such as, posting address information usually mainly includes package addressee Autonomous region, province, city, area, street and cell where ground, for city-level sorting system, from this city to other cities, this province or other provinces and towns The package distributed usually using city-level address as target consolidating the load, i.e. " city " of the target consolidating the load ground in corresponding posting address, such as Sortation hubs positioned at Beijing can be the target consolidating the load of package Tianjin, Wuhan City, Shijiazhuang etc.；For this city The package distributed, usually as target consolidating the load using area, i.e. " area " of the target consolidating the load ground in corresponding address information.
In the present embodiment, label code can also include package post part address, sender's name, addressee's name etc. its His information, and superscribe label code is set as ordinary skill in the art means, the present embodiment is no longer repeated.In this reality It applies in example, label code can be bar code, two dimensional code or RF tag, and the present embodiment is not to the class for superscribing the label code pasted Type carries out concrete restriction.
It is provided with multiple consolidating the load containers in shipping area 3, is carried out at sorting consolidating the load for the package to different target consolidating the load ground Reason.The target consolidating the load of package in same consolidating the load container it is identical, target consolidating the load between different consolidating the load containers can With identical or different, such as when the package amount on a certain target consolidating the load ground is larger, two or more consolidating the load containers can be set to this The package on target consolidating the load ground is sorted.
In the present embodiment, consolidating the load container can be consolidating the load material frame 31 or consolidating the load material bag, and consolidating the load material bag is arranged in consolidating the load In material frame 31.Consolidating the load material frame 31 is the frame structure of upper end opening, and consolidating the load material bag is pouched case open at one end.It is thrown to collection Package in goods container is located in consolidating the load material bag, and consolidating the load material frame 31 is used to fix and support the effect of consolidating the load material bag, and entrucking goes out When library, packed consolidating the load material bag is usually subjected to entrucking outbound and is transported.
In the present embodiment, track transport vehicle 2 can carry out whole crawl and carrying to consolidating the load material frame 31, at this point, going out When library pipeline 4 is by consolidating the load container traffic to outbound mouth, need that consolidating the load material bag in consolidating the load material frame 31 is taken out and is packaged Entrucking, while also needing using transfer robot etc. to transport vacant consolidating the load material frame 31 into shipping area 3 back.It is further preferable that In the present embodiment, track transport vehicle 2 is only grabbed and is carried to consolidating the load material bag, i.e., after filling package in consolidating the load material bag, rail Consolidating the load material bag is grabbed and is promoted by grasping mechanism 24 by road transport vehicle 2, after so that consolidating the load material bag is detached from consolidating the load material frame 31, track fortune Consolidating the load material bag is delivered on outbound pipeline 4 by defeated vehicle 2 along upper layer delivery track 1, carries out outbound processing through outbound pipeline 4. This kind of set-up mode can reduce the load of track transport vehicle 2, and since track is transported due to not needing to carry consolidating the load material frame 31 The consolidating the load material bag that defeated vehicle 2 is carried is used directly for being packaged entrucking, does not need the reciprocal carrying for carrying out consolidating the load material frame 31, improves and divide Efficiency is picked, sorting energy consumption is reduced.In the present embodiment, it is described so that the consolidating the load container of carrying is consolidating the load material bag as an example.
In the present embodiment, the carrying for convenience of track transport vehicle 2 to consolidating the load container, it is preferable that consolidating the load container is in consolidating the load It arranges in area 3 along first direction and second direction ranks, i.e., is arranged at intervals with multirow consolidating the load material frame 31, edge along first direction setting Second direction is arranged at intervals with multiple row consolidating the load material frame 31, and formation passes through for Prospect of Robot Sorting System between adjacent rows consolidating the load material frame 31 Interconnection 32 forms the vertical passage 33 passed through for Prospect of Robot Sorting System between adjacent two column consolidating the load material frame 31.Carry package Prospect of Robot Sorting System is run by interconnection 32 and/or vertical passage 33 to consolidating the load container corresponding with package address information, And package is thrown in consolidating the load container.
In the present embodiment, the sorting to realize positioning of the Prospect of Robot Sorting System to consolidating the load container, where each consolidating the load container The position in region is provided with the positioning identifier for positioning consolidating the load container.It is corresponding that each positioning identifier is stored in control system Position coordinates and target consolidating the load etc. information.That is, obtaining this after sorting machine people receives package through scanning means and superscribing Address information and be transmitted to control system；Control system according to address information with determining target consolidating the load, and according to target consolidating the load Ground determines the position coordinates of target consolidating the load container；Control system is according to the initial position of sorting machine people and target consolidating the load container Position coordinates determine the dispensing running track of sorting machine people；Control system controls sorting machine people and transports according to running track is launched Row target consolidating the load container position, and by package delivering into consolidating the load container.
For realize sorting machine people to the carrying of package and to by package delivering into consolidating the load container, in the present embodiment In, the artificial self-driving type robot of sorting machine comprising shell is arranged in the driving mechanism of housing bottom and is arranged on shell top The carrying platform in portion.Driving mechanism includes the driving wheel that housing bottom is arranged in and the driving unit of driving driving force rotation.It is logical Setting driving mechanism is crossed, sorting machine people can run between in sorting area and shipping area 3, sorting machine people is accepted Package carry operation at target consolidating the load container.Carrying platform can be carried for carrying package, carrying platform for turnover plate type Platform, i.e., its by way of overturning by the package delivering on carrying platform into consolidating the load container.Carrying platform may be defeated Belt carrying platform is sent, the package on carrying platform is delivered in consolidating the load container by way of conveyer belt.In the present invention In, the driving mechanism of sorting machine people and the setting of carrying platform are ordinary skill in the art means, and sorting machine people Can be used existing can no longer be repeated sorting machine people structure of the package delivering into consolidating the load container, the present embodiment.
Upper layer delivery track 1 is mainly used for realizing the fortune being wrapped between shipping area 3 and outbound pipeline 4 that consolidating the load finishes It is defeated, docking between sorting and outbound is wrapped in realize.In the present embodiment, upper layer delivery track 1 includes along first party To multiple first tracks 11, and the uniform intervals setting in a second direction of multiple first tracks 11 is arranged, make two neighboring first rail Road 11 forms the first passage 11 run for track transport vehicle 2 along first direction.
It is further preferable that the distance between first track of each adjacent two 11 is all the same, i.e., any adjacent two first rail Road 11 can form the first passage 111 run for track transport vehicle 2.The center of each consolidating the load container is respectively positioned on two neighboring On the center line of one track 11, to facilitate track transport vehicle 2 to position the crawl of consolidating the load container.
In the present embodiment, upper layer delivery track 1 at least covers shipping area 3, so that track transport vehicle 2 can pass through upper layer Delivery track 1 is run to the top of any consolidating the load container of shipping area 3.The side of shipping area 3 towards store exit is provided with A plurality of outbound pipeline 4, every outbound pipeline 4 are corresponding with an outbound mouth in warehouse.With by the package on outbound pipeline 4 It transports in outbound mouth, carries out outbound operation.
In the present embodiment, outbound pipeline 4 extends in a second direction, and multiple outbound pipelines 4 along first direction simultaneously Row's setting.Most latter two first track 11 in multiple first tracks 11 close to side on outbound pipeline 4 forms defeated with outbound The docking orbit that line sending 4 is docked, docking orbit is located at the surface of outbound pipeline 4, so that track transport vehicle 2 can be by right It integrates with and moves to the top of each outbound pipeline 4, the consolidating the load material bag carried on track transport vehicle 2 placement is corresponding out Outbound is carried out on library pipeline 4.This kind of set-up mode passes through pair by two the first tracks 11 as docking outbound pipeline 4 It integrates with, track transport vehicle 2 can be made only to can be realized along first direction operation in consolidating the load container on upper layer delivery track 1 The crawl and transport of consolidating the load material bag.
Referring to Fig.1, in the present embodiment, in order to realize conversion of the track transport vehicle 2 between two first passages 111, Upper layer delivery track 1 include the public current platform 15 of 11 one end of the first track is set, and every first track 11 with public affairs Common row platform 15 docks.The upper surface of public current platform 15 is parallel with the upper surface of the first track 11.A certain first passage Track transport vehicle 2 on 111 is run along first direction to public current platform 15, is commutated on public current platform 15 Afterwards, at operation to another first passage.And public current platform 15 can be used for carrying the rail transport for being in idle waiting state Vehicle 2 avoids a fairly large number of track transport vehicle 2 from occupying upper layer delivery track 1 and results in blockage.Further, in order to alleviate public affairs Traffic jam in common row platform 15, upper layer delivery track 1 are provided with public current platform 15 along the two sides of first direction.
And in the present embodiment, rigid connection is used between the both ends of upper layer delivery track 1 and public current platform 15, with Improve the rigidity of structure of upper layer delivery track 1.Distance due to upper layer delivery track 1 at a distance of ground is smaller, public current platform 15 are connect by more first support columns with 31 place ground of consolidating the load material frame so that the first support column to upper layer delivery track 1 into Row support.And when the laying area of upper layer delivery track 1 is larger, second can also be arranged in the region that the first track 11 covers Support column reinforces the support to upper layer delivery track 1.And preferably, the second support column occupies a consolidating the load container in shipping area 3 Position, and upper end is connect with the lower surface of upper layer delivery track 1, is existed to avoid the setting of the second support column to sorting machine people Operation in shipping area 3 causes obstacle, and avoids the setting of the second support column to track transport vehicle 2 in upper layer delivery track 1 On transport cause to interfere.In the present embodiment, the quantity of the second support column and setting position can be according to upper layer delivery tracks 1 Laying area be specifically arranged.In other one embodiment, when warehouse height is smaller, upper layer conveyor track can also be made Road 1 top for being located at shipping area 3 is hung by steel column or hawser etc..
In the present embodiment, in order to realize grasping mechanism 24 to consolidating the load material bag consolidating the load material frame 31 and outbound pipeline 4 it Between transport, the height apart from 31 place ground of consolidating the load material frame of upper layer delivery track 1 is greater than the height of twice of consolidating the load material frame 31, And the height of preferably smaller than three times consolidating the load material frame 31, cause upper layer delivery track 1 to take to avoid delivery platform setting in upper layer is excessively high If difficult.
In the present embodiment, track transport vehicle 2 includes vehicle body 21 and the first drive wheel mechanism, and the first drive wheel mechanism includes Two the first driving wheels 22 for being separately positioned on 21 two sides of the bottom of vehicle body and setting are in 21 inside of vehicle body and the first driving of driving First driving unit of 22 rotation of wheel.When track transport vehicle 2 operates in upper layer delivery track 1, two the first driving wheels 22 divide Wei Yu not be on adjacent two first tracks 11, and the axis of two the first driving wheels 22 is vertical with the first track 11, to make rail Road transport vehicle 2 is run on the first track 11 along first direction.
To realize commutation operation of the track transport vehicle 2 on public current platform 15, track transport vehicle 2 further includes commutation fortune Row mechanism.In the present embodiment, commutation operating mechanism can be universal wheel reversing mechanism, i.e., be arranged in 21 bottom of vehicle body universal Wheel drives the rotation commutation of vehicle body 21 by universal wheel.In other embodiments, commutation operating mechanism can also be arranged to along the Second drive wheel mechanism of two directions operation, i.e., be respectively set two the second driving wheels 23 in 21 two sides of vehicle body and in vehicle body 21 Second driving unit of portion's setting driving the second driving wheel 23 rotation, and the central axis of the second driving wheel 23 and the first driving wheel 22 Central axis so that the second driving wheel 23 can move along a straight line in a second direction, by the first drive wheel mechanism of switching with The commutation campaign of track transport vehicle 2 is realized in the operation of second drive wheel mechanism.
In the present invention, existing to can be realized commutation and can be applied to rail along the driving mechanism of specific direction operation In road transport vehicle 2, differential driving cooperation universal wheel commutation such as is set by the first drive wheel mechanism, track transport vehicle can be realized 2 move along the spin commutation of the linear motion and track transport vehicle 2 of first direction, and this kind of drive form is set as ability The conventional technical means in domain, the driving setting such as in sorting machine people or Prospect of Robot Sorting System；Or the first driving wheel can be passed through The commutation campaign of track transport vehicle 2, such as existing four-way shuttle are realized in switching between mechanism and the second drive wheel mechanism Deng the present embodiment is no longer repeated.
To guarantee that track transport vehicle 2 in accurate operation to each first track 11, also pastes on public current platform 15 It is covered with the station location marker being oriented to for track transport vehicle 2.Preferably, public current platform 15 is in the first track of each adjacent two 11 Port among be covered with the station location marker so that the operation of track transport vehicle 2 makes track transport vehicle 2 to before the first track 11 The first track of face 11 and center is located on the center line of two neighboring first track 11, to guarantee the two of track transport vehicle 2 A first driving wheel 22 is driven into respectively on two neighboring first track 11.It is further preferable that in the present embodiment, station location marker is Two dimensional code, the bottom centre of track transport vehicle are provided with the camera for scanning the two-dimensional code.By two dimensional code to rail transport Vehicle 2 is navigated and is positioned as ordinary skill in the art means, and the present embodiment is no longer repeated.
To realize carrying of the track transport vehicle 2 to consolidating the load container, the bottom of track transport vehicle 2 is provided with grasping mechanism 24, Grasping mechanism 24 includes the grabbing assembly for grabbing consolidating the load container and the rising-falling tone for realizing grabbing assembly vertical lifting Save component.
It in the present embodiment, is the structure for simplifying track transport vehicle 2, telescopic adjustment component preferably includes hawser, wireline reel With winding driving motor.Winding driving motor is arranged in the bottom of vehicle body 21 or the inside of vehicle body 21 is arranged in, and wireline reel is horizontal The bottom of vehicle body 21 and the output axis connection with winding driving unit are set, so that winding driving unit driving wireline reel turns It is dynamic.One end fixation of hawser ties up on wireline reel, and the other end is connected with grabbing assembly.Output shaft by winding driving motor turns Dynamic drive turns pivoting, so that winding of the hawser on wireline reel is realized, so that grabbing assembly be made to increase vertically；Or pass through volume Output shaft counter-rotating belts turn around driving motor is rotated backward around axis, to realize relieving of the hawser on wireline reel, is made Grabbing assembly is vertically lowered.By the way that coiled lift adjustment component is arranged, structure is simple, can reduce telescopic adjustment component Space occupied, reduces the size of track transport vehicle 2, and is capable of increasing the range of lift adjustment.In other embodiments, it stretches and adjusts Section component can also be arranged to other forms, and the form of telescopic rod such as can be set into.
In the present embodiment, the generally rectangular frame structure of consolidating the load material frame 31, consolidating the load material bag are placed in consolidating the load material frame 31 When, the open end edge of consolidating the load material bag rides upon at the open edge of consolidating the load material frame 31.To realize that grasping mechanism 24 holds consolidating the load The steady crawl of device, grasping mechanism 24 includes more hawsers and multiple grabbing assemblies, and the number of hawser and grabbing assembly is one by one It is corresponding.Multiple grabbing assemblies correspond to the edge setting of consolidating the load material frame 31, to prevent grabbing assembly from acting in consolidating the load container Package causes package broken and grabs the problems such as unstable to consolidating the load container.In the present embodiment, grabbing assembly is provided with four A, four grabbing assemblies respectively correspond four angles setting of consolidating the load material frame 31.In other embodiments, grabbing assembly can also be set Two are set, two grabbing assemblies can correspond to the midpoint setting on 31 opposite sides side of consolidating the load material frame, can also correspond to consolidating the load material frame 31 Diagonal setting.
In the present embodiment, every hawser can be correspondingly arranged a wireline reel and winding driving motor, it is further preferable that To reduce cost, more hawser systems can be located on same root wireline reel, it is more using the synchronous driving of a winding driving motor Root wireline reel winding is decontroled, to realize the synchronization action of multiple grabbing assemblies.As in the present embodiment, wireline reel level is set It sets and opposite first direction and second direction tilts, two in four hawsers are located at the side of wireline reel, another two hawsers Positioned at the other side of wireline reel, and one end of four hawsers be respectively be located at wireline reel along its axial different piece, and according to Hawser with respect to the direction of wireline reel determine every hawser be system clockwise around or system is around so that the rotation band of wireline reel counterclockwise Dynamic four hawsers are synchronous to be wound or decontrols.And in order to realize the positioning to hawser telescopic direction and pendant position, track transport vehicle 2 There are four the leading block for hawser orientation, the other ends of hawser to connect around leading block with grabbing assembly for bottom setting. By the setting of leading block, the movement of hawser be oriented to and position the relative position between grabbing assembly, energy It is enough mutually perpendicular to two sections of hawsers of leading block two sides, avoids the generation in crawl consolidating the load container processes of grasping mechanism 24 horizontal Offset, meanwhile, reduce the resistance of hawser winding.
To improve grasping mechanism 24 to the crawl Stability and veracity of consolidating the load container, it is preferable that be arranged on consolidating the load container There is the mating part for cooperating with grabbing assembly.In the present embodiment, mating part there are four being arranged on consolidating the load material bag, and mating part The quadrangle setting of corresponding consolidating the load material frame 31, so that each mating part and four grabbing assemblies one-to-one correspondence of grasping mechanism 24 be made to set It sets.And to improve shelf-stability of the consolidating the load material bag in consolidating the load material frame 31, when consolidating the load material bag is placed in consolidating the load material frame 31, Four mating parts ride upon the four corners of consolidating the load material frame 31.
In embodiment, the crawl for simplified grasping mechanism 24 to consolidating the load material bag, it is preferable that grabbing assembly includes electromagnetism Iron, locking portion are magnetic absorption member made of metal.Power supply and control module are provided in track transport vehicle 2, electromagnet passes through spiral Conducting wire connects to power supply, and control module is electrically connected with electromagnet.The company between power supply and electromagnet is controlled by control module On-off is opened, and makes electromagnet in the case where energization, can attract magnetic absorption member, so that grasping mechanism 24 be made to drive consolidating the load material bag liter Drop and/or translation；In the case where electromagnet power-off, it is disconnected with magnetic absorption member, to make grasping mechanism 24 that will fill package Consolidating the load material bag be placed on outbound pipeline 4, or empty consolidating the load material bag is placed in consolidating the load material frame 31.
In order to improve consolidating the load material bag in the setting stability of consolidating the load material frame 31, further, in the present embodiment, consolidating the load material The four corners of frame 31 are provided with pillar, and locking portion is ring structure.Make when consolidating the load material bag is placed in consolidating the load material frame 31, four suitable It is respectively sleeved at portion in 31 4 jiaos of consolidating the load material frame of pillar；When grabbing assembly grabs consolidating the load material frame 31, locking portion is by electromagnetism Iron attracts and is detached from pillar.
Further, the opening periphery of consolidating the load material bag is provided with four sections of hollow winders, and each locking portion is arranged at phase Between adjacent two hollow winders, and tether is equipped in each hollow winder, the both ends of tether are pierced by hollow winder And connect respectively with the ring structure at hollow winder both ends, so that adjacent two tethers be made to pass through a ring structure connection. This kind of set-up mode when grabbing assembly grabs consolidating the load material bag, due to the gravity wrapped up in consolidating the load material bag, drives consolidating the load material bag Opening to center bounce back, be conducive to the closing in consolidating the load material bag.
In other one embodiment, grabbing assembly can be electric gripper, and locking portion is to ride upon consolidating the load material frame 31 4 The pillar or locking portion at angle are the scrap (bridge) structure ridden upon at 31 open edge of consolidating the load material frame.By being driven by electricity electric gripper It opens or closes up, realize the crawl to locking portion.Under this kind setting, it is preferable that scrap (bridge) structure is arranged in rectangle, and including four End to end scrap (bridge), four scrap (bridge)s ride upon 31 open end of consolidating the load material frame, four side respectively, so as to facilitate grabbing assembly to make For consolidating the load material bag, and improve setting stability of the consolidating the load material bag in consolidating the load material frame 31.And the hardness of scrap (bridge) structure is greater than collection The hardness of goods material bag, to realize consolidating the load material bag open end setting up in consolidating the load material frame 31.Scrap (bridge) structure can be by consolidating the load material bag Opening periphery formed through repeatedly winding, or structure on consolidating the load material bag is additionally set, and at this time, it is preferable that take Side structure is detachably connected with consolidating the load material bag, to facilitate consolidating the load material bag to carry out packing closing in.
It in the present embodiment, is the continuity for improving sorting and outbound operation, the side of shipping area 3 is provided with consolidating the load material bag Area, consolidating the load material bag area are used to store empty consolidating the load material bag.Preferably, consolidating the load material bag area is located at the lower section of upper layer delivery track 1, with So that track transport vehicle 2 is grabbed the hollow consolidating the load material bag in consolidating the load material bag area and is placed in consolidating the load material frame 31.It is further preferable that Crawl for convenience of grasping mechanism 24 to consolidating the load material bag, the settable storage similar with consolidating the load material frame 31 is held in consolidating the load material bag area Device, consolidating the load material bag can be set in storage container layer by layer, and the quadrangle that four locking portions of consolidating the load material bag correspond to storage container is set It sets, so that four grabbing assemblies of grasping mechanism 24 can act on four locking portions with consolidating the load material bag four corners respectively, to realize Stablizing for consolidating the load material bag is grabbed and consolidating the load material bag is properly placed in consolidating the load material frame 31.This kind of set-up mode, can After the consolidating the load material bag for filling package is by the crawl transport of track transport vehicle 2, idle track transport vehicle 2 grabs consolidating the load material bag and places In consolidating the load material frame 31, realize that sorting machine people to the sustained-release wrapped up in consolidating the load material bag, improves sorting and outbound operation Continuity.
In the present embodiment, fill transported after the consolidating the load material bag of package is grabbed by the grasping mechanism 24 of track transport vehicle 2 to Outbound operation is carried out on outbound pipeline 4.Outbound pipeline 4 is provided with a plurality of, the difference of every 4 opposite depot of outbound pipeline Outbound mouth, i.e. every corresponding target consolidating the load of outbound pipeline 4 it is different.Control system is in control track transport vehicle 2 to consolidating the load When consolidating the load material bag in material frame 31 is grabbed, corresponding object set in consolidating the load material bag is determined according to 31 position of consolidating the load material frame Goods, so that it is determined that the corresponding outbound pipeline 4 of consolidating the load material bag, is planned with the path to track transport vehicle 2, transports track Defeated vehicle 2 is run along the path of planning to target outbound pipeline 4, and consolidating the load container is placed on target outbound pipeline 4 On.
It preferably, is simplified control difficulty, an outbound pipeline 4 is with corresponding to a target consolidating the load.Storage area by Limit and/or target consolidating the load it is more in the case where, with being also possible to the corresponding multiple target consolidating the loads of outbound pipeline 4, and more A target consolidating the load ground geography rank in upper layer having the same can correspond to one with being such as located at multiple target consolidating the loads of same province Outbound pipeline 4.
In this embodiment, it is preferred that the front end of every outbound pipeline 4 is provided with packing platform, and it is packaged platform Positioned at the lower section of docking delivery track, carried out at packing so that the package that track transport vehicle 2 is carried directly falls in be packaged on platform Reason.It is packaged the processing such as platform is used to close up to consolidating the load material bag, label pastes.In the present embodiment, to the receipts of consolidating the load material bag Mouthful and label the processing operations such as paste and can also be carried out using mechanical arm, the present embodiment no longer be gone to live in the household of one's in-laws on getting married by manually carrying out It states.
The present embodiment additionally provides a kind of method for sorting, comprising the following steps:
Step S101: sorting machine people receives in off-sorting station and wraps up；
Step S102: control system according to the determining target consolidating the load wrapped up of the address information superscribed, and determines target Position of the consolidating the load ground where corresponding consolidating the load container；
Step S103: control system is according to sorting machine people in the position of off-sorting station and target consolidating the load container in shipping area 3 Position be sorting machine people plan the first travel path；
Step S104: sorting machine people runs according to the first travel path to target consolidating the load container, and by package delivering Into target consolidating the load container；
Step S105: when filling package there are consolidating the load container in shipping area 3, control system determines the consolidating the load for filling package The position of container；
Step S106: control system dispatches track transport vehicle 2, and is held according to the initial position of track transport vehicle 2 and consolidating the load The position of device is that track transport vehicle 2 plans the second travel path；
Step S107: track transport vehicle 2 is run along the second mental state path to the top of target consolidating the load container；
Step S108: the grasping mechanism 24 of track transport vehicle 2 telescopic adjustment component movement, make grabbing assembly decline and with The contact of consolidating the load material bag；
Step S109: the grabbing assembly movement of the grasping mechanism 24 of track transport vehicle 2 grabs consolidating the load material bag；
Step S110: the telescopic adjustment component movement of track transport vehicle 2 makes grabbing assembly that consolidating the load material bag be driven to rise and collect Goods material frame 31 is detached from；
In the present embodiment, grasping mechanism 24 crawl be consolidating the load material bag, need to be promoted consolidating the load material bag to consolidating the load material frame 31 disengage.In other embodiments, it when the crawl of grasping mechanism 24 is consolidating the load material frame 31, needs to mention consolidating the load material frame 31 Rise to height of its bottom higher than the surface of outbound pipeline 4.
Step S111: control system determines outbound pipeline 4, and root according to the corresponding target consolidating the load of target consolidating the load container It is that track transport vehicle 2 plans third travel path according to the position of outbound pipeline 4 and target container position；
Step S112: track transport vehicle 2 is run according to third travel path to the top of target track transport vehicle 2；
Step S113: the movement of telescopic adjustment component drives the decline of consolidating the load material bag until contacting with outbound pipeline 4；
Step S114: grabbing assembly movement is detached from consolidating the load material bag and grabbing assembly, and telescopic adjustment part component acts, Grabbing assembly is driven to reply initial position；
Step S115: consolidating the load material bag is packaged after labeling through the transport of outbound pipeline 4 to outbound mouth on being packaged platform；
Step S116: control system scheduling track transport vehicle 2 grabs vacant consolidating the load material bag to vacant consolidating the load material frame 31 In.
In the present embodiment, any stage between step S110 and step S115 can occur for step S116.And In the present embodiment, grasping mechanism 24 crawl be consolidating the load material bag, when grasping mechanism 24 crawl be consolidating the load material frame 31 when, need by Vacant consolidating the load material frame 31 is placed on former 31 location of target consolidating the load material frame.
Embodiment two
Fig. 3 is the structural schematic diagram of sorting system provided in an embodiment of the present invention, and Fig. 4 is the top view of structure in Fig. 3, such as Shown in Fig. 3 and Fig. 4, a kind of sorting system is present embodiments provided, compared with the sorting system that embodiment one provides, the present embodiment It is only had differences in the setting of upper layer delivery track 1, the present embodiment no longer repeats the structure being the same as example 1.
As shown in figure 3, in the present embodiment, upper layer delivery track 1 includes 11 He of the first track along first direction setting The second track 12 in a second direction, and mostly with the first track 11, uniform intervals are arranged in a second direction, mostly with the second track 12 It is arranged along first direction uniform intervals.Preferably, in the present embodiment, the upper surface of the first track 11 and the second track 12 is located at On same plane, facilitate track transport vehicle 2 in the first track 11 and the enterprising line direction switching of the second track 12.Adjacent two first Track 11 forms the first passage 111 current along first direction for track transport vehicle 2, adjacent to want to be formed with the second track 12 for rail The second channel 121 that road transport vehicle 2 passes through in a second direction.
Track transport vehicle 2 can be on adjacent two first tracks 11 along first direction straight reciprocating motion, adjacent two Straight reciprocating motion in a second direction on the second track of root 12.That is, in the present embodiment, track transport vehicle 2 includes vehicle body 21, the One drive wheel mechanism and the second drive wheel mechanism.The cross section of vehicle body 21 is rectangular configuration, and the first drive wheel mechanism includes setting Two pair of first driving wheel 22 in 21 opposite sides of vehicle body and the first driving unit for being arranged in inside vehicle body 21, the second driving wheel Mechanism includes that two pair of second driving wheel 23 of the other opposite sides of vehicle body 21 is arranged in and is arranged in inside vehicle body 21 second drives Moving cell, and the central axis upright of the central axis of the first driving wheel 22 and the second driving wheel 23.
When track transport vehicle 2 operates on upper layer delivery track 1, two the first driving wheels of each pair of first driving wheel 22 22 are located on adjacent two first guide rails, and the central axis of the first driving wheel 22 is parallel with second direction, to drive rail Road transport vehicle 2 moves on the first track 11 along first direction；Two the second driving wheels 23 of each pair of second driving wheel 23 are distinguished On two neighboring second guide rail, and the central axis of the second driving wheel 23 is parallel with first direction, to drive rail transport Vehicle 2 moves in a second direction on the second track 12.In order to realize what track transport vehicle 2 was moved with second direction in a first direction Switch, is additionally provided with the reversing mechanism for allowing hand over the first drive wheel mechanism and the second drive wheel mechanism on track transport vehicle 2.? In the present embodiment, the setting of track transport vehicle 2 can refer to the setting of four-way shuttle in the prior art, and the present embodiment no longer carries out It repeats.
In the present embodiment, by the way that the first track 11 and the second track 12 of cross-distribution in length and breadth is arranged, make rail transport Vehicle 2 can be run along any adjacent two first track 11 or any two adjacent second tracks 12, to make track transport vehicle 2 Operating path on upper layer delivery track 1 is flexible and changeable, and control system can be defeated according to consolidating the load container position and outbound 4 position of line sending carries out more excellent planning to the path of track transport vehicle 2, shortens the operating path of track transport vehicle 2, improves rail The transfer efficiency of road transport vehicle 2；And track transport vehicle 2 can the crossover location of any first track 11 and the second track 12 into Row commutation, commutation track or commutating zone caused by avoiding track transport vehicle 2 from being commutated in certain tracks or specific region On traffic jam.
In the present embodiment, upper layer delivery track 1 at least covers entire shipping area 3, and ranks are provided with multiple in shipping area 3 Consolidating the load material frame 31, and each consolidating the load material frame 31 is respectively positioned between adjacent two first tracks 11 and adjacent two second tracks 12. And more preferably, track transport vehicle 2 and consolidating the load container are positioned for convenience of control system, adjacent two first tracks 11 The rectangular centre formed with adjacent two second tracks 12 is overlapped with 31 bottom center of consolidating the load material frame.
In the present embodiment, shipping area 3 is provided with outbound pipeline 4, and 4 edge of outbound pipeline in the side of second direction Second direction extends, and a plurality of outbound pipeline 4 is intervally arranged along first direction.It is two at least adjacent on upper layer delivery track 1 One track 11 is located at the top of outbound pipeline 4, so that the consolidating the load container that track transport vehicle 2 transports can be placed at outbound conveying On line 4.
For reduce upper layer delivery track 1 get on the right track transport vehicle 2 traffic jam, in the present embodiment, more preferably, on At least side of layer delivery track 1 is provided with the Accreditation Waiting Area 16 waited for idle track transport vehicle 2, to avoid the free time Track transport vehicle 2 be stuck on upper layer delivery track 1 operation of other track transport vehicles 2 caused to interfere.In this implementation In example, since each track transport vehicle 2 is both needed to carry on consolidating the load container to outbound pipeline 4, then Accreditation Waiting Area 16 is preferably provided at Upper layer delivery track 1 is towards the side of outbound pipeline 4, and Accreditation Waiting Area 16 is located at the top of outbound pipeline 4.In other implementations In example, it can be respectively provided with Accreditation Waiting Area 16 in four sides of upper layer delivery track 1, to slow down traffic jam.
More preferably, in this embodiment, Accreditation Waiting Area 16 is formed by adjacent two tracks, that is, if the setting of Accreditation Waiting Area 16 exists Upper layer delivery track 1 is along the side of first direction, and Accreditation Waiting Area 16 is located at second track 12 in 3 outside of shipping area by adjacent two It is formed, if the side of upper layer delivery track 1 in a second direction is arranged in Accreditation Waiting Area 16, Accreditation Waiting Area 16 is located at collection by adjacent two First track 11 formation in 3 outside of goods area.It is formed and is waited using the first track 11 or the second track 12 that are located at 3 outside of shipping area Area 16 can make the arrangement consistency of upper layer delivery track 1, simplify the design processing of upper layer delivery track 1.In other embodiments In, Accreditation Waiting Area 16 can be formed by plane tabular structure.
The present embodiment additionally provides a kind of method for sorting, can refer to the method for sorting of the offer of embodiment one, the present embodiment No longer repeated.
Embodiment three
Fig. 5 is the structural schematic diagram of sorting system provided in an embodiment of the present invention, and Fig. 6 is the top view of structure in Fig. 5, such as Shown in Fig. 5 and Fig. 6, a kind of sorting system is present embodiments provided, compared with the sorting system that embodiment one provides, the present embodiment It is only had differences in the setting of upper layer delivery track 1, the present embodiment no longer repeats the structure being the same as example 1.
In the present embodiment, upper layer delivery track 1 is enclosed annular track comprising along the first of first direction setting Track 11, spacing side by side is arranged more first tracks 11 in a second direction.Two the first adjacent tracks 11 are formed to be transported for track First passage 111 of the defeated vehicle 2 along first direction linear running, two in the first driving wheel of a pair 22 of track transport vehicle 2 One driving wheel 22 is located on two the first tracks 11 to form first passage 111, and two neighboring first passage 111 is side by side Interval setting.To guarantee operation of the track transport vehicle 2 on upper layer delivery track 1, each first passage 111 it is of same size, And preferably, the spacing between two neighboring first passage 111 and first passage 111 is of same size, that is, in the present embodiment In, uniform intervals are arranged more first tracks 11 in a second direction.
One end of two neighboring first passage 111 is connected using curved channel 13, curved channel 13 by be arranged concentrically the One arc track 131 and the formation of the second arc track 132, the first arc track 131 is respectively and in two neighboring first passage 111 Positioned inside two 11 ends of the first track connect, the second arc track 132 respectively with position in two neighboring first passage 111 In outside two the first tracks 11 end connect, and the first arc track 131 and the second arc track 132 with it is corresponding The tangent connection of first track 11, making the first arc track 131 and the second arc track 132 is semi arch track.Second arc The semidiameter of track 132 and the first arc track 131 is equal to the width of first passage 111, and track transport vehicle 2 is enable to pass through arc Shape channel 13 is run from a first passage 111 to another first passage 111.First among upper layer delivery track 1 The both ends in channel 111 are respectively connected with curved channel 13, and the curved channel 13 at 111 both ends of first passage shifts to install, position It is connected with curved channel 13 in one end of the first passage 111 of 1 two sides of upper layer delivery track, makes entire 1 shape of upper layer delivery track At a continuous serpentine channel.
To realize track transport vehicle 2 in the circular flow of upper layer delivery track 1, the both ends of serpentine channel are using one section of connection Channel 14 is connected to, and the width of interface channel 14 is equal to the width of first passage 111.In this embodiment, it is preferred that interface channel 14 are formed by the third arc track 141 being arranged concentrically and the 4th arc track 142, and the both ends of third arc track 141 point The end for the first track of inside 11 for not being located at outermost first passage 111 with two is connect, the both ends of the 4th arc track 142 It is connect respectively with the end of the first track of outside 11 of two linear running tracks on the outermost side, and third arc track 141 and the 4th arc track 142 end it is tangent with corresponding first track 11.In other embodiments, interface channel 14 It may be U-shaped channel, the both ends in U-shaped channel are connected to two first passages 111 on the outermost side respectively, and U-shaped channel Two vertical edges and horizontal edge between using arc transition connect, to facilitate track transport vehicle 2 between the horizontal edge and vertical edge in U-shaped channel Turning motion.
In the present embodiment, since upper layer delivery track 1 is enclosed circular passage, track transport vehicle 2 is only capable of Along circular passage one-way movement, collide to avoid between track transport vehicle 2.
In the present embodiment, track transport vehicle 2 includes the first drive wheel mechanism, and the first drive wheel mechanism includes at least a pair of First driving wheel 22 and the first driving unit for being arranged in inside vehicle body 21.Two driving wheels difference of a pair of first driving wheel 22 On two tracks for forming channel.And first driving unit be preferably differential drive device, to realize track transport vehicle 2 Turning commutation.In the present embodiment, turning commutation is carried out using differential driving, can be transported in annular or snakelike track Behavior ordinary skill in the art means, the present embodiment are no longer repeated.
In the present embodiment, consolidating the load hopper can only correspond to the setting of first passage 111, i.e., each consolidating the load hopper is respectively positioned on shape At between two first tracks 11 of first passage 111.And the two neighboring consolidating the load hopper being located under same first passage 111 can It is arranged with interval, runs sorting machine people to corresponding consolidating the load hopper by vertical passage 33 and/or interconnection 32 Place；Two neighboring consolidating the load hopper under same first passage 111 is also possible to be disposed proximate to, then sorting machine people only can be with At the operation to corresponding consolidating the load hopper of interconnection 32.
In other embodiments, consolidating the load hopper can also correspond to curved channel 13 and/or interface channel 14 is arranged, i.e. part Consolidating the load hopper, which is located at, to be formed between the first arc track 131 of curved channel 13 and the second arc track 132 and/or part chance Hopper, which is located at, to be formed between the third arc track 141 of interface channel 14 and the 4th arc track 142, to increase the collection of shipping area 3 The density of setting of goods hopper.
In the present embodiment, the outermost first passage 111 of the preferred respective carter pipeline of outbound pipeline 4 is set It sets, is that the front end of every outbound pipeline 4 is respectively positioned on the lower section of the first passage 111, so that track transport vehicle 2 is from shipping area 3 The consolidating the load container of carrying can be placed to corresponding outbound pipeline 4.In other embodiments, when interface channel 14 is U-shaped When channel, outbound pipeline 4 can also correspond to the horizontal edge setting in U-shaped channel, and the front end of each outbound pipeline 4 is made to be respectively positioned on U The lower section of the horizontal edge in type channel equally can be realized carrying of the consolidating the load container on shipping area 3 and outbound pipeline 4.
The setting of outbound pipeline 4 and track transport vehicle 2 can setting with reference implementation example one to the carrying of consolidating the load container It sets, the present embodiment is no longer repeated.
The present embodiment additionally provides a kind of method for sorting, can refer to the method for sorting of the offer of embodiment one, the present embodiment No longer repeated.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims (10)

1. a kind of sorting system, which is characterized in that including shipping area (3), upper layer delivery track (1), track transport vehicle (2) and go out Library pipeline (4)；
Multiple consolidating the load containers are provided in the shipping area (3), the consolidating the load container is used to receive the packet of sorting machine people carrying It wraps up in；
Side of outbound pipeline (4) setting in the shipping area (3)；
The upper layer delivery track (1) is laid on the top of the shipping area (3), and at least covers the outbound pipeline (4) Front end and the shipping area (3)；
The track transport vehicle (2) includes that the track transport vehicle (2) can be driven to run in the upper layer delivery track (1) Drive wheel mechanism and the grasping mechanism (24) for capableing of vertical lifting, and the track transport vehicle (2) can be conveyed along the upper layer Track (1) is run to the top of any consolidating the load container in the shipping area (3), and the consolidating the load container is grabbed and is placed On to the outbound pipeline (4).
2. sorting system according to claim 1, which is characterized in that the grasping mechanism (24) includes:
Grabbing assembly, for grabbing or decontroling the consolidating the load container；
Telescopic adjustment component connect with the vehicle body (21) of the track transport vehicle (2) and the grabbing assembly respectively, is configured as Drive the grabbing assembly vertical lifting.
3. sorting system according to claim 2, which is characterized in that the telescopic adjustment component includes:
Telescopic drive motor is arranged on the vehicle body (21)；
Wireline reel, is horizontally set on the bottom of the vehicle body (21), and the wireline reel and the telescopic drive motor is defeated Axis connection out；
Hawser, one end are wound around on the wireline reel, and the other end is connect with the grabbing assembly.
4. sorting system according to claim 3, which is characterized in that the telescopic adjustment component further include:
Leading block, setting is in the bottom of the vehicle body (21), and the central axis of the leading block is horizontally disposed, the hawser One end of the wireline reel is not connected with to connect around the leading block with the grabbing assembly.
5. sorting system according to claim 2, which is characterized in that the grabbing assembly includes electric gripper.
6. sorting system according to claim 2, which is characterized in that be provided on the consolidating the load container and the crawl group The locking portion of part cooperation.
7. sorting system according to claim 6, which is characterized in that the consolidating the load container is consolidating the load material bag, the consolidating the load The opening periphery of material bag is provided with the hollow winder of multistage, and circumferential direction of the every section of hollow winder along the consolidating the load material bag is set Set, and be equipped with tether in every section of hollow winder, be provided between adjacent two sections of hollow winders one it is described suitable One end with portion, and two tethers adjacent with locking portion described in this is connect with the locking portion.
8. sorting system according to claim 7, which is characterized in that the grabbing assembly includes electromagnet, the adaptation Portion is magnetic absorption member made of metal.
9. sorting system according to claim 7, which is characterized in that the consolidating the load material bag is arranged in consolidating the load material frame (31) Interior, the upper end quadrangle of the consolidating the load material frame (31) is convexly equipped with pillar, and the locking portion is cyclic structure, and the locking portion is Four, when the consolidating the load material bag is arranged when the consolidating the load material frame (31) is interior, the locking portion is set on the pillar.
10. a kind of method for sorting, which is characterized in that including shipping area (3), upper layer delivery track (1), track transport vehicle (2), go out Library pipeline (4) and control system；Multiple consolidating the load containers are provided in the shipping area (3), the consolidating the load container is for receiving The package that sorting machine people carries；The outbound pipeline (4) is arranged in the side of the shipping area (3)；The upper layer Delivery track (1) is laid on the top of the shipping area (3), and at least covers the front end of the outbound pipeline (4)；The rail Road transport vehicle (2) includes the drive wheel mechanism that the track transport vehicle (2) can be driven to run in the upper layer delivery track (1) With the grasping mechanism (24) for capableing of vertical lifting, and the track transport vehicle (2) can be run along the upper layer delivery track (1) The extremely top of any consolidating the load container, and consolidating the load container crawl is placed to the outbound pipeline (4), described point Pick method comprising steps of
Package is thrown in consolidating the load container by the sorting machine people；
The control system detects whether to fill the consolidating the load container of the package, if so, then the control system determines target The position of consolidating the load container；
The control system is dispatched the track transport vehicle (2) and is run along the upper layer delivery track (1) to the target consolidating the load The top of container；
The grasping mechanism (24) of the track transport vehicle (2) declines, after being grabbed to the consolidating the load container, the crawl Mechanism (24) drives the consolidating the load container to rise；
The track transport vehicle (2) according to the target consolidating the load of the target consolidating the load container, determines target outbound pipeline (4)；
The control system controls the track transport vehicle (2) and runs above the target consolidating the load container to the target outbound Above pipeline (4)；
The grasping mechanism (24) drives the consolidating the load container decline until the consolidating the load container and the target outbound pipeline (4) it contacts.
CN201910390369.0A 2019-05-10 2019-05-10 A kind of sorting system and method for sorting Pending CN109985817A (en)

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CN110280488A (en) * 2019-07-29 2019-09-27 上海快仓智能科技有限公司 Storage and goods sorting system and the control method of goods sorting, device
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CN113477535A (en) * 2021-07-19 2021-10-08 北京京东乾石科技有限公司 Sorting robot and sorting system
CN113369149A (en) * 2021-07-19 2021-09-10 北京京东乾石科技有限公司 Sorting platform and sorting system
CN114345713A (en) * 2021-12-23 2022-04-15 杭州银弹科技有限公司 Reciprocating sorting system and sorting method
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