CN110510315A - Sorting machine people and method for sorting - Google Patents

Sorting machine people and method for sorting Download PDF

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Publication number
CN110510315A
CN110510315A CN201910819027.6A CN201910819027A CN110510315A CN 110510315 A CN110510315 A CN 110510315A CN 201910819027 A CN201910819027 A CN 201910819027A CN 110510315 A CN110510315 A CN 110510315A
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CN
China
Prior art keywords
sorting
sorter assemblies
cargo
sorted
sort positions
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910819027.6A
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Chinese (zh)
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CN110510315B (en
Inventor
孔哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hajou Creative Technology Ltd Shenzhen
Shenzhen Hairou Innovation Technology Co Ltd
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Hajou Creative Technology Ltd Shenzhen
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Priority to CN201910819027.6A priority Critical patent/CN110510315B/en
Publication of CN110510315A publication Critical patent/CN110510315A/en
Priority claimed from PCT/CN2020/112215 external-priority patent/WO2021037229A1/en
Application granted granted Critical
Publication of CN110510315B publication Critical patent/CN110510315B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36Sorting apparatus characterised by the means used for distribution
    • B07C5/361Processing or control devices therefor, e.g. escort memory
    • B07C5/362Separating or distributor mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B07SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07CPOSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063Using robots

Abstract

The present invention relates to a kind of sorting machine people and method for sorting, method for sorting is suitable for sorting machine people.Sorting machine people is for delivering specific cargo to be sorted to specific sort positions, and the method for sorting includes: S10: multiple sorter assemblies receive cargo to be sorted respectively;S30: the specified sorter assemblies are gone up and down under the drive of the elevating mechanism to the height of the correspondence sort positions;S50: the specified sorter assemblies execution, which is acted, is delivered to corresponding sort positions for the cargo to be sorted being placed in the sorter assemblies.Above-mentioned sorting machine people and method for sorting, the coordinated between elevating mechanism and mechanism for sorting realize the automation of goods sorting, and the efficiency of goods sorting is substantially increased while reducing goods sorting cost.Mechanism for sorting moves to different height under the drive of elevating mechanism simultaneously, and then cargo to be sorted can be delivered in the sort positions of different height.

Description

Sorting machine people and method for sorting
Technical field
The present invention relates to intelligent storage logistics technology, more particularly to a kind of sorting machine people, sorting system and divide Pick method.
Background technique
The fast development in warehouse logistics field, it is more and more convenient to bring to people's lives.The sorting of cargo is made For a key link during warehouse logistics, the whole efficiency of warehouse logistics is largely determined.Currently, main Goods sorting work by being accomplished manually or being completed by simple mechanical equipment.Manual sorting has large labor intensity, artificial Disadvantage at high cost, and simple mechanical equipment is essentially special equipment, is only capable of for cargo being dispersed in specific region, efficiency It is low, take up a large area and to the bad adaptability of different operating conditions.Current main goods sorting mode seriously constrains warehouse logistics The whole efficiency of process.
Summary of the invention
Based on this, it is necessary to be asked at high cost, low efficiency existing for existing goods sorting mode, poor universality Topic provides a kind of at low cost, high-efficient, versatile sorting machine people and method for sorting
A kind of sorting machine people, the sorting machine people include:
Chassis, the chassis can move on the ground;
Vertical frame, the vertical frame are set to the chassis, and the vertical frame is arranged along the vertical direction;
Elevating mechanism can be gone up and down along the vertical direction relative to the vertical frame;
Mechanism for sorting, the mechanism for sorting include multiple sorter assemblies, and multiple sorter assemblies are spaced along the vertical direction It is set to the vertical frame, multiple sorter assemblies are connect with the elevating mechanism respectively, and multiple sorter assemblies exist It synchronization lifting, each sorter assemblies can carry respectively to be sorted along the vertical direction under the drive of the elevating mechanism Cargo synchronization lifting, cargo to be sorted can be delivered to corresponding sort positions by each sorter assemblies;
Control centre, the control centre are electrically connected with the chassis, the elevating mechanism and the mechanism for sorting respectively It connects, the control centre is used to control elevating mechanism and movement is individually performed for the mechanism for sorting or joint executes movement.
A kind of method for sorting, suitable for above-mentioned sorting machine people, the sorting machine people is specific to be sorted for delivering Cargo to the specific sort positions, carry specific cargo to be sorted the sorter assemblies and the specific sorting position Correspondence is set, the method for sorting includes:
S10: multiple sorter assemblies receive cargo to be sorted respectively;
S30: the specified sorter assemblies are gone up and down under the drive of the elevating mechanism to the correspondence sort positions Highly;
S50: the cargo to be sorted being placed in the sorter assemblies is delivered in specified sorter assemblies execution movement To corresponding sort positions.
Above-mentioned sorting machine people and method for sorting, the coordinated between elevating mechanism and mechanism for sorting realize cargo point The automation picked substantially increases the efficiency of goods sorting while reducing goods sorting cost.Mechanism for sorting is rising simultaneously Different height is moved under the drive of descending mechanism, and then cargo to be sorted can be delivered to the sort positions of different height In, occupied area that is versatile and reducing sort positions.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.
Fig. 1 is sorting machine people's structural schematic diagram that cargo is delivered to shelf that one embodiment of the invention provides;
Fig. 2 is the spaced structural schematic diagram of multiple sorter assemblies that one embodiment of the invention provides;
Lifting structure schematic diagram in the sorting machine people that Fig. 3 provides for one embodiment of the invention;
Structural schematic diagram is rotated in the sorting machine people that Fig. 4 provides for one embodiment of the invention;
Fig. 5 is the sorting system structural schematic diagram that one embodiment of the invention provides;
Fig. 6 is the method for sorting that one embodiment of the invention provides;
Fig. 7 be another embodiment of the present invention provides method for sorting;
Fig. 8 is the method for sorting that further embodiment of this invention provides;
Fig. 9 is the method for sorting that yet another embodiment of the invention provides;
Figure 10 is the method for sorting that a further embodiment of the present invention provides;
Figure 11 is the detailed process for the step S20 that one embodiment of the invention provides;
Figure 12 is the detailed process for the step S10 that one embodiment of the invention provides.
Wherein, 10- sorting machine people;100- vertical frame;200- elevating mechanism, 210- power source, 220- transmission component, 221- hauling rope, 222- runner, 230- transmission shaft, 240 cranes;300- mechanism for sorting, 310- sorter assemblies, 311- sorting branch Frame, 312- sorting operation platform, 3121- first sort position, 3122- second sorts position;400- guiding mechanism, 410- guide rail, 420- guidance set;The chassis 500-, 510- plate rail, 520- rotating wheel;600- rotating mechanism, 610- ring gear, 620- rotate rail Road, 630- turning block, 640- rotary electric machine;80- shelf, 810- sort positions.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that specific implementation described herein is only used to explain the present invention, not For limiting the present invention.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element "upper", There is no intermediary elements.On the contrary, intermediary element is not present when element is connect referred to as " direct " with another element.This paper institute The term "vertical", "horizontal", "left" and "right" used and similar statement are for illustrative purposes only.
In the description of the present invention, it is to be understood that, term " length ", " width ", " thickness ", "upper", "lower", The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "top", "bottom", "inner", "outside" is based on the figure Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
As shown in Figs. 1-2, one embodiment of the invention provides a kind of sorting machine people 10, and sorting machine people 10 includes vertical frame Frame 100, elevating mechanism 200 and mechanism for sorting 300.Vertical frame 100 is arranged along the vertical direction.Elevating mechanism 200 being capable of phase Vertical frame 100 is gone up and down along the vertical direction.Mechanism for sorting 300 is movably set in vertical frame 100 along the vertical direction, sorting Mechanism 300 is connect with elevating mechanism 200, and mechanism for sorting 300 can be gone up and down along the vertical direction under the drive of elevating mechanism 200, Mechanism for sorting 300 drives cargo synchronization lifting to be sorted, and cargo to be sorted can be delivered to corresponding by mechanism for sorting 300 Sort positions 810.Above-mentioned sorting machine people 10, the coordinated between elevating mechanism 200 and mechanism for sorting 300 realize cargo The automation of sorting substantially increases the efficiency of goods sorting while reducing goods sorting cost.Mechanism for sorting 300 simultaneously Different height is moved under the drive of elevating mechanism 200, and then cargo to be sorted can be delivered to different height Sort positions 810, occupied area that is versatile and reducing sort positions 810.
Mechanism for sorting 300 is that the movement of sorting machine people 10 provided by the invention executes terminal, and effect is will be to be sorted Cargo be delivered to corresponding sort positions 810.Sorting machine people 10 can be to deliver the number of the execution terminal of cargo to be sorted Amount and arrangement form can directly affect the synthesis sorting efficiency of sorting machine people 10.As shown in Figs. 1-2, real in the present invention one It applies in example, mechanism for sorting 300 includes multiple sorter assemblies 310, and multiple sorter assemblies 310 are arranged at intervals at vertical along the vertical direction Frame 100, multiple sorter assemblies 310 are connect with elevating mechanism 200 respectively, band of multiple sorter assemblies 310 in elevating mechanism 200 Synchronization lifting, each sorter assemblies 310 cargo synchronization lifting to be sorted can be driven respectively along the vertical direction under dynamic, often Cargo to be sorted can be delivered to corresponding sort positions 810 by a sorter assemblies 310.Multiple sorter assemblies 310 allow this The sorting machine people 10 that embodiment provides disposably carries multiple cargos to be sorted, can significantly improve point of sorting machine people 10 Pick efficiency.It should be understood that multiple sorter assemblies 310 can one by one execute cargo deliver movement or simultaneously to cargo into Row is delivered, and further improves sorting machine people 10 provided in this embodiment to the adaptability of actual condition.
It should be understood that operator directly places cargo to be sorted in the sorter assemblies 310 of sorting machine people 10 When, to suitable height, operator does not need to climb up ladder or other assistance platforms 310 liftable of sorter assemblies, thus It reduces operator and directly places the danger coefficient of cargo to be sorted on sorting machine people 10, while being effectively saved operation Personnel place the time of cargo to be sorted.
Optionally, mechanism for sorting 300 is manipulator, the push rod that can be acted or plane with conveying function etc..Make Branch is sorted as shown in Fig. 2, sorter assemblies 310 include sorting bracket 311 and sorting operation platform 312 for a kind of achievable mode Frame 311 is movably set in vertical frame 100, and sorting bracket 311 is connect with elevating mechanism 200, sorts bracket 311 in elevating mechanism It can be gone up and down along the vertical direction under 200 drive, sorting operation platform 312 is set to sorting bracket 311,312 energy of sorting operation platform Cargo to be sorted is enough carried, cargo to be sorted is delivered to corresponding sort positions when 312 execution of sorting operation platform acts 810.The frame mode of sorting bracket 311 and sorting operation platform 312 is not only convenient for carrying cargo to be sorted, and sorting operation Platform 312 has stronger adaptability for the cargo of various different sizes, different weight, at the same also ensure mutability cargo, The safety sorting of fragile goods.
Optionally, when sorting operation platform 312 executes sorting operation, the table top of sorting operation platform 312 is acted or by other Actuating mechanism cargo to be sorted is delivered to corresponding sort positions 810.In an embodiment of the present invention, sorting operation platform 312 include sorting belt and sorting driving assembly, and sorting driving assembly is set to sorting bracket 311, sorting belt rotation setting In sorting bracket 311, sorting belt divides with sorting driving assembly transmission connection, sorting belt for carrying cargo to be sorted It picks belt and cargo to be sorted is delivered to corresponding sort positions 810 when being rotated by sorting driving assembly.Rotation Sorting belt upper surface form the supporting surface to cargo to be sorted, the delivery movement that sorting operation platform 312 executes is sorting skin The rotation of band.By the way of sorting belt and sorting driving assembly, without occupying when sorting operation platform 312 executes sorting operation Extra motion space, and sort belt have the advantages that performance it is stable, it is low in cost, be conveniently replaceable.Of the invention other In embodiment, the cargo being placed on sorting operation platform 312 can be pushed into sort positions 810 by elastic mechanism, or by cam Mechanism is pushed into sort positions 810 or the table top of sorting operation platform 312 is formed by multiple rotatable rollers, and the present invention is not Limit the specific constructive form of sorting operation platform 312.
The effect of sorting driving assembly is that sorting belt is driven to execute the rotation of setting stroke with by goods to be sorted thereon Object is delivered to corresponding sort positions 810, and then completes the delivery movement of cargo.As a kind of achievable mode, sorting is driven Dynamic component includes sorting motor and two sorting axis, and two sorting axis are arranged at intervals at sorting bracket 311, and sorting belt sleeve is set to On two sorting axis, at least one sorting axis is connect with sorting motor drive, and sorting motor can be forward or reverse.Motor with point Pick axis combination have the advantages that transmission efficiency it is high, convenient for control, technology maturation and at low cost.Further, motor is defeated Shaft is directly sequentially connected with sorting axis connection or by gear structure.In an embodiment of the present invention, motor is stepping electricity Machine.In the achievable modes of others, sorting driving assembly be air motor and shaft fit form or hydraulic motor with The drive form of shaft, as long as being able to achieve driving sorting belt rotation.
Further, picture shooting assembly is also installed, picture shooting assembly is for obtaining cargo or sort positions on mechanism for sorting 300 810 image information, to judge height of the sorting operation platform 312 relative to sort positions 810.In the present embodiment, image is believed Breath is the two dimensional code for being attached at cargo to be sorted or sort positions 810.
In an embodiment of the present invention, as shown in Fig. 2, sorting operation platform 312 has along the direction that sorting belt delivers cargo Have a first sorting position 3121 and the second sorting position 3122, the first sorting position 3121 and the second sorting position 3122 be respectively used to carrying to The cargo of sorting when sorting belt rotates, is sequentially delivered and is located at cargo to be sorted on the first sorting position 3121, and be located at second Cargo to be sorted on position 3122 is sorted to corresponding sort positions 810.The first sorting position on sorting operation platform 312 3121 and second sort one sorting operation platform 312 of the permission of position 3122, two cargos to be sorted of carrying simultaneously, are multiplied Sorting machine people 10 carries the quantity of cargo to be sorted.It should be understood that on the first sorting position 3121 and the second sorting position 3122 Cargo to be sorted need to be delivered on different sort positions 810 or the first sorting position 3121 and the second sorting position 3122 Cargo to be sorted need to be delivered to identical sort positions 810.In other embodiments, when the rotation of sorting belt, sequentially It delivers and is located at cargo to be sorted on the second sorting position 3122, and cargo to be sorted on the first sorting position 3121 is to respectively Corresponding sort positions 810.
In an alternative embodiment of the invention, each vertical height that sorter assemblies 310 are installed on vertical frame 100 is set respectively Two sorter assemblies 310 are set, the delivery positioned at two sorter assemblies 310 of same vertical height is contrary.Vertical frame 100 Two sorter assemblies 310 are respectively set in each vertical height of upper installation sorter assemblies 310, equally realize the sorting that is multiplied Robot 10 carries the quantity of cargo to be sorted.Meanwhile the delivery of two sorter assemblies 310 of sustained height is contrary, when When there are sort positions 810 positioned at the delivery direction of two sorter assemblies 310 of same vertical height, two points of sustained height It picks component 310 and can while execute sorting operation respectively, while raising sorting machine people 10 carries quantity of goods to be sorted, Further improve the delivery efficiency of sorting machine people 10.
Optionally, the multiple sorter assemblies 310 for being installed on vertical frame 100 are independently gone up and down or synchronization lifting, can It is designed according to actual operating condition.In an embodiment of the present invention, as Figure 2-3, elevating mechanism 200 includes crane 240, crane 240 is movably set in vertical frame 100 along the vertical direction, and fixation is set multiple sorter assemblies 310 along the vertical direction It is placed in crane 240, elevating mechanism 200 drives multiple sorter assemblies 310 synchronization lifting along the vertical direction by crane 240. It is understood that make, crane 240 is closed frame or any sorter assemblies can be fixedly mounted along the vertical direction respectively 310 structure, the present invention do not limit the specific structure of crane 240.As a kind of achievable mode, crane 240 is Rectangular frame, multiple sorter assemblies 310 are fixedly installed in crane 240 along the vertical direction respectively.By the way of crane 240 The laser intensity of sorting machine people 10 has been effectively ensured in the synchronization lifting for realizing multiple sorter assemblies 310, and can be by multiple points It picks component 310 and crane 240 is made into module, effectively increase dismounting, the maintenance efficiency of sorting machine people 10.It should be understood that Make, after multiple sorter assemblies 310 and crane 240 are made into module, interchangeability with higher between module and module.
The effect of elevating mechanism 200 is that the mechanism for sorting 300 in above-mentioned each embodiment is driven to go up and down along the vertical direction.In In one embodiment of the invention, as shown in Figures 1 and 3, elevating mechanism 200 further includes power source 210 and transmission component 220, power Source 210 and transmission component 220 are respectively arranged at vertical frame 100, and the input side transmission of power source 210 and transmission component 220 connects It connects, the outlet side of transmission component 220 is connect with crane 240.Power source 210 and transmission component 220 are respectively arranged at vertical frame Transmission connection relationship between frame 100 and power source 210 and transmission component 220, convenient for elevating mechanism 200 in vertical frame Dismounting on frame 100.Optionally, it is rotation, linear motion or other any forms that power source 210, which is the power form of output, Movement, 220 final output of transmission component being sequentially connected with power source 210 is movement along the vertical direction.As one kind Achievable mode, power source 210 include driving motor, the input side transmission connection of driving motor and transmission component 220.Motor The operation of power source 210 of form is more stable.Further, driving motor can forward or reverse, convenient for the lifting of elevating mechanism 200 Process control.
As a kind of achievable mode, as shown in Figure 1-3, transmission component 220 includes hauling rope 221 and at least two turns Wheel 222, at least two runners 222 are rotatably dispose in vertical frame 100, and at least two runners 222 are on vertical frame 100 along perpendicular Histogram is to being intervally arranged, at least one runner 222 and power source 210 are sequentially connected, and hauling rope 221 is sheathed at least two runners 222, hauling rope 221 is fixedly connected with crane 240, at least one runner 222 all passes through the side of engagement or friction when rotating Formula drives hauling rope 221 to move, and then crane 240 is driven to go up and down along the vertical direction.222 form of hauling rope 221 and runner Transmission component 220, realize lifting while have the advantages that structure is simple, performance is stable, it is at low cost, be conveniently replaceable.At this In embodiment, sorting bracket 311 is fixedly connected with hauling rope 221.
In a specific embodiment of the invention, as shown in Figure 1-3, hauling rope 221 is ring-type, sorting bracket 311 is solid Dingan County is loaded on hauling rope 221.Two runners 222 are arranged at intervals at vertical frame 100 along the vertical direction, and hauling rope 221 is sheathed on Two runners 222 being arranged along the vertical direction, any one runner 222 are driven by way of rubbing or engaging when rotating and are led Straw line 221 rotates in perpendicular, so that the mechanism for sorting 300 of the various embodiments described above be driven to go up and down in perpendicular.Turn Wheel 222 is V belt wheel, and hauling rope 221 is V band, and V belt wheel drives V band movement by way of friction when rotating, according to practical feelings Condition, runner 222 can also be sprocket wheel, correspondingly, hauling rope 221 can be chain, sprocket wheel rotate when by way of engagement band Dynamic chain movement.The output shaft of driving motor is connect with one or more V belt wheel transmission, driving motor drive runner 222 with And hauling rope 221 rotates.
The crane 240 of rectangular frame form drives multiple sorter assemblies 310 to go up and down along the vertical direction in perpendicular. Further, elevating mechanism 200 include multiple groups transmission component 220, the input side of multiple groups transmission component 220 respectively with power source 210 Transmission connection, the outlet side of multiple groups transmission component 220 are connect with the different location of crane 240 respectively.It is specific real at one It applies in example, as shown in figure 3, elevating mechanism 200 includes two groups of transmission components 220, crane 240 has to be extended along the vertical direction Two lifting columns, two lifting columns are as rectangular frame opposite both sides along the vertical direction.The input side of two groups of transmission components 220 Respectively with power source 210 be sequentially connected, the outlet side of multiple groups transmission component 220 respectively with two lifting columns of crane 240 It is fixedly connected.As a kind of achievable mode, transmission component 220 further includes transmission shaft 230, the output end and biography of driving motor The middle section of moving axis 230 is sequentially connected, and the both ends of transmission shaft 230 are connect with the runner 222 of two groups of transmission components 220 respectively, It realizes and two groups of 220 synchronization liftings of transmission component is driven by a power source 210, the lifting for enhancing elevating mechanism 200 is stablized Property.In other embodiments, the quantity of transmission component 220 can also be three groups or other quantity group.
In an embodiment of the present invention, as shown in Figures 3 and 4, sorting machine people 10 further includes guiding mechanism 400, guiding Mechanism 400 is set between vertical frame 100 and crane 240, and guiding mechanism 400 is for keeping crane 240 along vertical side To lifting.Specifically, guiding mechanism 400 includes guide rail 410 and guidance set 420, guide rail 410 is solid along the vertical direction Surely it is set to vertical frame 100, guidance set 420 is fixedly connected with crane 240, is gone up and down along the vertical direction in crane 240 During, guidance set 420 is kept in contact with guide rail 410.Optionally, between guidance set 420 and guide rail 410 To be in rolling contact, sliding contact or the contact of other modes.Further, guidance set 420 includes guide runner, guide runner It is fixedly connected with crane 240.During crane 240 is gone up and down along the vertical direction, guide runner and guide rail 410 are protected Hold sliding contact.
In an embodiment of the present invention, as shown in Figures 3 and 4, guiding mechanism 400 includes a plurality of guide rail 410 and more Group guidance set 420, a plurality of guide rail 410 cooperates one by one with multiple groups guidance set 420, a plurality of guide rail 410 edge respectively Vertical direction is fixedly installed on vertical frame 100, and every group of guidance set 420 is fixedly connected with crane 240 respectively, in crane During 240 go up and down along the vertical direction, every group of guidance set 420 is kept in contact with corresponding guide rail 410 respectively.It is a plurality of Guide rail 410 and multiple groups guidance set 420 further ensure the steady lifting of crane 240 along the vertical direction.It should manage It solves, the vertical frame 100 in the present invention can be closed frame structure, or integrally extend along the vertical direction open Frame structure.As a kind of achievable mode, vertical frame 100 has two with column disposed in parallel along the vertical direction, and two Guide rail 410 is installed respectively, guide rail 410 is welded by plate and profile group on root post.
In the above embodiments, as shown in Figure 1, sorting machine people 10 further includes moveable chassis 500, vertical frame 100 are set to chassis 500.Moveable chassis 500 is able to drive the movement of sorting machine people 10, substantially increases the present embodiment Adaptation of the sorting machine people 10 to actual condition.Specifically, chassis 500 includes plate rail 510, traveling driving assembly and multiple turns Driving wheel 520, vertical frame 100 are set to the top of plate rail 510, and multiple rotating wheels 520 are set to the bottom of plate rail 510, advance Driving assembly is set to plate rail 510, at least one rotating wheel 520 and traveling driving assembly are sequentially connected.Further, at least two Rotating wheel 520 is sequentially connected with traveling driving assembly respectively, at least two rotations being sequentially connected respectively with traveling driving assembly Wheel 520 is distributed in plate rail 510 along the two sides of direction of travel, and then realizes the turning function on chassis 500.Traveling driving assembly includes At least two wheels drive motor, are distributed in plate rail 510 along at least two rotating wheels 520 of direction of travel two sides respectively by individually taking turns Drive motor driven.Plate rail 510 is distributed in along at least two rotating wheels 520 of direction of travel two sides respectively by individually taking turns drive motor Driving, can simplify the drive mechanism on chassis 500.
In a specific embodiment, chassis 500 is equipped with driving wheel and driven wheel, and driving wheel and driven wheel can be distinguished It is rotated relative to chassis 500, driving wheel and driven wheel support chassis 500 jointly, and driving wheel drives motor driven by wheel, so that chassis 500 is mobile.By configuring transportable chassis 500, sorting machine people 10 can be allowed to throw between multiple shelf 80 Pass cargo.The quantity of driving wheel be two, two driving wheels are symmetrically distributed, correspondingly, wheel drive motor quantity be two, two A driving wheel drives motor driven by two wheels respectively, may make the revolving speed of two driving wheels different, to realize 500 turns of chassis To.The quantity of driven wheel is four, and four driven wheels are distributed in rectangle, and driven wheel can be universal wheel, or other Wheel structure with turning function.According to the actual situation, the quantity of driven wheel is not limited to four, or six, Three etc..
In the present embodiment, chassis 500 is also equipped with guide device (not shown), and guide device is camera, for knowing The graphic code that other ground is sticked, so that chassis 500 is advanced along preset path.Graphic code can be two dimensional code, bar code or one The identification code etc. customized a bit.In some other embodiment, guide device is las er-guidance device, for guiding 500 edge of chassis Laser beam into or guide device be short-wave reception device, by receiving preset short-wave signal to guide chassis 500 along pre- If path is advanced.It should be noted that chassis 500 can be omitted in some other embodiment, vertical frame 100 is directly solid Dingan County is only used for transporting goods on surrounding shelf 80 on ground or other platforms.
In an embodiment of the present invention, as shown in Fig. 1 and Fig. 4, vertical frame 100 rotates setting around the axis of vertical direction In chassis 500, allows multiple groups sorter assemblies 310 to rotate in the horizontal plane simultaneously, improve sorting machine people 10 to actual condition Adaptability.When especially sustained height tool is there are two contrary sorter assemblies 310 are delivered, when the sorter assemblies of side 310 deliveries finish, and vertical frame 100 drives whole sorter assemblies 310 to rotate 180 ° in the horizontal plane, the sorter assemblies of the other side 310 start to deliver cargo to be sorted.Meanwhile the vertical frame 100 for being rotatably dispose in chassis 500 can be automatically adjusted to sort The delivery direction of mechanism 300 improves sorting machine people 10 to the adaptability of actual condition and sorting goods towards sort positions 810 The efficiency of object.
As a kind of achievable mode, as shown in Fig. 1 and Fig. 4, sorting machine people 10 further includes rotating mechanism 600, is turned Motivation structure 600 includes ring gear 610, rotation track 620, turning block 630 and rotary electric machine 640, ring gear 610 and rotation Track 620 is fixedly installed on the top on chassis 500 respectively, and turning block 630 is set to the bottom of vertical frame 100, and rotation is slided Block 630 is slidably matched with rotation track 620, and rotary electric machine 640 is fixedly installed on the bottom of vertical frame 100, rotary electric machine 640 Output end engaged with ring gear 610, rotary electric machine 640 rotate when drive vertical frame 100 relative to chassis 500 around vertical side To axis rotation.In other embodiments, it can also be that rotary electric machine 640 is fixedly installed in chassis 500, and ring gear 610 are fixedly installed in the bottom of vertical frame 100, and the present embodiment, which is not intended to limit vertical frame 100 and realizes relative to chassis 500, to be turned Dynamic concrete mode.
In an embodiment of the present invention, sorting machine people 10 further includes control centre, control centre respectively with elevating mechanism 200 and mechanism for sorting 300 be electrically connected, control centre for control elevating mechanism 200 and mechanism for sorting 300 be individually performed it is dynamic Make or joint executes movement, and then guarantees the sorting efficiency of sorting machine people 10.As a kind of achievable mode, in control The heart controls chassis 500,300 co-operating of elevating mechanism 200 and mechanism for sorting.
In an embodiment of the present invention, as shown in figure 5, sorting machine people 10 includes point that two sets of the various embodiments described above provide Pick mechanism 300, two sets of mechanism for sorting 300 are respectively arranged at the two sides of vertical frame 100, two sets of mechanism for sorting 300 respectively with liter Descending mechanism 200 connects, and two sets of mechanism for sorting 300 can be gone up and down along the vertical direction under the drive of elevating mechanism 200.At least two sets Mechanism for sorting 300 can be independent or be performed simultaneously sorting operation, substantially increases the sorting efficiency of sorting machine people 10.Into one Step, sorting machine people 10 include two sets of elevating mechanisms 200, and two sets of elevating mechanisms 200 can be respectively relative to 100 edge of vertical frame Vertical direction lifting, two sets of elevating mechanisms 200 are located at the two sides of vertical frame 100, and two sets of mechanism for sorting 300 are respectively in list It is gone up and down along the vertical direction under the drive of only one set of lifting mechanism 200, realizing every set mechanism for sorting 300, that sorting is individually performed is dynamic Make.As a kind of achievable mode, sorting machine people 10 further includes two vertical frames 100, and two vertical frames 100 are distinguished Be fixedly installed on chassis 500, every set elevating mechanism 200 and its mechanism for sorting 300 being operated alone be respectively arranged at one it is vertical Frame 100 convenient for the assembly between elevating mechanism 200, mechanism for sorting 300 and vertical frame 100, and advantageously forms modularization Sorting machine people 10.
As shown in Figures 1 and 5, one embodiment of the invention also provides a kind of sorting system, sorting system include shelf 80 with And sorting machine people 10 described in the various embodiments described above, sorting machine people 10 are used to cargo to be sorted being delivered to shelf 80 Corresponding sort positions 810.Sorting system provided in this embodiment has identical as sorting machine people 10 in the various embodiments described above The advantages of.As a kind of achievable mode, the container of opening is placed on shelf 80, a container is a sort positions 810. Further, the sort positions 810 that shelf 80 have at least two height different, mechanism for sorting 300 can be in elevating mechanism 200 Drive lower lifting to the height of corresponding sort positions 810, cargo to be sorted can be delivered to corresponding point by mechanism for sorting 300 Pick position 810.
As shown in Figures 1 and 2, one embodiment of the invention provides a kind of sorting machine people 10, and sorting machine people 10 includes bottom Disk 500, vertical frame 100, elevating mechanism 200, mechanism for sorting 300 and control centre.Chassis 500 can be moved on the ground It is dynamic.Vertical frame 100 is set to chassis 500, and vertical frame 100 is arranged along the vertical direction.Elevating mechanism 200 can be relative to vertical Formula frame 100 is gone up and down along the vertical direction.Mechanism for sorting 300 includes multiple sorter assemblies 310, and multiple sorter assemblies 310 are along vertical Direction is arranged at intervals at vertical frame 100, and multiple sorter assemblies 310 are connect with elevating mechanism 200 respectively, multiple sorter assemblies 310 under the drive of elevating mechanism 200 can synchronization lifting along the vertical direction, each sorter assemblies 310 can carry respectively to Cargo to be sorted can be delivered to corresponding sort positions 810 by the cargo synchronization lifting of sorting, each sorter assemblies 310. Control centre is electrically connected with chassis 500, elevating mechanism 200 and mechanism for sorting 300 respectively, and control centre is for controlling elevator Movement is individually performed for structure 200 and mechanism for sorting 300 or joint executes movement.
Above-mentioned sorting machine people 10, the coordinated between elevating mechanism 200 and mechanism for sorting 300 realize goods sorting Automation, the efficiency of goods sorting is substantially increased while reducing goods sorting cost.Mechanism for sorting 300 is rising simultaneously Different height is moved under the drive of descending mechanism 200, and then cargo to be sorted can be delivered to the sorting of different height In position 810, occupied area that is versatile and reducing sort positions 810.
As shown in fig. 6, one embodiment of the invention provides a kind of method for sorting, it is described suitable for above-mentioned sorting machine people Sorting machine people carries the institute of specific cargo to be sorted for delivering specific cargo to be sorted to the specific sort positions It is corresponding with the specific sort positions to state sorter assemblies, the method for sorting includes:
S10: multiple sorter assemblies receive cargo to be sorted respectively;
S30: the specified sorter assemblies are gone up and down under the drive of the elevating mechanism to the correspondence sort positions Highly;
S50: the cargo to be sorted being placed in the sorter assemblies is delivered in specified sorter assemblies execution movement To corresponding sort positions.
Above-mentioned method for sorting, the coordinated between elevating mechanism and mechanism for sorting realize the automation of goods sorting, The efficiency of goods sorting is substantially increased while reducing goods sorting cost.Drive of the mechanism for sorting in elevating mechanism simultaneously Under move to different height, and then cargo to be sorted can be delivered in the sort positions of different height, it is versatile And reduce the occupied area of sort positions.
As a kind of achievable mode, coordinate under the control of control centre respectively between each section of sorting machine people Movement is executed, the control centre of sorting machine people keeps in communication with external server and connect.Sorting machine people can identify to The information and sorting machine people that sort cargo can obtain the information of the corresponding sort positions of each cargo to be sorted, sorting Robot is efficiently completed the sorting of cargo according to acquired every terms of information coordinated control each section.In above-mentioned implementation Example provide sorting machine people and method for sorting in, only when sorter assemblies carry goods information and sort positions to be sorted Information it is corresponding after, sorter assemblies just execute delivery and act.
In an embodiment of the present invention, as shown in fig. 7, multiple sort positions are spaced setting along the vertical direction;It is described Method for sorting further includes that sort positions described in step S60: Xiang Benlie deliver the sorting of each of cargo after the step S50 Component executes the step S30 and step S50 respectively, until sort positions described in Xiang Benlie are delivered described in each of cargo Sorter assemblies are delivered cargo and are finished.Sorting machine people provided in this embodiment can disposably carry multiple cargos to be sorted. Elevating mechanism drives multiple sorter assemblies Xiang Yilie sort positions first to deliver cargo to be sorted, has given full play to mechanism for sorting Liftable advantage effectively increases the sorting efficiency of sorting machine people's entirety.
Optionally, during multiple sorter assemblies synchronization liftings, only one sorter assemblies is gone up and down to corresponding Sort positions height, or have multiple sorter assemblies while going up and down to corresponding sort positions height.It is real in the present invention one Shi Zhong, as shown in figure 8, multiple sorter assemblies are gone up and down simultaneously under the drive of the elevating mechanism in the step S30 To the corresponding sort positions;In step s 50, multiple sorter assemblies are performed simultaneously movement, by goods to be sorted Object is delivered to the corresponding sort positions respectively.Multiple sorter assemblies are performed simultaneously movement, effectively eliminate multiple sorting groups It is sequentially carried out between part and delivers the waiting time caused by under action situation, effectively increase the sorting effect of sorting machine people's entirety Rate.
It should be understood that between difference in height and multiple sorter assemblies between the sort positions of multiple and different height Difference in height is same or different.Difference in height phase between the difference in height and multiple sorter assemblies between multiple sort positions Meanwhile multiple sorter assemblies can be gone up and down under the drive of the Circularly liftable mechanism simultaneously to the corresponding sorting position It sets.When the difference in height difference between the difference in height and multiple sorter assemblies between multiple sort positions, multiple sorting groups Difference in height between part is adjustable, until the difference in height between corresponding sort positions is adapted to, then multiple sorting groups Part is performed simultaneously movement, and cargo to be sorted is delivered to the corresponding sort positions respectively.
It should be understood that in the above-described embodiments, multiple sorter assemblies can respectively correspond different simultaneously in height Sort positions, but only after the goods information to be sorted that sorter assemblies carry is corresponding with the information of sort positions, sorting group Part just executes delivery movement.Therefore can have following operating condition in actual condition: multiple sorter assemblies in height simultaneously distinguish Corresponding different sort positions, but the information pair of the goods information and sort positions to be sorted of only one sorter assemblies carrying It answers.Under above-mentioned operating condition, also only has this sorter assemblies and execute delivery movement.
In an embodiment of the present invention, each sorter assemblies are respectively provided with two opposite delivery directions, Duo Gesuo It states sorter assemblies and is respectively equipped with spaced multiple sort positions along the vertical direction along the both ends for delivering direction;Described In step S30, multiple sorter assemblies are gone up and down simultaneously to the corresponding sort positions of respective side;In step s 50, Multiple sorter assemblies are performed simultaneously movement, and cargo to be sorted is delivered to the corresponding sorting position of respective side It sets.It is to be sorted that method for sorting provided in this embodiment allows sorting machine people to deliver simultaneously to the sort positions for delivering direction both ends Cargo, not only improved method for sorting to the adaptability of actual condition, but effectively increase sorting machine people's entirety sorting effect Rate.
In an embodiment of the present invention, each vertical height that the sorter assemblies are installed on the vertical frame is set respectively Two sorter assemblies are set, the delivery positioned at two sorter assemblies of same vertical height is contrary;It is multiple described The two sides that sorter assemblies deliver direction are respectively equipped with spaced multiple sort positions along the vertical direction;In the step In S30, multiple sorter assemblies are gone up and down simultaneously to the corresponding sort positions of respective side;In step s 50, multiple The sorter assemblies are performed simultaneously movement, and cargo to be sorted is delivered to the corresponding sort positions of respective side.This The method for sorting that embodiment provides allows sorting machine people to deliver goods to be sorted to the sort positions for delivering direction two sides simultaneously Object had not only improved method for sorting to the adaptability of actual condition, but also effectively increased the sorting efficiency of sorting machine people's entirety.
In an embodiment of the present invention, as shown in figure 9, to further increase sorting machine people and method for sorting to practical work The adaptability of condition, and the sorting efficiency of sorting machine people and method for sorting is improved simultaneously, the vertical frame is around vertical direction Axis is rotatably dispose in the chassis, and each vertical height that the sorter assemblies are installed on the vertical frame is respectively set two A sorter assemblies, the delivery ends of the sorter assemblies of multiple same columns setting towards identical, the two column sorter assemblies End is delivered towards on the contrary;In the step S30, the multiple sorter assemblies for delivering end towards multiple sort positions are same When go up and down to the corresponding sort positions;In step s 50, multiple institutes of the end towards multiple sort positions are delivered It states sorter assemblies and is performed simultaneously movement, cargo to be sorted is delivered to the corresponding sort positions;The step S60 Later further include step S65: the vertical frame is rotated around the axis of vertical direction, until the throwing of another column sorter assemblies End is passed towards multiple sort positions, the sorting machine people repeating said steps S60, until sort positions described in Xiang Benlie Each of cargo sorter assemblies delivery cargo is delivered to finish.Method for sorting and sorting machine people in the present embodiment can not only More cargos to be sorted are carried, and in such a way that then other side delivery is first delivered in side, ensure that sorting machine people The orderly progress of cargo delivery movement, is integrally improved the sorting efficiency of sorting machine people.
In an embodiment of the present invention, the sorter assemblies have the first sorting position and the along the direction for itself delivering cargo Two sorting positions, the first sorting position and second sorting position are respectively used to carry cargo to be sorted, the sorter assemblies While delivering cargo to be sorted to the corresponding sort positions on first sorting position, it is located on second sorting position originally Cargo movement to be sorted to it is described first sorting position;In the step S30, the sorter assemblies are gone up and down to described first point Pick the height of the corresponding sort positions of cargo to be sorted on position;In step s 50, the sorter assemblies will be placed in described Cargo to be sorted on first sorting position is delivered to corresponding sort positions.Method for sorting and sorting machine people in the present embodiment More cargos to be sorted can not only be carried, when the cargo to be sorted delivery on the first sorting position finishes, are located at originally described Script is located at described second without additional structure to first sorting position by the cargo movement to be sorted on the second sorting position Sort position on goods handling to be sorted to it is described first sorting position, without script be located at it is described second sorting position on to point Picking object moves to the waiting time of first sorting position, is integrally improved the sorting efficiency of sorting machine people.
In an embodiment of the present invention, actual condition is that sort positions described in multiple row are sequentially arranged in the horizontal direction, is such as schemed Shown in 10, the method for sorting further includes the step S70 after the step S60: the sorter assemblies are on the chassis Other delivery positions, the sorter assemblies repeating said steps S60 are moved under drive.Sorting machine people provided in this embodiment Preferentially the cargo wait be delivered to a column sort positions is delivered and is completed, then chassis drives sorter assemblies to other delivery positions The sort positions of other column are delivered.Method for sorting provided in this embodiment has been effectively ensured sorting machine people one and has arranged Delivery cargo to be sorted, avoid sorting machine people and travel to and fro between the waste of time caused by identical delivery position repeatedly.
In the above-described embodiments, sorting machine people is after the completion of a delivery position Xiang Yilie sort positions are delivered, can be with The delivery position of adjacent column is moved to, the delivery position of interval column can also be moved to according to actual condition.It can be real as one kind Existing mode, sorting machine people is after the completion of a delivery position Xiang Yilie sort positions are delivered, preferential motion to adjacent column Delivery position.It further, as shown in Figure 10, further include the step S80 after the step S70: the sorting machine people weight The step S60 and step S70 is executed again, until all the sorter assemblies are delivered into the corresponding sort positions respectively Cargo finishes;The sorting machine people waits to be instructed in next step.Method for sorting provided in this embodiment is improving sorting efficiency In the case of, each cargo to be sorted has been effectively ensured and has been delivered.
In an embodiment of the present invention, the sorting machine people includes two sets of mechanism for sorting, two sets of sorters Structure is respectively arranged at the two sides of the vertical frame, and two sets of mechanism for sorting are driven by the elevating mechanism go up and down respectively, and two The adjacent spacing that the mechanism for sorting is horizontally disposed with direction along the sort positions is covered, is sort positions described in multiple row along level side To the integral multiple of adjacent spacing;Mechanism for sorting described in every set simultaneously and independently execute the step S60.It is set to vertical frame Two sets of mechanism for sorting can increase sorting machine people at double carry the quantity of cargo to be sorted, significantly improve sorting machine people Whole sorting efficiency.Under the premise of identical sorting task amount, it is effectively saved sorting machine people and is receiving cargo and delivering goods Stroke between object.It should be understood that method for sorting provided in this embodiment also can deliver direction two to sorter assemblies simultaneously The sort positions of side deliver cargo to be sorted.
In actual operating condition, sorting machine people needs in the delivery position for receiving position and delivering cargo for receiving cargo Difference, sorting machine people need round-trip between the delivery position for receiving position and delivering cargo for receiving cargo.In the present invention Further include S20 before step S30 as shown in Figure 10 in one embodiment: the specified sorter assemblies are moved to described in correspondence The delivery position of sort positions.Specifically, as shown in figure 11, the step S20 includes:
S201: the sorting machine people, which receives, delivers instruction, and the sorting instruction includes delivery position information
S202: the chassis drives the specified sorter assemblies to be moved to corresponding throwing according to the delivery position information Pass position.
Further, the step S202 includes:
S2021: the chassis drives the sorting machine people to move to the sorting sides of the shelf;
S2023: the chassis drives the sorting machine people to move along the horizontal extension direction of the shelf, until described Sorter assemblies are moved to the delivery position of the corresponding sort positions.
Specifically, further including step S2022 after the step S2021: the chassis drives the sorting machine people fortune It is dynamic, until sorting area of the sorter assemblies close to the shelf.
In actual operating condition, sorting machine people needs in the delivery position for receiving position and delivering cargo for receiving cargo Difference, sorting machine people need round-trip between the delivery position for receiving position and delivering cargo for receiving cargo.In the present invention In one embodiment, as shown in figure 12, the step S10 includes:
S101: the sorting machine people receives instruction, and the instruction of receiving includes location information of receiving
S102: chassis location information of receiving according to drives the sorting machine people to be moved to corresponding position of receiving It sets;
S104: multiple sorter assemblies carryings are delivered to cargo to be sorted thereon.
Further, as shown in figure 12, there is height of receiving when the sorter assemblies are received, after the step S102 also Including step S103: the sorter assemblies are gone up and down under the drive of the elevating mechanism to the height of receiving.The sorting group Part is gone up and down under the drive of the elevating mechanism to the height of receiving, and improves the efficiency that sorting machine people receives cargo.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (15)

1. a kind of sorting machine people, which is characterized in that the sorting machine people includes:
Chassis, the chassis can move on the ground;
Vertical frame, the vertical frame are set to the chassis, and the vertical frame is arranged along the vertical direction;
Elevating mechanism can be gone up and down along the vertical direction relative to the vertical frame;
Mechanism for sorting, the mechanism for sorting include multiple sorter assemblies, and multiple sorter assemblies are spaced setting along the vertical direction In the vertical frame, multiple sorter assemblies are connect with the elevating mechanism respectively, and multiple sorter assemblies are described Under the drive of elevating mechanism synchronization lifting, each sorter assemblies goods to be sorted can be carried respectively along the vertical direction Cargo to be sorted can be delivered to corresponding sort positions by object synchronization lifting, each sorter assemblies;
Control centre, the control centre are electrically connected with the chassis, the elevating mechanism and the mechanism for sorting respectively, institute Control centre is stated for controlling elevating mechanism and movement is individually performed for the mechanism for sorting or joint executes movement.
2. a kind of method for sorting, which is characterized in that be suitable for sorting machine people described in claim 1, the sorting machine people For delivering specific cargo to be sorted to the specific sort positions, the sorter assemblies of specific cargo to be sorted are carried Corresponding with the specific sort positions, the method for sorting includes:
S10: multiple sorter assemblies receive cargo to be sorted respectively;
S30: the specified sorter assemblies are gone up and down under the drive of the elevating mechanism to the height of the correspondence sort positions;
S50: the cargo to be sorted being placed in the sorter assemblies is delivered to pair by specified sorter assemblies execution movement The sort positions answered.
3. method for sorting according to claim 2, which is characterized in that multiple sort positions are spaced along the vertical direction to be set It sets;The method for sorting further includes that sort positions described in step S60: Xiang Benlie deliver each of cargo after the step S50 The sorter assemblies execute the step S30 and step S50 respectively, until sort positions described in Xiang Benlie deliver cargo Each sorter assemblies are delivered cargo and are finished.
4. method for sorting according to claim 3, which is characterized in that in the step S30, multiple sorter assemblies It is gone up and down simultaneously under the drive of the elevating mechanism to the corresponding sort positions;In step s 50, multiple described points It picks component and is performed simultaneously movement, cargo to be sorted is delivered to the corresponding sort positions respectively.
5. method for sorting according to claim 4, which is characterized in that each sorter assemblies are respectively provided with two on the contrary Delivery direction, the two sides that multiple sorter assemblies deliver directions are respectively equipped with spaced multiple described along the vertical direction Sort positions;In the step S30, multiple sorter assemblies are gone up and down simultaneously to the corresponding sorting position of respective side It sets;In step s 50, multiple sorter assemblies are performed simultaneously movement, and it is right respectively that cargo to be sorted is delivered to respective side The sort positions answered.
6. method for sorting according to claim 4, which is characterized in that install the sorter assemblies on the vertical frame Two sorter assemblies are respectively set in each vertical height, positioned at the delivery of two sorter assemblies of same vertical height It is contrary;The two sides that multiple sorter assemblies deliver direction are respectively equipped with spaced multiple described points along the vertical direction Pick position;In the step S30, multiple sorter assemblies are gone up and down simultaneously to the corresponding sorting position of respective side It sets;In step s 50, multiple sorter assemblies are performed simultaneously movement, and it is right respectively that cargo to be sorted is delivered to respective side The sort positions answered.
7. method for sorting according to claim 4, which is characterized in that the vertical frame is rotated around the axis of vertical direction Be set to the chassis, installed on the vertical frame sorter assemblies each vertical height be respectively set two described in point Pick component, the delivery ends of the sorter assemblies of multiple same columns settings is towards identical, the delivery end court of the two column sorter assemblies To opposite;In the step S30, the multiple sorter assemblies for delivering end towards multiple sort positions are gone up and down extremely simultaneously The corresponding sort positions;In step s 50, the multiple sorting groups of the end towards multiple sort positions are delivered Part is performed simultaneously movement, and cargo to be sorted is delivered to the corresponding sort positions;It is also wrapped after the step S60 Include step S65: the vertical frame is rotated around the axis of vertical direction, until the delivery end direction of another column sorter assemblies Multiple sort positions, the sorting machine people repeating said steps S60, until sort positions described in Xiang Benlie deliver cargo Each of the sorter assemblies deliver cargo and finish.
8. method for sorting according to claim 3, which is characterized in that the sorter assemblies deliver the direction of cargo along itself Position is sorted with the first sorting position and second, the first sorting position and second sorting position are respectively used to carry to be sorted Cargo, while the sorter assemblies deliver cargo to be sorted to the corresponding sort positions on first sorting position, script position In the cargo movement to be sorted on second sorting position to first sorting position;In the step S30, the sorting group Part is gone up and down to the height of the corresponding sort positions of cargo to be sorted on first sorting position;In step s 50, described point It picks component and the cargo to be sorted being placed on first sorting position is delivered to corresponding sort positions.
9. method for sorting according to claim 4, which is characterized in that sort positions described in multiple row are sequentially set in the horizontal direction It sets, the method for sorting further includes the step S70 after the step S60: drive of the sorter assemblies on the chassis Under move to other delivery positions, the sorter assemblies repeating said steps S60.
10. method for sorting according to claim 9, which is characterized in that after the step S70 further include the step S80: the sorting machine people repeats the step S60 and step S70, until all the sorter assemblies are respectively to correspondence The sort positions in deliver cargo finish;The sorting machine people waits to be instructed in next step.
11. according to the described in any item method for sorting of claim 9-10, which is characterized in that the sorting machine people includes two sets The mechanism for sorting, two sets of mechanism for sorting are respectively arranged at the two sides of the vertical frame, two sets of mechanism for sorting point It is not driven and is gone up and down by the elevating mechanism, two sets of mechanism for sorting are horizontally disposed with adjacent of direction along the sort positions Away from being the integral multiple of the adjacent spacing in the horizontal direction of sort positions described in multiple row;Mechanism for sorting described in every set simultaneously and independently hold The row step S60.
12. according to the described in any item method for sorting of claim 2-10, which is characterized in that further include before step S30 S20: the specified sorter assemblies are moved to the delivery position of the corresponding sort positions.
13. method for sorting according to claim 12, which is characterized in that the step S20 includes:
S201: the sorting machine people, which receives, delivers instruction, and the sorting instruction includes delivery position information;
S202: the chassis drives the specified sorter assemblies to be moved to corresponding delivery position according to the delivery position information It sets.
14. according to the described in any item method for sorting of claim 2-10, which is characterized in that the step S10 includes:
S101: the sorting machine people receives instruction, and the instruction of receiving includes location information of receiving;
S102: chassis location information of receiving according to drives the sorting machine people to be moved to corresponding position of receiving;
S104: multiple sorter assemblies carryings are delivered to cargo to be sorted thereon.
15. method for sorting according to claim 14, which is characterized in that have height of receiving when the sorter assemblies are received Degree, further include step S103 after the step S102: the sorter assemblies gone up and down under the drive of the elevating mechanism to The height of receiving.
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