CN112455988A - Warehouse-out sorting equipment and control method thereof - Google Patents

Abstract

The warehouse-out sorting equipment mainly comprises at least two warehouse bodies with storage spaces for storing products, a conveying device and a grabbing device which are arranged in a roadway, a control device electrically connected with the conveying device and the grabbing device and the like. The product in this embodiment may be an electronic product such as a mobile phone or a tablet, or a tray for holding the electronic product. Wherein, a roadway for conveying products is formed between two adjacent warehouse bodies; the conveying device is used for receiving products from one end of the roadway and conveying the products to a preset grabbing station. And the grabbing device is used for grabbing the products on the conveying device and moving the products to the warehouse body. Compared with the prior art, the automatic warehouse-out sorting machine can improve the work efficiency of products in the automatic warehouse-out sorting process, and reduces labor cost.

Description

Warehouse-out sorting equipment and control method thereof

Technical Field

The invention relates to the electromechanical field, in particular to ex-warehouse sorting equipment and a control method thereof.

Background

At present, in the process of assembly line operation, for example, in the sorting and recycling process of products, after the products are sorted and processed, there are two processing modes, one is to directly pack and transport the sorted and processed products to the destination, and the other is to put the sorted and processed products into corresponding bulk storage boxes for centralized storage. When the products need to be distributed and transported in a packaging mode, for example, when the products are ordered, the distributed products are packaged, processed and then transported to a destination. However, in the existing method, when the products need to be sorted, the products are sorted from the library body in a manual mode, which undoubtedly increases labor cost, wastes time, reduces work efficiency, and is not beneficial to uniform distribution of the products. In addition, the bulk storage boxes, in a sufficient number, occupy a large space, which undoubtedly further increases the sorting recovery cost.

Therefore, how to provide the warehouse-out sorting equipment and the control method can improve the working efficiency of products in the automatic warehouse-out sorting process and reduce the labor cost.

Disclosure of Invention

In view of the above disadvantages or shortcomings of the prior art, the present invention provides a warehouse-out sorting apparatus and a control method thereof, which can improve the work efficiency of products during the automatic warehouse-out sorting process and reduce the labor cost.

In order to solve the technical problem, the invention provides warehouse-out sorting equipment, which comprises:

the system comprises N warehouse bodies and a controller, wherein the N warehouse bodies are provided with storage spaces for storing products, N is a natural number greater than 1, and a roadway for conveying the products is formed between every two adjacent warehouse bodies;

the feeding device is arranged in the roadway, is provided with a material receiving station and is used for receiving products from the material receiving station and transmitting the products to the outside;

the grabbing device is arranged in the roadway and used for grabbing the products on the warehouse body and moving the products to the material receiving station;

and the control device is electrically connected with the feeding device and the gripping device.

Further preferably, the feeding device comprises: the material receiving unit is provided with the material receiving station, and the feeding unit is connected with the material receiving unit; after the product is placed on the material receiving unit by the grabbing device, the product sequentially passes through the material receiving unit and the material feeding unit and then is conveyed to the outside.

Further preferably, the feeding device further comprises: the feeding frame is used for supporting the receiving unit and the feeding unit, and the limiting guide plates are arranged on two opposite sides of the feeding frame and are used for forming a feeding channel.

Further preferably, the limiting guide plate has at least one guide surface which is inclined to the feeding direction of the feeding device, and the guide surface is located between the receiving unit and the feeding unit, so that the width of the feeding channel is gradually reduced from the receiving unit to the feeding unit.

Further preferably, the receiving unit and the feeding unit both include: one or more conveying units which are used for independently conveying products and are electrically connected with the control device; wherein, the feeding unit includes: the buffer area is connected with the material receiving unit, and the feeding area is connected with the buffer area; the buffer area and the feeding area are respectively composed of at least one conveying unit; the length of the buffer area is greater than that of the feeding area.

Further preferably, the conveying unit includes: the conveying device comprises a driving roller and a driven roller which are rotatably arranged on a feeding frame, a conveying belt sleeved on the driving roller and the driven roller, and a driving motor which is arranged on the feeding frame and is used for driving the driving roller to rotate; wherein, the driving motor is electrically connected with the control device.

Further preferably, the method further comprises the following steps: the monitoring sensors are arranged in the feeding direction of the feeding device and electrically connected with the control device and are used for sensing the products so as to monitor the positions of the products; the monitoring sensors are respectively arranged in the areas corresponding to the material receiving unit and the feeding unit and used for sending a driving signal to the control device when a product is not monitored, so that the control device drives the corresponding conveying unit to operate according to the driving signal.

Further preferably, the method further comprises the following steps: the conveying device is electrically connected with the control device and arranged in the roadway and used for receiving products from one end of the roadway and conveying the products to a preset grabbing station; the conveying device and the feeding device are respectively positioned at two opposite ends in the roadway; and the gripping device is also used for gripping the products from the gripping stations and moving the products to the corresponding storage spaces on the warehouse body.

Further preferably, the conveying device includes: one end of the buffer unit is arranged at the inlet side of the roadway and is used for independently transmitting and buffering the products; the material receiving unit is connected with the cache unit and matched with the grabbing device, and the supporting frame is used for supporting the cache unit and the material receiving unit; the products sequentially pass through the cache unit and are conveyed to the grabbing stations on the material receiving unit.

Further preferably, the conveying device further includes: the first detection sensor is arranged on the material receiving unit and electrically connected with the control device, and the clamping device is arranged on the supporting frame and used for clamping the product on the cache unit; wherein when the first detection sensor detects a product, a clamping signal is sent to the control device to cause the control device to control the clamping device to clamp the product, and when no product is detected, a release signal is sent to the control device to cause the clamping device to release the product.

Further preferably, the cache unit includes: one or more than two conveying units for contacting and independently conveying the products; wherein, the buffer unit includes: the material receiving area is used for receiving products from the outside, and the cache area is connected with the material receiving area and the material receiving unit; the buffer area and the material receiving area are respectively composed of at least one conveying unit; the length of the buffer area is larger than that of the material receiving area.

The conveying device further preferably comprises a baffle plate which is arranged between the material receiving unit and the buffer unit and can be lifted up and down, and a lifting cylinder body which is connected with the baffle plate, is used for driving the baffle plate to move and is electrically connected with the control device; the lifting cylinder body is used for driving the baffle plate to ascend to a shielding position capable of separating the material receiving unit from the buffer unit after the control device receives a clamping signal, and driving the baffle plate to descend to an initial position after the product is grabbed by the grabbing device.

Further preferably, the receiving area and the receiving unit both include: at least one of said transport units; the conveying device further comprises: the limiting plates are arranged on the supporting frame, are positioned on two opposite sides of the conveying unit and form a channel, and are used for limiting the product through the channel.

Further preferably, the grasping apparatus includes: the lifting device comprises a gripper, a lifting assembly, a base and a slide rail assembly, wherein the gripper is used for gripping and releasing the products, the lifting assembly is connected with the gripper and used for enabling the gripper to do lifting motion along the height direction vertical to the roadway, the base is arranged on one side of the conveying device, and the slide rail assembly is arranged on the base and connected with the lifting assembly and can drive the lifting assembly to move along the conveying direction of the conveying device; the lifting assembly, the hand grip and the sliding rail assembly are electrically connected with the control device.

The gripper comprises a gripper body, a shifting component and a clamping component, wherein the gripper body can form a clamping opening for accommodating the product, the shifting component is connected with the lifting component and is used for enabling the gripper body to reciprocate along the direction vertical to the conveying direction of the feeding device, and the clamping component is connected with the shifting component and the gripper body and is used for driving the gripper body to form the clamping opening; the lifting assembly is further used for driving the hand grip to move up and down to grip and release the product after the hand grip body reaches a preset station and forms the clamping opening.

Further preferably, at least one gripper in the roadway further comprises: the rotating assembly is connected with the transferring assembly and the clamping assembly and is used for driving the hand grip to rotate; wherein, the rotating assembly includes: the clamping device comprises a hanging bracket used for being connected with the transfer assembly and a driving assembly arranged on the hanging bracket and used for driving the clamping assembly to rotate and electrically connected with the control device.

Preferably, the driving assembly comprises an upper fixing plate connected with the shifting assembly in a sliding manner, a lower fixing plate connected with the clamping assembly, a connecting rod which is connected with the upper fixing plate and the lower fixing plate and can form an installation space, a driving part which is arranged in the installation space and is used for driving the clamping assembly to rotate, and a rotating motor which is connected with the shifting assembly and is used for driving the driving part to rotate; the rotating motor is electrically connected with the control device.

Further preferably, the hand grip comprises: the gripper body is connected with the clamping component and is provided with a clamping opening; wherein, tongs body includes: the first grabbing piece and the second grabbing piece are symmetrically arranged and can relatively slide along the conveying direction; the sensor is arranged on the gripper body and used for sensing the product; wherein the sensor is electrically connected with the control device; when the gripper body moves to the position where the product triggers the sensor, the transfer component stops driving the gripper body, and the clamping component drives the first gripping part and/or the second gripping part to slide to a preset position to form the clamping opening.

Preferably, the first grabbing piece and the second grabbing piece are both provided with positioning grooves for supporting the product; the first grasping member and the second grasping member each include: the clamping device comprises a grabbing part for forming the clamping opening and a limiting part connected with the grabbing part; when the first grabbing piece and/or the second grabbing piece slide to a preset position, the limiting part of the first grabbing piece and the limiting part of the second grabbing piece are abutted, and the positioning groove can support the product when the lifting assembly ascends.

Further preferably, the hand grip comprises: the first gripper body and the second gripper body are symmetrically arranged by taking the conveying direction of the conveying device as a symmetry axis; the first hand grip body is used for gripping the product when moving to a preset position along the forward direction; the second hand grip body is used for grabbing the product when moving to a preset position along the reverse direction.

Preferably, the clamping and moving assembly comprises a fixed plate connected with the transferring and moving assembly, a guide rail connected with the fixed plate, a first sliding block and a second sliding block which are arranged on the guide rail in a sliding manner and connected with the fixed plate, a driving piece connected with the fixed plate and used for driving the first sliding block and/or the second sliding block to move, and a limiting block arranged between the first grabbing piece and the second grabbing piece; the first sliding block is connected with the first grabbing piece; the second sliding block is connected with the second grabbing piece.

Further preferably, the transfer unit includes: the lifting mechanism comprises a mounting bracket connected with the lifting assembly, a track component connected with the mounting bracket, a sliding block arranged on the track component in a sliding manner, and a driving motor connected with the track component and used for driving the sliding block to move along the axial direction of the track component; the transfer assembly further comprises: at least two inductors disposed on the rail member; when the sliding block moves to the position sensed by the first sensor, the hand grip body is located at a first station for gripping or releasing the product, and when the sliding block moves to the position sensed by the second sensor, the hand grip body is located at a second station for releasing the product.

Further preferably, the lifting assembly comprises: the sliding block assembly is arranged on the second sliding rail in a sliding mode, the sliding block driving device drives the sliding block assembly to move along the axial direction of the second sliding rail, and the grabbing device is connected with the sliding block assembly; the slide rail assembly includes: the sliding rail motor is electrically connected with the control device, and the sliding rail screw rod is connected with the sliding rail motor and arranged along the axial direction of the roadway. The first slide rail seat is arranged on the slide rail screw rod in a sliding mode and can slide to the outlet side of the roadway from the inlet side of the roadway.

Further preferably, the lifting assembly comprises: the second slide rail seat is connected with the second slide rail, and the third slide rail is fixedly connected with the outside and forms floating sliding connection with the second slide rail seat; the first slide rail seat and the second slide rail seat are respectively arranged at two opposite ends of the second slide rail; the second slide rail seat comprises a frame body, an elastic component and a limiting component, wherein the frame body is connected with the second slide rail and provided with a channel for passing through the third slide rail, the elastic component is arranged on the frame body and abutted against the third slide rail, and the limiting component is arranged on the frame body and used for limiting the third slide rail; the elastic assembly and the limiting component respectively limit two opposite sides of the third sliding rail.

Further preferably, the elastic member includes: the frame comprises connecting pieces arranged on two opposite sides of the frame body piece, floating plates arranged above the connecting pieces and capable of sliding relatively, and compression springs arranged between the connecting pieces and the floating plates; the floating plate is used for supporting the third slide rail in a sliding mode.

Further preferably, the elastic assembly further comprises: set up in on the floating plate and be used for the rolling contact the gyro wheel of third slide rail, be located limiting plate below the connecting piece, set up in passageway on the connecting piece, set up in on the limiting plate and run through the guide post of passageway, the cover is located uide bushing on the guide post, cover are established compression spring on the uide bushing, slide in on the connecting piece and with the direction axle that the floating plate links to each other.

Further preferably, N is 3-18; the storehouse body comprises a goods shelf and M storage spaces which are arranged on the goods shelf and are arranged in a matrix; wherein M is a natural number greater than 1.

Further preferably, a conveying line for receiving the products conveyed from the feeding device is arranged on the same side of each warehouse body; wherein, transfer chain includes: the receiving section is used for receiving the products conveyed by the feeding device, and the sorting section is used for sorting the products; the out-of-warehouse sorting equipment further comprises: a plurality of guiding devices are arranged on the conveying line and used for sorting the products.

Further preferably, the receiving section and the sorting section are connected end to end in sequence to form an annular conveying section.

The application also provides a control method of the warehouse-out sorting equipment, which is used for controlling the warehouse-out sorting equipment and comprises the following steps:

grabbing the products to be delivered out of the warehouse body by a grabbing device;

moving the grabbed products to a material receiving station through a grabbing device;

and products on the material receiving station are sequentially conveyed to the outside from the roadway through the feeding device.

Compared with the prior art, the automatic warehouse-out sorting machine can improve the work efficiency of products in the automatic warehouse-out sorting process, and reduces labor cost.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1: the structure schematic diagram of the warehouse-out sorting equipment in the first embodiment of the invention;

FIG. 2: the structure schematic diagram of the feeding device in the first embodiment of the invention;

FIG. 3: the structure schematic diagram of the grabbing device in the second embodiment of the invention;

FIG. 4: a partial enlarged schematic view shown at E in fig. 3;

FIG. 5: a partial enlarged schematic view shown at F in fig. 3;

FIG. 6: a partially enlarged schematic view shown at G in fig. 3;

FIG. 7: FIG. 3 is an enlarged partial view of H;

FIG. 8: a partial enlarged schematic view shown as E1 in fig. 3;

FIG. 9: a schematic structural view of a gripper in a first embodiment of the present invention;

FIG. 10: a partial enlarged schematic view shown at F1 in fig. 9;

FIG. 11: an explosion structure diagram of the gripper in the first embodiment of the invention;

FIG. 12: the structure of the conveying unit in the first embodiment of the invention is shown schematically;

FIG. 13: the structure of the shelf in the first embodiment of the invention is shown schematically;

FIG. 14: the invention discloses a detailed flow chart of a control method of ex-warehouse sorting equipment in a first embodiment;

FIG. 15: fig. 14 is a detailed flowchart of step S10;

FIG. 16: fig. 14 is a detailed flowchart of step S20;

FIG. 17: a schematic structural view of a gripper in a second embodiment of the present invention;

FIG. 18: the structure schematic diagram of the warehouse-out sorting equipment in the third embodiment of the invention;

FIG. 19: the concrete structure of the conveying device in the third embodiment of the invention is shown schematically;

FIG. 20: a partially enlarged schematic view shown at B in fig. 19;

FIG. 21: a partially enlarged schematic view shown at D in fig. 19;

FIG. 22: a partial enlarged schematic view shown at C in fig. 19;

FIG. 23: the structure of the conveying unit in the third embodiment of the invention is shown schematically;

FIG. 24: a detailed flowchart of a control method of the out-of-warehouse sorting equipment in the third embodiment of the invention;

FIG. 25: a detailed flowchart of step S7 in fig. 23;

FIG. 26: a detailed flowchart of step S8 in fig. 23;

FIG. 27 is a schematic view showing: a detailed flowchart of step S9 in fig. 23;

FIG. 28: the structure schematic diagram of the warehouse-out sorting equipment in the fourth embodiment of the invention;

FIG. 29: a side view of the guide in a fourth embodiment of the invention;

FIG. 30: top view of a guide device according to a fourth embodiment of the invention;

FIG. 31: a perspective view of a guide device in a fourth embodiment of the present invention;

FIG. 32: the working state of the guiding device in the fourth embodiment of the invention is shown schematically;

FIG. 33: an enlarged partial schematic view shown at K in fig. 32;

description of reference numerals:

the garage body 1, the guide device 2, the bracket 21, the guide member 22, the guide belt 222, the guide assembly 23, the motor mounting plate 231, the guide motor 232, the driving guide wheel 235, the driven guide wheel 236, the connecting member 25, the lifting member 26, the lifting cylinder 261, the adjusting shaft 262, the mounting plate body 2311, the first adjusting plate 2312, the second adjusting plate 2313, the through hole 2315, the pillar body 211, the frame body 212, the grasping device 3, the grasping unit 31, the grasping unit 311, the first grasping unit 311a, the second grasping unit 311b, the first grasping unit 3111, the second grasping unit 3112, the sensor 313, the positioning groove 3111a, the positioning groove 3112a, the grasping unit 3115, the limiting unit 3116, the lifting assembly 32, the first slide rail 321, the first slide rail seat 322, the second slide rail 323, the slide block assembly 324, the second slide rail seat 325, the third slide rail 326, the frame body 3251, the elastic assembly 3252, the connecting member 32521, the floating plate 32522, the roller 523, Compression spring 32524, side plate 32525, limit plate 32526, guide post 32527, guide sleeve 32528, guide shaft 32529, limit part 3253, base 33, slide rail assembly 34, slide rail motor 341, slide rail lead screw 343, slider driving device 345, lifting motor 3451, rotating assembly 35, suspension bracket 351, rotating member 352, driving assembly 353, upper fixing plate 3531, lower fixing plate 3532, connecting rod 3533, driving member 3534, rotating motor 3535, transfer assembly 36, mounting bracket 361, rail member 362, sliding block 363, driving motor 364, first inductor 365, second inductor 366, clamping assembly 37, fixing plate, guide rail 372, first slider 373, second slider 374, driving member 375, lane 4, lane 41, lane 42, conveying device 9, buffer unit 92, receiving area 921, conveyor belt 911, driving motor 912, limit plate 913, guide plate 914, limit plate 923, limit plate, second slider 373, drive plate 371, drive motor 371, lane 4, lane 41, lane 42, conveying device 9, buffer unit 92, receiving area 921, conveyor belt, The device comprises a clamping device 924, a clamping member 9241, a receiving unit 93, a limiting plate 933, a stop plate 934, a pushing cylinder 935, a pushing plate 936, a baffle 94, a lifting cylinder 95, a conveying line 7, a receiving section 71, a sorting section 72, a product 6, a steering wheel 10, a conveying line 7, a feeding device 8, a receiving unit 81, a feeding unit 82, a buffer area 821, a conveying area 822, a conveying unit 8211, a conveying belt 82112, a driven roller 82113, a driving motor 82115, a conveying frame 83, a limiting guide plate 84, a guide surface 841 and a monitoring sensor 85.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Example one

As shown in fig. 1 to 15, a first embodiment of the present invention provides an ex-warehouse sorting apparatus, which is mainly composed of a plurality of warehouse bodies 1 having storage spaces for storing products, a feeding device 8 disposed in a roadway 4 and having a receiving station, a gripping device 3 disposed in the roadway 4, and a control device electrically connected to the feeding device 8 and the gripping device 3. Wherein, form the tunnel 4 that is used for carrying the product between two adjacent storehouse bodies 1, grabbing device 3 is used for snatching the product on the storehouse body 1 to remove the product to connect the material station on. The product 6 in this embodiment may be an electronic product such as a mobile phone or a tablet, or a tray for holding the electronic product. In this embodiment, the number of library bodies 1 is only three as an example for description, and the specific number thereof is not specifically limited and described herein.

The above results show that: when a certain product 6 needs to be sorted out of a warehouse, the corresponding product on the warehouse body 1 can be grabbed to the material receiving station of the feeding device 8 through the cooperation of the grabbing device 3 and the feeding device 8, and the product is conveyed to the outside from the roadway 4 through the feeding device 8, so that automatic sorting of batch products can be realized without manual sorting, the work efficiency of the product in the automatic sorting process out of the warehouse is improved, the labor cost is reduced, particularly, the labor cost of the product in the classification and recovery process is reduced, and the sorting efficiency and the accuracy are improved.

Specifically, as shown in fig. 2, the feeding device 8 in this embodiment is mainly composed of a receiving unit 81 having a receiving station, a feeding unit 82 connected to the receiving unit 81, and the like. After the product is placed on the receiving unit 81 by the grasping device, the product is conveyed to the outside after passing through the receiving unit 81 and the feeding unit 82 in sequence. The receiving unit 81 can conveniently receive the products, so that the subsequent feeding unit 82 can smoothly discharge the products taken out from the warehouse body 1 to the outside from the roadway 4, and the automatic sorting and delivery of the products on the warehouse body 1 are realized.

Further preferably, as shown in fig. 2, the feeding device 8 in this embodiment may be composed of a feeding frame 83 for supporting the receiving unit 81 and the feeding unit 82, limit guides 84 provided on opposite sides of the feeding frame 83 and for forming a feeding channel, and the like. The feeding channel formed by limiting the limiting guide plate 84 can better guide the product, so that the posture of the product is not easy to change when the product is conveyed on the feeding device 8, and the subsequent sorting is facilitated.

Further preferably, as shown in fig. 2, the limit guide 84 has at least one guide surface 841 obliquely arranged with respect to the feeding direction of the feeding device 8, and the guide surface 841 is located between the receiving unit 81 and the feeding unit 82 such that the width of the feeding path gradually decreases from the receiving unit 81 toward the feeding unit 82. The guiding surface 841 can guide the posture of the product correctly, i.e. even if the posture of the product deviates when the product is placed on the receiving unit 81 by the gripping device 3, the guiding surface 841 can guide and correct the posture of the product in the moving process, so as to facilitate the subsequent transportation and orderly placement.

Specifically, in order to meet the actual design and assembly, as shown in fig. 2, the receiving unit 81 and the feeding unit 82 in this embodiment each include: one or more than two transport units 8211 for independently conveying products. Wherein, the feeding unit 82 includes: a buffer area 821 connected with the receiving unit 81, and a feeding area 822 connected with the buffer area 821. The buffer area 821 and the feeding area 822 are respectively composed of at least one conveying unit 8211; the length of the buffer area 821 is greater than the length of the feed area 822. By dividing the feeding unit 82 into two areas, namely the buffer area 821 and the feeding area 822, which can be independently controlled to convey, the products 6 can be buffered and released conveniently according to the distribution requirement of the conveying line outside the roadway 4 in the conveying process of the products 6 on the feeding unit 82.

In order to facilitate smooth transfer of products, as shown in fig. 2 and 12, the conveying unit 8211 may be composed of a driving roller 82111 and a driven roller 82113 rotatably disposed on the feeding frame 83, a conveyor belt 82112 fitted over the driving roller 82111 and the driven roller 82113, a driving motor 82115 disposed on the feeding frame 83 and driving the driving roller 82111 to rotate, and the like. The drive motor 82115 is electrically connected to the control device. Obviously, the conveying unit 8211 in this embodiment is not limited to the conveyor belt 82112, and may also be composed of a plurality of conveying bodies arranged in parallel and used for contacting with products, and so on, and will not be described herein again.

In addition, as shown in fig. 2, the feeding device 8 further includes: and a plurality of monitoring sensors 85 which are arranged on the limit guide plate 84, arranged along the feeding direction of the feeding device 8 and electrically connected with the control device are used for sensing products so as to monitor the positions of the products. The areas corresponding to the receiving unit 81 and the feeding unit 82 are respectively provided with at least one monitoring sensor 85, and the monitoring sensors are used for sending a driving signal to the control device when no product is monitored, so that the control device drives the corresponding conveying units to operate according to the driving signal, for example, two adjacent conveying units, when a product 6 is monitored by the monitoring sensors 85, the adjacent conveying units are controlled to operate, and when no product 6 is detected by the monitoring sensors 85 within a preset time, the operation is stopped.

Through the cooperation of each monitoring sensor 85, carry out real time monitoring to the quantity of product and position on material feeding unit 8, in addition, through monitoring sensor 85 to the monitoring of product in the settlement time, control each unit whether to operate, can avoid appearing the phenomenon of blocking up.

Further preferably, as shown in fig. 3, the gripping device 3 in the present application is mainly composed of a gripper 31 for gripping the product 6, a lifting assembly 32 connected to the gripper 31 for driving the gripper 31 to move up and down along the height direction of the roadway 4, a base 33 disposed on one side of the feeding device 8, a slide rail assembly 34 disposed on the base 33 and connected to the lifting assembly 32 for driving the lifting assembly 32 to move back and forth along the conveying direction of the feeding device 8, and the like. Wherein, the lifting assembly 32, the hand grip 31 and the slide rail assembly 34 are electrically connected with the control device.

Through the cooperation of the lifting assembly 32 and the sliding rail assembly 34, the hand grip 31 can reciprocate along the conveying direction (a direction shown in fig. 1) of the feeding device 8, along the height direction of the roadway 4 and the direction perpendicular to the conveying direction, so that the gripped product 6 can be moved to the receiving station on the feeding device 8 after being gripped from any position on the warehouse body 1.

The slide rail assembly 34 may preferably be composed of a slide rail motor 341, a slide rail screw 343 connected to the slide rail motor 341 and disposed along an axial direction of the roadway, and the like. The first slide rail seat 322 is slidably disposed on the slide rail screw 34, and can slide from an entrance side of the roadway to an exit side of the roadway. The slide rail assembly 34 further includes: a speed reducer connected to the slide rail motor 341 and the slide rail screw 343, etc. to ensure that the base 33 drives the gripper 31 to slide smoothly along the conveying direction of the feeding device 8.

In detail, as shown in fig. 9 to 11, the gripper 31 mainly includes a gripper body 311, a transfer unit 36 connected to the lifting unit 32 for reciprocating the gripper body 311 in a direction perpendicular to the conveying direction of the feeder 8, and a gripping unit 37 connected to the transfer unit 36 and the gripper body 311 for driving the gripper body 311 to grip and release the product. Wherein, the gripper body 311, the transferring component 36 and the clamping component 37 are all electrically connected with the control device; the lifting assembly 32 is further configured to drive the gripper 31 to perform lifting movement to grip and release the product after the gripper body 311 reaches a predetermined station (e.g., a material receiving station).

Therefore, when products need to be sorted, according to the corresponding position of the product 6 on the warehouse body 1, the lifting assembly 32 and the sliding rail assembly 34 are matched to move the hand grip 31 to the corresponding position of the product 6 to be sorted on the warehouse body 1, then the transfer assembly 36 drives the hand grip to move along the direction (the direction a shown in fig. 1) perpendicular to the conveying direction, i.e. the axial direction perpendicular to the roadway 4, towards one side of the warehouse body 1, so that the hand grip 311 moves to the coordinate position corresponding to the storage space matched with the corresponding storage space on the warehouse body, then the transfer assembly 36 moves along the direction (the direction a shown in fig. 1) perpendicular to the conveying direction, after the hand grip 311 extends into the preset position in the storage space, the clamping assembly 27 is matched to, and after the lifting assembly 32 lifts the hand grip 311 to the preset position, the product 6 can be grabbed, then the grabbing hand 31 is moved to a preset position adjacent to the position of the material receiving unit 81 through the matching of the lifting assembly 32 and the sliding rail assembly 34, the grabbing hand body 311 is driven by the transferring assembly 36 to move along the direction perpendicular to the conveying direction and move towards one side of the material receiving unit 81 until the product is moved to the material receiving station of the material receiving unit 81, and the product is released to the material receiving unit 81 through the matching of the clamping assembly 27. Therefore, the whole process does not need manual operation, and the lifting assembly 32, the sliding rail assembly 34, the transferring assembly 36 and the clamping assembly 37 are matched, so that the hand grip 31 can conveniently move products to be sorted of the warehouse body 1 to the feeding device 8 and convey the products to the outside through the feeding device 8, the sorting efficiency is improved, and the space is fully utilized.

In addition, the warehouse body 1 can be set to be high enough through the warehouse-out sorting equipment, so that the capacity of a storage space on the warehouse body 1 is improved, the space utilization rate is improved, and the space occupied by the warehouse body 1 on the plane is reduced.

As shown in fig. 9 to 11, the gripper body 311 has a grip 312. The grip body 311 may include a first grip 3111 and a second grip 3112 symmetrically disposed and relatively slidable along the conveying direction, and a sensor 313 disposed on the grip body 311 for sensing the product 6. The sensor 313 is electrically connected to the control device, and when the gripper body 311 moves to a position where the product 6 triggers the sensor 313, the control device controls the transfer assembly 36 to stop driving the gripper body 311, and the clamping assembly 37 drives the first and/or second grippers 3111 and 3112 to slide to a predetermined position, so as to form the clamping opening 312. Through the relative slip between first grabbing piece 3111 and the second grabbing piece 3112, realize opening and shutting of the mouth 312 of tongs body 311, be convenient for through the lift cooperation of lifting unit 32, realize snatching and releasing product 6.

As shown in fig. 11, the gripper 31 in the present embodiment may preferably be configured by a gripper body 311a and a gripper body 311b that are provided symmetrically with respect to the feeding direction of the feeder 8. The gripper body 311a is used for moving to a first preset position along the forward direction to grip or release the product 6; the gripper body 311b is used to grip or release the product 6 when moving to a second predetermined position in the reverse direction. Through the two opposite hand grip bodies, the hand grip 31 can grip or release the products 6 from the positive direction and the negative direction, so that the products 6 can be placed in any one of the warehouse bodies 1 on the two opposite sides on the feeding device 8 according to requirements, the structure of the hand grip 31 is simplified, the space is fully utilized, and the utilization efficiency of the warehouse bodies 1 is improved.

As shown in fig. 9 to 11, in a preferable mode, the first grabber 3111 and the second grabber 3112 are both provided with positioning grooves ( positioning grooves 3111a and 3112a shown in fig. 11) for supporting a product; the first and second grabbers 3111 and 3112 each include: a grasping portion (a grasping portion 31115 and a grasping portion 31125 shown in fig. 11) for forming the nip 312, and a stopper portion (a stopper portion 31116 and a stopper portion 31126 shown in fig. 11) connected to the grasping portion; after the first grabber 3111 and/or the second grabber 3112 slide to a predetermined position, the position-limiting portion 31116 of the first grabber 3111 and the position-limiting portion 31126 of the second grabber 3112 are abutted, and the positioning grooves (e.g., the positioning groove 3111a and the positioning groove 3112a shown in fig. 11) are configured to support the product when the lifting assembly 32 is lifted.

When the position-limiting portion 31116 of the first grabber 3111 abuts against the position-limiting portion 31126 of the second grabber 3112, the clamping assembly 37 stops driving the first grabber 3111 and the second grabber 3112 to slide relative to each other. Here, the clamping assembly 37 may sense that the position-limiting portion 31116 of the first grabbing piece 3111 and the position-limiting portion 31126 of the second grabbing piece 3112 are abutted by a corresponding external or self-pressure sensor or other sensing parts, so that the clamping assembly 37 stops driving the first grabbing piece 3111 and the second grabbing piece 3112, which is not specifically limited or described herein.

For example, when the first grabbing member 3111 and the second grabbing member 3112 slide to a predetermined position in the X direction, the first positioning groove 3111a and the second positioning groove 3112a are respectively located below two opposite sides of the product, and when the hand grip 31 moves up and down along a plane perpendicular to the plane formed by the X and Z under the action of the driving device, the hand grip can hold the product 6 to grab the product 6, so as to avoid damage to the product due to product clamping, or the product 6 is shifted due to jumping during releasing, which is not beneficial to grabbing the subsequent product 6.

Furthermore, it is worth mentioning that the grip portions of the first grip member 3111 and the second grip member 3112 may have bearing elements matching the circumferential profile of the product to be gripped. In the embodiment, the product 6 is preferably a tray having a rectangular shape with an article, and therefore, the supporting member may preferably be a rail strip for supporting an edge of the tray, a connecting strip vertically connected to the rail strip and the stopper, or the like. Wherein, the track strip is provided with a positioning groove. It should be noted that, in the present embodiment, the supporting member may also be designed to have a shape adapted to the specific shape of the product in practical application, such as an arc shape. Also, the sensor 313 in this embodiment is preferably disposed at a position below the positioning grooves (such as the positioning groove 3111a and the positioning groove 3112a shown in fig. 11) on the track bar.

In addition, as another preferable mode, as shown in fig. 9 to 11, the nip 312 in this embodiment may also be formed by directly clamping opposite sides of the product 6 after driving the first grabbing member 3111 and/or the second grabbing member 3112 to slide to a preset position through the clamping assembly 37 according to actual requirements. Therefore, after the hand grip 31 moves to a corresponding position through the lifting movement of the lifting assembly 32, the opening and closing of the grip opening 312 of the hand grip body 311 is controlled through the relative sliding between the first grip member 3111 and the second grip member 3112, so as to grip and release the product 6, which is not specifically limited and described herein.

As shown in fig. 9, 10 and 11, the clamping unit 37 may preferably include a fixing plate 371 connected to the transfer unit 36, a guide rail 372 connected to the fixing plate 371, a first slider 373 and a second slider 374 slidably disposed on the guide rail 372, a driving member 375 connected to the fixing plate 371 and driving the first slider 373 and/or the second slider 374 to move, and a stopper disposed between the first gripper 3111 and the second gripper 3112. Here, as a preferable mode, the stopper portion (the stopper portion 31116 and the stopper portion 31126) of each grasping member 311 has stoppers formed to protrude toward each other. The number of the guide rails 372 in this embodiment is preferably two.

Wherein, the first slider 373 is connected to the first grabber 3111; the second slider 374 is coupled to the second grip member 3112. The drive 375 is preferably a jaw cylinder. Through the cooperation of spacing portion 31116 and drive part 3534, realize the control to the closed distance between first piece 3111 and the second piece 3112 that snatchs, even be convenient for control clamping jaw cylinder's stroke to the size that opens and shuts of accurate control nip 312. That is to say, when the first gripper 3111 and the second gripper 3112 move to the corresponding predetermined positions through the gripper body 311, the positioning groove 3111a of the first gripper 3111 and the positioning groove 3112a of the second gripper 3112 can support the product, so as to avoid damage to the product 6 due to clamping of the product 6, or the product 6 jumps to cause a shift when released, which is not beneficial to gripping of the subsequent product 6.

As shown in fig. 11, the transferring assembly 36 may be composed of a mounting bracket 361 connected to the lifting assembly 32, a rail member 362 connected to the mounting bracket 361, a slide block 363 slidably disposed on the rail member 362, a driving motor 364 connected to the rail member 362 and driving the slide block 363 to move along the axial direction of the rail member 362, and the like. The driving motor 364 is electrically connected to the control device.

Further preferably, in this embodiment, the transfer assembly 36 further includes: at least two sensors, such as a first sensor 365 and a second sensor 366 shown in fig. 11, are disposed on the rail member 362 and electrically connected to the control device.

For example, when the sliding block 363 moves to the position sensed by the first sensor 365, the hand grip body 311 is located at the first station for gripping the product 6 to grip the product on the library body 1, and when the sliding block 363 moves to the position sensed by the second sensor 366, the hand grip body is located at the second station for releasing the product 6, which is preferably a receiving station in this embodiment, to release the product on the receiving unit 81 of the feeding device 8. Through the sliding of the sliding block 363 on the track component 362, the gripper 31 can have a larger moving space in the direction perpendicular to the conveying direction, so that the product 6 can be conveniently taken out from the warehouse body 1 and moved to the feeding device 8 for conveying. Here, it should be noted that the number of the sensors disposed on the gripping device 3 in this embodiment is not limited to two, and the sensors may be disposed along the axial direction of the rail member 362, and the first station thereof is not limited to one, and may be two, for example, opposite ends of the rail member correspond to the magazine bodies 1 disposed on both sides of the feeding device 8, respectively, so as to feed the gripper body 311 to the position corresponding to the product in the graspable storage space.

In addition, it should be mentioned that the gripping device 3 in this embodiment may also be configured without an inductor, and the gripper body 311 may reach the first station or the second station only by controlling the forward or reverse movement of the driving motor 364 and controlling the number of rotations of the motor, which is not specifically limited and described herein.

As shown in fig. 3 to 8, the lifting assembly 32 mainly includes a first slide rail 321 disposed on the base 33, a first slide rail seat 322 slidably disposed on the first slide rail 321, a second slide rail 323 vertically connected to the first slide rail seat 322, a slider assembly 324 slidably disposed on the second slide rail 323 and connected to the gripper 31, a slider driving device 345 for driving the slider assembly 324 to move along the axial direction of the second slide rail 323 and electrically connected to the control device, and the gripper 31 connected to the slider assembly 324.

The slider driving device 345 may be composed of a lifting motor 3451 electrically connected to the control device, a screw rod assembly (not shown) disposed on the second slide rail 323 for driving the slider assembly 324 to slide, and the like. Through the sliding of the slide rail assembly 34 on the second slide rail 323, the grabbing device 3 can be driven to slide along the axial direction of the second slide rail 323, and the second slide rail 323 follows the sliding of the first slide rail seat 322 on the first slide rail 321, so that the grabbing device 3 slides to any position in the vertical space of the roadway 4, the grabbing device is convenient to grab and release the product 6, and the automatic storage of the product 6 is convenient. Obviously, in this embodiment, the slide driving device 345 may also adopt a conveyor belt assembly or the like instead of the screw rod assembly, and the screw rod assembly or the conveyor belt assembly may drive the slide assembly 324 to reciprocate along the axial direction of the second slide rail 323 by controlling the operation of the lifting motor 3451.

Specifically, as shown in fig. 3 to 6, the lifting assembly 32 further includes: a second slide rail seat 325 connected to the second slide rail 323, and a third slide rail 326 fixedly connected to the outside and slidably connected to the second slide rail seat 325 in a floating manner. The first slide rail seat 322 and the second slide rail seat 325 are respectively disposed at two opposite ends of the second slide rail 323. Because the third slide rail 326 is slidably connected to the second slide rail seat 325, two parallel rails are formed in the space between the first slide rail 321 and the second slide rail 323, so that the second slide rail 323 can stably run when driving the grabbing device 3 to axially reciprocate along the second slide rail 323 parallel to the first slide rail 321 and the second slide rail 323, thereby avoiding the occurrence of a shaking phenomenon.

In conclusion: through the mutual cooperation among the lifting component 32, the transferring component 36 and the clamping component 37, the gripper body 311 can move in any space in a three-dimensional space, so that the products 6 can be conveniently put down from any storage space on the warehouse body 1 to the feeding device 8.

Specifically, as shown in fig. 4, the second slide rail seat 325 may be configured by a frame 3251 connected to the second slide rail 323 and having a passage for passing the third slide rail 326, an elastic member 3252 provided on the frame 3251 and abutting against the third slide rail 326, a stopper 3253 provided on the frame 3251 for stopping the third slide rail 326, and the like. Wherein, elastic component 3252 and limiting part 3253 carry on spacingly to the relative both sides of third slide rail 326 respectively, so that can form unsteady sliding fit between third slide rail 326 and the second slide rail seat 325 and connect, ensure that second slide rail 323 drives grabbing device 3's smooth slip along the direction that is on a parallel with first slide rail 321, and make second slide rail seat 325 can follow the axial of second slide rail 323 and float from top to bottom, thereby avoid second slide rail 323 to appear bending deformation, in order to play increase of service life, the absorbing effect, thereby ensure that grabbing device's position is difficult for producing the skew, in order to guarantee the precision of snatching and releasing.

Further, it is worth mentioning that the limiting member 3253 in this embodiment may preferably be a limiting wheel as shown in fig. 8 to reduce wear during assembly and actual use. Obviously, the limiting component 3253 in this embodiment may also be other types of components, such as a rolling wheel and a limiting block, which are disposed above the third sliding rail 326 and in rolling contact therewith, and are not described herein again.

As shown in fig. 3 to 8, in order to meet the design requirements in practical applications, the elastic member 3252 may preferably include a connecting member 32521 disposed on opposite sides of the frame member 3251, a floating plate 32522 disposed above the connecting member 32521 and capable of sliding relatively, and a compression spring 32524 disposed between the connecting member 32521 and the floating plate 32522.

The third slide rail 326 is slidably supported by the floating plate 32522, so that the frame 3251 and the third slide rail 326 can be slidably connected to each other in a vertically floating manner, and the frame 3251 can smoothly slide in the axial direction of the third slide rail 326, thereby reducing the wear and frictional resistance of the third slide rail 326 and ensuring the synchronous movement of the upper and lower ends of the second slide rail 323. The floating plate 32522 has a floating plate body abutting against the compression spring 32524, and a side plate 32525 disposed on the floating plate body and used for mounting and fixing opposite sides of the roller 32523, which will not be described herein again.

Additionally, it is further preferred that the resilient assembly 3252 further comprises: and a roller 32523 provided on the floating plate 32522 and rolling-contacting the third slide rail 326. The roller 32523 provided on the floating plate 32522 is in rolling contact with the third slide rail 326, so that the frame 3251 and the third slide rail 326 can be in sliding connection in a vertically floating manner, thereby minimizing the wear and frictional resistance of the third slide rail 326 and ensuring the smooth sliding of the frame 3251 along the axial direction of the third slide rail 326. Obviously, it should be noted that, in the present embodiment, the elastic element 3252 may also realize the floating connection by directly supporting the third sliding rail 326 by the floating plate 32522 instead of the roller 32523, which is not described herein again.

In addition, preferably, as shown in fig. 8, the elastic member 3252 further includes: the floating type hydraulic lifting device comprises a limiting plate 32526 positioned below the connecting piece 32521, a channel arranged on the connecting piece 32521, a guide column 32527 arranged on the limiting plate 32526 and penetrating through the channel, a guide sleeve 32528 sleeved on the guide column 32527, a compression spring 32524 sleeved on the guide sleeve 32528, and a guide shaft 32529 sliding on the connecting piece 32521 and connected with the floating plate 32522. Thereby achieving floating attachment of floating plate 32522 to connector 32521.

In the present embodiment, as shown in fig. 13, the storage body 1 may be configured by a shelf 11, a plurality of storage spaces 12 arranged in a matrix on the shelf 11, and the like. So that the gripping device 3 can grip the product 6 from the corresponding storage space 12 according to the space position of the coordinate system corresponding to each storage space 12 and release the product onto the feeding device 8.

In addition, it is worth mentioning that, in order to facilitate the grasping and releasing of the product by the grasping device, each storage space 12 is preferably a cavity with a rectangular cross section, at least a part of the area of the bottom of each cavity is a plane area for supporting the product, and the plane areas are parallel to each other. The conveying direction of the feeding device is parallel to the plane area.

In addition, as a preferable mode, the control device 101 in this embodiment may be one or more PCL (Programmable Logic Controller) controllers communicatively connected to the feeding devices 8 and the gripping device 3, and a control host, such as an industrial personal computer, communicatively connected to the PCL controllers. Further, the control device 101 includes: and a sub PCL (Programmable Logic Controller) Controller which is in communication connection with the PCL (Programmable Logic Controller) Controller in the conveying device and the grabbing device is also designed according to actual requirements.

In order to better describe the work flow of the warehousing sorting equipment in this embodiment, as shown in fig. 14, this embodiment further provides a control method of the warehousing sorting equipment, which includes the following steps:

s10, grabbing the products to be delivered from the warehouse body 1 through the grabbing device 3;

s20, moving the grabbed products to a material receiving station through the grabbing device 3;

and S30, sequentially conveying the products on the receiving station from the roadway 4 to the outside through the feeding device 8.

From the above steps S10 to S30, it can be seen that: through the cooperation of the gripping device 3 and the feeding device 8, products can be sequentially sorted from the warehouse body 1 to the corresponding feeding device 8, so that automatic warehouse-out processing is realized.

As shown in fig. 15, step S10 further includes the steps of:

step S101: acquiring product information matched with a product to be delivered out of a warehouse;

step S102: matching the storage space matched with the storage space on the library body 1 according to the product information;

step S103: determining a matched coordinate position according to the storage space;

step S104: the gripping device 3 moves the gripper 31 to the position of the coordinate position according to the coordinate position;

step S105: the gripper 31 moves the gripper body 311 through the transfer component 36 until the sensor 313 senses the product 6 and stops moving;

step S106: the gripper body 311 grips the product 6 located on the gripping station by sliding the first grip 3111 and the second grip 3112 relative to each other until the grip opening 312 is formed, and unbinds the coordinate position and the product information.

As can be seen from steps S101 to S106: according to the product information of the product to be delivered from the warehouse, the corresponding coordinate position is determined, the grasping device 3 can accurately move the grasping hand to the position matched with the product to be delivered from the warehouse on the warehouse body 1 to grasp the product, the storage space for originally storing the product on the warehouse body is in an empty state, and subsequent products can be conveniently moved to the empty storage space by the grasping device in sequence, so that the utilization rate of the warehouse body 1 is improved.

As shown in fig. 16, step S2 further includes the steps of:

step S201: the gripping device 3 moves the gripper 31 to one side of the material receiving station according to the coordinate position corresponding to the material receiving station;

step S202: the gripper 31 moves the gripper body 311 through the transfer assembly 36 until reaching the material receiving station, and releases the product to the material receiving station.

As can be seen from steps S201 to S202: after the grabbing device 3 accurately grabs the product from the storehouse body 1, according to the coordinate position that connects the material station to correspond, can remove the product to connect the material station to can sort the product from the storehouse body 1 in proper order to the material station that connects of corresponding material feeding unit 8, so that follow-up through material feeding unit 8 with product 6 from the tunnel 4 on carry to the outside, in order to realize automatic processing of leaving warehouse.

Example two

This embodiment is a further improvement of the first embodiment, and the improvement is that in this embodiment, as shown in fig. 17, at least one gripper 31 in the roadway 4 further includes: and a rotating component 35 connected with the transferring component 36 and the clamping component 37 and used for driving the gripper body 311 to rotate.

The rotating assembly 35 may be composed of a suspension bracket 351 for connecting with the transfer assembly 36, a rotating member 352 rotatably disposed on the suspension bracket 351 and connected with the gripping assembly 37, a driving assembly 353 disposed on the suspension bracket 351 for driving the gripping assembly 37 to rotate, and the like.

Therefore, the grabbing device 3 can freely rotate the grabbing hand body 311 through the rotating component 35, the grabbing direction and the releasing direction of the grabbing hand body 311 are changed, so that products on the warehouse bodies 1 on two sides of the roadway 4 can be grabbed by the grabbing hand 31 and moved to the feeding device 8 for conveying, the warehouse bodies 1 on two opposite sides of the feeding device 8 can be fully utilized, the products 6 can be conveniently obtained, the utilization efficiency is improved, and the space is saved. Here, the hand 31 in the present embodiment only needs to use one hand body (refer to the hand body 311 in fig. 17). In addition, the gripper body 311 in this embodiment has the same structure as the gripper body 311a in the above embodiment, and may adopt the same size specification or different size specifications according to actual requirements. Preferably, the grip body 311 of the present embodiment is different from the grip body 311a of the previous embodiment in specification, for example, the length of the positioning slot is different, and the size of the grip opening is different, so as to adapt to products with different specifications, such as tablet computers, and the grip body 311a of the previous embodiment is used for gripping products such as mobile phones.

For example, the products on different warehouse bodies in the embodiment can be captured by the capturing devices 3 in different roadways and conveyed to the outside through the feeding device 8.

Specifically, as shown in fig. 17, the suspension bracket 351 includes an upper fixing plate 3511 slidably connecting the transfer unit 36, a lower fixing plate 3512 connected to the clamping unit 37, a connecting rod 3513 connecting the upper fixing plate 3511 and the lower fixing plate 3512 and forming an installation space, and the like. Wherein, the lower fixing plate 3512 is provided with a through hole for connecting the clamping component 37; the installation space is used to install the rotation member 352.

As shown in fig. 17, the rotating member 35 may be formed of: a steering mechanism 3521 having one end disposed on the lower fixing plate 3512 and laterally connected to the driving unit 353, a turntable unit 3522 rotatably connected to the steering mechanism 3521 and extending from the through hole to be connected to the gripping unit 37, and the like. Through the mutual matching of the steering mechanism 3521 and the turntable assembly 3522, the driving force of the driving assembly 353 is converted from the power in the horizontal direction to the power in the vertical direction, so that the hand grip 31 can rotate 360 degrees along the plane, and therefore, the product on the warehouse body 1 can be conveniently grabbed and released onto the feeding device 8.

Further, the driving unit 353 may be composed of a hanger 3531 connected to the upper fixing plate 3511, a rotation motor 3532 connected to the hanger 3531, a speed reducer (not shown) connected to the rotation motor 3532 and the steering mechanism 3521, and the like. Therefore, the driving assembly 353 can drive the gripper 31 to rotate at any time when following the sliding block 363 to move, and can realize real-time rotation and stillness.

It should be noted that, as a preferable mode, the steering mechanism in the present embodiment may adopt a component in the prior art, such as a coupling, etc., for changing the power direction output by the rotating motor 3535, and the driving unit 353 may be configured by a hanger 3531 connected to the upper fixing plate 3511, a rotating motor 3532 connected to the hanger 3531, a speed reducer (not shown in the figure) connected to the rotating motor 3532 and the steering mechanism 3521, etc. Therefore, when the driving assembly 353 moves along with the sliding block 363, the gripper body 311 can be driven to rotate at any time, and real-time rotation and static can be realized.

It should be noted that, as a preferable mode, the steering mechanism in the present embodiment may adopt a component in the prior art, such as a coupling, for changing the direction of the power output by the rotating electric machine 3535.

EXAMPLE III

The present embodiment is a further improvement of the first embodiment, and the improvement is that, in the present embodiment, as shown in fig. 18, the warehouse-out sorting apparatus further includes a conveying device 9 disposed in the roadway 4 and electrically connected to the control device. The conveyor 9 is adapted to receive products from one end of the lane 4 and to convey the products 6 to a predetermined gripping station. Wherein, the conveying device 9 and the feeding device 8 are respectively positioned at two opposite ends in the roadway 4. And the gripping device 3 is also used for gripping the products from the gripping station and moving the products 6 to the corresponding storage space on the magazine body 1.

As can be seen from the above, in the warehouse-out sorting apparatus in this embodiment, the products 6 can be continuously conveyed from the outside of the roadway 4 to the grabbing stations in the roadway 4 through the conveying device 9, for example, by being connected to an external pipeline-type conveying line, so as to receive the corresponding products 6, and convey the products 6 to the grabbing stations in the roadway 4, so that the grabbing device 3 can grab the products 6 located at the grabbing stations, and move the grabbed products 6 to the storage space on the warehouse body 1, thereby realizing automatic storage. When the products need to be sorted, the products 6 needing to be sorted are picked to the feeding device 8 from the corresponding position on the warehouse body through the grabbing device 3 and are conveyed to the outside of the roadway, and then the automatic sorting of the products is further realized.

As shown in fig. 18 to 23, specifically, the conveying device 9 in this embodiment is mainly configured by a buffer unit 92 for independently conveying and buffering products, a material receiving unit 93 for receiving and independently conveying the products, a support frame 97 for supporting the material receiving unit 93 and the buffer unit 92, and the like.

As can be seen from the above, the plurality of products 6 can be buffered conveniently by the buffer unit 92, the grabbing device 3 has enough time to grab the product 6 on the receiving unit 93 and move to the warehouse body 1 without affecting the receiving of the subsequent product 6 by the buffer unit 92, and when the product 6 stays for a long time in the buffer unit 92, the conveying of the product 6 can be stopped to avoid receiving the product 6 from the outside of the roadway 4. Therefore, through the cooperation and the independent control between the material receiving unit 93 and the buffer unit 92, the automation requirement in the actual production can be met, and the phenomenon that the products 6 are accumulated on the conveying device 9 and are blocked is avoided.

Further preferably, the conveying device 9 in this embodiment further includes: a first detecting sensor (not shown) disposed on the material receiving unit 93 and electrically connected to the control device, a clamping device 924 disposed on the supporting frame 97 and used for clamping the product on the buffer unit 92, and the like. Wherein when the first detecting sensor detects a product, a clamping signal is sent to the control device to cause the control device to control the clamping device 924 to clamp the product, and when no product is detected, a releasing signal is sent to the control device to cause the clamping device to release the product.

Since the conveying device 9 in this embodiment can obtain the products from the outside, for example, a pipeline conveying line, through the buffer unit 92, and when the buffer unit 92 conveys the products to the receiving unit 93, if the products are detected by the first detecting sensor, the control device controls the clamping device 924 to clamp the products according to the clamping signal sent by the first detecting sensor, so that the products subsequently conveyed to the buffer unit 92 are sequentially stacked under the blocking of the clamping device 924, until the products on the receiving unit 92 are sequentially gripped by the gripping device 3, the control device controls the clamping device 924 to release the products according to the release signal sent by the first detecting sensor, so as to realize the sequential release of the products, and facilitate the subsequent sorting, and the whole process does not need manual intervention, therefore, the warehouse-out sorting apparatus in this embodiment can receive the products conveniently, the products in the roadway can be orderly cached and sorted, so that the sorting efficiency is improved, and the labor cost is reduced.

Specifically, as shown in fig. 21, the clamping device 924 in this embodiment is mainly composed of two clamping motors (not shown) which are disposed on the supporting frame 97 and electrically connected to the control device, and a telescopic clamping member 9241 which is connected to the clamping motors. Wherein, the telescopic direction of the clamping piece 9241 is perpendicular to the conveying direction of the buffer unit 92. Through the centre gripping of holder 9241 to the product, can be better assurance when the centre gripping product blocks subsequent product, do not influence the receipt of buffer memory unit 92 to subsequent product to realize the orderly pile up of product on buffer memory unit 92.

In detail, as shown in fig. 19 and 23, the buffer unit 92 may be composed of a material receiving area 921 for receiving a product from the outside, a buffer area 922 connected to the material receiving area 921 and the material receiving unit, and the like. The buffer area 922 and the material receiving area 921 are each composed of at least one conveying unit 920. Through buffer memory district 922 and connect the separately setting of material district 921 for when buffer memory district 922 is full-loaded, stop to buffer memory district 922 conveying product through connecing material district 921, produce the extrusion in order to avoid follow-up product, and can not exert an influence to the operation with the outside transfer chain that connects material district 921 and meet.

In addition, as shown in fig. 23, for convenience of operation in practical application, the buffer unit 92 in the present embodiment may be configured by one or more than two conveying units 920 for contacting and independently conveying products, or the like. The conveying unit 920 in this embodiment has substantially the same structure as the conveying unit 8211 in the above embodiment, and mainly includes a conveyor belt (such as the conveyor belt 931 in fig. 2 or the conveyor belt 911 in fig. 4) for contacting and conveying a product, a driving conveying roller 916 and a driven conveying roller 915 which are disposed on the support frame for driving the conveyor belt to rotate, a driving motor (such as the driving motor 912 in fig. 4) which is disposed on the support frame 97 for driving the driving conveying roller to rotate, and the like. Wherein, the driving motor is electrically connected with the control device. Obviously, the conveying unit 920 in this embodiment is not limited to a conveying belt, and may also be a conveying roller, and the driving motor may be an external motor to drive the driving conveying roller to rotate, or may also be a motor built in the driving conveying roller, and the like.

Further, as shown in fig. 20, it is further preferable that the transportation device 9 further includes a baffle 94 which is disposed between the material receiving unit 93 and the buffer unit 92 and is capable of ascending and descending, and a lifting cylinder 95 which is connected to the baffle 94 and is electrically connected to the control device for driving the baffle 94 to move. The lifting cylinder 95 is configured to drive the baffle plate to ascend to a shielding position that can separate the material receiving unit 93 and the buffer unit 92 after the control device receives the clamping signal, and control the lifting cylinder 95 to drive the baffle plate 94 to descend to the initial position after the product is picked up by the external gripping device 3, for example, after the control device controls the lifting cylinder according to a release signal sent by the first detection sensor. When a product 6 is present on the material receiving unit 93, for example, when the first detection sensor detects the product 6, the lifting cylinder 95 drives the baffle plate 94 to ascend to a position separating the material receiving unit 93 and the buffer unit 92, so as to ensure that the product 6 on the buffer unit 92 is not conveyed to the material receiving unit 93 while the buffer unit 92 is still conveying the product 6 or stopping conveying the product 6.

In addition, the receiving area 92 and the receiving unit 93 each include: at least one of the above-mentioned conveying units 920. Here, it should be noted that the material receiving area 921, the buffer unit 92, and the material receiving unit 93 in this embodiment are all configured by using one conveying unit 920, and the lengths of the conveying units 920 are different.

Further, it is further preferable that the conveying device 9 further includes: limiting plates (refer to the limiting plates 923, 913 and 933 in fig. 19 to 22) disposed on opposite sides of the conveying unit 920 and forming a channel (not shown in the figures) to limit the product through the channel. Therefore, the product is limited through the channel formed between the two adjacent limiting plates, the unstable posture phenomenon caused by shaking when the product is conveyed on the conveying device 9 can be prevented, and the ordered accumulation of the product during caching can be further ensured (as shown in the state of fig. 1).

In addition, as shown in fig. 22, it is further preferable that the conveying device 9 further includes a guide plate 914 disposed at one side of the receiving area and connected to the supporting frame 97, wherein the guide plate 914 is configured to cooperate with a limiting plate (refer to the limiting plate 913 in fig. 2) to gradually decrease the width of the channel from the end receiving the product to the end outputting the product. The products are guided by the guide plate 914, so that the products can enter the caching unit in a correct posture after entering the receiving area 921 from the outside, and the products can be orderly stacked.

In addition, as shown in fig. 20, the conveying device 9 further includes a stopper 934 provided at the end of the buffer unit 92 for stopping the product, a pusher provided on the support frame 97 for clamping the product, and the like. The material pushing device is used for pushing the product on the cache unit 92 to a preset station, such as a grabbing station to be grabbed by external equipment, in a direction perpendicular to the conveying direction of the cache unit 92 after the control device receives the clamping signal. Through the cooperation of retaining plate 934 and receipts material unit 93 for product 6 is received material unit 93 and is conveyed to and stop after snatching the station, promotes product 6 to the station of predetermineeing through blevile of push simultaneously, realizes the accurate location to product 6, the snatching of the follow-up grabbing device of being convenient for. The material pushing device may preferably be composed of a material pushing cylinder 935, a material pushing plate 936 connected to a push rod of the material pushing cylinder 935, and the like, so as to push the product 6 to a preset grabbing station through the material pushing plate 936.

In addition, as shown in fig. 20, the pushing device may preferably be a pushing cylinder 935 provided on the support frame 97, and a pushing plate 936 connected to the pushing cylinder 935 and used to push the product. Wherein, the pushing direction of the material pushing plate 936 is perpendicular to the conveying direction of the material receiving unit 93.

In addition, it is further preferable that, as shown in fig. 19, the transport device 9 further includes: a second detection sensor 902 disposed on the supporting frame 97 and located in a region corresponding to the end of the receiving region 92; the second detecting sensor 902 is electrically connected to the control device, and is configured to send a detecting signal to the control device after detecting a product, and send a stopping signal to the control device when continuously detecting the product within a preset time, so that the receiving area 93 stops conveying the product. So as to judge whether the phenomenon of product blockage exists on the material receiving area 92 through the second detection sensor 902, and the control device can control the buffer unit 92 to stop conveying according to the stop signal sent by the second detection sensor 902.

In addition, as shown in fig. 19, it is further preferable that the transport device 9 further includes: a third detecting sensor 903 provided on the support frame 97 and disposed adjacent to the chucking device 924; the third detecting sensor 903 is configured to send a start signal to the control device after detecting the product, so that the control device controls the clamping device to clamp the product according to the start signal after receiving the clamping signal. Through the detection of the third detection sensor 903, the phenomenon of empty clamping of the product can be avoided, and the clamping device 924 can effectively clamp the product.

In addition, as shown in fig. 19, it is further preferable that the transport device 9 further includes: a fourth detection sensor 904 disposed on the support frame 97 and located in a region corresponding to the end of the buffer unit 92; the fourth detection sensor 904 is electrically connected to the control device, and is configured to send a sensing signal to the control device after detecting the product, so that the control device controls the baffle 94 to ascend to the shielding position according to the sensing signal after receiving the clamping signal sent by the first detection sensor. By means of the fourth detection sensor 904, it is ensured that the baffle plate 94 does not jack up the product, thereby preventing the product from being ejected out of the conveying device by the baffle plate 94.

As shown in fig. 19, the transport device 9 further includes: a fifth detection sensor 905 arranged on the supporting frame and located in the area corresponding to the head end of the receiving area 92, and a sixth detection sensor 906 located in the area corresponding to the head end of the receiving unit. The fifth detection sensor 905 and the sixth detection sensor 906 are electrically connected to the control device, and are configured to send a detection signal to the control device to monitor the product after detecting the product. The control device can acquire the product information matched with the product through the detection signals sent by the fifth detection sensor 905 and the sixth detection sensor 906 at the head end and the tail end of the conveying device 9, and move the product to the storage space matched with the product information on the warehouse body 1 through the grabbing device 3. For example, a product entering the tunnel 4 is numbered, a sequence corresponding to the number is processed according to the obtained detection signal, so as to determine a process of the product, for example, the detection signal sent by the fifth detection sensor 905 is received, the number information corresponding to the product matched with the detection signal is processed, it is determined that the product is located in the cache process, the detection signal sent by the sixth detection sensor 906 is received, the number information corresponding to the product matched with the detection signal is further processed, it is determined that the product is located in the grabbing process, a storage space matched with the product information is determined, and then the product is grabbed and moved to the corresponding storage space on the library body 1 through the grabbing device 3.

In addition, as shown in fig. 19, the real-time number of the products on the buffer unit 92 can be calculated according to the detection signal, and data corresponding to the products are exchanged according to the detection signals sent by the fifth detection sensor 905 and the sixth detection sensor 906, which is beneficial to precise control and data transmission of the conveying device.

In order to better explain the work flow of the warehouse-out sorting equipment in the present embodiment, as shown in fig. 24, the present embodiment further provides a control method of the warehouse-out sorting equipment, which is a further improvement of the control method in the above embodiment, and includes the following steps:

s7, conveying the product to a grabbing station through the conveying device 9;

s8, grabbing the product on the grabbing station through the grabbing device 3;

and S9, moving the products to the corresponding storage space on the warehouse body 1 through the grabbing device 3.

S10, grabbing the products to be delivered from the warehouse body 1 through the grabbing device 3;

s20, moving the grabbed products to a material receiving station through the grabbing device 3;

and S30, sequentially conveying the products on the receiving station from the roadway 4 to the outside through the feeding device 8.

From the above steps S7 to S30, it can be seen that: the warehouse-out sorting equipment in the embodiment can sort the products to the storage space on the warehouse body 1 through the matching of the conveying device 9 and the gripping device 3, and when the products need to be warehouse out, the products need to be warehouse out are sequentially sorted to the corresponding feeding device 8 from the warehouse body 1 through the gripping device 3, so that automatic warehouse-in and warehouse-out processing is realized.

As shown in fig. 25, step S7 further includes the steps of:

step S71, after entering the tunnel from the entrance side of the tunnel 4, the product is received by the buffer unit 92 and then is transmitted to the grabbing station on the receiving unit 93;

in step S72, when the first detecting sensor detects the product 6, the clamping device 924 clamps the product on the buffer unit 92 and raises the shutter 94 to the blocking position.

From the above steps S71 to S72, it can be seen that: can be according to the release signal that first detection sensor sent, control clamping device 924 releases the product to realize the orderly release of product, the subsequent letter sorting of being convenient for, whole process need not artificial intervention, consequently, the letter sorting equipment of leaving warehouse in this embodiment can conveniently receive the product, can also realize carrying out orderly buffer memory and letter sorting to product 6 in tunnel 4, in order to improve letter sorting efficiency, reduce the cost of labor.

As shown in fig. 26, step S8 further includes the steps of:

step S81, controlling the lifting component 32 of the gripping device 3 by the control device according to the space coordinate matched with the gripping station, and moving the hand grip 31 to the position corresponding to the gripping station;

step S82, the gripping device 3 moves the gripper body 311 through the transfer component 36 until the sensor 313 senses the product 6 and stops moving;

step S83, the gripper body 311 grips the product 6 on the gripping station by sliding the first gripper 3111 and the second gripper 3112 relative to each other until the grip opening 312 is formed;

when the first detecting sensor does not detect the product 6, the gripping device 924 releases the product and simultaneously lowers the flap 94 to the initial position so that the next product reaches the grasping station, step S84.

From the above steps S81 to S84, it can be seen that: by matching the first grabbing piece 3111, the second grabbing piece 3112, the sensor 313, the transferring component 36, the lifting component 32, the clamping device 924 and other components, ordered grabbing and releasing of products can be accurately realized.

As shown in fig. 27, step S9 further includes the steps of:

step S91: acquiring product information corresponding to a product 6 grabbed by the grabbing device 3;

step S92: matching a storage space for storing products on the library body 1 according to the product information and a preset distribution method;

step S93: determining a matched coordinate position according to the storage space;

step S94: the gripping device 3 moves the product into the storage space according to the coordinate position, and after the product is released, the coordinate position is bound with the product information.

Through the combination of the steps S91 to S94, the warehouse-out sorting device can determine the storage space of the product 6 on the warehouse body 1 according to the product information of the grabbed product 6 and the preset allocation method, so that the grabbing device 3 can accurately sort the product to the warehouse body 1 for racking processing according to the coordinate position matched with the storage space, and further, by binding the product information and the coordinate position of the corresponding storage space, when the subsequent sorting is facilitated, for example, when the product is racked up and down on the warehouse body 1 through the grabbing device 3, the storage position of the product on the warehouse body 1 is determined according to the product information, so that the racking processing of the subsequent product is facilitated, the vacant storage space on the warehouse body 1 is well determined, and the racking processing of the subsequent product 6 is facilitated.

Example four

The fourth embodiment also provides an ex-warehouse sorting device which is a further improvement of any of the above embodiments, wherein, as shown in fig. 28 to 33, the same side of each warehouse body 1 is provided with a conveying line 7 for receiving the products 6 conveyed from the feeding device 8. Wherein, transfer chain 7 includes: a receiving section 71 for receiving the products delivered by the feeding device, a sorting section 72 for sorting the products, etc. A plurality of guides 2 arranged on the sorting section 72 and intended to guide the products 6 from the conveyor line 7 to the outside, and a reader (not shown) arranged on the conveyor line 7 and electrically connected to the control device. Wherein, the guiding device 2 is electrically connected with the control device; the products 6 pass through the reading area of the reader on the conveying line and then pass through the sorting areas corresponding to the guide devices 2 in sequence; the number and position of each guide 2 correspond one-to-one to the lanes 4.

From the above, it can be seen that: the products 6 conveyed out by the feed device 8 in the roadway 4 can be collected by the conveyor line 7 and sorted to the corresponding areas by means of the guide devices 2 on the sorting section, for example, the packing areas can be packed out of the warehouse by the corresponding devices.

In addition, it is worth mentioning that, in this embodiment, the number of the library bodies 1 is only 18 as an example for description, and at least two of the lanes 4 are first lanes 41 for sorting products such as tablet computers, and the other lanes are second lanes 42 for sorting products such as mobile phones, so as to facilitate the classification and recycling of the products 6. And are not specifically defined or set forth herein.

As shown in fig. 32, the out-of-warehouse sorting apparatus further includes: a diverting wheel 10 provided on the conveying line 7 and engaged with the guide device 2, and a passage for passing the products is formed between the diverting wheel 10 and the guide member 22, and when one side of the products contacts the guide member 22, the products move along the guide surface of the guide member 22, and after contacting the diverting wheel 10 on the other side, they are diverted (refer to direction a shown in fig. 32) to the corresponding sorting area. Therefore, through the cooperation of directive wheel 10 and guide component 22, can further carry out stable direction to the product, control the angle of turning to of product in shorter distance, for example realize 90 degrees short-range vertical steering etc. have shortened the turn cycle to satisfy the demand of quick letter sorting to in the tunnel, prevent that the product can't be sorted to corresponding tunnel because of deviating from the route.

Further preferably, as shown in fig. 29 to 31, the guide device 2 in the present embodiment is mainly composed of a guide member 22 disposed above the conveying line 7, a guide assembly 23 connected to the guide member 22 and configured to drive the guide member 22 to move up and down, and the like. Wherein the guide member 22 is adapted to contact the products 6 conveyed on the conveyor line 7 and to change the moving direction of the products 6 when moved to the preset position; the guide member 22 has a guide contact portion that is disposed at an angle to the conveying direction of the conveyor line 7. For example: when the products are conveyed to the sorting section on the conveying line 7, if the products need to be sorted, the corresponding guide part 22 of the guide device 2 can be controlled by the control device to rotate in the circumferential direction, when the products 5 are in contact with the guide part 22, power can be actively provided, so that the products move along the rotating direction of the contact surface in contact with the guide part 22, the original conveying direction is changed, the impact of the products on the original direction is counteracted, meanwhile, a guiding force is exerted on the products through the guide part 22, the products are separated from the contact of the guide part 22 and then sorted to a corresponding area after being quickly moved for a distance on a conveying path after being guided, for example, a packing area, so that the products can be stably guided, subsequent receiving is facilitated, and the steering period is shortened.

Because each guider 2 has a guiding component 22 that does the elevating movement, consequently when the product need not to sort, can loop through guider 2, when needs sort, the corresponding guider 2 of accessible control descends guiding component 22 to predetermined position, leads to the product to with this product letter sorting to corresponding letter sorting region in, consequently can reduce its occupation space, be applicable to the letter sorting of transfer chain 7 to outside, and do not influence the current of other products that need not to sort, can improve letter sorting efficiency.

In addition, the guide member 22 in this embodiment may be a guide belt 222 connected to the guide assembly 23 and capable of rotating in the circumferential direction. Also, the guide assembly 23 may be composed of a motor mounting plate 231 coupled to the bracket 21, a guide motor 232 provided on the motor mounting plate 231, a driving guide wheel 235 provided on the motor mounting plate 231 and coupled to an output shaft of the guide motor 232, a driven guide wheel 236 provided on the motor mounting plate 231, and the like. Wherein the guide belt 222 is wound around the driving guide wheel 235 and the driven guide wheel 236 and rotates following the driving guide wheel 235.

From the above, through the cooperation of the driving guide wheel 235 and the driven guide wheel 236, when the guide belt 222 contacts with the product in a circumferential rotation manner, the impact of the product can be borne, the buffering effect is achieved, meanwhile, the contact surface of the guide belt 222 is gradually and flexibly contacted with the surface of the product, the acting force is applied to the product in a friction manner, the product turning direction can be greatly changed under the condition that the damage of the product is minimally reduced, for example, the 90-degree bend turning direction is achieved, and the product 6 is ensured to be smoothly sorted from the conveying line 7 to the outside.

As shown in fig. 31, the guide assembly 23 in this embodiment preferably further includes a coupling member 25 coupled to the bracket 21, a lifting member 26 coupled to the coupling member 25 and the motor mounting plate 231, and the like, for the convenience of design and installation requirements in practical applications. Wherein the motor mounting plate 231 can be moved up and down in a direction perpendicular to the rotation plane of the guide member 22 by the elevating member 26. The lifting member 26 drives the guide member 22 to move up and down to control whether to sort the products, for example, when the products need to be sorted, the lifting member 26 is controlled by the control device to lower the guide member 22 to a preset guide position to be contacted with the products, otherwise, the guide member is raised to an initial position, so that the products pass below the guide member 22 along the original conveying direction.

In detail, to facilitate assembly in practical use, as shown in fig. 31, the motor mounting plate 231 includes: the mounting plate body 2311, a first adjusting plate 2312 and a second adjusting plate 2313 which are arranged on two opposite sides of the mounting plate body 2311; wherein, the first adjusting plate 2312 is used for installing the driving guide wheel 235; the second adjustment plate 2313 is used to mount the driven guide wheel 236.

Further preferably, as shown in fig. 31, the motor mounting plate 231 is opened along an axial direction thereof with a sliding groove for slidably inserting the first and second adjusting plates 2312 and 2313; and, a plurality of through-holes 2315 have all been seted up to the relative both sides of spout for be connected with retaining member locking on first regulating plate 2312 and the second regulating plate 2313 respectively. With this structure, it is possible to conveniently adjust the installation distance of the first and second adjustment plates 2312 and 2313 during installation, thereby facilitating installation of the guide belts 222 of different lengths.

Further preferably, as shown in fig. 31, the motor mounting plate 231 is opened along an axial direction thereof with a sliding groove for slidably inserting the first and second adjusting plates 2312 and 2313; and, a plurality of through-holes 2315 have all been seted up to the relative both sides of spout for be connected with retaining member locking on first regulating plate 2312 and the second regulating plate 2313 respectively. With this structure, it is possible to conveniently adjust the installation distance of the first and second adjustment plates 2312 and 2313 during installation, thereby facilitating installation of the guide belts 222 of different lengths.

As shown in fig. 31, for facilitating the guiding and sorting of the products to be sorted by the guiding component 22 without affecting the normal conveying of the subsequent products not to be sorted, the rack 21 may be composed of a plurality of supporting columns 211 that can be arranged on the sorting section 15, a rack frame 212 that is connected with each supporting column 211 and is used for hanging and arranging the guiding component 23, and the like. Wherein, the bracket frame 212 has a turning space for hanging the guide member 22 and forming a channel; wherein the passage comprises an inlet, an outlet and a turning port which are communicated with each other.

The above embodiments are merely to illustrate the technical solution of the present invention, not to limit the same, and the present invention has been described in detail with reference to the preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made without departing from the spirit and scope of the present invention and it is intended to cover the appended claims.

Claims (28)

1. An out-of-warehouse sorting apparatus, comprising:

the system comprises N warehouse bodies and a controller, wherein the N warehouse bodies are provided with storage spaces for storing products, N is a natural number greater than 1, and a roadway for conveying the products is formed between every two adjacent warehouse bodies;

the feeding device is arranged in the roadway, is provided with a material receiving station and is used for receiving products from the material receiving station and transmitting the products to the outside;

the grabbing device is arranged in the roadway and used for grabbing the products on the warehouse body and moving the products to the material receiving station;

and the control device is electrically connected with the feeding device and the gripping device.

2. The out-of-warehouse sorting apparatus of claim 1, wherein the feeding device comprises: the material receiving unit is provided with the material receiving station, and the feeding unit is connected with the material receiving unit; after the product is placed on the material receiving unit by the grabbing device, the product sequentially passes through the material receiving unit and the material feeding unit and then is conveyed to the outside.

3. The out-of-warehouse sorting apparatus of claim 1, wherein the feeding device further comprises: the feeding frame is used for supporting the receiving unit and the feeding unit, and the limiting guide plates are arranged on two opposite sides of the feeding frame and are used for forming a feeding channel.

4. The out-of-warehouse sorting equipment as claimed in claim 3, wherein the limiting guide plate has at least one guide surface which is inclined to the feeding direction of the feeding device, and the guide surface is located between the receiving unit and the feeding unit, so that the width of the feeding channel is gradually reduced from the receiving unit to the feeding unit.

5. The out-of-warehouse sorting equipment of claim 3, wherein the material receiving unit and the material feeding unit each comprise: one or more conveying units which are used for independently conveying products and are electrically connected with the control device; wherein, the feeding unit includes: the buffer area is connected with the material receiving unit, and the feeding area is connected with the buffer area; the buffer area and the feeding area are respectively composed of at least one conveying unit; the length of the buffer area is greater than that of the feeding area.

6. The out-of-warehouse sorting apparatus of claim 3, wherein the conveying unit comprises: the conveying device comprises a driving roller and a driven roller which are rotatably arranged on a feeding frame, a conveying belt sleeved on the driving roller and the driven roller, and a driving motor which is arranged on the feeding frame and is used for driving the driving roller to rotate; wherein, the driving motor is electrically connected with the control device.

7. The out-of-warehouse sorting apparatus of claim 5, further comprising: the monitoring sensors are arranged in the feeding direction of the feeding device and electrically connected with the control device and are used for sensing the products so as to monitor the positions of the products; the material receiving unit, the buffer area and the area corresponding to the feeding area are respectively provided with at least one monitoring sensor, and the monitoring sensors are used for sending a driving signal to the control device when a product is not monitored, so that the control device drives the corresponding conveying unit to operate according to the driving signal.

8. The out-of-warehouse sorting apparatus of claim 1, further comprising: the conveying device is electrically connected with the control device and arranged in the roadway and used for receiving products from one end of the roadway and conveying the products to a preset grabbing station; the conveying device and the feeding device are respectively positioned at two opposite ends in the roadway; and the gripping device is also used for gripping the products from the gripping stations and moving the products to the corresponding storage spaces on the warehouse body.

9. The out-of-warehouse sorting apparatus of claim 8, wherein the conveying device comprises: one end of the buffer unit is arranged at the inlet side of the roadway and is used for independently transmitting and buffering the products; the material receiving unit is connected with the cache unit and matched with the grabbing device, and the supporting frame is used for supporting the cache unit and the material receiving unit; the products sequentially pass through the cache unit and are conveyed to the grabbing stations on the material receiving unit.

10. The out-of-warehouse sorting apparatus of claim 9, wherein the conveying device further comprises: the first detection sensor is arranged on the material receiving unit and electrically connected with the control device, and the clamping device is arranged on the supporting frame and used for clamping the product on the cache unit; wherein when the first detection sensor detects a product, a clamping signal is sent to the control device to cause the control device to control the clamping device to clamp the product, and when no product is detected, a release signal is sent to the control device to cause the clamping device to release the product.

11. The out-of-warehouse sorting apparatus of claim 9, wherein the buffer unit comprises: one or more than two conveying units for contacting and independently conveying the products; wherein, the buffer unit includes: the material receiving area is used for receiving products from the outside, and the cache area is connected with the material receiving area and the material receiving unit; the buffer area and the material receiving area are respectively composed of at least one conveying unit; the length of the buffer area is larger than that of the material receiving area.

12. The warehouse-out sorting equipment according to claim 9, wherein the conveying device further comprises a baffle plate which is arranged between the material receiving unit and the buffer unit and can be lifted up and down, and a lifting cylinder body which is connected with the baffle plate, is used for driving the baffle plate to move and is electrically connected with the control device; the lifting cylinder body is used for driving the baffle plate to ascend to a shielding position capable of separating the material receiving unit from the buffer unit after the control device receives a clamping signal, and driving the baffle plate to descend to an initial position after the product is grabbed by the grabbing device.

13. The out-of-warehouse sorting apparatus of claim 9, wherein the receiving area and the receiving unit each comprise: at least one of said transport units; the conveying device further comprises: the limiting plates are arranged on the supporting frame, are positioned on two opposite sides of the conveying unit and form a channel, and are used for limiting the product through the channel.

14. The out-of-warehouse sorting apparatus of any one of claims 1 to 13, wherein the gripping device comprises: the lifting device comprises a gripper, a lifting assembly, a base and a slide rail assembly, wherein the gripper is used for gripping and releasing the products, the lifting assembly is connected with the gripper and used for enabling the gripper to do lifting motion along the height direction of the roadway, the base is arranged on one side of the feeding device, and the slide rail assembly is arranged on the base, is connected with the lifting assembly and can drive the lifting assembly to move along the conveying direction of the feeding device; the lifting assembly, the hand grip and the sliding rail assembly are electrically connected with the control device.

15. The out-of-warehouse sorting equipment according to claim 14, wherein the gripper comprises a gripper body capable of forming a clamping opening for accommodating the product, a transfer component connected with the lifting component and used for enabling the gripper body to reciprocate along a direction perpendicular to the conveying direction of the feeding device, and a clamping component connected with the transfer component and the gripper body and used for driving the gripper body to form the clamping opening; the gripper body, the transferring component and the clamping component are all electrically connected with the control device; the lifting assembly is further used for driving the hand grip to perform lifting movement after the hand grip body reaches a preset station and forms the clamping opening so as to grip and release the product.

16. The out-of-warehouse sortation apparatus of claim 15, wherein the grippers in at least one of the lanes further comprise: the rotating assembly is connected with the transferring assembly and the clamping assembly and is used for driving the gripper body to rotate; wherein, the rotating assembly includes: the clamping device comprises a hanging bracket used for being connected with the transfer assembly and a driving assembly arranged on the hanging bracket and used for driving the clamping assembly to rotate and electrically connected with the control device.

17. The out-of-warehouse sorting equipment as claimed in claim 16, wherein the driving assembly comprises an upper fixing plate slidably connected with the transferring assembly, a lower fixing plate connected with the clamping assembly, a connecting rod connecting the upper fixing plate and the lower fixing plate and forming an installation space, a driving part arranged in the installation space and used for driving the clamping assembly to rotate, and a rotating motor connected with the transferring assembly and used for driving the driving part to rotate; the rotating motor is electrically connected with the control device.

18. The out-of-warehouse sortation apparatus of claim 17, wherein the gripper body comprises: the first grabbing piece and the second grabbing piece are symmetrically arranged and can relatively slide along the conveying direction; the sensor is arranged on the gripper body and used for sensing the product; wherein the sensor is electrically connected with the control device; when the gripper body moves to the position where the product triggers the sensor, the transfer component stops driving the gripper body, and the clamping component drives the first grabbing piece and/or the second grabbing piece to slide to a preset position to form the clamping opening.

19. The out-of-warehouse sorting equipment of claim 18, wherein the first gripping member and the second gripping member are both provided with positioning grooves for supporting the products; the first grasping member and the second grasping member each include: the clamping device comprises a grabbing part for forming the clamping opening and a limiting part connected with the grabbing part; when the first grabbing piece and/or the second grabbing piece slide to the preset position, the limiting part of the first grabbing piece and the limiting part of the second grabbing piece are abutted, and the positioning groove can support the product when the lifting assembly ascends.

20. The out-of-warehouse sorting equipment according to claim 15, wherein the clamping assembly comprises a fixed plate connected with the transferring assembly, a guide rail connected with the fixed plate, a first slide block and a second slide block which are arranged on the guide rail in a sliding way and connected with the fixed plate, a driving piece connected with the fixed plate and used for driving the first slide block and/or the second slide block to move, and a limiting block arranged between the first grabbing piece and the second grabbing piece; the first sliding block is connected with the first grabbing piece; the second sliding block is connected with the second grabbing piece; the driving part is electrically connected with the control device.

21. The out-of-warehouse sortation apparatus of claim 14, wherein the transfer assembly comprises: the lifting mechanism comprises a mounting bracket connected with the lifting assembly, a track component connected with the mounting bracket, a sliding block arranged on the track component in a sliding manner, and a driving motor connected with the track component and used for driving the sliding block to move along the axial direction of the track component; the transfer assembly further comprises: at least two inductors disposed on the rail member; when the sliding block moves to the position sensed by the first sensor, the gripper body is located at a first station for gripping the product, and when the sliding block moves to the position sensed by the second sensor, the gripper body is located at a second station for releasing the product.

22. The out-of-warehouse sortation apparatus of claim 14, wherein the lift assembly comprises: the sliding block assembly is arranged on the second sliding rail in a sliding mode and is connected with the hand grip, and the sliding block driving device drives the sliding block assembly to move along the axial direction of the second sliding rail; the slide rail assembly includes: the sliding rail motor is electrically connected with the control device, and the sliding rail screw rod is connected with the sliding rail motor and arranged along the axial direction of the roadway. The first slide rail seat is arranged on the slide rail screw rod in a sliding mode and can slide to the outlet side of the roadway from the inlet side of the roadway.

23. The out-of-warehouse sortation apparatus of claim 22, wherein the lift assembly further comprises: the second slide rail seat is connected with the second slide rail, and the third slide rail is fixedly connected with the outside and forms sliding connection with the second slide rail seat; the first slide rail seat and the second slide rail seat are respectively arranged at two opposite ends of the second slide rail.

24. The ex-warehouse sorting equipment according to claim 23, wherein the second slide rail seat comprises a frame member connected with the second slide rail and provided with a passage for passing through the third slide rail, an elastic assembly arranged on the frame member and abutted against the third slide rail, and a limiting member arranged on the frame member and used for limiting the third slide rail; the elastic assembly and the limiting component respectively limit two opposite sides of the third slide rail; the elastic assembly includes: the frame comprises connecting pieces arranged on two opposite sides of the frame body piece, floating plates arranged above the connecting pieces and capable of sliding relatively, and compression springs arranged between the connecting pieces and the floating plates; the floating plate is used for supporting the third slide rail in a sliding mode.

25. The out-of-warehouse sortation apparatus of claim 24, wherein the resilient assembly further comprises: set up in on the floating plate and be used for the rolling contact the gyro wheel of third slide rail, be located limiting plate below the connecting piece, set up in passageway on the connecting piece, set up in on the limiting plate and run through the guide post of passageway, the cover is located uide bushing on the guide post, cover are established compression spring on the uide bushing, slide in on the connecting piece and with the direction axle that the floating plate links to each other.

26. The out-of-warehouse sorting equipment according to any one of claims 1 to 25, wherein N is 3 to 18; the storehouse body comprises a goods shelf and M storage spaces which are arranged on the goods shelf and are arranged in a matrix; wherein M is a natural number greater than 1.

27. The out-of-warehouse sorting apparatus of claim 26, wherein a conveying line for receiving the products conveyed from the feeding device is provided on the same side of each of the warehouse bodies; wherein, transfer chain includes: the receiving section is used for receiving the products conveyed by the feeding device, and the sorting section is used for sorting the products; the out-of-warehouse sorting equipment further comprises: a plurality of guiding devices arranged on the sorting section and used for sorting the products; the receiving section and the sorting section are sequentially connected end to form an annular conveying section.

28. A control method of an out-of-warehouse sorting apparatus for controlling the out-of-warehouse sorting apparatus of any one of claims 1 to 27, characterized by comprising the steps of:

grabbing the products to be delivered out of the warehouse body by a grabbing device;

moving the grabbed products to a material receiving station through a grabbing device;

and products on the material receiving station are sequentially conveyed to the outside from the roadway through the feeding device.

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