CN113023205B - Hanging clothes sorting robot, sorting system and sorting method - Google Patents
Hanging clothes sorting robot, sorting system and sorting method Download PDFInfo
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- CN113023205B CN113023205B CN202110281601.4A CN202110281601A CN113023205B CN 113023205 B CN113023205 B CN 113023205B CN 202110281601 A CN202110281601 A CN 202110281601A CN 113023205 B CN113023205 B CN 113023205B
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- clothing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0229—Clothes, clothes hangers
Abstract
The invention discloses a hanging clothes sorting robot, a sorting system and a sorting method, wherein the sorting robot comprises a moving seat, a temporary hanging rack and a clothes transferring mechanism, and the moving seat can move; the temporary hanging rack can be used for hanging and storing hanging clothes; dress shifts mechanism is used for obtaining from the outside and hangs the dress and shift to hang the dress temporary hanging rack, perhaps is used for with hang dress on the temporary hanging rack and shift out so that hang the dress and break away from hang dress sorting robot. According to the hanging clothes sorting robot, the sorting system and the sorting method, the operation of the clothes transferring mechanism is controlled, the hanging clothes can be transferred between the clothes storage rack and the temporary hanging rack, the hanging clothes can be transported by controlling the movement of the moving seat, so that the hanging clothes can be automatically delivered and stored in a warehouse, the sorting efficiency is high, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of logistics management of clothes, in particular to a suspended clothes sorting robot, a sorting system and a sorting method.
Background
With the explosive growth of electronic commerce, the warehousing and sorting workload of electronic commerce is also greatly increased. At present, automation equipment is equipped in a plurality of E-commerce warehouses to realize unmanned carrying of articles, so that labor cost is reduced, warehouse-out time of articles is shortened, and warehouse sorting efficiency is improved.
However, in the clothing industry, for hanging type clothing with special requirements, manual carrying and sorting are still mainly used at present, and the clothing hanging machine is low in automation degree, low in efficiency and high in error rate.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a hanging clothes sorting robot, a sorting system and a sorting method, which can sort and manage hanging clothes.
The technical scheme is as follows: in order to achieve the above object, the hanging clothes sorting robot of the present invention comprises:
a movable base which is movable;
the temporary hanging rack is rod-shaped, and the hanging clothes can be hung on the temporary hanging rack and are in a hanging shape; and
and the clothing transfer mechanism is used for acquiring hanging clothing from the outside and transferring the hanging clothing to the temporary hanging rack, or is used for transferring the hanging clothing on the temporary hanging rack out so as to separate the hanging clothing from the hanging clothing sorting robot.
Further, the apparel transfer mechanism comprises:
the telescopic frame can do telescopic motion relative to the moving seat so as to transfer the hanging clothes; and
and the linear motion executing device is used for driving the telescopic frame to do telescopic motion.
Furthermore, grooves arranged in an array are formed in the telescopic frame; and the telescopic frame can also do controllable lifting motion relative to the movable seat.
Further, it still includes:
the storage rack is provided with at least one storage position, and each storage position is provided with a storage hanging rack for hanging and storing hanging clothes; when the storage rack comprises a plurality of storage positions, the clothes transfer mechanism and the temporary hanging rack can integrally move in a controllable manner relative to the storage rack.
Further, both the garment transfer mechanism and the temporary hanger are controllably rotatable relative to the storage rack.
Further, it also comprises a compensation driving device; the compensation driving device is in driving connection with the temporary hanging rack so as to drive the temporary hanging rack to make translational motion, so that the temporary hanging rack can be in butt joint with the storage hanging rack or an external hanging rack.
A hanging garment sorting system, comprising:
the hanging clothes sorting robot;
the clothes storage rack is provided with a plurality of clothes storage positions, and each clothes storage position is provided with a clothes hanger; and
and the control system can schedule the hanging clothes sorting robot to move and execute the operation of taking and putting the hanging clothes.
Further, the device also comprises a loading and unloading frame; the hanging clothing sorting robot can unload the obtained hanging clothing to the loading and unloading frame or obtain the hanging clothing from the loading and unloading frame and convey the obtained hanging clothing to the clothing storage frame.
Further, dress letter sorting robot still includes the storage frame, the storage frame possesses at least one storage bit, every the storage bit all possesses the storage stores pylon that is used for hanging up the dress of hanging up.
A hanging clothes sorting method is applied to a control system of the hanging clothes sorting system, and the method comprises the following steps:
acquiring task information corresponding to the hanging clothes sorting robot; the task information is an ex-warehouse task or an in-warehouse task;
scheduling the hanging clothes sorting robot to run to the side of the appointed clothes storage position according to the task information;
controlling the clothing transfer mechanism to execute the transfer operation of the hanging clothing; and the transfer operation is a taking-out operation or a warehousing operation corresponding to the task information being a warehouse-out task or a warehouse-in task.
Further, the scheduling the hanging clothes sorting robot to run to the side of the appointed clothes storage position according to the task information comprises:
acquiring task lists of various clothes related to the task information;
performing path planning according to the positions of the clothing storage positions corresponding to various types of clothing and the position of the hanging clothing sorting robot;
and scheduling the hanging clothes sorting robot to drive along a planned path and stop beside the appointed clothes storage position.
Further, the hanging clothes sorting robot comprises a storage rack, wherein the storage rack is provided with a plurality of storage positions, and each storage position is provided with a storage rack for hanging and storing the hanging clothes;
when the task information is a warehousing task, the controlling the clothing transfer mechanism to execute the transfer operation of hanging clothing comprises the following steps:
controlling the clothing transfer mechanism to transfer to the position of the storage bit corresponding to the clothing to be put in storage;
controlling the clothes transfer mechanism to operate so as to transfer clothes to be put into a warehouse on the storage rack of the current storage position to the temporary rack; and
controlling the clothes transfer mechanism to operate so as to transfer all clothes on the temporary hanging rack to the clothes hanging rack of the clothes storage position;
when the task information is a warehouse-out task, the controlling the clothing transfer mechanism to execute the transfer operation of hanging clothing comprises the following steps:
controlling the clothes transfer mechanism to operate so as to transfer clothes to be taken out of the warehouse on the clothes hangers of the clothes warehouse location to the temporary hangers;
controlling the clothes transfer mechanism to transfer to the position of the storage position corresponding to the clothes to be delivered; and
controlling the clothes transfer mechanism to operate so as to transfer clothes to be taken out of the storage rack on the temporary rack to the current storage position.
Further, before controlling the clothing transfer mechanism to perform the transfer operation of hanging the clothing, the method further includes:
and allocating orders or clothing categories for the storage racks according to the task list.
Further, the hanging clothes sorting system also comprises a loading and unloading frame;
when the task information is a warehouse-out task, the step of controlling the clothing transfer mechanism to perform the transfer operation of hanging clothing further comprises the following steps:
controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame; and
controlling the clothing transfer mechanism to operate so as to unload clothing to be delivered from the warehouse on the hanging clothing sorting robot onto the loading and unloading frame;
when the task information is a warehousing task, the step of scheduling the hanging clothes sorting robot to run to the side of the appointed clothes warehousing position according to the task information further comprises the following steps:
controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame; and
and controlling the clothing transfer mechanism to operate so as to obtain the clothing to be put in storage from the loading and unloading frame.
Has the beneficial effects that: according to the hanging clothes sorting robot, the sorting system and the sorting method, the operation of the clothes transferring mechanism is controlled, the hanging clothes can be transferred between the clothes storage rack and the temporary hanging rack, the hanging clothes can be transported by controlling the movement of the moving seat, so that the hanging clothes can be automatically delivered and stored in a warehouse, the sorting efficiency is high, and the labor cost is saved.
Drawings
FIG. 1 is a diagram of the appearance structure of a hanging clothes sorting robot;
FIG. 2 is a structural view of a temporary hanger;
FIG. 3 is a first perspective assembly view of the garment transfer mechanism and its surrounding components;
FIG. 4 is an enlarged structural view of portion A of FIG. 3;
FIG. 5 is a second perspective composite view of the garment transfer mechanism and its surrounding components;
FIG. 6 is a state diagram of a hanging garment sorting robot carrying hanging garments;
figure 7 is a front view of the hanging garment sorting system;
figure 8 is a top view of the hanging garment sorting system;
FIG. 9 is a view of the structure of a clothing storage rack;
figure 10 is a flow chart of a hanging garment sorting method.
In the figure: 1-a movable seat; 2-temporary hanging rack; 21-a cone; 3-a clothing transfer mechanism; 31-a telescopic frame; 311-a groove; 32-linear motion actuator; 33-a lifting actuator; 34-compensation driving device; 4-a storage rack; 41-storage rack; 5-clothes storage rack; 51-a clothing hanger; 6-a loading and unloading frame; 61-loading and unloading racks; 7-synchronous belt drive device; 8-a rotating seat; 9-a lifting seat; 10-rotating electrical machine.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The hanging garment described in the present invention is a garment with a hanger (hanger with hook form).
The hanging clothes sorting robot (the related names of the following parts are simply called as sorting robot) as shown in the attached figures 1 and 6, which comprises a moving seat 1, a temporary hanging frame 2 and a clothes transferring mechanism 3; in the embodiment, the moving seat 1 is a six-wheeled robot chassis, which includes two driving wheels and four driven wheels, the two driving wheels are located at two sides of the middle of the chassis, and the four driven wheels are located at four corners of the chassis; the temporary hanging rack 2 can be used for hanging and storing hanging clothes and is used for temporarily storing the hanging clothes so that the hanging form of the transported hanging clothes is kept when the transported hanging clothes move along with the moving seat 1; the clothing transfer mechanism 3 is used for acquiring hanging clothing from the outside clothing storage rack 5 or the loading and unloading rack 6 and transferring the hanging clothing to the temporary hanging rack 2, or is used for transferring the hanging clothing on the temporary hanging rack 2 to the outside clothing storage rack 5 or the loading and unloading rack 6 so as to enable the hanging clothing to be separated from the hanging clothing sorting robot. The clothing storage rack 5 and the detachable rack 6 are respectively provided with a clothing hanger 51 and a detachable hanger 61 for hanging and storing hanging clothing. The temporary hanging rack 2, the clothes hanging rack 51 and the loading and unloading hanging rack 61 are all rod-shaped, the hanging clothes are in hanging shapes on the three hanging racks, and the hanging clothes are linearly arranged on the three hanging racks at equal intervals.
Specifically, as shown in fig. 3 and fig. 5, the clothing transferring mechanism 3 includes an expansion bracket 31 and a linear motion executing device 32, wherein the expansion bracket 31 can perform an expansion motion relative to the moving seat 1 to transfer the hanging clothing; the linear motion actuator 32 is used for driving the telescopic frame 31 to move. In this embodiment, the linear motion actuator 32 is a synchronous belt transmission assembly, and drives the telescopic frame 31 to move through a synchronous belt.
As the hanging clothes are arranged in equidistant linear arrays on various hangers, in order to conveniently and accurately separate the required quantity of hanging clothes, as shown in fig. 4, the telescopic frame 31 is formed with grooves 311 arranged in linear arrays, and the telescopic frame 31 can also make controllable lifting motion relative to the moving seat 1, the lifting motion of the telescopic frame 31 is driven by a lifting execution device 33, in this embodiment, the lifting execution device 33 is an electric push rod; the tops of the temporary hanging rack 2, the clothes hanging rack 51 and the loading and unloading hanging rack 61 are all provided with straight grooves extending along the respective length directions, as shown in fig. 2, which is a structural diagram of the temporary hanging rack 2. With the structure, when a specific number of hanging clothes need to be separated, firstly, the translation amount of the telescopic frame 31 is calculated according to the required number; then, controlling the linear motion executing device 32 to operate to enable the expansion bracket 31 to move to the target direction by the distance of the translation amount, wherein the target direction is determined according to the type of the task required to be executed by the sorting robot; then, controlling the lifting executing device 33 to operate to make the expansion bracket 31 descend to a low position (the expansion bracket 31 is in a high position in an initial state), so that the top of a hook of each clothes hanger for hanging clothes to be transferred is respectively arranged in a single groove 311, and at the moment, the lower end of the expansion bracket 31 is arranged in a straight groove of the hanger; finally, the linear motion actuator 32 is controlled to operate to make the expansion bracket 31 translate in the direction opposite to the target direction, so as to transfer the hanging clothes to be moved.
Preferably, the sorting robot further comprises a storage rack 4, the storage rack 4 is provided with at least one storage position, in this embodiment, in order to improve the transportation capacity of the sorting robot, the storage rack 4 is provided with a plurality of storage positions, all the storage positions are arranged in a linear array in the height direction, each storage position is provided with a storage rack 41 for hanging and storing a hanging garment, the shape of the storage rack 41 is consistent with that of the temporary rack 2, the garment rack 51 and the loading and unloading rack 61, and the top of the storage rack 41 is also provided with a straight groove. At the moment, in order to enable the clothes transfer mechanism 3 to transfer the hanging clothes of each storage position, the clothes transfer mechanism 3 and the temporary hanging rack 2 can integrally carry out controllable lifting motion relative to the moving seat 1, and the controllable lifting motion is driven by a synchronous belt driving device 7; when the temporary hanging rack 2 and which storage position are needed to transfer the hanging clothes, the synchronous belt driving device 7 drives the temporary hanging rack to the position of which storage position.
Preferentially, the clothes transfer mechanism 3 and the temporary hanging frame 2 can integrally and controllably rotate relative to the movable seat 1, so that the clothes transfer mechanism 3 can execute the transfer task of hanging clothes in all directions, the posture of the clothes transfer mechanism 3 does not need to be adjusted by controlling the movable seat 1 to operate, and the control difficulty can be reduced. Specifically, dress transfer mechanism 3 and temporary hanger 2 are installed on same roating seat 8, and roating seat 8 is installed on lift seat 9, and roating seat 8 is driven by rotating electrical machines 10 and is rotatory for lift seat 9, and lift seat 9 is driven by synchronous belt drive 7 and is gone up and down for removing seat 1.
Because the rotating base 8 can drive the clothing transferring mechanism 3 and the temporary hanging rack 2 to controllably rotate relative to the moving base 1, the integral maximum turning radius of the three (the rotating base 8, the clothing transferring mechanism 3 and the temporary hanging rack 2) during rotation depends on all mechanisms moving along with the rotating base 8 and the points of the rotating base 8 which are integrally farthest from the turning center, and the end part of the temporary hanging rack 2 is not the point of the whole structure which is farthest from the turning center generally, so that a safety distance needs to be ensured in order to prevent the interference of the whole structure with devices outside the sorting robot during turning, a gap is formed between the end part of the temporary hanging rack 2 and other hanging racks after the temporary hanging rack 2 is rotated to the position, a clothing hanging rack can fall from the gap between the two hanging racks (the temporary hanging rack 2 and other hanging racks) during transferring and hanging clothing between the two hanging racks, and the sorting robot further comprises a compensation driving device 34 in order to prevent the occurrence of the situation; the compensation driving device 34 is in driving connection with the temporary hanging rack 2 to drive the temporary hanging rack 2 to make translational motion, so that the temporary hanging rack 2 can be butted with the storage hanging rack 41 or an external clothes hanging rack 51 or a loading and unloading hanging rack 61. The compensating drive 34 is a motorized push rod or other form of linear motion drive. The storage hanger 41, the clothes hanger 51 and the loading and unloading hanger 61 are all hollow tubular structures, the end part of the temporary hanger 2 is provided with a conical body 21, and when the compensation driving device 34 drives the temporary hanger 2 to be butted with other types of hangers, the conical body 21 can be inserted into end holes of other hangers firstly to play a role in guiding and rectifying deviation.
The invention also provides a hanging clothes sorting system (the related names of the following parts are simply called as sorting system), which comprises the hanging clothes sorting robot as shown in the attached figures 7-8, and also comprises a clothes storage rack 5 and a control system, wherein the clothes storage rack 5 has the structure as shown in the attached figure 9, a plurality of clothes storage positions which are arranged in a square array are arranged on the clothes storage rack, and each clothes storage position is provided with a clothes hanger 51; the control system can dispatch the hanging clothes sorting robot to move and execute the operation of taking and putting the hanging clothes. Here, the control system is a general term, which may be a general control center that manages the operation of all the sorting robots; the control system may also be a collection of a plurality of control units capable of communicating with each other, and if each sorting robot is respectively provided with a control module, and all the control modules can communicate with one master control module, the control system is a combination of the master control module and all the control units. The method processes described below are all described in the generic term control system as execution objects.
As shown in the attached drawing 8, the clothing storage frames 5 are arranged in rows, a tunnel for the sorting robot to pass through is arranged between the clothing storage frames 5, one side of the clothing storage frames 5, which can pass in and out of the clothing, is right opposite to the tunnel, and the sorting robot can execute the operation of taking out the clothing or putting the clothing into the warehouse on the clothing storage positions of the clothing storage frames 5 on the two sides when in the tunnel.
Preferably, the sorting system further comprises a handling frame 6; the hanging clothing sorting robot can unload the hanging clothing acquired by the clothing storage rack 5 to the loading and unloading rack 6, or acquire the hanging clothing from the loading and unloading rack 6 and convey the hanging clothing to the clothing storage rack 5. The structure of the loading and unloading frame 6 is basically consistent with that of the clothing storage frame 5.
The invention also provides a hanging clothes sorting method, which is applied to the control system of the hanging clothes sorting system, as shown in the attached figure 10, the method comprises the following steps A1-A3:
a1, acquiring task information corresponding to the hanging clothes sorting robot; the task information is an ex-warehouse task or an in-warehouse task;
in the step, task information is distributed by a control system or a higher-level upper computer, and the task information comprises a goods taking and placing task which is required to be completed by one-time operation of the hanging clothes sorting robot. The form of the task information can be a specific order, or a job order formed by processing the order, and the job order lists information such as the type and the demand of the required hanging clothes.
Step A2, scheduling the hanging clothes sorting robot to run to the side of the appointed clothes storage position according to the task information;
in this step, the clothing storage positions that the hanging clothing sorting robot needs to pass through are determined by the types of the hanging clothing contained in the task information.
Step A3, controlling the clothes transfer mechanism 3 to execute the transfer operation of the hung clothes; and the transfer operation is a taking-out operation or a warehousing operation corresponding to the task information being a warehouse-out task or a warehouse-in task.
Further, the step A2 of scheduling the hanging clothes sorting robot to run to the side of the designated clothes storage position according to the task information includes the following steps B1-B3:
b1, acquiring task lists of various clothes related to the task information;
in this step, the task list includes all the types of the clothes and the quantity of each type of clothes to be delivered or put in storage. If the task information comprises a plurality of orders, all the orders can be counted, the number of the hanging clothes of the same type is combined and counted, and the warehouse-out or warehouse-in number of each type of hanging clothes is obtained.
B2, performing path planning according to the positions of the clothing storage positions corresponding to various kinds of clothing and the position of the hanging clothing sorting robot;
and B3, scheduling the hanging clothes sorting robot to drive along a planned path and stop beside the appointed clothes storage position.
In the step, the hanging clothes sorting robot stops to the side of each clothes storage position through which the planned path passes in sequence and executes corresponding warehousing or ex-warehousing tasks.
The following describes the operation steps of the hanging clothes sorting robot when the hanging clothes sorting robot executes the warehousing task and the ex-warehousing task.
When the task information is a warehousing task, the step A3 of controlling the clothing transfer mechanism 3 to execute the transfer operation of hanging clothing includes the following steps C1 to C3:
step C1, controlling the clothing transfer mechanism 3 to transfer to the position of the storage position corresponding to the clothing to be put in storage;
in this step, corresponding to this embodiment, since all the storage positions of the sorting robot are arranged in a linear array in the height direction, in this step, the clothing transfer mechanism 3 is controlled to transfer, that is, the synchronous belt driving device 7 is controlled to operate so as to lift the lifting seat 9, so that the clothing transfer mechanism 3 is located right in front of the target storage position.
Step C2, controlling the clothes transfer mechanism 3 to operate so as to transfer clothes to be put into a warehouse on the storage rack 41 at the current storage position to the temporary rack 2;
in this step, first, the rotating electrical machine 10 is controlled to operate, so that the end of the temporary hanger 2 faces the storage hanger 41 of the current storage location; then controlling the compensation driving device 34 to operate, so that the temporary hanging rack 2 is butted with the storage hanging rack 41; then, the linear motion actuator 32 is controlled to operate to extend the telescopic frame 31 by an extension amount corresponding to the required amount; then, the lifting execution device 33 is controlled to operate to make the expansion bracket 31 descend; finally, the linear motion executing device 32 is controlled to operate to retract the expansion bracket 31 to realize the transfer of the set number of the hung clothes.
Step C3, controlling the clothes transfer mechanism 3 to operate so as to transfer all clothes on the temporary hanging rack 2 to the clothes hanging rack 51 of the clothes storage position;
in the step, firstly, the synchronous belt driving device 7 is controlled to operate to enable the clothing transfer mechanism 3 to move to the position of the clothing storage position corresponding to the clothing to be put in storage; then controlling the rotating motor 10 to operate, so that the end of the temporary hanging rack 2 faces the clothes hanging rack 51; then, the compensation driving device 34 is controlled to operate, so that the temporary hanging rack 2 is in butt joint with the clothes hanging rack 51 (at this time, the telescopic rack 31 is in a low position, and a hook for hanging clothes on the temporary hanging rack 2 is still in the groove 311 of the telescopic rack 31); then, the linear motion executing device 32 is controlled to operate to enable the expansion bracket 31 to extend out to realize the transfer of the hung clothes; finally, the lifting actuator 33 is controlled to operate to raise the telescopic frame 31, and the linear actuator 32 is controlled to operate to retract the telescopic frame 31.
When the task information is a warehouse-out task, the step A3 of controlling the clothing transfer mechanism 3 to execute the transfer operation of the hanging clothing comprises the following steps D1-D3:
step D1, controlling the clothes transfer mechanism 3 to operate so as to transfer clothes to be taken out of the warehouse on the clothes hanger 51 of the clothes warehouse location to the temporary hanger 2;
in this step, the procedure of transferring the clothes to be delivered from the warehouse can refer to the aforementioned hanging clothes transferring process, and the amount of the transferred hanging clothes can be accurately controlled by controlling the stretching amount of the telescopic frame 31.
Step D2, controlling the clothes transfer mechanism 3 to transfer the clothes to the position of the storage position corresponding to the clothes to be delivered;
and D3, controlling the clothes transfer mechanism 3 to operate so as to transfer clothes to be taken out of the warehouse on the temporary hanging rack 2 to the storage hanging rack 41 at the current storage position.
Preferably, before the step A3 of controlling the clothing transfer mechanism 3 to perform the transfer operation of hanging clothing, the method further includes the following step E1:
step E1, distributing orders or dress categories for each storage rack 41 according to the task list.
In the step, two sorting modes can be realized, one mode is sorting according to an order and is mainly used for executing a warehouse-out task, the clothes transfer mechanism 3 transfers the hanging clothes belonging to the same order to the same storage rack 41, and thus, after the sorting robot reaches a goods unloading position, the hanging clothes unloaded from each storage rack 41 can be directly packed and sent out; the other method is to sort according to clothing categories, namely, only one type of hanging clothing is stored on one storage rack 41 and can be used for ex-warehouse tasks and in-warehouse tasks.
Preferably, when the task information is a warehouse-out task, the step A3 of controlling the clothing transfer mechanism 3 to perform the transfer operation of the hanging clothing further includes the following steps F1 to F2:
step F1, controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame 6;
and F2, controlling the clothes transfer mechanism 3 to operate so as to unload clothes to be delivered from the warehouse on the hanging clothes sorting robot onto the loading and unloading frame 6.
After the steps F1-F2 are executed, the hanging clothes sorting robot can continue to execute other tasks without waiting for unloading at the unloading position, and the operation efficiency of the hanging clothes sorting robot can be improved.
When the task information is a warehousing task, the following steps G1-G2 are also included before the hanging clothes sorting robot is scheduled to run to the side of the appointed clothes warehouse storage position according to the task information in the step A3:
g1, controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame 6;
and G2, controlling the clothes transfer mechanism 3 to operate so as to obtain clothes to be put in storage from the loading and unloading frame 6.
In the above steps G1-G2, by providing the loading and unloading frame 6, the hanging garment to be stored can be hung on the loading and unloading hanger 61 of the loading and unloading frame 6 in advance, and the hanging garment to be stored does not need to be loaded on the temporary hanger 2 after the hanging garment sorting robot arrives.
According to the hanging clothes sorting robot, the sorting system and the sorting method, the operation of the clothes transferring mechanism is controlled, the hanging clothes can be transferred between the clothes storage rack and the temporary hanging rack, the hanging clothes can be transported by controlling the movement of the moving seat, so that the hanging clothes can be automatically delivered and stored in a warehouse, the sorting efficiency is high, and the labor cost is saved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. The utility model provides a hang dress letter sorting machine people which characterized in that, it includes:
a movable base (1) which can move;
the temporary hanging rack (2) can hang and store hanging clothes; and
the clothing transfer mechanism (3) is used for acquiring hanging clothing from the outside and transferring the hanging clothing to the temporary hanging rack (2), or is used for transferring the hanging clothing on the temporary hanging rack (2) out so as to enable the hanging clothing to be separated from the hanging clothing sorting robot;
the garment transfer mechanism (3) comprises:
an expansion bracket (31) which can do expansion movement relative to the moving seat (1) to transfer the hanging clothes; and
the linear motion executing device (32) is used for driving the telescopic frame (31) to do telescopic motion;
grooves (311) arranged in an array are formed in the telescopic frame (31); the telescopic frame (31) can also perform controllable lifting motion relative to the movable seat (1);
the top of the temporary hanging rack (2) is provided with a straight groove extending along the length direction; after the telescopic frame (31) descends to a low position, the lower end of the telescopic frame (31) is placed in the straight groove of the hanging frame;
further comprising:
a storage rack (4) provided with at least one storage location, each storage location being provided with a storage rack (41) for hanging and storing hanging clothes; when the storage rack (4) comprises a plurality of storage positions, the clothes transfer mechanism (3) and the temporary hanging rack (2) can be integrally controlled to move relative to the storage rack (4);
both the garment transfer mechanism (3) and the temporary hanger (2) are controllably rotatable relative to the storage rack (4);
further comprising a compensation drive (34); the compensation driving device (34) is in driving connection with the temporary hanging rack (2) to drive the temporary hanging rack (2) to make translational motion, so that the temporary hanging rack (2) can be in butt joint with the storage hanging rack (41) or an external hanging rack.
2. The utility model provides a hang dress letter sorting system which characterized in that, it includes:
the hanging garment sorting robot of claim 1;
the clothes storage rack (5) is provided with a plurality of clothes storage positions, and each clothes storage position is provided with a clothes hanger (51); and
and the control system can schedule the hanging clothes sorting robot to move and execute the operation of taking and putting the hanging clothes.
3. The hanging garment sortation system as claimed in claim 2, further comprising a handling frame (6); the hanging clothes sorting robot can unload the obtained hanging clothes to the loading and unloading frame (6) or obtain the hanging clothes from the loading and unloading frame (6) and convey the obtained hanging clothes to the clothes storage frame (5).
4. The hanging garment sorting system according to claim 2, wherein the hanging garment sorting robot further comprises a storage rack (4), the storage rack (4) being provided with at least one storage location, each storage location being provided with a storage rack (41) for hanging garments.
5. A method of sorting hanging garment for use with the control system of the hanging garment sorting system of claim 2, the method comprising:
acquiring task information corresponding to the hanging clothes sorting robot; the task information is an ex-warehouse task or an in-warehouse task;
scheduling the hanging clothes sorting robot to run to the side of the appointed clothes storage position according to the task information;
controlling the clothing transfer mechanism (3) to execute the transfer operation of the hung clothing; and the transfer operation is a taking-out operation or a warehousing operation corresponding to the task information being a warehouse-out task or a warehouse-in task.
6. The hanging garment sorting method of claim 5, wherein the scheduling the hanging garment sorting robot to travel to the designated garment storage location according to the task information comprises:
acquiring task lists of various clothes related to the task information;
performing path planning according to the positions of the clothing storage positions corresponding to various kinds of clothing and the position of the hanging clothing sorting robot;
and scheduling the hanging clothes sorting robot to drive along a planned path and stop beside the appointed clothes storage position.
7. The hanging garment sorting method according to claim 6, wherein the hanging garment sorting robot comprises a storage rack (4), the storage rack (4) being provided with a plurality of storage locations, each storage location being provided with a storage rack (41) for hanging a hanging garment;
when the task information is a warehousing task, the controlling the clothing transfer mechanism (3) to execute the transfer operation of hanging clothing comprises the following steps:
controlling the clothing transfer mechanism (3) to transfer to the position of the storage position corresponding to the clothing to be put in storage;
controlling the clothes transfer mechanism (3) to operate so as to transfer clothes to be put in storage on the storage rack (41) at the current storage position to the temporary rack (2); and
controlling the clothes transfer mechanism (3) to operate so as to transfer all clothes on the temporary hanging rack (2) to the clothes hanging rack (51) of the clothes storage position;
when the task information is a warehouse-out task, the step of controlling the clothing transfer mechanism (3) to execute the transfer operation of hanging clothing comprises the following steps:
controlling the clothes transfer mechanism (3) to operate so as to transfer clothes to be taken out of the warehouse on the clothes hanger (51) of the clothes storage position to the temporary hanger (2);
controlling the clothes transfer mechanism (3) to transfer to the position of the storage position corresponding to the clothes to be delivered; and
controlling the clothes transfer mechanism (3) to operate so as to transfer clothes to be taken out of the warehouse on the temporary hanging rack (2) to the storage hanging rack (41) at the current storage position.
8. The hanging garment sorting method according to claim 7, wherein the controlling the garment transfer mechanism (3) to perform a hanging garment transfer operation further comprises:
-assigning an order or a clothing category to each of said storage racks (41) according to said task list.
9. The hanger sorting method according to claim 5, wherein the hanger sorting system further comprises a handling frame (6);
when the task information is a warehouse-out task, the step of controlling the clothing transfer mechanism (3) to execute the transfer operation of hanging clothing further comprises the following steps:
controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame (6); and
controlling the clothing transfer mechanism (3) to operate so as to unload the clothing to be delivered from the warehouse on the hanging clothing sorting robot onto the loading and unloading frame (6);
when the task information is a warehousing task, the method for scheduling the hanging clothes sorting robot to run to the side of the appointed clothes warehousing position according to the task information further comprises the following steps:
controlling the hanging clothes sorting robot to move to the position of the loading and unloading frame (6); and
and controlling the clothes transfer mechanism (3) to operate so as to acquire clothes to be put in storage from the loading and unloading frame (6).
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| CN202110281601.4A CN113023205B (en) | 2021-03-16 | 2021-03-16 | Hanging clothes sorting robot, sorting system and sorting method |
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| CN202110281601.4A CN113023205B (en) | 2021-03-16 | 2021-03-16 | Hanging clothes sorting robot, sorting system and sorting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2692667A1 (en) * | 2012-08-01 | 2014-02-05 | Dürkopp Fördertechnik GmbH | Stacker crane for a warehouse, warehouse with such a stacker crane and method for individual removal of goods from such a warehouse |
| AT516612B1 (en) * | 2015-10-06 | 2016-07-15 | Tgw Mechanics Gmbh | Automated storage system and method for storing hanging garments in this storage system |
| AT518878B1 (en) * | 2016-09-09 | 2018-02-15 | Knapp Ag | Automated storage system for transporting load carriers rotated in the direction of travel |
| CN210557148U (en) * | 2019-07-09 | 2020-05-19 | 苏州牧星智能科技有限公司 | Turnover box type sorting robot |
| CN211637352U (en) * | 2019-09-12 | 2020-10-09 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting system |
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