CN115196239A - Goods sorting device and method - Google Patents

Goods sorting device and method Download PDF

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Publication number
CN115196239A
CN115196239A CN202211023816.7A CN202211023816A CN115196239A CN 115196239 A CN115196239 A CN 115196239A CN 202211023816 A CN202211023816 A CN 202211023816A CN 115196239 A CN115196239 A CN 115196239A
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CN
China
Prior art keywords
sorting
goods
sorting robot
distance
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211023816.7A
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Chinese (zh)
Inventor
谭轲允
龙洪锋
朱意峰
柴振
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yinghe Shenzhen Robot and Automation Technology Co Ltd
Original Assignee
Yinghe Shenzhen Robot and Automation Technology Co Ltd
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Publication date
Application filed by Yinghe Shenzhen Robot and Automation Technology Co Ltd filed Critical Yinghe Shenzhen Robot and Automation Technology Co Ltd
Priority to CN202211023816.7A priority Critical patent/CN115196239A/en
Publication of CN115196239A publication Critical patent/CN115196239A/en
Pending legal-status Critical Current

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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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The application relates to a goods sorting device and a goods sorting method, wherein the goods sorting device comprises a goods shelf, a driving assembly and a sorting robot, the goods shelf comprises first supports which are symmetrically arranged and a plurality of layers of goods shelves which are parallelly fixed between the first supports, a first guide rail is arranged on at least one side edge of the goods shelf, the driving assembly is fixed on the first supports to drive the sorting robot to reciprocate along the direction of the first supports, and the sorting robot reciprocates along the first guide rail. The goods sorting method is applied to the goods sorting device and comprises the following steps: screening and sorting robots according to cargo transportation tasks; determining a transportation route of the sorting robot; determining at least one sorting robot according to the transportation route; and controlling the sorting robot to execute the cargo transportation task according to the transportation route. This application can realize the automation of goods letter sorting, promotes goods letter sorting efficiency.

Description

Goods sorting device and method
Technical Field
The application relates to the technical field of cargo sorting, in particular to a cargo sorting device and method.
Background
Sorting is an operation process of picking up commodities from a goods picking area or a storage area according to the requirement of an ex-warehouse bill or a distribution plan, and classifying and centralizing the commodities according to a certain mode. Sorting is an important operation link of a warehouse and is a basis for goods to be delivered from the warehouse. The efficiency of the sorting operation will directly affect the efficiency of the delivery of goods and the completion of orders. The sorting modes in the prior art are various, but different efficiency bottlenecks are faced, for example, the manual assistance participation still exists in part of links, and the automation degree is not high.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
In view of the above technical problems, the application provides a cargo sorting device and method, which can realize the automation of cargo sorting and improve the cargo sorting efficiency.
For solving above-mentioned technical problem, this application provides a goods sorting device, including goods shelves, drive assembly and letter sorting robot, goods shelves are fixed in including first support and the multilayer parallel that the symmetry set up supporter between the first support, at least one side edge of supporter is equipped with first guide rail, drive assembly is fixed in first support, with the drive letter sorting robot is followed the direction reciprocating motion of first support place direction, and, letter sorting robot follows first guide rail reciprocating motion.
Optionally, the sorting robot includes a first driving wheel, a second driving wheel, and a second support fixedly connected to the first driving wheel and the second driving wheel, a first positioning plate and a second positioning plate are respectively disposed above the first driving wheel and the second driving wheel, and the first driving wheel and the second driving wheel drive the sorting robot to reciprocate along the first guide rail.
Optionally, the sorting robot further comprises a support plate fixed to the second support and located between the first drive wheel and the second drive wheel; the utility model discloses a portable electronic device, including backup pad, cargo carrying frame, backup pad, driving motor and drive motor, the backup pad top is equipped with the cargo carrying frame, cargo carrying frame top is equipped with the camera, the backup pad with be equipped with driving motor and perpendicular to between the cargo carrying frame the second guide rail of second support, driving motor drive cargo carrying frame is followed second guide rail reciprocating motion.
Optionally, an electric cylinder is arranged between the second guide rail and the cargo carrying frame, the electric cylinder is fixed to the second guide rail and movably connected with the cargo carrying frame through a top rod, and when the electric cylinder contracts, the top rod is driven to lift one end of the cargo carrying frame.
Optionally, the drive assembly comprises a third bracket and a lifting rail; the lifting guide rail is arranged along the height direction of the third support and comprises a fourth support and a plurality of third guide rails, the fourth support is parallel to the first support, the third guide rails are parallel to the fourth support, the third guide rails are provided with chain connecting plates and guide rollers, the chain connecting plates are connected with chain and sprocket assemblies, the third support is provided with a speed reducing motor, and the speed reducing motor drives the chain and sprocket assemblies to drive the third guide rails to move along the fourth support.
Optionally, the sprocket chain assembly includes a first mounting plate fixed to the top of the third bracket and a second mounting plate fixed to the bottom of the third bracket, a driving sprocket is disposed at one end of the second mounting plate close to the speed reduction motor, driven sprockets are disposed at one end of the second mounting plate far away from the speed reduction motor and at two ends of the first mounting plate respectively, and a chain is sequentially connected to the driving sprocket and the driven sprockets; and two ends of the chain are respectively connected with the top and the bottom of the lifting guide rail.
The application also provides a goods sorting method, which is applied to the goods sorting device and comprises the following steps:
screening and sorting robots according to cargo transportation tasks;
determining a transportation route of the sorting robot;
determining at least one sorting robot according to the transportation route;
and controlling the sorting robot to execute the cargo transportation task according to the transportation route.
Optionally, when the cargo transportation task is to take a material, the determining the transportation route of the sorting robot includes:
if the sorting robot is in an idle state, determining a first distance as a transportation route, wherein the first distance is the shortest moving distance between the position of the sorting robot and a material taking position;
and if the sorting robot is in a load state, determining that the sum of a second distance and a third distance is a transportation route, wherein the second distance is the feeding distance between the position of the sorting robot and the feeding position of the current task, and the third distance is the shortest moving distance between the feeding position and the material taking position.
Optionally, the controlling the sorting robot to perform the cargo transportation task according to the transportation route further includes:
if the number of the sorting robots is more than one, determining a target transportation route according to the energy consumption and/or the type of the transportation route;
and controlling the sorting robot to execute the cargo transportation task according to the target transportation route.
Optionally, when the cargo transportation task is material feeding, the determining the transportation route of the sorting robot further includes:
determining a target material feeding level according to the cargo transportation task;
acquiring a fourth distance between the material taking level and the target material feeding level;
if the sorting robot is in an idle state, determining the sum of a fourth distance and a fifth distance as a transportation route, wherein the fifth distance is the shortest moving distance between the position of the sorting robot and the material taking position;
and if the sorting robot is in a load state, determining the sum of a fourth distance and a sixth distance as a transportation route, wherein the sixth distance is the feeding distance between the position of the sorting robot and the feeding position of the current task.
The goods sorting device comprises a goods shelf, a driving assembly and a sorting robot, wherein the goods shelf comprises first supports which are symmetrically arranged and a plurality of layers of goods shelves which are parallelly fixed between the first supports, a first guide rail is arranged on at least one side edge of each goods shelf, the driving assembly is fixed on the first supports to drive the sorting robot to reciprocate along the direction of the first supports, and the sorting robot reciprocates along the first guide rail. The goods sorting method is applied to the goods sorting device and comprises the following steps: screening and sorting robots according to cargo transportation tasks; determining a transportation route of the sorting robot; determining at least one sorting robot according to the transportation route; and controlling the sorting robot to execute the cargo transportation task according to the transportation route. This application can realize the automation of goods letter sorting, promotes goods letter sorting efficiency.
Drawings
Fig. 1 is one of the schematic structural views of a cargo sorting apparatus according to a first embodiment;
fig. 2 is a second schematic structural view of the cargo sorting apparatus according to the first embodiment;
FIG. 3 is a schematic view of the structure of the shelf according to the first embodiment;
fig. 4 is a schematic view of the overall structure of the sorting robot according to the first embodiment;
fig. 5 is one of partial structural schematic views of a sorting robot shown according to the first embodiment;
fig. 6 is a second partial configuration diagram of the sorting robot according to the first embodiment;
fig. 7 is a third partial configuration diagram of the sorting robot according to the first embodiment;
fig. 8 is a schematic structural view of a drive assembly according to the first embodiment;
fig. 9 is a schematic structural view of a lifting rail according to the first embodiment;
FIG. 10 is a schematic structural view of the chain and sprocket assembly shown in accordance with the first embodiment;
fig. 11 is a flowchart illustrating a cargo sorting method according to the first embodiment.
Detailed Description
The following description of the embodiments of the present application is provided for illustrative purposes, and other advantages and capabilities of the present application will become apparent to those skilled in the art from the present disclosure.
In the following description, reference is made to the accompanying drawings that describe several embodiments of the application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.
First embodiment
As shown in fig. 1 to 3, for a goods sorting device provided by the embodiment of the present application, the goods sorting device includes a shelf 1, a driving assembly 2 and a sorting robot 3, the shelf includes first brackets 4 symmetrically arranged and a plurality of layers of shelves 6 fixed in parallel between the first brackets 4, at least one side edge of the shelf 6 is provided with a first guide rail 61, the driving assembly 2 drives the sorting robot 3 to reciprocate along the direction of the first brackets 4, and the sorting robot 3 reciprocates along the first guide rail 61.
In this embodiment, the goods sorting device mainly comprises goods shelves 1, drive assembly 2, and sorting robot. Wherein, drive assembly 2 is fixed in 1 both sides of goods shelves, and sorting robot 3 movably is fixed in goods sorting device. It will be appreciated that the sorting robot can move up and down along the first support 4 under the driving of the driving assembly 2, and can also move back and forth horizontally along the first guide rail 61 under the control of the controller (not shown) to complete the goods transportation task on the shelf. It is worth mentioning that still be equipped with a plurality of baskets 5 that are used for storing the goods on supporter 6, letter sorting robot 3 throws the material to basket 5 after moving to the target position on goods shelves 1 to reach the effect of letter sorting goods.
As shown in fig. 4, the sorting robot 3 includes a first driving wheel 81, a second driving wheel 82, and a second bracket 13 fixedly connecting the first driving wheel 81 and the second driving wheel 82, a first positioning plate 7 and a second positioning plate 14 are respectively disposed above the first driving wheel 81 and the second driving wheel 82, and the first driving wheel 81 and the second driving wheel 82 drive the sorting robot 3 to reciprocate along the first guide rail 61. And a reinforcing rib 12 is arranged between the support plate 11 and the second bracket 13 and has the function of fixing and supporting.
As shown in fig. 5, the sorting robot 3 further includes a support plate 11 fixed to the second bracket 13 and located between the first driving wheel 81 and the second driving wheel 82; a goods carrying frame 10 is arranged above the supporting plate 11, and a camera 9 is arranged above the goods carrying frame 10 and used for detecting and identifying goods. A driving motor 41 and a second guide rail 42 perpendicular to the second support frame 13 are provided between the support plate 11 and the loading frame 10, and the driving motor 41 drives the loading frame 10 to reciprocate along the second guide rail 42. In practice, when the sorting robot 3 moves to the designated position of the material frame 5, the driving motor 41 rotates to push the gear 45 and the rack 46 to drive the slide 47 to move on the second guide rail 42, so that the loading frame 10 moves to the upper part of the material frame 5, and the feeding is convenient.
As shown in fig. 6 and 7, an electric cylinder 43 is disposed between the second rail 42 and the cargo frame 10, the electric cylinder 43 is fixed to the second rail 42 and movably connected to the cargo frame 10 by a rod 44, and the electric cylinder 43 drives the rod 44 to lift one end of the cargo frame 10 when retracted. The other end of the bottom of the load carrying frame 10 remote from the top bar 44 is movably connected to the second rail 42. When one end of the cargo carrying frame 10 is lifted, the end cover 101 of the cargo carrying frame 10 is turned outward, so that the cargo falls down to the material frame 5.
As shown in fig. 8 and 9, the driving assembly 2 includes a third bracket 15 and a lifting rail 17; the lifting guide rail 17 is arranged along the height direction of the third bracket 15, and the lifting guide rail 17 comprises a fourth bracket 24 arranged in parallel with the first bracket 4 and a plurality of third guide rails 22 parallel to the fourth bracket 24; the third guide rail 22 is provided with a chain connecting plate 20 and a guide roller 21, the chain connecting plate 20 is connected with a chain and sprocket assembly, the third support 15 is provided with a speed reducing motor 19, and the speed reducing motor 19 drives the chain and sprocket assembly to drive the third guide rail 22 to move along the fourth support 24. During practical implementation, the first positioning plate 7 and the second positioning plate 14 of the sorting robot 3 are respectively movably fixed on the two adjacent third guide rails 22, and when the speed reduction motor 19 drives the third guide rails 22 to vertically move, the sorting robot 3 is driven to reciprocate along the direction of the first support 4.
In this embodiment, the driving assembly 2 further comprises a lifting guide assembly 16 for connecting the lifting guide rail 17 and the sprocket chain assembly, and the lifting guide assembly is used for guiding the third guide rail 22 during relative movement and simultaneously used for bearing and supporting the sprocket chain assembly.
As shown in fig. 10, the sprocket chain assembly comprises a first mounting plate 251 fixed at the top of the third support 15 and a second mounting plate 252 fixed at the bottom of the third support 15, wherein a driving sprocket 31 is arranged at one end of the second mounting plate 252 close to the speed reduction motor 19, driven sprockets 26 are respectively arranged at one end of the second mounting plate 252 far away from the speed reduction motor 19 and at two ends of the first mounting plate 251, and a chain 30 is sequentially connected with the driving sprocket 31 and the driven sprockets 26; the chain 30 has both ends connected to the top and bottom of the lifting rail 17, respectively.
In this embodiment, the sprocket chain assembly is fixedly connected to the speed reducing motor 19, and the speed reducing motor 19 converts the electric energy into mechanical energy for power output so as to drive the chain 30 in the sprocket chain assembly to rotate around the third bracket 15. The chain wheel and chain assembly further comprises a chain wheel fixing shaft 27 and a chain wheel fixing block 28 which are fixed on the first mounting plate 251 and the second mounting plate 252, move relative to the chain 30 and have the function of transmitting torque. The end of the chain 30 is further provided with a fixing member 29 for fixedly connecting both ends of the chain 30 with the chain connecting plates 20 at both ends of the third guide rail 22, respectively.
The goods sorting device of the embodiment of the application comprises a goods shelf, a driving assembly and a sorting robot, wherein the goods shelf comprises a first support and a plurality of layers of parallel racks, the first support and the plurality of layers of parallel racks are symmetrically arranged, a first guide rail is arranged on at least one side edge of the goods shelf, the driving assembly is fixed on the first support, so that the sorting robot can move in a reciprocating mode along the direction of the first support, and the sorting robot can move in a reciprocating mode along the first guide rail. The goods sorting device of this embodiment can realize the automation of goods letter sorting, promotes goods letter sorting efficiency.
Second embodiment
Fig. 11 is a flowchart illustrating a cargo sorting method according to the first embodiment. As shown in fig. 11, an embodiment of the present application further provides a cargo sorting method, which is applied to the cargo sorting apparatus described above, and includes the following steps:
step 801: screening and sorting robots according to cargo transportation tasks;
step 802: determining a transportation route of the sorting robot;
step 803: determining at least one sorting robot according to the transportation route;
step 804: and controlling the sorting robot to execute the cargo transportation task according to the transportation route.
In this embodiment, in step 801, a sorting robot without a goods picking task at the next moment is first screened out as a sorting robot for executing a goods transportation task.
Optionally, in step 802, when the cargo transportation task is to take a material, determining a transportation route of the sorting robot includes:
if the sorting robot is in an idle state, determining a first distance as a transportation route, wherein the first distance is the shortest moving distance between the position of the sorting robot and the material taking position;
and if the sorting robot is in a load state, determining that the sum of a second distance and a third distance is a transportation route, wherein the second distance is a feeding distance between the position of the sorting robot and a feeding position of the current task, and the third distance is the shortest moving distance between the feeding position and a material taking position.
In this embodiment, the transportation route corresponding to the sorting robot is calculated according to the type of the cargo transportation task. Specifically, when a material taking task is executed, if the sorting robot is in an idle state, the shortest moving distance between the position of the sorting robot and the material taking position is used as a transportation route; if the sorting robot is in a load state, the sorting robot can execute the next cargo transportation task after needing to complete the current cargo transportation task. Therefore, the transportation route of the sorting robot in the load state is the sum of the feeding distance between the position of the sorting robot and the feeding position of the current task and the shortest moving distance between the feeding position and the material taking position.
Optionally, when at least one sorting robot is determined according to the transportation route in step 803, the transportation route calculated in step 802 may be filtered, and one or more sorting robots with shorter transportation routes may be determined to perform the cargo transportation task.
Optionally, in step 803, controlling the sorting robot to perform the cargo transportation task according to the transportation route further includes:
if the number of the sorting robots is more than one, determining a target transportation route according to the energy consumption and/or the type of the transportation route;
and controlling the sorting robot to execute the cargo transportation task according to the target transportation route.
In this embodiment, if a plurality of sorting robots are screened in step 803, a unique sorting robot may be further screened for executing the cargo transportation task according to the energy consumption and/or type of the transportation route. In particular, the energy consumption or the proportion of different types of routes required for the corresponding transport route of the sorting robot may be calculated. For example, a sorting robot with the lowest energy consumption of the transportation route or a sorting robot with a higher proportion of horizontal movement type routes in the transportation route is screened out as the sorting robot which finally performs the cargo transportation task.
Optionally, in step 802, when the cargo transportation task is material feeding, determining a transportation route of the sorting robot further includes:
determining a target material feeding level according to the cargo transportation task;
acquiring a fourth distance between the material taking level and the target material feeding level;
if the sorting robot is in an idle state, determining the sum of a fourth distance and a fifth distance as a transportation route, wherein the fifth distance is the shortest moving distance between the position of the sorting robot and the material taking position;
and if the sorting robot is in a load state, determining the sum of the fourth distance and the sixth distance as the transportation route, wherein the sixth distance is the feeding distance between the position of the sorting robot and the feeding position of the current task.
In this embodiment, the transportation route corresponding to the sorting robot is calculated according to the type of the cargo transportation task. Specifically, when the feeding task is executed, the fourth distance that the material taking position is at the target feeding position is determined firstly. Secondly, if the sorting robot is in an idle state, taking the shortest moving distance between the position of the sorting robot and the material taking position and adding a fourth distance as a transportation route; if the sorting robot is in a load state, the sorting robot can execute the next cargo transportation task after needing to complete the current cargo transportation task. Therefore, the transportation route of the sorting robot in the load state is the sum of the feeding distance between the position of the sorting robot and the feeding position of the current task, and the fourth distance.
In one embodiment, the method further comprises the step of pre-sorting the goods before the goods transportation task is executed. Specifically, the pre-sorting robot is controlled to sort the stacked goods onto the conveying structure, and meanwhile, object recognition is completed, and information registration is carried out in the sorting system. Then, the goods are transmitted to the sorting robot through the conveying structure, the attribute information of the goods is locked, and the rotation position information can be fed back through the encoder.
In one embodiment, before the sorting robot performs the cargo transportation task, the sorting robot further determines a material basket corresponding to the cargo, and the position of the material basket is used as the feeding position of the cargo. And selecting a proper goods storage charging basket according to the goods specification attribute, the current task order and the loading basket loading condition.
When a material taking task is executed, the sorting robot sequentially reaches the tail end of the conveying belt of the conveying structure according to path planning, namely a connection position. After the goods are placed in place, the sorting robot sends in-place information to the system, the conveying structure rolls to roll the goods onto the sorting robot, and the robot and the information of the goods are bound.
The goods sorting method provided by the embodiment of the application is applied to a goods sorting device and comprises the following steps: screening and sorting robots according to cargo transportation tasks; determining a transportation route of the sorting robot; determining at least one sorting robot according to the transportation route; and controlling the sorting robot to execute the cargo transportation task according to the transportation route. The goods sorting method can realize the automation of goods sorting and improve the goods sorting efficiency.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.

Claims (10)

1. The utility model provides a goods sorting device, its characterized in that includes goods shelves (1), drive assembly (2) and letter sorting robot (3), goods shelves are fixed in including first support (4) and the multilayer parallel that the symmetry set up supporter (6) between first support (4), at least one side edge of supporter (6) is equipped with first guide rail (61), drive assembly (2) are fixed in first support (4), with the drive letter sorting robot (3) are followed first support (4) place direction reciprocating motion, and, letter sorting robot (3) are followed first guide rail (61) reciprocating motion.
2. The goods sorting device according to claim 1, wherein the sorting robot (3) comprises a first driving wheel (81), a second driving wheel (82) and a second bracket (13) fixedly connecting the first driving wheel (81) and the second driving wheel (82), a first positioning plate (7) and a second positioning plate (14) are respectively arranged above the first driving wheel (81) and the second driving wheel (82), and the first driving wheel (81) and the second driving wheel (82) drive the sorting robot (3) to reciprocate along the first guide rail (61).
3. The goods sorting device according to claim 2, characterized in that the sorting robot (3) further comprises a support plate (11) fixed to the second bracket (13) and located between the first drive wheel (81) and the second drive wheel (82); the utility model discloses a goods carrying frame, including backup pad (11), backup pad (11) top is equipped with carries goods frame (10), carry goods frame (10) top and be equipped with camera (9), backup pad (11) with be equipped with driving motor (41) and perpendicular to between carrying goods frame (10) second guide rail (42) of second support (13), driving motor (41) drive carry goods frame (10) to follow second guide rail (42) reciprocating motion.
4. The cargo sorting device according to claim 3, characterized in that an electric cylinder (43) is arranged between the second guide rail (42) and the cargo carrying frame (10), the electric cylinder (43) is fixed to the second guide rail (42) and movably connected with the cargo carrying frame (10) through a push rod (44), and the electric cylinder (43) drives the push rod (44) to lift one end of the cargo carrying frame (10) when being contracted.
5. The goods sorting device according to claim 1, characterized in that the drive assembly (2) comprises a third bracket (15) and a lifting rail (17); the lifting guide rail (17) is arranged along the height direction of the third bracket (15), and the lifting guide rail (17) comprises a fourth bracket (24) arranged in parallel with the first bracket (4) and a plurality of third guide rails (22) parallel to the fourth bracket (24); be equipped with chain connecting plate (20) and guide roller (21) on third guide rail (22), chain connecting plate (20) are connected with chain sprocket assembly, be equipped with gear motor (19) on third support (15), gear motor (19) drive chain sprocket assembly is in order to drive third guide rail (22) are followed fourth support (24) remove.
6. The cargo sorting device according to claim 5, wherein the chain wheel and chain assembly comprises a first mounting plate (251) fixed at the top of the third bracket (15) and a second mounting plate (252) fixed at the bottom of the third bracket (15), one end of the second mounting plate (252) close to the speed reducing motor (19) is provided with a driving chain wheel (31), one end of the second mounting plate (252) far away from the speed reducing motor (19) and two ends of the first mounting plate (251) are respectively provided with a driven chain wheel (26), and a chain (30) is sequentially connected with the driving chain wheel (31) and the driven chain wheel (26); and two ends of the chain (30) are respectively connected with the top and the bottom of the lifting guide rail (17).
7. A method for sorting goods, which is applied to the goods sorting apparatus according to any one of claims 1 to 6, comprising the steps of:
screening and sorting robots according to cargo transportation tasks;
determining a transportation route of the sorting robot;
determining at least one sorting robot according to the transportation route;
and controlling the sorting robot to execute the cargo transportation task according to the transportation route.
8. The method for sorting the goods according to claim 7, wherein when the goods transportation task is material taking, the determining the transportation route of the sorting robot comprises:
if the sorting robot is in an idle state, determining a first distance as a transportation route, wherein the first distance is the shortest moving distance between the position of the sorting robot and a material taking position;
and if the sorting robot is in a load state, determining that the sum of a second distance and a third distance is a transportation route, wherein the second distance is the feeding distance between the position of the sorting robot and the feeding position of the current task, and the third distance is the shortest moving distance between the feeding position and the material taking position.
9. The cargo sorting method according to claim 7, wherein the controlling the sorting robot to perform the cargo transporting task according to the transporting route further comprises:
if the number of the sorting robots is more than one, determining a target transportation route according to the energy consumption and/or the type of the transportation route;
and controlling the sorting robot to execute the cargo transportation task according to the target transportation route.
10. The method for sorting goods according to claim 7, wherein when the goods transportation task is material feeding, the determining the transportation route of the sorting robot further comprises:
determining a target material feeding level according to the cargo transportation task;
acquiring a fourth distance between the material taking level and the target material feeding level;
if the sorting robot is in an idle state, determining the sum of a fourth distance and a fifth distance as a transportation route, wherein the fifth distance is the shortest moving distance between the position of the sorting robot and the material taking position;
and if the sorting robot is in a load state, determining the sum of a fourth distance and a sixth distance as a transportation route, wherein the sixth distance is the feeding distance between the position of the sorting robot and the feeding position of the current task.
CN202211023816.7A 2022-08-23 2022-08-23 Goods sorting device and method Pending CN115196239A (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS494189B1 (en) * 1965-10-22 1974-01-30
US20180057263A1 (en) * 2016-06-30 2018-03-01 Servus Intralogistics Gmbh Rail-bound transport robot for picking goods in a storage rack, and method for the operation therof
CN111942787A (en) * 2019-05-14 2020-11-17 克莱维罗股份公司 Self-service miscellaneous goods storing and taking terminal and device for moving miscellaneous goods box in same
US20210039887A1 (en) * 2019-08-07 2021-02-11 Hangzhou Huicang Information Technology Company Limited Track apparatus, delivery shuttle car and material handling system
CN216334440U (en) * 2021-09-26 2022-04-19 郑州诺源运输有限公司 Multilayer commodity circulation warehouse deposits a device fast

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS494189B1 (en) * 1965-10-22 1974-01-30
US20180057263A1 (en) * 2016-06-30 2018-03-01 Servus Intralogistics Gmbh Rail-bound transport robot for picking goods in a storage rack, and method for the operation therof
CN111942787A (en) * 2019-05-14 2020-11-17 克莱维罗股份公司 Self-service miscellaneous goods storing and taking terminal and device for moving miscellaneous goods box in same
US20210039887A1 (en) * 2019-08-07 2021-02-11 Hangzhou Huicang Information Technology Company Limited Track apparatus, delivery shuttle car and material handling system
CN216334440U (en) * 2021-09-26 2022-04-19 郑州诺源运输有限公司 Multilayer commodity circulation warehouse deposits a device fast

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Application publication date: 20221018