WO2019205953A1 - Étagère de tri automatique et système associé - Google Patents

Étagère de tri automatique et système associé Download PDF

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Publication number
WO2019205953A1
WO2019205953A1 PCT/CN2019/082339 CN2019082339W WO2019205953A1 WO 2019205953 A1 WO2019205953 A1 WO 2019205953A1 CN 2019082339 W CN2019082339 W CN 2019082339W WO 2019205953 A1 WO2019205953 A1 WO 2019205953A1
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WO
WIPO (PCT)
Prior art keywords
platform
cargo
plate
shelf body
sorting
Prior art date
Application number
PCT/CN2019/082339
Other languages
English (en)
Chinese (zh)
Inventor
柳智
周南松
李林
Original Assignee
上海托华机器人有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN201810404910.4A external-priority patent/CN108438699A/zh
Priority claimed from CN201910268191.2A external-priority patent/CN109795832B/zh
Application filed by 上海托华机器人有限公司 filed Critical 上海托华机器人有限公司
Publication of WO2019205953A1 publication Critical patent/WO2019205953A1/fr

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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
    • 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
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like

Definitions

  • the invention relates to the field of logistics storage and transportation technology, in particular to an automatic sorting shelf and a system thereof.
  • the application number is 201810404910.4, the invention name is an automatic sorting shelf and automatic sorting AGV, the application date is 2018.4.28, and the publication date is 2018.8.24;
  • the application number is 201910268191.2, and the invention name is an efficient automatic sorting rack and its sorting system.
  • the application date is 2019.4.3.
  • the positions on the shelves for temporarily storing goods are horizontally set, the goods are not moved on the shelves, and the sorting and transportation are carried out by manual picking or mechanical picking, and the goods are stacked together to cause the goods. Confusion, which in turn leads to lower sorting efficiency.
  • the object of the present invention is to provide an automatic sorting rack and a system thereof, which can be sorted by the gravity falling of the sorting platform of the goods, and stacked in different goods to improve the sorting efficiency of the goods.
  • An automatic sorting shelf comprises: a shelf body; in a vertical plane, the shelf body is provided with a plurality of cargo spaces arranged in a matrix, and the plurality of cargo spaces are inclined; the height of the cargo space is low There is also a sorting platform on one side, and a turning device is arranged at the corresponding shelf body at the lower end of the cargo space.
  • the goods in the shelf body are all inclined, when the goods are placed in the cargo space, the goods will slide down along the inclined direction of the cargo space, and finally blocked by the turning device, thereby staying in the goods.
  • the same goods are stacked in each cargo space, so as to avoid mixing of different kinds of goods, and because the goods can slide by their own gravity in the cargo space, when the goods in the cargo space need to be sorted through the sorting platform
  • the turning device no longer blocks the goods, so that the goods naturally fall into the sorting platform, saving the time for the sorting platform to take the goods out of the goods, and improving the sorting efficiency.
  • the inverting device comprises: a first linear motion actuator, the first linear motion actuator is disposed on the shelf body, and the free end of the push rod of the first linear motion actuator a first toggle pin, the first toggle pin reciprocates in a height direction of the shelf body under the driving of the first linear motion actuator; a main flap pivotally connected to the shelf body; a first ear plate is disposed on both sides of the main flap in a direction perpendicular to the movement direction of the cargo, the first ear plate is perpendicular to the main flap, and the first ear plate is provided with a first arc a long hole, the first curved long hole includes an arc segment; the shelf body is provided with a vertical long hole corresponding to the first curved long hole, and the long axis direction of the vertical long hole is parallel to The shelf body is disposed in a height direction, and the first toggle pin shaft sequentially passes through the first curved elongated hole and the vertical elongated hole.
  • the inverting device controls whether the goods at the corresponding cargo space are dropped onto the sorting platform for sorting, wherein when the goods are required to fall into the sorting platform, that is, when the turning device is in an unlocked state, the goods slide down in their own gravity The shipping position is dropped on the sorting platform.
  • the turning device is in a self-locking state, the cargo is blocked by the main flap and is located in the cargo space.
  • the first curved elongated hole protrudes away from the shelf body.
  • ⁇ >arccot ⁇ s wherein ⁇ is a frictional force F acting on the first toggle pin and a cargo acts on the first dial
  • arccot represents the inverse cotangent function
  • ⁇ s is the static friction coefficient when the cargo acts on the first toggle pin.
  • the first curved elongated hole further comprises a straight segment, the straight segment and the curved segment together form the first curved elongated hole and the straight segment is located away from the shelf body of the curved segment One end, and the straight line segment of the first curved elongated hole is parallel to the vertical long hole or the angle between the straight line segment of the first curved long hole and the vertical long hole is smaller than (90°-arccot ⁇ s ).
  • the straight line segment of the first curved long hole is arranged in parallel with the vertical long hole or is set at an acute angle, thereby improving the stress of the first toggle pin and improving the service life and the yield of the main flap.
  • the sorting platform comprises at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform and the fixed sorting platform structure Similarly, the mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body.
  • the structure can realize simultaneous sorting of multiple orders, thereby greatly improving the sorting of goods. s efficiency.
  • the fixed sorting platform comprises: a support plate; a platform plate disposed on the support plate, the platform plate is provided with a sliding hole, the sliding hole is a long hole, and the long axis of the sliding hole
  • the direction is perpendicular to the moving direction of the cargo; the dial block and the rodless cylinder are fixedly connected to the lower end surface of the platform plate, and the dial block is connected to the slider of the rodless cylinder through the connecting plate
  • the dial block is located on an upper side of the platform plate, and the connecting plate passes through the sliding hole, and the dial block moves in a long axis direction of the sliding hole under the driving of the rodless cylinder.
  • the fixed sorting platform further comprises: a side turning device, the side turning device is located on two sides of the platform plate along a moving direction of the cargo, the side turning device comprises: a side flap, a setting a card on the support plate and a second linear motion actuator; a second ear plate is disposed at two ends of the side plate, and a second curved hole is disposed on the second ear plate, The second curved long hole protrudes toward the platform plate, the second ear plate is axially connected to the card board, and the card plate is horizontally long corresponding to the position of the second curved long hole a hole, the long axis direction of the horizontal long hole is parallel to the horizontal plane, the second linear motion actuator is coupled to the card, and the free end of the push rod of the second linear motion actuator is provided with a second toggle pin a shaft, the second toggle pin sequentially passes through the second curved elongated hole and the horizontal long hole, and the second toggle pin is driven by the second linear motion actuator to be long in the horizontal long hole
  • the goods dropped on the platform plate are dialed into the cargo container for storing the goods by the dial block, wherein the side turning device is used to prevent the goods from falling from the side of the platform plate, when the dial block is required
  • the side flaps of the side turning device are turned down so that the goods can be removed by the dial.
  • the side turning device on the right side of the platform plate is turned down, and then the dial block is moved toward the right side to remove the goods on the platform plate from the right side of the platform plate.
  • the sorting is to the left, the principle is the same.
  • the mobile sorting platform has the same structure as the fixed sorting platform, so the sorting principle is also the same.
  • the lifting mechanism comprises: two lifting frames disposed on the shelf body, the lifting frame extending along a height direction of the shelf body, and two lifting frames are arranged perpendicular to a moving direction of the cargo And a guide rail is disposed on each of the two opposite sides of the shelf body, and the rail extends along a height direction of the shelf body, and two pieces are arranged on the mobile sorting platform.
  • a sliding block the sliding block is slidably coupled to the rail on the corresponding side; a first synchronous wheel disposed at a lower end of the lifting frame and a second synchronous wheel disposed at an upper end of the lifting frame, the first synchronous wheel and the first
  • the two synchronous wheels are connected by a timing belt drive, the timing belt is fixedly connected with the moving sorting platform; a driving motor, a power output shaft of the driving motor is fixedly connected with a driving wheel; a driven wheel that meshes with the driving wheel and a synchronous shaft, the driven wheel is fixedly connected to the synchronous shaft, and two ends of the synchronous shaft are respectively fixedly connected to the first synchronous wheel on the corresponding side.
  • the inverting device comprises: a main flap, the main flap is disposed on a lower side of the cargo space, and the main flap is rotated on the shelf body by a first spring hinge a pushing member and a pushing motor for driving the pushing member to drive the main flap to flip; when the pushing member actuates the main flap, the main flap is turned toward a side close to the sorting platform Causing the cargo of the cargo space to slide down onto the sorting platform by its own gravity; when the pusher does not act on the main flap, the main flap is at the first spring Under the force of the hinge, the goods blocking the cargo space are slipped.
  • the cargo position is tilted so that the cargo can slide under its own gravity without power, and when the turning device no longer blocks the cargo, the cargo will automatically slide down to the sorting platform, and when the cargo is stored, the main flip
  • the board can also block the goods from slipping during the waiting for sorting; when the main flap is pushed open, the main flap is turned toward the side of the sorting platform, and the main flap can pass after the goods are slid out from the position.
  • the restoring force of the first spring hinge is self-returning and does not require additional power to drive, so that the entire automatic sorting rack has low energy consumption and low cost.
  • the automatic sorting shelf further includes: a lifting mechanism, the lifting mechanism includes a lifting motor and a first rail, the first rail extends along a height direction of the shelf body, and the first rail is disposed a rack extending along a height direction of the shelf body, the lifting motor is disposed on the sorting platform, and a power output end of the lifting motor is fixedly provided with a lifting gear, the lifting gear and the lifting gear The rack meshes, and the lift motor drives the sorting platform to reciprocate along the extending direction of the first rail.
  • a lifting mechanism includes a lifting motor and a first rail
  • the first rail extends along a height direction of the shelf body
  • the first rail is disposed a rack extending along a height direction of the shelf body
  • the lifting motor is disposed on the sorting platform
  • a power output end of the lifting motor is fixedly provided with a lifting gear
  • the lifting gear and the lifting gear The rack meshes, and the lift motor drives the sorting platform to reciprocate along the extending direction of the first rail
  • the sorting platform comprises: a first direction slide table, an electric push rod, a dial plate, a platform plate and a side flap disposed on the platform plate; along a sliding direction of the cargo on the cargo space
  • the two ends of the platform plate are hinged with a side flap by a second spring hinge, so that the side flap rotates in a direction away from the side of the cargo under the thrust of the cargo on the platform plate.
  • the lifting motor is mounted on the platform plate; the first direction sliding table is disposed on an end surface of the platform plate away from the ground, and the electric pushing rod is fixedly disposed on the slider of the first direction sliding table,
  • the first direction sliding table drives the electric push rod to reciprocate in a first direction;
  • the dial plate is disposed at a free end of the moving portion of the electric push rod, and the dial plate faces the electric push rod
  • the paddle plate reciprocates in a second direction under the driving of the electric push rod;
  • the first direction is a sliding direction perpendicular to the cargo on the cargo position, the first The second direction is the sliding side of the cargo on the cargo space. to.
  • the sorting platform when the sorting platform performs the sorting operation, the main flap of the turning device corresponding to the position of the goods to be sorted is turned toward the sorting platform, and the electric push rod drives the dial to peel off the goods from the cargo position. On the sorting platform, the electric push rod is then driven by the first direction slide to push the cargo off one side of the platform plate.
  • the sorting platform comprises: a rotating plate and a rotary driving motor for driving the rotating plate, wherein the rotating driving motor is disposed on the rotating plate, and the power output shaft of the rotary driving motor is fixedly disposed a first rotating gear; the rotating plate is fixedly connected to the lifting motor, and the rotating plate is fixedly provided with a second rotating gear corresponding to the first rotating gear, and the second rotating gear is meshed with the first rotating gear, Rotating the driving motor to drive the first rotating gear to rotate, the first rotating gear driving the second rotating gear to rotate, and the rotating plate is driven by the second rotating gear to rotate around the second rotating gear The central axis rotates.
  • the goods falling on the rotating plate can be slid down by the action of their own gravity to the cargo container for storing the goods on the corresponding side.
  • the sorting platform further comprises a side flap, wherein both ends of the rotating plate are hinged with a side flap by a second spring hinge along a sliding direction of the cargo on the cargo space, so that the The side flap is rotated in a direction away from the side of the cargo by the thrust of the cargo on the rotating plate, and the lifting motor is mounted on the rotating plate.
  • a system comprising: an automatic sorting shelf comprising: a shelf body; on a vertical plane, the shelf body is provided with a plurality of cargo spaces arranged in a matrix, and the plurality of cargo spaces are inclined; The lower height side is further provided with a sorting platform, and the lower height end of the cargo space corresponds to a shelf body provided with a turning device; and the mobile device is disposed on the mobile device.
  • the system further includes: a rotating platform, the shelf body is disposed on the rotating platform, the rotating platform is disposed on the moving device by a rotating mechanism; the rotating mechanism is a rotating electrical machine, the rotation The motor is disposed on the moving device, and a free end of the power output shaft of the rotating electrical machine is fixedly coupled to an end surface of the rotating platform away from the shelf body to drive the rotating platform to rotate relative to the moving device.
  • the rotating platform drives the shelf body to rotate, so that the sorting platform can sort at different angles on the horizontal plane, and the sorted goods are thrown to different angles.
  • the mobile device is a belt drive, an AGV trolley or an RGV trolley.
  • the inverting device comprises: a first linear motion actuator, the first linear motion actuator is disposed on the shelf body, and the free end of the push rod of the first linear motion actuator a first toggle pin, the first toggle pin reciprocates in a height direction of the shelf body under the driving of the first linear motion actuator; a main flap pivotally connected to the shelf body; a first ear plate is disposed on both sides of the main flap in a direction perpendicular to the movement direction of the cargo, the first ear plate is perpendicular to the main flap, and the first ear plate is provided with a first arc a long hole, the first curved long hole includes an arc segment; the shelf body is provided with a vertical long hole corresponding to the first curved long hole, and the long axis direction of the vertical long hole is parallel to The shelf body is disposed in a height direction, and the first toggle pin shaft sequentially passes through the first curved elongated hole and the vertical elongated hole.
  • the first curved elongated hole protrudes away from the shelf body; when the turning device is in a self-locking state, the following formula is satisfied: ⁇ >arccot ⁇ s ; wherein ⁇ is acting on the first a complementary angle between the frictional force F of the toggle pin and the thrust N of the cargo acting on the first toggle pin shaft, arccot represents an inverse cotangent function; ⁇ s is the cargo acting on the first dial a static friction coefficient when the shaft is rotated; the first curved elongated hole further includes a straight line segment, the straight line segment and the curved segment together constitute the first curved long hole and the straight line segment is located in the curved segment One end away from the shelf body, and the straight segment of the first curved elongated hole is parallel to the vertical elongated hole or the angle between the straight segment of the first curved elongated hole and the vertical elongated hole is smaller than (90°-arccot ⁇ s ).
  • the sorting platform comprises at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform and the fixed sorting platform structure Similarly, the mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body;
  • the fixed sorting platform comprises: a support plate; a platform plate disposed on the support plate, the platform plate is provided with a sliding hole, the sliding hole is a long hole, the long axis direction of the sliding hole is perpendicular to the moving direction of the cargo; the dial block and the rodless cylinder
  • the rodless cylinder is fixedly connected to the lower end surface of the platform plate, and the dial block is connected to the slider of the rodless cylinder through a connecting plate, and the dial block is located on the upper side of the platform plate.
  • the fixed sorting platform further includes: a side turning device, the side a rotating device is located on both sides of the platform plate along a moving direction of the cargo, the side turning device comprising: a side flap, a card plate disposed on the support plate, and a second linear motion actuator; a second ear plate is disposed at two ends of the side flap, and the second ear plate is provided with a second curved long hole, and the second curved long hole protrudes toward the platform plate, the second The ear plate is axially connected to the card plate, and the card plate is provided with a horizontal long hole at a position corresponding to the second curved long hole, and the long axis direction of the horizontal long hole is parallel to the horizontal plane, and the second straight line a motion actuator is coupled to the card plate, a free end of the push rod of the second linear motion actuator is provided with a second toggle pin, and
  • the invention provides an automatic sorting shelf and a system thereof, which can bring the following beneficial effects:
  • the automatic sorting shelf of the invention is arranged in a tilted position, and the same goods are placed in each cargo space, so the goods in the cargo space will slide to the turning device under the action of their own gravity, when the goods need to be slipped
  • the turning device no longer blocks the goods, and the goods are dropped to the sorting platform for sorting and sorting into the cargo containers where the goods need to be stored.
  • the shelf body is driven by the mobile device, and the shelf body can reach the reserved location for the delivery of the goods.
  • different goods are placed in different cargo spaces to avoid mixing of different goods, and when the turning device is turned toward the sorting platform, the goods are dropped onto the sorting platform by their own gravity. It improves the sorting efficiency while saving the energy used to sort the goods to the sorting platform and the cost of the supporting equipment.
  • FIG. 1 is a schematic structural view of a first embodiment of a system for automatically sorting shelves
  • Figure 2 is a partial enlarged view of the turning device of Figure 1;
  • Figure 3 is a schematic view of the turning device of Figure 1 in a self-locking state
  • Figure 4 is a schematic view of the turning device of Figure 1 in an unlocked state
  • Figure 5 is a schematic structural view of the side turning device in a self-locking state
  • Figure 6 is a schematic structural view of the side turning device in an unlocked state
  • Figure 7 is a schematic structural view of a second embodiment of a system for automatically sorting shelves
  • Figure 8 is a schematic structural view of a third embodiment of a system for automatically sorting shelves
  • Figure 9 is a schematic structural view of a fourth embodiment of a system for automatically sorting shelves.
  • Figure 10 is a schematic structural view of a fifth embodiment of a system for automatically sorting shelves
  • FIG. 11 is a schematic structural view of a sixth embodiment of a system for automatically sorting shelves
  • FIG. 12 is a schematic structural view of a seventh embodiment of a system for automatically sorting shelves
  • Figure 13 is a schematic structural view of the rotating plate of Figure 12;
  • Figure 14 is a schematic structural view of an eighth embodiment of a system for automatically sorting shelves
  • Figure 15 is a schematic view showing the structure of the electric push rod and the dial in Figure 14.
  • 1 is the shelf body, 1a is the cargo position, 1b is the turning device,
  • 1b-1 is the main flap
  • 1b-2 is the rotating shaft
  • 1b-3 is the first toggle pin
  • 1b-4 is the first ear plate
  • 1b-5 is the first curved long hole
  • 1b-6 is the vertical Straight long hole
  • 1b-7 is a straight line segment
  • 1b-8 is an arc segment
  • 1b-9 is a push motor.
  • 1c is a baffle, 1d-roller, 2 is a fixed sorting platform,
  • 2a is the platform board
  • 2b is the support board
  • 2c is the end plate
  • 2d is the dial block
  • 2e is the side flap
  • 2f is the side turning device
  • 2f-1 is the second ear plate
  • 2f-2 is the card board
  • 2f- 3 is the second toggle pin shaft
  • 2f-4 is the second curved long hole
  • 2f-5 is the horizontal long hole
  • 2g is the conveying device
  • 2h-anti-collision bracket
  • 3 is the lifting mechanism
  • 3a is the lifting frame
  • 3b is the driving motor
  • 3c is the driven wheel
  • 3d is the synchronous shaft
  • 3e is the fixed plate
  • 3f is the first synchronous wheel
  • 3g is the synchronous belt
  • 3h is the guide rail
  • 3i is the first The guide rail
  • 3j is the lifting motor
  • 3k is the second rail
  • 3l is the rack
  • 3m is the lifting gear.
  • 4 is a rotating platform
  • 5 is a self-moving trolley
  • 5a is a first traction plate
  • 5b is a traction column
  • 6 is a track
  • 7 is a first direction sliding table
  • 8 is an electric push rod
  • 9 is a rotating plate
  • 10 is a cargo
  • 11 is a mobile sorting platform
  • 12 is a tank chain
  • 13 is a communication mechanism
  • 14 is a rotary drive motor
  • 15 is a dial.
  • Embodiment 1 discloses a specific embodiment of an automatic sorting shelf, comprising: a shelf body 1. On a vertical plane, a plurality of cargo spaces 1a arranged in a matrix are arranged in the shelf body 1, and the same goods 10 can be stored in the same Within the cargo space 1a, several cargo spaces 1a are inclined. A sorting platform is also provided on the lower side of the cargo space 1a, the sorting platform is used to sort the goods 10 dropped thereon, and the goods 10 are sorted to the goods for storing the goods 10 The inside of the container body 10 corresponding to the lower end of the cargo space 1a is provided with a turning device 1b capable of controlling whether the cargo 10 is slid from the cargo space 1a onto the sorting platform.
  • the cargo 10 slides in the oblique direction of the cargo space 1a and is finally blocked by the turning device 1b.
  • the turning device 1b corresponding to the cargo space 1a of the cargo space 1a no longer blocks the cargo 10, so that the cargo 10 naturally falls onto the sorting platform, and the sorting platform saves the cargo 10 from the cargo.
  • the time taken out in position 1a which in turn increases the sorting efficiency.
  • the embodiment further discloses a specific implementation manner of the system, which includes the automatic sorting shelf and the self-moving trolley 5 disclosed in the embodiment, and the shelf body 1 is mounted on the self-moving trolley 5, in this embodiment, the self-moving trolley 5 is the AGV car, and the AGV car is the automatic guiding car.
  • the self-moving trolley 5 may also be an RGV trolley, the RGV trolley is a rail-guided trolley, and the track 6 is not limited to the double-track, or the self-moving trolley 5 may also be driven by a belt transmission, and no longer here. Narration.
  • Embodiment 1 discloses a specific implementation manner of an automatic sorting rack, comprising: a shelf body 1, a fixed sorting platform 2, and a mobile sorting platform 11, and the mobile sorting platform 11 is located. Fixed below the sorting platform 2.
  • the fixed sorting platform 2 is fixedly connected to the shelf body 1
  • the mobile sorting platform 11 has the same structure as the fixed sorting platform 2
  • the mobile sorting platform 11 is connected to the shelf body by the lifting mechanism 3 .
  • the lifting mechanism 3 drives the corresponding moving sorting platform 11 to move in the height direction of the shelf body 1.
  • the rack body 1 is provided with a plurality of rotating rollers 1d.
  • the plurality of rotating rollers 1d separate 18 storage positions 1a from the shelf body 1.
  • 18 shelves are arranged in the shelf body 1.
  • the cargo space 1a, 18 cargo spaces 1a are all inclined, 18 cargo spaces 1a are arranged in 6 rows and 3 columns, and a baffle 1c is arranged between adjacent cargo spaces 1a of the same height, and the baffle 1c is fixedly connected by bolts.
  • the baffle 1c avoids the mixing of the goods 10 in the adjacent storage space 1a, and the reversing device 1b is disposed at the shelf body 1 corresponding to the lower end of each of the cargo spaces 1a, that is, in this embodiment There are 18 turning devices 1b on the shelf body 1.
  • the inverting device 1b includes: a first linear motion actuator (not shown) and a main flap 1b-1 pivotally connected to the shelf body 1, that is, the main flip
  • the plate 1b-1 is rotatably coupled to the shelf body 1 via a rotating shaft 1b-2.
  • the first linear motion actuator is disposed on the shelf body 1, and the free end of the push rod of the first linear motion actuator is provided with a first toggle pin 1b-3, the axis of the first toggle pin 1b-3
  • the first toggle pin 1b-3 reciprocates in the height direction of the shelf body 1 under the driving of the first linear motion actuator perpendicular to the axial direction of the push rod of the first linear motion actuator.
  • the first linear motion actuator of this embodiment is a cylinder, a hydraulic cylinder or an electric cylinder.
  • a first ear plate 1b-4 is disposed on both sides of the main flap 1b-1, and the first ear plate 1b-4 is disposed on the main flap 1b-1 away from the cargo space 1a.
  • the first ear plate 1b-4 is disposed perpendicular to the main flap 1b-1, and the first ear plate 1b-4 is provided with a first curved long hole 1b-5, and the first curved long hole 1b-5
  • the first arcuate elongated hole 1b-5 includes an arcuate segment 1b-8, that is, the curved segment 1b-8 protrudes away from the shelf body 1 in a direction away from the shelf body 1.
  • the shelf body 1 is provided with a vertical long hole 1b-6 corresponding to the first curved long hole 1b-5, and the long axis direction of the vertical long hole 1b-6 is parallel to the height direction of the shelf body 1, the first toggle pin
  • the shaft 1b-3 sequentially passes through the first curved elongated hole 1b-5 and the vertically elongated hole 1b-6.
  • ⁇ is the complementary angle between the frictional force F acting on the first toggle pin 1b-3 and the thrust N acting on the first toggle pin 1b-3 of the cargo 10, and arccot indicates the opposite Cotangent function
  • ⁇ s is the coefficient of static friction when the cargo 10 acts on the first toggle pin 1b-3.
  • the first curved elongated hole 1b-5 further includes a straight segment 1b-7, which together with the curved segment 1b-8 of the first curved elongated hole 1b-5 constitutes the first
  • the arcuate long hole 1b-5 and the straight line segment 1b-7 are located at one end of the curved segment 1b-8 away from the shelf body 1, and the straight segment 1b-7 of the first curved elongated hole 1b-5 and the vertical elongated hole 1b -6 straight segments parallel or angle of 1b-7 and 1b-6 vertically long hole is smaller than (90 ° -arccot ⁇ s).
  • the first linear motion actuator drives the first toggle pin 1b-3 to move downward, thereby causing the main flap 1b-1 to flip downward.
  • the fixed sorting platform 2 comprises: two support plates 2b, a platform plate 2a disposed on the two support plates 2b, a dial block 2d and a rodless cylinder (not shown), the platform plate 2a is inclined and the height of the end of the platform plate 2a away from the shelf is lower than the end of the platform plate 2a near the shelf body 1, and the support plate 2b extends away from the end of the shelf body 1 to form an abutting portion, and the two supporting plates 2b
  • An end plate 2c is commonly provided on the abutting portion, and when the cargo 10 is dropped onto the platform plate 2a, it will slide down in the oblique direction of the platform plate 2a until it is blocked by the end plate 2c.
  • the platform plate 2a is provided with a sliding hole which is a long hole whose longitudinal direction is perpendicular to the moving direction of the cargo 10 in the cargo space 1a.
  • the rodless cylinder is fixedly connected to the lower end surface of the platform plate 2a, and the dial 2d is connected to the slider of the rodless cylinder through the connecting plate, and the dial 2d is located on the upper side of the platform plate 2a, and the connecting plate passes through the sliding hole.
  • the dial 2d is moved in the longitudinal direction of the sliding hole by the rodless cylinder.
  • the dial block 2d is a rectangular parallelepiped, and the one end of the dial block 2d adjacent to the shelf body 1 is provided with two inclined surfaces, and the two inclined surfaces make the dial block 2d close to the end of the shelf body 11 to form a sharp portion, and the inclined surface can be opposite to the cargo. 10 acts as a guide so that the cargo 10 can smoothly slide down to the end plate 2c.
  • the cross-sectional shape of the dial 2d may also be other shapes, such as an ellipse, a circle, a triangle, etc., when the cross-sectional shape of the dial 2d is a triangle, the sharp portion of the dial 2d needs to face
  • the shelf body 1 is set and will not be described here.
  • a side turning device 2 f is provided on each side of the platform plate 2 a , and the side turning device 2 f includes: a side flap 2 e a card board 2f-2 disposed on the support plate 2b and a second linear motion actuator.
  • the card board 2f-2 is affixed or fixedly disposed on the support board 2b, and the second side board is disposed at two ends of the side flap board 2e.
  • the second ear plate 2f-1 is disposed on the end surface of the side flap 2e away from the platform plate 2a, and the second ear plate 2f-1 is provided with a second curved long hole 2f-4, the second curved length
  • the long axis of the hole 2f-4 is curved, the second curved long hole 2f-4 protrudes toward the platform plate 2a, and the second ear plate 2f-1 is axially connected to the card 2f-2, and the card 2f -2 corresponding to the position of the second curved long hole 2f-4 is provided with a horizontal long hole 2f-5, the long axis direction of the horizontal long hole 2f-5 is parallel to the horizontal plane, and the second linear motion actuator is connected to the card board 2f-2, and the free end of the push rod of the second linear motion actuator is provided with a second toggle pin 2f-3, the axis of the second toggle pin 2f-3 being perpendicular to the push of the second linear motion actuator The axis of the rod, the second toggle pin 2f-3 Pass
  • the second curved elongated hole 2f-4 may also be composed of an arc segment and a straight segment, wherein the arc segment of the second arc elongated hole 2f-4 is disposed at the second arc length
  • the straight line segment of the hole 2f-4 is away from one end of the platform plate 2a, and the straight line segment of the second curved long hole 2f-4 is parallel to the horizontal long hole 2f-5 or the angle between the straight line segment and the horizontal long hole 2f-5 is smaller than ( 90°-arccot ⁇ y ), ⁇ y is the coefficient of static friction when the cargo 10 acts on the second toggle pin 2f-3.
  • the lifting mechanism 3 includes: two lifting frames 3a provided on the shelf body 1, a first synchronous wheel 3f disposed at a lower end of the lifting frame 3a, and a second synchronous wheel disposed at an upper end of the lifting frame 3a. With the drive motor 3b.
  • Each of the lifting frames 3a is provided with a first synchronous wheel 3f and a second synchronous wheel.
  • Each lifting mechanism 3 has two first synchronous wheels 3f and two second synchronous wheels, which are located in the same lifting.
  • the first synchronizing wheel 3f and the second synchronizing wheel of the frame 3a are drivingly connected via a timing belt 3g, and the timing belt 3g is fixedly coupled to the support plate 2b of the moving sorting platform 11.
  • the lifting frame 3a extends along the height direction of the shelf body 1, and in the direction perpendicular to the direction of movement of the cargo 10, two lifting frames 3a are disposed at both ends of the shelf body 1, and the opposite of the two lifting frames 3a
  • Each side of the surface is provided with a guide rail 3h.
  • the guide rail 3h extends along the height direction of the shelf body 1.
  • the movable sorting platform 11 is provided with two sliding blocks, and the sliding block is fixedly disposed on the supporting plate 2b on the corresponding side.
  • the sliding block on the side is fixedly connected to the support plate 2b on the left side
  • the sliding block on the right side is fixedly connected to the support plate 2b on the right side
  • the sliding block is slidably connected to the guide rail 3h on the corresponding side.
  • the lifting mechanism 3 further includes: a driving wheel and a driven wheel 3c that are meshed with each other, and a driving shaft fixedly disposed on the power output shaft of the driving motor 3b.
  • the driven wheel 3c is fixedly coupled to the synchronous shaft 3d, and two of the synchronous shaft 3d The end is respectively fixedly connected with the first synchronous wheel 3f on the corresponding side.
  • the driving wheel drives the driven wheel 3c to rotate
  • the driven wheel 3c drives the synchronous shaft 3d to rotate
  • the synchronous shaft 3d drives the two.
  • the first synchronizing wheel 3f is rotated, thereby realizing the adjustment of the moving sorting platform 11 in the height direction of the shelf body 1.
  • the goods 10 of the first order are successively dropped onto the platform plate 2a of the fixed sorting platform 2, and the side flap 2e of the corresponding side of the platform plate 2a is turned downward, and the block 2d will be the goods. 10 is pushed to one side of the downwardly turned side flap 2e, and finally the cargo 10 is sorted from the fixed sorting platform 2 into a container for storage.
  • the goods 10 of the second order are also dropped onto the platform plate 2a of the moving sorting platform 11, the side flaps 2e of the corresponding side of the platform plate 2a are turned downward, and the dial 2d pushes the goods 10 to the side that is turned downward.
  • the last cargo 10 is sorted from the fixed sorting platform 2 into a container for storage.
  • the working process and principle of the mobile sorting platform 11 are the same as those of the fixed sorting platform 2. It can be seen from the above description that the high-efficiency automatic sorting shelf of the embodiment can perform the sorting work of multiple orders at the same time, thereby greatly improving the sorting efficiency.
  • the number of the fixed sorting platform 2 and the mobile sorting platform 11 is not limited to this example, and may be provided in plurality, so that each mobile sorting platform 11 has a corresponding lifting mechanism 3 It is only necessary to adjust the position in the height direction of the shelf body 1; the number of the cargo spaces 1a is not limited to this example, and may be other numbers, which will not be described herein.
  • a wiring groove is provided on the shelf body 1 between adjacent cargo spaces 1a at the same height, and the wiring groove extends along the moving direction of the cargo 10, and the first straight position at the corresponding position
  • the line of the line motion actuator and the line of the second linear motion actuator are located in the wiring groove, the opening of the wiring groove faces, and the shutter 1c is positioned above the wiring groove.
  • the line of the motion actuator and the line of the second linear motion actuator are located in the wiring groove.
  • the embodiment also discloses a specific implementation manner of the system, which includes the automatic sorting shelf and the self-moving trolley 5 disclosed in the embodiment, wherein the shelf body 1 of the automatic sorting shelf is mounted on the self-moving trolley 5, so that the mobile The sorting platform 11 is located between the fixed sorting platform 2 and the self-moving trolley 5.
  • the self-moving trolley 5 is an AGV trolley
  • the AGV trolley is an automatic guided trolley.
  • the self-moving trolley 5 may also be an RGV trolley, the RGV trolley is a rail-guided trolley, and the track 6 is not limited to the double-track, or the self-moving trolley 5 may also be driven by a belt transmission, and no longer here. Narration.
  • the shelf body 1 is disposed on the rotating platform 4, and the lifting frame 3a is also fixedly disposed on the rotating platform 4, and the rotating platform 4 is disposed on the self-moving trolley 5 through a rotating mechanism.
  • the rotating mechanism is a rotating electric machine, and the rotating electric machine is disposed on the self-moving trolley 5.
  • the free end of the power output shaft of the rotating electrical machine is fixedly connected to the end surface of the rotating platform 4 away from the shelf body 1, and drives the rotating platform 4 relative to the self-moving trolley 5 Rotate.
  • the elevating mechanism 3 further comprises two fixing plates 3e which are vertically fixedly disposed on the rotating platform 4, and each of the fixing plates 3e is rotated by the bearing and the synchronizing shaft 3d.
  • the connection, in particular, the synchronous shaft 3d is fixedly connected to the inner ring of the bearing, and the fixing plate 3e is fixedly connected to the outer ring of the bearing.
  • the embodiment is uniformly controlled by the controller during use, and the controller is respectively connected to all the first linear motion actuators, the second linear motion actuators, the rodless cylinders, the drive motor 3b, the rotary motor and the self-moving trolley 5, Unified control of the sorting process of the entire efficient automatic sorting rack to automate the sorting process.
  • Embodiment 3 also discloses an automatic sorting rack and a system including the same, and Embodiment 3 has substantially the same structure as Embodiment 2, and Embodiment 3 is different from Embodiment 2.
  • the structure of the fixed sorting platform 2 and the mobile sorting platform 11 of Embodiment 3 is different from that of Embodiment 1, although the structure of the fixed sorting platform 2 and the mobile sorting platform 11 is still the same, but the fixed sorting
  • the side turning device 2f is no longer provided on both sides of the platform 2 and the mobile sorting platform 11.
  • the fixed sorting platform 2 of the embodiment 2 includes two supporting plates 2b and a conveying device 2g disposed on the two supporting plates 2b.
  • the conveying device 2g in the embodiment is a belt conveying device 2g, a belt
  • the conveying device 2g is connected to an external controller for controlling the forward or reverse conveying of the belt and the conveying speed of the belt.
  • the belt of the belt conveying device 2g is inclined, and the height of the belt away from the one end of the shelf body 1 is lower than the end of the belt near the shelf body 1, and the support plate 2b extends away from the end of the shelf body 1 to form an abutting portion, two supports
  • An end plate 2c is commonly provided on the abutting portion of the plate 2b.
  • the sorting of the goods 10 dropped on the belt is achieved by the conveying direction of the belt.
  • Embodiment 4 discloses a specific embodiment of the system.
  • the advancement of the self-moving trolley 5 of Embodiment 4 is advanced.
  • the rear end of the moving cart 5 is provided with a horizontally disposed first traction plate 5a and a traction column 5b vertically disposed on the traction plate.
  • the front end of the moving trolley 5 is provided with a horizontally disposed second traction plate, and the second traction The plate is provided with a traction hole through which the traction column 5b passes.
  • the end plate 2c is provided with an anti-collision bracket 2h which is L-shaped, one of which is respectively associated with the end plate 2c and the support plate 2b is fixedly connected, and the other end is used to abut the rear shelf body 1.
  • Embodiment 5 discloses a specific embodiment of the system.
  • the system of Embodiment 5 is basically the same as the system disclosed in Embodiment 2, except that the self-moving trolley 5 of Embodiment 5 is different.
  • the RGV trolley is used, and the track 6 of the RGV trolley is placed in the air.
  • Embodiment 6 discloses another specific implementation manner of an automatic sorting shelf, comprising: a shelf body 1 on which a plurality of matrix arrays are arranged in the shelf body 1.
  • a shelf body 1 on which a plurality of matrix arrays are arranged in the shelf body 1.
  • the same cargo 10 can be stored in the same cargo space 1a, and several cargo spaces 1a are inclined.
  • a sorting platform is also provided on the lower side of the cargo space 1a, the sorting platform is used to sort the goods 10 dropped thereon, and the goods 10 are sorted to the goods for storing the goods 10 10, in the container, and the lower end of the cargo space 1a corresponding to the lower end of the shelf body 1 is provided with a turning device 1b (not shown in the inverting device 1b in Fig. 14), the turning device 1b can control whether the cargo 10 is from the cargo space Slide down to the sorting platform in 1a.
  • the sorting platform reciprocates in the height direction of the shelf body 1 by the lifting mechanism 3.
  • the lifting mechanism 3 includes a lifting motor 3j, a first rail 3i and a second rail 3k, and the second rail 3k is two.
  • the second rails 3k are respectively disposed at two ends of the side of the shelf body 1 near the sorting platform, and the first rails 3i and the second rails 3k are both extended along the height direction of the rack body 1, and the first rails 3i are provided along the first rails 3i.
  • the rack 31 is extended in the height direction of the shelf body 1, and the lifting motor 3j is disposed on the sorting platform.
  • the power output end of the lifting motor 3j is fixedly provided with a lifting gear 3m, the lifting gear 3m is meshed with the rack 3l, and the lifting motor 3j is driven.
  • the sorting platform reciprocates along the extending direction of the first guide rail 3i.
  • the second platform of the sorting platform corresponding to the second rail 3k is provided with a second slider matched with the second rail 3k.
  • the second slider is located in the second rail 3k and can be driven by the lifting motor 3j.
  • the slider reciprocates in the extending direction of the second rail 3k.
  • the sorting platform includes a first direction slide table 7, an electric push rod 8, a dial plate 15, a deck plate 2a, and a side flap 2e provided on the deck plate 2a.
  • both ends of the platform plate 2a are hinged with a side flap 2e by a second spring hinge, so that the side flap 2e is directed toward the thrust of the cargo 10 on the deck plate 2a.
  • the rotation motor 3j is mounted on the platform plate 2a in a direction away from the direction of the cargo 10 side.
  • the first direction slide table 7 is disposed on the end surface of the platform plate 2a away from the ground, the electric push rod 8 is fixedly disposed on the slider of the first direction slide table 7, and the first direction slide table 7 drives the electric push rod 8 in the first side. Reciprocate upwards.
  • the dial 15 is disposed at a free end of the moving portion of the electric push rod 8, the dial 15 extends toward one side of the moving portion of the electric push rod 8, and the dial 15 reciprocates in the second direction by the electric push rod 8. .
  • the first direction is perpendicular to the sliding direction of the cargo 10 on the cargo space 1a
  • the second direction is the sliding direction of the cargo 10 on the cargo space 1a.
  • the inverting device 1b includes a main flap 1b-1, a pushing member and a pushing motor 1b-9 for driving the main flap 1b-1 to be turned over, wherein the main flap 1b-1 is disposed in the cargo.
  • the lower side of the height of the position 1a, and the main flap 1b-1 is rotatably disposed on the shelf body 1 by the first spring hinge, and the first spring hinge provides a flap 1b-1 to be turned away from the sorting platform. force.
  • the main flap 1b-1 When the pushing member actuates the main flap 1b-1, the main flap 1b-1 is turned toward the side close to the sorting platform, so that the cargo 10 of the cargo position 1a slides down onto the sorting platform by its own gravity.
  • the main flap 1b-1 blocks the cargo 10 of the cargo position 1a from slipping under the force of the first spring hinge.
  • the number of the pushing members is equal to the number of the cargo spaces 1a of each layer, and the pushing members are arranged in one-to-one correspondence with the pushing motors 1b-9 in the sorting.
  • the pushing member On the lower end surface of the platform, the pushing member may be a push rod.
  • the piece pushes the lower end portion of the main flap 1b-1 toward the inside of the shelf body 1, thereby inverting the main flap 1b-1 toward the sorting platform, and pushing the motor 1b when it is necessary to block the cargo 10 from slipping off the cargo position 1a -9
  • the pusher is retracted so that the pusher is no longer applied to the lower end of the main flap 1b-1, and the main flap 1b-1 is reset by the action of the first spring hinge.
  • the pushing members can also be arranged one by one at the bottom of the cargo space 1a, so that it can adapt to the scene when the shelf body 1 is set to multiple layers, but the number of the storage spaces 1a of each floor is different or the size of the cargo space 1a is different.
  • the pushing member is a pulling wire, and the two ends of the pulling wire are respectively connected to the lower end portions of the pushing motor 1b-9 and the main flap 1b-1, and when the main flap 1b-1 needs to be turned toward the sorting platform, the motor is pushed.
  • the push motor 1b-9 applies a force to the lower end portion of the main flap 1b-1 in a direction away from the sorting platform by the pulling wire, thereby pulling the lower end portion of the main flap 1b-1 in a direction away from the sorting platform, so that the main flap 1b -1 is turned toward the sorting platform. If the main flap 1b-1 is required to be reset, the push motor 1b-9 will no longer pull the pull wire, and will not be described here.
  • the shelf body 1 can be designed as an open type to facilitate the replenishment of the cargo body 10 from the shelf body 1 away from the sorting platform side. When necessary, the shelf body 1 can be used to enter and exit the side wall of the cargo 10 to be closed. To prevent the cargo 10 from falling.
  • the shelf body 1 is compact and space-saving, and can also reduce the production cost of the shelf body 11.
  • the side of the shelf body 1 may be provided with a tank chain 12 wiring groove.
  • the inclined position 1a can be set at an angle of 30° to 45°; in order to facilitate the slipping of the cargo 10, the cargo position 1a can be set as an unpowered roller formed by a plurality of rollers 1d, so that when the cargo 10 slips down The sliding friction becomes rolling friction, which reduces the frictional force when the cargo 10 slides down; if the force that can satisfy the slippage of the cargo 10 is greater than the friction between the cargo 10 and the cargo space 1a, the cargo position 1a can also be set to A smoother plane.
  • the platform plate 2a may also be provided as a roller table formed by a plurality of rollers 1d, and the roller 1d is disposed in the same direction as the cargo space 1a.
  • each sorting platform corresponds to corresponding layers, such as the shelf body 1
  • One of the sorting platforms corresponds to 1 to 4 layers of the shelf body 1, and the other two sorting platforms correspond to 5 to 8 layers and 9 to 12 layers respectively. Therefore, it is not necessary to set up a sorting platform correspondingly for each layer of the cargo space 1a.
  • the embodiment also discloses a specific implementation manner of the system, including the automatic sorting shelf and the self-moving trolley 5 disclosed in the embodiment, and the shelf body 1 is mounted on the self-moving trolley 5, in this embodiment, the self-moving trolley 5 is an AGV car, the AGV car is an automatic guiding car.
  • the self-moving car 5 can also be an RGV car, the RGV car is a rail-guided car, the track 6 is not limited to a double track, or a belt drive is used.
  • the device drives the shelf body 1 to move, and details are not described herein.
  • the communication mechanism 13 further includes a self-moving trolley 5, a lifting motor 3j, a first direction sliding table 7, an electric push rod 8 and a pushing motor 1b-9, respectively, for controlling the entire automatic sorting rack. Sorting and travel trajectory for automated sorting.
  • Embodiment 7 also discloses an automatic sorting shelf and a system including the automatic sorting shelf.
  • the structure of Embodiment 7 is substantially the same as that of Embodiment 6, and Embodiment 7 and Embodiment 6 The difference is that the sorting platform of the embodiment 7 specifically includes: a rotating plate 9 and a rotary drive motor 14 that drives the rotary plate 9 to rotate.
  • the rotary drive motor 14 is disposed on the rotary plate 9 to rotationally drive the power output shaft of the motor 14.
  • a first rotating gear is fixed on the upper side.
  • the rotating plate 9 is fixedly coupled to the lifting motor 3j, and the rotating plate 9 is adjusted along the height direction of the shelf body 1 by the lifting motor 3j, and the rotating plate 9 is fixed to the first rotating gear.
  • the second rotating gear 14a, the second rotating gear 14a meshes with the first rotating gear, the rotary driving motor 14 drives the first rotating gear to rotate, the first rotating gear drives the second rotating gear 14a to rotate, and the rotating plate 9 is in the second rotating gear 14a.
  • the rotation is performed about the central axis of the second rotating gear 14a.
  • the sorting platform further includes a side flap 2e, and both ends of the rotary plate 9 are hinged with a side flap 2e by a second spring hinge along the sliding direction of the cargo 10 on the cargo space 1a, so that The side flap 2e is rotated in the direction away from the side of the cargo 10 by the thrust of the cargo 10 on the rotary plate 9, and the lift motor 3j is mounted on the rotary plate 9.
  • the second spring hinge can also be replaced with other components, such as torsion springs, door closers and the like.
  • the present embodiment further includes a rotary platform 4, which is disposed on the rotary platform 4, and the rotary platform 4 is disposed on the self-propelled trolley 5 by a rotating mechanism.
  • the rotating mechanism is a rotating electric machine, and the rotating electric machine is disposed on the self-moving trolley 5.
  • the free end of the power output shaft of the rotating electrical machine is fixedly connected to the end surface of the rotating platform 4 away from the shelf body 1, and drives the rotating platform 4 to rotate relative to the self-moving trolley 5. That is, the shelf body 1 is driven to rotate about the axis of the power output shaft of the rotating electrical machine.
  • the rotating plate 9 may be provided as a roller path formed by a plurality of rotating rollers 1d to form rolling friction between the cargo 10 and the rotating plate 9 to reduce the frictional force during transportation, and the rotating direction of the rotating roller 1d is directed toward the conveying direction. .
  • Embodiment 8 also discloses an automatic sorting rack and a system including the same, and Embodiment 8 has substantially the same structure as Embodiment 6, except that Embodiment 8
  • the sorting platform has no dial 15 and the goods 10 are sorted by the electric push rod 8 under the driving of the first direction slide 7 into the container 10 of the goods 10 in which the goods 10 need to be stored.

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

Abstract

L'invention concerne une étagère de tri automatique et un système associé, l'étagère comprenant : un corps d'étagère (1) ; dans un plan vertical, le corps d'étagère étant doté en interne d'une pluralité d'attributions de cargaison (1a) disposées suivant une matrice et la pluralité d'attributions de cargaison étant inclinées ; et une plateforme de tri (2, 11) étant en outre disposée sur un côté inférieur de chaque attribution de cargaison et un dispositif de retournement (1b) étant disposé sur le corps d'étagère, à la position correspondant à une extrémité inférieure de l'attribution de cargaison. Par réglage des attributions de cargaison à incliner, la cargaison (10) coulisse vers le dispositif de retournement sous l'effet de sa propre gravité. Lorsque la cargaison doit glisser vers la plateforme de tri, le dispositif de retournement ne bloque plus la cargaison et la cargaison tombe jusqu'à la plateforme de tri pour le tri et est triée dans des conteneurs de cargaison destinés au stockage de la cargaison. En ce qui concerne le système associé, celui-ci économise les coûts sur l'énergie utilisée pour trier la cargaison sur la plateforme de tri et sur l'équipement afférent, tout en améliorant l'efficacité du tri.
PCT/CN2019/082339 2018-04-28 2019-04-11 Étagère de tri automatique et système associé WO2019205953A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201810404910.4A CN108438699A (zh) 2018-04-28 2018-04-28 一种自动分拣货架以及自动分拣agv
CN201810404910.4 2018-04-28
CN201910268191.2 2019-04-03
CN201910268191.2A CN109795832B (zh) 2019-04-03 2019-04-03 一种高效自动分拣货架及其分拣系统

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WO2019205953A1 true WO2019205953A1 (fr) 2019-10-31

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ES2829030A1 (es) * 2019-11-27 2021-05-28 Montaje De Transp Y Sistemas Industriales S L Dispositivo automatico de manipulacion de contenedores y sistema automatico de manipulacion de contenedores que lo contiene
WO2022106348A1 (fr) * 2020-11-18 2022-05-27 Harburg-Freudenberger Maschinenbau Gmbh Système de transport doté d'un dispositif de chargement pour charger/décharger des cases de rayonnage

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CN102001506A (zh) * 2010-09-09 2011-04-06 山东轻工业学院 一种自动分拣机
JP4772575B2 (ja) * 2006-04-18 2011-09-14 西部電機株式会社 物品供給装置及びそれを用いた物品仕分け方法
DE202012102130U1 (de) * 2012-06-12 2013-09-17 Storemaster Kg Schwerlastregal
CN108438699A (zh) * 2018-04-28 2018-08-24 上海托华机器人有限公司 一种自动分拣货架以及自动分拣agv
CN208249076U (zh) * 2018-04-28 2018-12-18 上海托华机器人有限公司 一种自动分拣货架以及自动分拣agv

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Publication number Priority date Publication date Assignee Title
JP4772575B2 (ja) * 2006-04-18 2011-09-14 西部電機株式会社 物品供給装置及びそれを用いた物品仕分け方法
CN101830333A (zh) * 2009-02-04 2010-09-15 米利波尔公司 支撑多个柔性液体容器用的设备
CN102001506A (zh) * 2010-09-09 2011-04-06 山东轻工业学院 一种自动分拣机
DE202012102130U1 (de) * 2012-06-12 2013-09-17 Storemaster Kg Schwerlastregal
CN108438699A (zh) * 2018-04-28 2018-08-24 上海托华机器人有限公司 一种自动分拣货架以及自动分拣agv
CN208249076U (zh) * 2018-04-28 2018-12-18 上海托华机器人有限公司 一种自动分拣货架以及自动分拣agv

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2829030A1 (es) * 2019-11-27 2021-05-28 Montaje De Transp Y Sistemas Industriales S L Dispositivo automatico de manipulacion de contenedores y sistema automatico de manipulacion de contenedores que lo contiene
WO2022106348A1 (fr) * 2020-11-18 2022-05-27 Harburg-Freudenberger Maschinenbau Gmbh Système de transport doté d'un dispositif de chargement pour charger/décharger des cases de rayonnage

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