WO2021103819A1 - 分拣设备 - Google Patents

分拣设备 Download PDF

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Publication number
WO2021103819A1
WO2021103819A1 PCT/CN2020/119539 CN2020119539W WO2021103819A1 WO 2021103819 A1 WO2021103819 A1 WO 2021103819A1 CN 2020119539 W CN2020119539 W CN 2020119539W WO 2021103819 A1 WO2021103819 A1 WO 2021103819A1
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WO
WIPO (PCT)
Prior art keywords
sorting
main
line
goods
conveying
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Application number
PCT/CN2020/119539
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English (en)
French (fr)
Inventor
陈德平
王钰培
李斌
Original Assignee
北京旷视机器人技术有限公司
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Application filed by 北京旷视机器人技术有限公司 filed Critical 北京旷视机器人技术有限公司
Publication of WO2021103819A1 publication Critical patent/WO2021103819A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/18—Devices or arrangements for indicating destination, e.g. by code marks
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices

Definitions

  • This application relates to the technical field of conveying and sorting equipment, in particular to a sorting equipment.
  • the purpose of this application is to provide a sorting device to alleviate the technical problem of low sorting efficiency of the sorting device in the prior art.
  • This application provides a sorting equipment, including: a feeding device and a sorting device.
  • the feeding device includes a main feeding line
  • the sorting device includes a sorting main line.
  • the feeding main line is used to convey goods to the sorting main line.
  • the sorting main line It is used to transport goods to the set position; among them, the conveying direction of the discharge end of the main feed line is the same as the conveying direction of the input end of the sorting main line.
  • the discharging end of the main feeding line is located above the feeding end of the sorting main line; and there is a predetermined height difference between the feeding end of the feeding main line and the feeding end of the sorting main line.
  • the height difference is smaller than the height dimension of the goods on the sorting main line.
  • the main sorting line also includes the end position, which constitutes the entire sorting main line from the feeding end to the end position of the sorting main line; the end position corresponds to an abnormal container, which is used to accommodate the feeding end to the end of the self-sorting main line.
  • the location has not yet sown cargo.
  • the height difference is greater than the height dimension of the goods on the sorting main line.
  • the conveying trajectory of the discharge end of the main feed line and the conveying trajectory of the input end of the sorting main line are both arc-shaped; the curvature of the conveying trajectory of the discharge end of the main feed line and the conveying trajectory of the input end of the sorting main line The curvature is the same.
  • the main feed line includes an arc conveying section, which is connected to the discharge end, and the goods enter the discharge end from the arc conveying section.
  • the main feed line also includes a straight conveying section, the straight conveying section, the arc conveying section and the discharge end are connected in sequence along the conveying direction of the goods, and the goods enter the discharge end from the straight conveying section through the arc conveying section.
  • the conveying trajectory of the discharge end of the main feeding line and the conveying trajectory of the feeding end of the sorting main line are linear; the vertical projection of the discharge end of the feeding main line and the feeding end of the sorting main line overlap .
  • the conveying trajectory of the discharge end of the main feeding line and the conveying trajectory of the feeding end of the sorting main line are both arc-shaped; the circle where the discharge end of the main feeding line is located and the circle where the feeding end of the sorting main line is located intersect At a point; at this point, the vertical projection of the discharge end of the main feed line and the input end of the sorting main line overlap.
  • the sorting device includes a sorting mechanism, wherein the sorting mechanism includes a plurality of sorting stations, and the plurality of sorting stations are arranged at intervals along the conveying direction of the sorting main line and can move along the sorting main line; the main feeding line The discharge end of the main line can correspond to one of the sorting stations of the sorting main line to realize the transfer of goods from the discharge end of the main supply line to the corresponding sorting station.
  • each sorting station is corresponding to the plurality of first containing containers, and each sorting station has one or more discharge ports, and, A plurality of first containers arranged corresponding to each sorting station are used for accommodating the goods delivered through one or more discharge ports.
  • the sorting speed of the sorting main line can be appropriately increased.
  • the sorting equipment can make the relative speed of the two unchanged or slightly higher than before the speed increase under the premise that the feeding speed of the main feed line and the sorting speed of the sorting main line are increased, to ensure Goods on the main feeding line can enter the sorting main line normally.
  • the sorting equipment can ensure that the relative speed between the discharge end of the main feed line and the input end of the sorting main line is basically unchanged, so that the feeding speed of the main feed line and the sorting speed of the sorting main line are equal. It has been improved, thereby greatly improving the efficiency of sorting goods of the entire sorting equipment.
  • the sorting equipment can ensure that the goods on the main feeding line have a speed along the conveying direction of the sorting main line before the goods are transferred to the main sorting line, thereby ensuring that the goods will not be dumped when they arrive on the main sorting line. , Rolling, to ensure the stability of cargo transportation, and realize the normal transportation of goods.
  • Figure 1 is a front view of the partial structure of the first form of sorting equipment provided by an embodiment of the application;
  • Figure 2 is a front view of a partial structure of a second form of sorting equipment provided by an embodiment of the application;
  • Figure 3 is a top view of a partial structure of a third form of sorting equipment provided by an embodiment of the application.
  • Figure 4 is a top view of a partial structure of a fourth form of sorting equipment provided by an embodiment of the application.
  • Figure 5 is a top view of a partial structure of a fifth form of sorting equipment provided by an embodiment of the application.
  • Icon 100-feeding device; 110-feeding main line; 111-first arc conveying section; 112-first straight conveying section; 113-second arc conveying section; 114-third arc conveying section; 115-Second linear conveying section; 116- Fourth arc conveying section; 117- Third linear conveying section; 200- Sorting device; 210- Sorting main line; 220- Sorting mechanism; 221- Sorting station; 2211-the first discharge port; 2212-the second discharge port; 230-the second container; 240-conveyor.
  • horizontal and vertical do not mean that the component is required to be absolutely horizontal or overhang, but may be slightly inclined.
  • horizontal only means that its direction is more horizontal than “vertical”, and it does not mean that the structure must be completely horizontal, but can be slightly inclined.
  • connection should be understood in a broad sense.
  • it can be a fixed connection or an optional connection.
  • seeding refers to that the sorting equipment transports or places the goods on the sorting station into the corresponding first container to complete the sorting of the goods.
  • the sorting equipment includes a feeding device and a sorter, and the goods are conveyed to the sorter through the feeding device.
  • the sorter also known as the sorting conveyor, is a special conveying equipment used for product sorting and conveying.
  • sorters such as circular sorters (also known as circular seeders).
  • the operating speed of the circular sorter is 3000-3600 beats per hour. If the operating speed of the circular sorter is further increased, the existing feeding device will not be able to match it well.
  • the linear speed of the circular sorter mainly depends on the width of the trolley on the circular sorter and the feeding time of the feeding device; the feeding time of the feeding device depends on the circular sorting machine.
  • the feeding speed of the sorter If the feeding speed of the feeding device is higher, the kinetic energy of the goods when they enter the sorting station of the circular sorting machine is larger, and the larger kinetic energy will lead to a longer delivery distance of the goods. Therefore, it is not feasible to simply increase the feeding speed of the feeding device under the premise of a certain delivery distance of the goods.
  • the inventor has developed a sorting device, which improves the efficiency of goods delivery by realizing the same direction of feeding, and alleviates the technical problem of low sorting efficiency of the sorting device in the prior art.
  • a sorting device which improves the efficiency of goods delivery by realizing the same direction of feeding, and alleviates the technical problem of low sorting efficiency of the sorting device in the prior art.
  • this embodiment provides a sorting device.
  • the sorting device includes a feeding device 100 and a sorting device 200.
  • the feeding device 100 includes a feeding main line 110
  • the sorting device 200 includes a sorting device.
  • the main line 210, the main line 110 for supplying goods is used to convey goods to the main sorting line 210, and the main sorting line 210 is used to convey the goods to a set position; among them, the conveying direction of the discharge end of the main supply line 110 is the same as that of the main sorting line 210.
  • the conveying direction of the material end is the same.
  • the discharge end of the main supply line 110 is the same as the input end of the sorting main line 210.
  • the relative speed of the feeding end will be lower than when the above two are crossed, facing or opposite to each other.
  • the feeding speed of the feeding main line 110 can be appropriately increased to increase the feeding frequency of the feeding main line 110 in the same time.
  • the sorting speed of the sorting main line 210 can be appropriately increased.
  • the sorting equipment can increase the feeding speed of the main feed line 110 and the sorting speed of the sorting main line 210.
  • the relative speed of the two is unchanged compared to before the speed increase, or slightly increased than before the speed increase, so as to ensure that the goods on the main feed line 110 can enter the sorting main line 210 normally.
  • the main feed line 110 and the sorting main line 210 are arranged at an angle (or crossed), and the angle is designed to be an acute or right angle. Taking the angle of 90° as an example, specifically, the goods on the main feed line 110 have the first speed before they are transferred to the sorting main line 210 (the first speed is the same as the speed of the main feed line 110), and the goods are transferred to the sorting main line. There is a second speed behind the main line 210 (the second speed is the same as the speed of the sorting main line 210).
  • the first speed and the second speed are perpendicular to each other, the first speed and the second speed cannot cancel each other, so the first speed and The relative speed of the second speed (the relative speed can also be understood as the relative movement speed of the main feed line 110 and the sorting main line 210) can be regarded as the first speed of the goods, if the first speed is set If the value is too large, the goods will have greater kinetic energy when they are transferred to the sorting main line 210, which is not conducive to the control of the distance of the goods.
  • the sorting device 200 includes a sorting mechanism 220, the sorting mechanism 220 includes a plurality of sorting stations 221 and for driving the movement of the sorting station 221 Drive mechanism; a plurality of sorting stations 221 are arranged along the main sorting line 210 at intervals and can move along the main sorting line 210 under the drive of the driving mechanism; the discharge end of the main feed line 110 can be separated from one of the main sorting lines 210
  • the sorting station 221 corresponds, so as to realize the transfer of goods from the discharge end of the material supply main line 110 to the sorting station 221. According to the layout form of the sorting main line 210, it is clear to those skilled in the art to select a matching drive mechanism, and the specific structure of the drive mechanism will not be repeated here.
  • sorting main line 210 can be understood as having multiple meanings, including linear structures that can be arranged by the sorting station 221 such as rails or conveyor belts.
  • the sorting main line 210 can be set to a linear shape or a curved shape, such as L-shaped, U-shaped, linear, etc., of course, it can also be set to a closed loop, such as a circle. Shape, rectangle or other irregular closed loop.
  • the closed revolving cycle structure can realize the continuous circulating flow sorting of the goods, maintain the continuous movement state, avoid the parking of the goods, improve the sorting efficiency, and save the equipment installation space.
  • the sorting mechanism 220 may have the following structure.
  • each sorting station 221 has a discharge port (not shown in the figure), and the sorting station 221 is provided with a sorting conveying component (not shown in the figure) Out), and the outer side of the sorting station 221 is correspondingly provided with a first container (not shown in the drawings), and the first container is used to contain the goods delivered through the discharge port of the sorting station 221.
  • the position of the first container can be fixed relative to the ground, and the first container can also be rotated relative to the ground (for example, the first container can be installed on a turntable or a track).
  • each sorting station 221 may also be provided with a first detection element (not shown in the drawings).
  • the first detection element and the sorting and conveying assembly are all controlled by a control device (such as PLC).
  • the first detection element of each sorting station 221 is bound to a first container.
  • the function of the first detection element is that when the goods are transferred to one of the sorting stations 221, the first detection element can detect The identification information on the goods (such as barcode information, two-dimensional code information or RFID tags, etc.), and the detected information is sent to the control device, and the control device receives the information and matches a first item corresponding to the goods. Hold the container.
  • the sorting conveying component on the sorting station 221 sends the goods into the first container to complete the sorting of one piece of goods.
  • the sorting mechanism 220 has n sorting stations 221, where each n-1 sorting station 221 corresponds to a first container; assuming that each sorting station 221 corresponds to a specific For the sorting position, define a number for each sorting position. For example, according to the running track of the sorting mechanism 220, it is sequentially numbered as No. 1 position, No. 2 position... position n. Among them, the position of the feeding end of the sorting main line 210 The corresponding sorting station 221 corresponds to position 1. Among them, n is an integer, and the value of n can be set according to the specific requirements of the sorting mechanism, such as 10, 20, 30, etc.
  • the sorting equipment is also provided with a second detection element (such as a photoelectric switch) for real-time detection of whether the sorting station 221 corresponding to the position 1 (that is, the position of the feeding end of the sorting main line 210) is There are goods.
  • a second detection element such as a photoelectric switch
  • the second detection element detects the sorting station 221 and sends the detection result information to the control device, which realizes the overall control of the entire equipment.
  • Workers or automatic placing devices place goods on the main supply line 110 according to actual operating requirements, and transport them to the sorting main line 210 in an orderly manner through the main supply line 110; when the second detection element detects location No. 1 When there is no goods on the corresponding sorting station 221, the main feed line 110 is controlled by the control device to start, and the goods are conveyed to the sorting station 221; when the second detection element detects that the corresponding sorting station 221 at position No.
  • the main feed line 110 is controlled by the control device to stop running; when the goods arrive at a sorting station 221, the goods transported to the sorting station 221 move with the sorting mechanism 220, and when the goods are sent to When it corresponds to the first container, the sorting and conveying component on the sorting station 221 delivers the goods to the corresponding first container.
  • the sorting of the goods is completed, that is, the seeding of the goods is completed.
  • the sorting and conveying component is any one of a conveyor belt without a partition, a conveyor belt with a partition, a conveyor roller, a tilting tray, and a tilting bucket, as long as the goods are transported to the first It is sufficient to put it in a container, and the specific implementation method is not limited.
  • the second structural form of the sorting mechanism 220 is: the sorting mechanism 220 of this structural form is the same as the sorting mechanism 220 of the aforementioned first structural form in that each sorting station 221 is provided with A first detection element, the sorting equipment is also provided with a second detection element, wherein the first detection element and the second detection element are controlled by the control device; the difference is that, combined with Figure 2 and Figure 3, this kind of In the form of the sorting mechanism 220, a plurality of second containing containers 230 are provided underneath the sorting mechanism 220.
  • Each sorting station 221 is arranged corresponding to the plurality of second containing containers 230, and each sorting station 221 has one or more In addition, a plurality of second containing containers 230 corresponding to each sorting station 221 are used for accommodating goods delivered through one or more outlets.
  • a container conveyor for moving the second container 230 is added in this embodiment.
  • a container conveyor 240 can be provided under each sorting station 221.
  • the container conveyor 240 includes a reciprocating conveying mechanism and a carrying platform.
  • the reciprocating conveying mechanism has the ability of linear reciprocating movement, and its output end is connected with the carrying platform in transmission, and is used to drive the carrying platform to realize linear reciprocating movement. .
  • a plurality of second containers 230 are arranged in a linear array on the carrying platform, and the sorting station 221 has a first discharge port 2211 and a second discharge port 2212.
  • the connection line between a discharge port 2211 and a second discharge port 2212 is arranged in the same direction as the corresponding plurality of second container 230 arranged in a linear arrangement, and a plurality of second containers arranged in a linear array are arranged in the same direction.
  • the output end of the reciprocating conveying mechanism can be connected to the carrying platform to drive the carrying platform to reciprocate, and the specific connection method is not limited.
  • the positions of the multiple second container 230 are variable, and the second container 230 can move to a position corresponding to the first outlet 2211 or the second outlet 2212, and the goods pass through the first outlet 2211.
  • the material port 2211 or the second discharge port 2212 enters the second container 230 under the sorting station 221, wherein the second container 230 under the sorting station 221 is set to be multiple, which can be different by default. Sorting of category goods, or sorting of multiple orders.
  • the staff put the goods on the main supply line 110 according to the actual operation requirements, and transport them to the sorting device 200 through the main supply line 110 in an orderly manner; specifically, when the second detection element detects the sorting station corresponding to position No. 1
  • the main feed line 110 is controlled by the control device to start, and the goods are delivered to the sorting station 221.
  • the control The device controls the main feed line 110 to stop running; when the goods arrive at a sorting station 221, the goods delivered to the sorting station 221 are discharged through the first discharge port 2211 or the second discharge port 2212 and fall To the second container 230 corresponding to the sorting station 221, so as to complete the sorting of the goods, that is, the seeding of the goods is completed; and the sorting mechanism 220 can also move to switch between different sorting stations 221 and supply The discharge ends of the material main line 110 are aligned, so as to realize the sorting of different goods.
  • the discharge end of the main supply line 110 is located above the input end of the sorting main line 210; and, the discharge end of the main supply line 110 and the input end of the sorting main line 210 There is a predetermined height difference between them.
  • the height difference H 1 is smaller than the height dimension of the goods on the sorting main line 210.
  • the value of the height difference H 1 may not be limited, and it can be set according to the type of goods to be sorted.
  • the value range of the height difference H 1 is 0-50 mm. Including 0mm, 10mm, 20mm, 30mm, 40mm, 50mm, etc., as long as the height difference is smaller than the height dimension of the goods on the sorting main line 210. Since the value of the height difference H 1 is not large, it is possible to reduce or even avoid damage to the goods when they fall due to gravity during the process of transferring the goods from the main feeding line 110 to the sorting main line 210.
  • the sorting main line 210 When the height difference H 1 is smaller than the height dimension of the goods on the sorting main line 210, and the sorting main line 210 is a closed shape, if the goods on the sorting main line 210 are not sowed, the goods will go through the whole sorting After the main line 210 touches the discharge end of the main supply line 110.
  • the sorting main line 210 also includes an end position.
  • the entire sorting main line 210 is formed from the feeding end to the end position of the sorting main line 210; the end position corresponds to an abnormal container (not shown in the figure), The abnormal container is used to contain the goods that have not been sown after passing from the feeding end of the sorting main line 210 to the end position.
  • the establishment of the abnormal container can make the unsown goods enter the fixed receiving mechanism, and prevent the unsown goods from colliding with the main supply line 110, which affects the sorting efficiency.
  • the position of the abnormal container can be fixed relative to the ground; it is also possible to set multiple abnormal containers below the end position, and multiple abnormal containers are placed above a container conveyor.
  • the container conveyor has the ability to reciprocate linearly and can move more. Two abnormal containers, so that one of the abnormal containers is aligned with the discharge port at the end position. It should be noted that when the sorting main line 210 is a closed loop, the end position is adjacent to the feed end of the sorting main line 210 at an interval between the end and the end.
  • the outer side of the sorting station 221 corresponding to the end position may also be provided with a third detection element (not shown in the drawings, the third detection element may be a photoelectric switch, an image sensor, a gravity sensor, etc.), wherein:
  • the third detection element is controlled by a control device (such as PLC).
  • the function of the third detection element is to detect whether there are goods on the sorting station 221 corresponding to the end position, and if there are goods, the goods need to be sent into the abnormal container. To put it simply, the goods on the sorting station 221 are driven by the sorting mechanism 220, and the unsown goods can enter the abnormal container during the process of turning a circle from the feeding end of the sorting main line 210 to the end position.
  • the sorting mechanism 220 has n sorting stations 221, wherein the first n-1 sorting stations 221 respectively correspond to the first container or the second container, and the n-th sorting station 221 corresponds to There are one or more abnormal containers; among them, the sorting station 221 corresponding to the feeding end position of the sorting main line 210 corresponds to position 1, and the sorting station 221 corresponding to the end position corresponds to position n, and the goods enter 1 After the sorting station 221 at position No.
  • n is an integer, and the value of n can be set according to the specific requirements of the sorting mechanism, such as 10, 20, 30, etc.
  • the third detection element detects that there is For the goods, the information will be sent to the control device, and the control device will control the sorting and conveying component when receiving the information, and send the goods into the abnormal container through the sorting and conveying component, so as to realize the continuous sorting of the goods.
  • the sorting main line 210 is set to transfer the goods on the sorting station 221 arriving at the position to the abnormal container through the abnormal goods conveying assembly.
  • the abnormal cargo conveying component can be a manipulator, through which the unsown goods are transferred to the abnormal container; the abnormal cargo conveying component can also be other forms that can achieve the same function as the foregoing (such as a conveyor belt without a partition, a conveyor with a partition) Belt, conveyor roller, tilting tray, tilting bucket any of the conveying components).
  • the third detection element detects that there is goods at that position, and sends information to the control device to control
  • the device receives the information and controls the movement of the abnormal goods conveying component, and sends the goods into the abnormal container through the abnormal goods conveying component, so as to realize the continuous sorting of the goods.
  • the height difference H 2 is greater than the height dimension of the goods on the sorting main line 210.
  • the value of the height difference H 2 is also not limited, and can be set according to the type of the sorted goods.
  • the value range of the height difference H 2 is 200-500mm, including 200mm, 250mm , 300mm, 350mm, 400mm, 450mm, 500mm, etc., as long as the height difference is greater than the height dimension of the goods on the sorting main line 210.
  • the value of the height difference H 2 is not easy to be too large, so as to avoid damage to the goods when the height difference H 2 is too high and falls on the sorting main line 210 during the transfer process.
  • the height difference H 2 is greater than the height dimension of the goods on the sorting main line 210, the smooth passage of the goods can be ensured. After the sorting mechanism 220 has rotated one turn, the goods that have not been successfully planted will continue to rotate with the sorting mechanism 220 until the goods are successfully planted. Therefore, there is no need to set the aforementioned abnormal container.
  • the main difference between the sorting equipment with a height difference of H 1 and the sorting equipment with a height difference of H 2 lies in whether it is necessary to install abnormal containers (specifically, the sorting equipment with a height difference of H 1 needs to be equipped with abnormal containers, The sorting equipment with a height difference of H 2 does not need to be equipped with abnormal containers).
  • the conveying direction of the discharge end of the main feeding line 110 is consistent with the conveying direction of the feeding end of the sorting main line 210.
  • the conveying trajectory of the discharge end of the main supply line 110 is consistent with the conveying trajectory of the input end of the sorting main line 210 (see Fig. 3 or Fig. 4 for details); when the conveying trajectory of the discharge end of the main supply line 110 is consistent with the sorting
  • the conveying trajectory of the feeding end of the main line 210 is the same, the direction of the first speed before the goods on the main feeding line 110 is transferred to the sorting main line 210 is exactly the same as the direction of the second speed after the goods are transferred to the sorting main line 210.
  • the main line 110 and the sorting main line 210 are arranged at an angle (that is, the first speed has a sub-speed perpendicular to the second speed, and the first speed and the second speed can cancel each other partly), the design form of this embodiment The relative speed of the two can be minimized.
  • the structure in which the conveying trajectory of the discharging end of the main feed line 110 is consistent with the conveying trajectory of the feeding end of the sorting main line 210 may be the following three forms.
  • the conveying trajectory of the discharge end of the main feed line 110 and the conveying trajectory of the input end of the sorting main line 210 are arc-shaped; the curvature of the conveying trajectory of the discharge end of the main supply line 110 and the distribution The curvature of the conveying trajectory at the feeding end of the sorting main line 210 is the same.
  • This structural form can ensure that the conveying trajectory of the goods at the discharge end of the main supply line 110 is exactly the same as the conveying trajectory of the feeding end of the sorting main line 210, mainly involving the following first One and the second structural form.
  • the main feeding line 110 includes a first arc conveying section 111 and a first straight conveying section 112.
  • the arc section where the discharge end of the main feeding line 110 is located is the first arc conveying section 111.
  • the straight conveying section 112 and the first arc conveying section 111 are sequentially connected along the conveying direction of the goods, and the goods enter the first arc conveying section 111 from the first straight conveying section 112.
  • the main feeding line 110 includes a second arc conveying section 113 and a third arc conveying section 114.
  • the arc section where the discharge end of the main feeding line 110 is located is the third arc conveying section 114.
  • the arc conveying section 113 and the third arc conveying section 114 are sequentially connected along the conveying direction of the goods, and the goods enter the third arc conveying section 114 from the second arc conveying section 113.
  • the curvature of the second arc conveying section 113 and the third arc conveying section 114 are different and the directions from the arc to the center of the respective circle are oppositely arranged.
  • the main feed line 110 also includes a second straight conveying section 115, a second straight conveying section 115, a second arc conveying section 113, and a third arc conveying section 114 in sequence along the conveying direction of the goods. Connected, the goods enter the third arc conveying section 114 from the second straight conveying section 115 through the second arc conveying section 113.
  • the first structure is more convenient for the layout of the main supply line 110; while the second structure can relatively reduce the vertical projection of the main supply line 110 and the sorting device 200
  • the two structural forms have their own advantages and disadvantages, which can be selected as required.
  • the conveying trajectory of the discharge end of the main feeding line 110 and the conveying trajectory of the feeding end of the sorting main line 210 are linear (not shown in the figure); the discharging end of the feeding main line 110 and the feeding end of the sorting main line 210 The projections in the vertical direction overlap to ensure that the goods can enter the sorting station 221 smoothly.
  • the discharge end of 110 and the input end of the sorting main line 210 are exactly connected (that is, the projection of the discharge end of the main supply line 110 and the input end of the sorting main line 210 in the vertical direction forms a partial ghost area of zero )Case.
  • the sorting main line 210 can be configured as a linear structure, for example, L-shaped, U-shaped, straight-line, and so on.
  • the output end of the main feed line 110 corresponds to a sorting station 221 located on the outermost side of the L-shaped sorting mechanism.
  • the conveying trajectory of the discharge end of the main feed line 110 and the conveying trajectory of the input end of the sorting main line 210 are both It is linear, that is, the goods move along a linear trajectory on the main supply line 110, and when the goods arrive on the main sorting line 210, they can still be transported along the same linear trajectory as the main supply line 110, so that the goods are discharged along the linear trajectory End to the sorting main line 210 transfer.
  • the structure in which the conveying trajectory of the discharging end of the main feeding line 110 is inconsistent with the conveying trajectory of the feeding end of the sorting main line 210 mainly includes the following forms.
  • the conveying trajectory of the discharging end of the main feed line 110 and the conveying trajectory of the feeding end of the sorting main line 210 are arc-shaped; the circle where the discharging end of the main feeding line 110 is located and the sorting
  • the circle where the feeding end of the main line 210 is located intersects at a point; at this point, the vertical projection of the feeding end of the main feeding line 110 and the feeding end of the sorting main line 210 coincides (the projection part is subject to the above explanation ).
  • this structure can reduce the relative speed of the first speed and the second speed, but under the same conditions, the relative speed that this method can achieve is higher than that of the previous method (ie, the main feed line
  • the conveying trajectory of the discharging end of 110 is consistent with the conveying trajectory of the feeding end of the sorting main line 210).
  • the main feeding line 110 includes a fourth arc-shaped conveying section 116 and a third straight conveying section 117, in which the arc section where the discharge end of the main feeding line 110 is located is the fourth arc-shaped conveying section 116, the third linear conveying section 117 and the fourth arc conveying section 116 are sequentially connected along the conveying direction of the goods, and the goods enter the fourth arc conveying section 116 from the third straight conveying section 117.
  • the sorting device provided in this embodiment can also have other structural forms.
  • this embodiment mainly describes the specific shape of the main feed line 110, which can be an arc or a straight line, or a superposition of the two.
  • the overall structure of the main supply line 110 including the arc or the straight line may have a variety of deformation forms, which will not be listed one by one.
  • the device embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.
  • any reference signs placed between parentheses should not be constructed as a limitation to the claims.
  • the word “comprising” does not exclude the presence of elements or steps not listed in the claims.
  • the word “a” or “an” preceding an element does not exclude the presence of multiple such elements.
  • the application can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied in the same hardware item.
  • the use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

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Abstract

一种分拣设备，涉及输送、分拣装备技术领域，该分拣设备包括供料装置（100）和分拣装置（200），供料装置（100）包括供料主线（110），分拣装置（200）包括分拣主线（210），供料主线（110）用于向分拣主线（210）输送货物，分拣主线（210）用于将货物输送至设定位置；其中，供料主线（110）的出料端的输送方向与分拣主线（210）的入料端的输送方向一致。通过该分拣设备，缓解了现有技术中存在的分拣设备的分拣效率较低的技术问题。

Description

分拣设备
本申请要求在2019年11月29日提交中国专利局、申请号为201922121631.X、发明名称为“分拣设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及输送、分拣装备技术领域，尤其是涉及一种分拣设备。
背景技术
近年来，各种类型的分拣设备被广泛应用于物流业中，用于提高货物的分拣效率。虽然一些分拣设备在一定程度上起到了提高货物分拣效率的作用，但是，大多数分拣设备的运行速度仍较慢，例如，圆形分拣选机的运行速度为3000-3600节拍位/小时，难以满足物流业快速发展的需求。
发明内容
本申请的目的在于提供一种分拣设备，以缓解现有技术中存在的分拣设备的分拣效率较低的技术问题。
本申请提供一种分拣设备，包括：供料装置和分拣装置，供料装置包括供料主线，分拣装置包括分拣主线，供料主线用于向分拣主线输送货物，分拣主线用于将货物输送至设定位置；其中，供料主线的出料端的输送方向与分拣主线的入料端的输送方向一致。
进一步的，供料主线的出料端位于分拣主线的入料端的上方；且，供料主线的出料端与分拣主线的入料端之间具有预定的高度差。
进一步的，高度差小于货物在分拣主线上的高度尺寸。
进一步的，分拣主线还包括末端位置，自分拣主线的入料端至末端位置构成整个分拣主线；末端位置对应设置有异常容器，异常容器用于容纳经过自分拣主线的入料端至末端位置仍未播种的货物。
进一步的，高度差大于货物在分拣主线上的高度尺寸。
进一步的，供料主线的出料端的输送轨迹与分拣主线的入料端的输送轨迹均呈弧线状；供料主线的出料端的输送轨迹的曲率与分拣主线的入料端的输送轨迹的曲率相同。
进一步的，供料主线包括弧线输送段，弧线输送段与出料端连通，货物自弧线输送段进入出料端。
进一步的，供料主线还包括直线输送段，直线输送段、弧线输送段和出料端沿货物的输送方向依次连通，货物自直线输送段经弧线输送段进入出料端。
进一步的，供料主线的出料端的输送轨迹与分拣主线的入料端的输送轨迹均呈直线状；供料主线的出料端与分拣主线的入料端在竖直方向的投影部分重合。
进一步的，供料主线的出料端的输送轨迹与分拣主线的入料端的输送轨迹均呈圆弧状；供料主线的出料端所在的圆与分拣主线的入料端所在的圆相交于一点；在该点处，供料主线的出料端与分拣主线的入料端在竖直方向的投影部分重合。
进一步的，分拣装置包括分拣机构，其中，分拣机构包括多个分拣工位，多个分拣工位沿分拣主线的输送方向间隔布设且可沿分拣主线运动；供料主线的出料端能够与分拣主线的其中一个分拣工位对应，实现货物自供料主线的出料端向对应的分拣工位转移。
进一步的，分拣机构的下方设有多个第一盛装容器，每个分拣工位与多个第一盛装容器对应设置，每个分拣工位具有一个或多个出料口，并且，与每个分拣工位对应设置的多个第一盛装容器用于容纳经由一个或多个出料口投递的货物。
本申请提供的分拣设备的有益效果为：
由于供料主线的出料端的输送方向与分拣主线的入料端的输送方向一致，因而，供料主线的出料端与分拣主线的入料端的相对速度将会降低，由此，可以适当提升供料主线的投料速度，以使相同时间内的供料主线的投料频率增加，进而提高货物的投放效率，对应地，可适当提升分拣主线的分拣速度。该分拣设备能够在供料主线的投料速度和分拣主线的分拣速度均提升 的前提下，使两者的相对速度较未提速前不变，或者较未提速前稍提高一些，以保证供料主线上的货物能够正常地进入到分拣主线。
由前述可知，该分拣设备能够保证供料主线的出料端与分拣主线的入料端的相对速度基本不变的前提下，使供料主线的投料速度和分拣主线的分拣速度均有所提升，从而大大提高整个分拣设备的货物分拣效率。
此外，该分拣设备能够保证供料主线上的货物在转移到分拣主线前，货物具有沿分拣主线的输送方向的分速度，从而，保证了货物在到达分拣主线上时不会倾倒、翻滚，保证了货物输送的稳定性，实现了货物的正常输送。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的第一种形式的分拣设备的局部结构主视图；
图2为本申请实施例提供的第二种形式的分拣设备的局部结构主视图；
图3为本申请实施例提供的第三种形式的分拣设备的局部结构俯视图；
图4为本申请实施例提供的第四种形式的分拣设备的局部结构俯视图；
图5为本申请实施例提供的第五种形式的分拣设备的局部结构俯视图。
图标：100-供料装置；110-供料主线；111-第一弧线输送段；112-第一直线输送段；113-第二弧线输送段；114-第三弧线输送段；115-第二直线输送段；116-第四弧形输送段；117-第三直线输送段；200-分拣装置；210-分拣主线；220-分拣机构；221-分拣工位；2211-第一出料口；2212-第二出料口；230-第二盛装容器；240-容器输送机。
具体实施例
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中，需要说明的是，术语“上”、“下”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
此外，“水平”、“竖直”等术语并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。
在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安装”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
在本申请的描述中，播种指的是分拣设备将位于分拣工位上的货物运送或投放至对应的第一盛装容器中，完成该货物的分拣。
一些技术中，分拣设备包括供料装置和分拣机，货物通过供料装置向分拣机输送。分拣机，又名分拣输送机，是一种用于产品分拣和输送的专用输送设备。目前，分拣机的种类有很多，比如圆形分拣选机(又名圆形播种机)。圆形分拣选机的运行速度为3000-3600节拍位/小时，若将圆形分拣选机的运行速度进一步提升，现有的供料装置将无法与其很好地匹配。
上述问题的具体原因在于：圆形分拣选机的线速度主要取决于圆形分拣选机上小车的宽度以及供料装置的投料所需时间；供料装置的投料所需时间又取决于圆形分拣选机的投料速度。如果供料装置的投料速度越大，货物进入到圆形分拣选机的分拣工位时所具有的动能就越大，较大的动能将导致货物的投送距离较长。因此，在货物投送距离一定的前提下，单纯提升供料装置的投料速度是不可行的。
发明人为了缓解上述的缺陷，研究出一种分拣设备，通过实现同向供料，提高货物投放效率，缓解现有技术中存在的分拣设备的分拣效率较低的技术问题。接下来将对照附图具体阐述分拣设备的结构。
请参照图1至图3，本实施例提供一种分拣设备，该分拣设备包括供料装置100和分拣装置200，供料装置100包括供料主线110，分拣装置200包括分拣主线210，供料主线110用于向分拣主线210输送货物，分拣主线210用于将货物输送至设定位置；其中，供料主线110的出料端的输送方向与分拣主线210的入料端的输送方向一致。
本实施例提供的分拣设备，由于供料主线110的出料端的输送方向与分拣主线210的入料端的输送方向一致，因而，供料主线110的出料端与分拣主线210的入料端的相对速度将会相对前述两者交叉、相向或相背设置时降低，由此，可以适当提升供料主线110的投料速度，以使相同时间内的供料主线110的投料频率增加，进而提高货物的投放效率，对应地，可适当提升分拣主线210的分拣速度，该分拣设备能够在供料主线110的投料速度和分拣主线210的分拣速度均提升的前提下，使两者的相对速度较未提速前不变， 或者较未提速前稍提高一些，以保证供料主线110上的货物能够正常地进入到分拣主线210。
需要说明的是，一些技术中，供料主线110与分拣主线210呈夹角设置(或交叉设置)，该夹角设计成锐角或直角。以夹角设置为90°为例，具体的，供料主线110上货物转移到分拣主线210之前具有第一速度(第一速度与供料主线110的速度一致)，而货物转移到分拣主线210上后具有第二速度(第二速度与分拣主线210的速度一致)，由于第一速度与第二速度相垂直，第一速度与第二速度不能够相互抵消，因而第一速度和第二速度的相对速度(该相对速度也可以理解为是供料主线110与分拣主线210两者的相对运动速度)的值可以看作是货物所具有的第一速度，如果第一速度设置的过大，将会使货物转移到分拣主线210上时具有较大的动能，从而不利于对货物投料距离的控制。
在该分拣设备中，参照图3、图4或图5，分拣装置200包括分拣机构220，分拣机构220包括多个分拣工位221以及用于驱动分拣工位221运动的驱动机构；多个分拣工位221沿分拣主线210间隔布设且可沿分拣主线210在驱动机构的驱动下运动；供料主线110的出料端能够与分拣主线210的其中一个分拣工位221对应，从而实现货物自供料主线110的出料端向分拣工位221转移。根据分拣主线210的布设形式，选择与其相匹配的驱动机构，这对于本领域技术人员来说是清楚的，在此不再赘述驱动机构的具体结构形式。
需要说明的是，分拣主线210可以理解为多重含义，其中包括轨道或输送带等能够供分拣工位221布设的线性结构。
综合考虑到设备的整体布局以及分拣效率，分拣主线210可以设置为直线形状或曲线形状，如，L型、U型、直线型等，当然，还可以设置为闭合环状，如，圆形、矩形或其他不规则的闭环。相较于开放式线形结构，闭合式回转循环结构能够实现货物的持续循环流动分拣，保持持续运动状态，避免货物的停置，能够提高分拣效率，并且更为节省设备安装空间。
该实施例中，分拣机构220可以为以下结构形式。
1)分拣机构220的第一种结构形式为：每个分拣工位221具有出料口(附图未示出)，分拣工位221上设置有分拣输送组件(附图未示出)，且分拣工位221的外侧对应设置有第一盛装容器(附图未示出)，该第一盛装容器用于容纳经由分拣工位221的出料口投递的货物。其中，第一盛装容器的位置可相对地面固定不动，第一盛装容器也可以相对地面转动(如第一盛装容器可以安装在转盘或轨道上)。
具体的，考虑到分拣设备的自动化分拣，每个分拣工位221还可以设置有一个第一检测元件(附图未示出)。其中，第一检测元件和分拣输送组件均通过控制装置(如：PLC)控制。每个分拣工位221的第一检测元件绑定一个第一盛装容器，该第一检测元件的作用是，当货物转移到其中一个分拣工位221上时，第一检测元件能够检测到该货物上的标识信息(如条码信息、二维码信息或RFID标签等)，并将检测到的信息发送给控制装置，控制装置接收到该信息，并匹配与该货物相对应的一个第一盛装容器。当分拣工位221运动到对应的第一盛装容器位置处时，该分拣工位221上的分拣输送组件将货物送至第一盛装容器内，完成一件货物的分拣。
举例来说，该分拣机构220具有n个分拣工位221，其中，每n-1个分拣工位221分别对应1个第一盛装容器；假设每个分拣工位221对应一个特定的分拣位置，给每个分拣位置定义一个编号，如按照分拣机构220的运行轨迹依次编号为1号位置、2号位置…n号位置，其中，分拣主线210的入料端位置对应的分拣工位221对应1号位置。其中，n为整数，n的取值可以根据对分拣机构的具体需求来设定，如取值为10、20、30等。
进一步的，分拣设备还设置了第二检测元件(如：光电开关)，用于实时检测1号位置(即，分拣主线210的入料端位置)所对应的分拣工位221上是否有货物。当其中一个分拣工位221运动到1号位置时，第二检测元件对该分拣工位221处进行检测，并将检测结果信息发送至控制装置，通过控制装置实现整个设备的全面控制。
需要说明的是，第一检测元件、第二检测元件、分拣输送组件以及控制装置的各自的工作原理以及相互之间配合工作的原理均为本领域技术人员所熟知的技术，在此不再详细赘述。
该第一种结构形式对应的分拣设备的工作过程：
工作人员或自动投放装置(如机械臂)按照实际操作要求向供料主线110上投放货物，通过供料主线110有序地向分拣主线210输送；当第二检测元件检测到1号位置处所对应的分拣工位221上没有货物时，通过控制装置控制供料主线110启动，向分拣工位221输送货物；当第二检测元件检测到1号位置处所对应的分拣工位221上有货物时，通过控制装置控制供料主线110停止运行；当货物到达某一分拣工位221时，输送至分拣工位221上的货物随着分拣机构220运动，当货物被送至与其对应的第一盛装容器处时，该分拣工位221上的分拣输送组件将货物送至相应第一盛装容器内。当一个分拣工位上的货物被运送至相应的第一盛装容器内时，从而完成该货物的分拣，即该货物播种完成。
在一些实施方式中，分拣输送组件为无隔板输送带、隔板输送带、输送辊、倾翻式托盘、倾翻式翻斗中的任一种输送组件，只要实现将货物输送至第一盛装容器中即可，具体实现方式不受限制。
2)分拣机构220的第二种结构形式为：该种结构形式的分拣机构220与前述第一种结构形式的分拣机构220的相同之处在于，每个分拣工位221设置有一个第一检测元件，分拣设备还设置了第二检测元件，其中，第一检测元件和第二检测元件均通过控制装置控制实现；其不同之处在于，结合图2和图3，该种形式中的分拣机构220的下方设有多个第二盛装容器230，每个分拣工位221与多个第二盛装容器230对应设置，每个分拣工位221具有一个或多个出料口，并且，与每个分拣工位221对应设置的多个第二盛装容器230用于容纳经由一个或多个出料口投递的货物。
为了提高货物的分拣效率，以使不同的第二盛装容器230与分拣工位221对应，如图2所示，本实施例中增设了用于使第二盛装容器230运动的容器输送机240，每个分拣工位221下方可以设置一个容器输送机240。
具体的，参照图2，容器输送机240包括往复式输送机构和运载平台，往复式输送机构具有直线往复运动的能力，且其输出端与运载平台传动连接，用于驱动运载平台实现直线往复运动。
如图3、图4或图5所示，运载平台上呈线性阵列排布多个第二盛装容器230，分拣工位221具有第一出料口2211和第二出料口2212，且第一出料口2211与第二出料口2212的连线与相对应的多个呈线性排列排布的第二盛装容器230的排布方向相同，多个呈线性阵列排布的第二盛装容器230能够随着运载平台在分拣工位221下方作往复运动，从而调节其中两个第二盛装容器230的位置与第一出料口2211、第二出料口2212的位置分别对齐，即，实现第一出料口2211、第二出料口2212与多个第二盛装容器230之间的配合分拣，大大提高了货物的分拣效率。此处需要说明的是，往复式输送机构的输出端与运载平台连接即可实现驱动运载平台作往复运动，具体连接方式不受限制。
简单来说，多个第二盛装容器230的位置是可变的，第二盛装容器230可以运动至与第一出料口2211或第二出料口2212相对应的位置，货物通过第一出料口2211或第二出料口2212进入分拣工位221下方的第二盛装容器230内，其中，分拣工位221下方的第二盛装容器230设置为多个，默认可进行多种不同品类货物的分拣，或者进行多个订单的分拣。
该第二种结构形式对应的分拣设备的工作过程：
工作人员按照实际操作要求向供料主线110上投放货物，通过供料主线110有序地向分拣装置200输送；具体为，当第二检测元件检测到1号位置处所对应的分拣工位221上没有货物时，通过控制装置控制供料主线110启动，向分拣工位221输送货物，当第二检测元件检测到1号位置处所对应的分拣工位221上有货物时，通过控制装置控制供料主线110停止运行；当货物到达某一分拣工位221时，输送至分拣工位221上的货物经过第一出料口2211或第二出料口2212排出，并掉落至与该分拣工位221对应的第二盛装容器230内，从而完成货物的分拣，即该货物播种完成；并且，分拣机构220还能够运动以切换不同的分拣工位221与供料主线110的出料端对齐，进而实现不同货物的分拣。
上面已经介绍了分拣装置的具体结构，接下来介绍供料主线110和分拣主线210之间的位置关系。
如图1、图2和图3所示，供料主线110的出料端位于分拣主线210的入料端的上方；且，供料主线110的出料端与分拣主线210的入料端之间具有预定的高度差。
在一些实施例中，参照图1，高度差H 1小于货物在分拣主线210上的高度尺寸。
在该结构形式的分拣设备中，该高度差H 1的取值可以不做限制，具体可根据分拣货物的类型进行设定，如，高度差H 1的取值范围为0-50mm，包括0mm、10mm、20mm、30mm、40mm、50mm等，只要高度差小于货物在分拣主线210上的高度尺寸即可。由于该高度差H 1的取值不大，因而能够减少甚至避免货物自供料主线110向分拣主线210转移的过程中由于重力落下时发生破损的情况。
当高度差H 1小于货物在分拣主线210上的高度尺寸，且分拣主线210为闭合形状时，分拣主线210上的货物如果存在未播种的情况，则该货物会在经过整个分拣主线210后与供料主线110的出料端发生碰触。为了缓解这一问题，分拣主线210还包括末端位置，自分拣主线210的入料端至末端位置构成整个分拣主线210；其中，末端位置对应设置有异常容器(附图未示出)，异常容器用于容纳经过自分拣主线210的入料端至末端位置仍未播种的货物。异常容器的设立可以使未播种的货物进入固定的接收机构，防止未播种的货物与供料主线110发生碰撞，影响分拣效率。例如，异常容器的位置可以相对地面固定不动；还可以在末端位置下方设置多个异常容器，多个异常容器放置在一个容器输送机上方，容器输送机具有直线往复运动的能力，可以移动多个异常容器，以使得其中一个异常容器与末端位置的出料口对齐。需要说明的是，当分拣主线210为闭合环状时，末端位置与分拣主线210的入料端首尾间隔相邻设置。
可选的，末端位置对应的分拣工位221的外侧还可以对应设置有第三检测元件(附图未示出，第三检测元件可以为光电开关、图像传感器、重力传感器等)，其中，第三检测元件通过控制装置(如：PLC)控制。该第三检测元件的作用是，用于检测末端位置对应的分拣工位221上是否有货物，如果有货物则需要将货物送入异常容器。简单来说，分拣工位221上的货物在 分拣机构220的带动下，自分拣主线210的入料端至末端位置转动一圈的过程中未播种成功的货物可以进入异常容器。
具体的，该分拣机构220具有n个分拣工位221，其中，前n-1个分拣工位221分别对应第一盛装容器或第二盛装容器，第n个分拣工位221对应有1个或多个异常容器；其中，分拣主线210的入料端位置对应的分拣工位221对应1号位置，末端位置对应的分拣工位221对应n号位置，货物进入到1号位置上的分拣工位221后，如果货物在分拣机构220转动一圈的过程中未播种成功，当货物运动到n号位置时，一旦第三检测元件检测到该位置处有货物，将会把信息发送给控制装置，控制装置接收该信息将控制分拣输送组件动作，将该货物送入异常容器。其中，n为整数，n的取值可以根据对分拣机构的具体需求来设定，如取值为10、20、30等。
在分拣机构220的第一种结构形式中，若货物在分拣机构220转动一圈的过程中未播种成功，在当其运动到n号位置时，第三检测元件检测到该位置处有货物，将发送信息给控制装置，控制装置接收该信息将控制分拣输送组件动作，通过分拣输送组件将该货物送入异常容器，从而实现货物的持续分拣。
在分拣机构220的第二种结构形式中，由于采用的第二盛装容器230的位置是可变的，为了保证未播种成功的货物顺利地进入到异常容器中，可以在分拣主线210的末端位置设置用于将到达该位置处的分拣工位221上的货物通过异常货物输送组件将该货物移送至异常容器。
该异常货物输送组件可以为机械手，通过机械手将未播种成功的货物移送至异常容器中；异常货物输送组件也可以为能够实现与前述同样功能的其他形式(如无隔板输送带、隔板输送带、输送辊、倾翻式托盘、倾翻式翻斗中的任一种输送组件)。
具体的，若货物在分拣机构220转动一圈的过程中未播种成功，在当其运动到n号位置时，第三检测元件检测到该位置处有货物，将发送信息给控制装置，控制装置接收该信息将控制异常货物输送组件动作，通过异常货物输送组件将该货物送入异常容器，从而实现货物的持续分拣。
在另一些实施例中，参照图2，高度差H 2大于货物在分拣主线210上的高度尺寸。
需要说明的是，该高度差H 2的取值同样可以不做限制，具体可根据分拣货物的类型进行设定，如，高度差H 2的取值范围为200-500mm，包括200mm、250mm、300mm、350mm、400mm、450mm、500mm等，只要高度差大于货物在分拣主线210上的高度尺寸即可。当然，该高度差H 2的取值也不易过大，避免高度差H 2过大使货物在转移过程中落在分拣主线210上时发生破损的情况。
由于高度差H 2大于货物在分拣主线210上的高度尺寸，能够保证货物顺利通过，使分拣机构220转动一圈后还未播种成功的货物继续随分拣机构220旋转，直至货物播种成功，因此，无需设置前述的异常容器。
综合以上，高度差为H 1的分拣设备与高度差为H 2的分拣设备的主要区别在于：是否需要设置异常容器(具体的，高度差为H 1的分拣设备需要设置异常容器，高度差为H 2的分拣设备无需设置异常容器)。
上面已经介绍了供料主线110和分拣主线210之间的位置关系，接下来介绍供料主线110的具体结构形式。
供料主线110的出料端的输送方向与分拣主线210的入料端的输送方向一致的结构形式有多种。示例性地，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹一致(具体见图3或图4)；当供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹一致时，供料主线110上货物转移到分拣主线210之前的第一速度与货物转移到分拣主线210上后的第二速度的方向完全相同，相对供料主线110与分拣主线210呈夹角设置(即，第一速度具有垂直于第二速度方向上的分速度，第一速度和第二速度能够相互抵消一部分)来说，该实施例的设计形式能够使两者的相对速度达到最低。
具体的，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹一致的结构形式可以为以下三种形式。
如图3或图4所示，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹均呈弧线状；供料主线110的出料端的输送轨迹的曲率 与分拣主线210的入料端的输送轨迹的曲率相同，该种结构形式能够保证货物在供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹完全相同，主要涉及以下第一种和第二种结构形式。
1)第一种结构形式
如图3所示，供料主线110包括第一弧线输送段111和第一直线输送段112，供料主线110的出料端所在弧线段为第一弧线输送段111，第一直线输送段112和第一弧线输送段111沿货物的输送方向依次连通，货物自第一直线输送段112进入第一弧线输送段111。
2)第二种结构形式
如图4所示，供料主线110包括第二弧线输送段113和第三弧线输送段114，供料主线110的出料端所在弧线段为第三弧线输送段114，第二弧线输送段113和第三弧线输送段114沿货物的输送方向依次连通，货物自第二弧线输送段113进入第三弧线输送段114。其中，第二弧线输送段113和第三弧线输送段114的曲率不同且自弧线指向各自圆心的方向相反设置。
进一步的，请继续参照图4，供料主线110还包括第二直线输送段115，第二直线输送段115、第二弧线输送段113和第三弧线输送段114沿货物的输送方向依次连通，货物自第二直线输送段115经第二弧线输送段113进入第三弧线输送段114。
需要说明的是，在前述第一种结构形式和第二种结构形式中，由于第一种结构形式中只设置第一弧线输送段111，相对第二种结构形式设置第二弧线输送段113和第三弧线输送段114来说，第一种结构形式更加方便供料主线110的布设；而第二种结构形式能够相对减少供料主线110与分拣装置200在竖直方向的投影重合部分，两种结构形式各有优劣，具体可根据需要选择。
3)第三种结构形式
供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹均呈直线状(附图未示出)；供料主线110的出料端与分拣主线210的入料端在竖直方向的投影部分重合，以保证货物能够顺利地进入到分拣工位221上。
其中，上述提到的“投影部分重合”，除包括供料主线110的出料端与分拣主线210的入料端在竖直方向的投影形成部分重影面积之外，还包括供料主线110的出料端与分拣主线210的入料端恰好相接(即，供料主线110的出料端与分拣主线210的入料端在竖直方向的投影形成部分重影面积为零)的情况。
该种结构形式的分拣设备，分拣主线210可以设置为具有直线形状的结构，例如，L型、U型、直线型等。
以L型为例。供料主线110的输出端与L型分拣机构位于短边最靠外的一个分拣工位221对应，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹均呈直线状，即，货物在供料主线110上沿直线轨迹运动，且货物到达分拣主线210上时仍能够沿与供料主线110相同的直线轨迹输送，从而使货物沿线性轨迹自出料端向分拣主线210转移。
除上述设置外，供料主线110的出料端的输送轨迹与分拣主线210的入料端所在端部的输送轨迹还存在不一致的情况，也就是说，前述第一速度具有垂直于第二速度方向上的分速度，该设计形式能够使前述两者的相对速度介于上述提到的“供料主线110的出料端的输送轨迹与分拣主线210的入料端所在端部的轨迹一致时所达到的相对速度”与“一些技术(前述提到的供料主线110与分拣主线210呈夹角设置)所达到的相对速度”之间。
其中，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹不一致的结构形式主要包含以下形式。
具体的，如图5所示，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹均呈圆弧状；供料主线110的出料端所在的圆与分拣主线210的入料端所在的圆相交于一点；在该点处，供料主线110的出料端与分拣主线210的入料端在竖直方向的投影部分重合(投影部分重合同上述解释)，该种结构形式相对现有技术来说，能够降低第一速度和第二速度的相对速度，但在同等条件下，该方式所能达到的相对速度高于前述方式(即，供料主线110的出料端的输送轨迹与分拣主线210的入料端的输送轨迹一致的方式)。
具体的，请继续参照图5，供料主线110包括第四弧形输送段116和第三直线输送段117，其中，供料主线110的出料端所在弧线段为第四弧形输送段116，第三直线输送段117和第四弧形输送段116沿货物的输送方向依次连通，货物自第三直线输送段117进入第四弧形输送段116。
综合以上，本实施例提供的分拣设备还可以为其他结构形式，其中，本实施例主要描述了供料主线110的具体形状，可以为弧形或直线形，或者两者的叠加形式。显然地，包含该弧形或直线形的供料主线110的整体结构可以有多种变形形式，不再一一列举。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本申请可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (12)

  1. 一种分拣设备，其特征在于，包括：供料装置和分拣装置，所述供料装置包括供料主线，所述分拣装置包括分拣主线，所述供料主线用于向所述分拣主线输送货物，所述分拣主线用于将货物输送至设定位置；其中，所述供料主线的出料端的输送方向与所述分拣主线的入料端的输送方向一致。
  2. 根据权利要求1所述的分拣设备，其特征在于，所述供料主线的出料端位于所述分拣主线的入料端的上方；且，所述供料主线的出料端与所述分拣主线的入料端之间具有预定的高度差。
  3. 根据权利要求2所述的分拣设备，其特征在于，所述高度差小于货物在所述分拣主线上的高度尺寸。
  4. 根据权利要求3所述的分拣设备，其特征在于，所述分拣主线还包括末端位置，自所述分拣主线的入料端至所述末端位置构成整个分拣主线；
    所述末端位置对应设置有异常容器，所述异常容器用于容纳经过自所述分拣主线的入料端至所述末端位置仍未播种的货物。
  5. 根据权利要求2所述的分拣设备，其特征在于，所述高度差大于货物在所述分拣主线上的高度尺寸。
  6. 根据权利要求1-5任一项所述的分拣设备，其特征在于，所述供料主线的出料端的输送轨迹与所述分拣主线的入料端的输送轨迹均呈弧线状；
    所述供料主线的出料端的输送轨迹的曲率与所述分拣主线的入料端的输送轨迹的曲率相同。
  7. 根据权利要求6所述的分拣设备，其特征在于，所述供料主线包括弧线输送段，所述弧线输送段与所述出料端连通，货物自所述弧线输送段进入所述出料端。
  8. 根据权利要求7所述的分拣设备，其特征在于，所述供料主线还包括直线输送段，所述直线输送段、所述弧线输送段和所述出料端沿货物的输送方向依次连通，货物自所述直线输送段经所述弧线输送段进入所述出料端。
  9. 根据权利要求1-5任一项所述的分拣设备，其特征在于，所述供料主线的出料端的输送轨迹与所述分拣主线的入料端的输送轨迹均呈直线状；
    所述供料主线的出料端与所述分拣主线的入料端在竖直方向的投影部分重合。
  10. 根据权利要求1-5任一项所述的分拣设备，其特征在于，所述供料主线的出料端的输送轨迹与所述分拣主线的入料端的输送轨迹均呈圆弧状；
    所述供料主线的出料端所在的圆与所述分拣主线的入料端所在的圆相交于一点；在该点处，所述供料主线的出料端与所述分拣主线的入料端在竖直方向的投影部分重合。
  11. 根据权利要求1-10任一项所述的分拣设备，其特征在于，所述分拣装置包括分拣机构，其中，所述分拣机构包括多个分拣工位，多个所述分拣工位沿所述分拣主线的输送方向间隔布设且可沿所述分拣主线运动；
    所述供料主线的出料端能够与所述分拣主线的其中一个分拣工位对应，实现货物自所述供料主线的出料端向对应的所述分拣工位转移。
  12. 根据权利要求11所述的分拣设备，其特征在于，所述分拣机构的下方设有多个第一盛装容器，每个所述分拣工位与多个所述第一盛装容器对应设置，每个所述分拣工位具有一个或多个出料口，并且，与每个所述分拣工位对应设置的多个所述第一盛装容器用于容纳经由一个或多个所述出料口投递的货物。
PCT/CN2020/119539 2019-11-29 2020-09-30 分拣设备 WO2021103819A1 (zh)

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CN211070897U (zh) * 2019-11-29 2020-07-24 北京旷视机器人技术有限公司 分拣设备
CN112478721B (zh) * 2020-09-09 2022-07-29 北京旷视机器人技术有限公司 物料投递方法、物料投递控制装置、分拣机及分拣系统
CN113289905B (zh) * 2021-05-26 2023-01-31 佛山维尚家具制造有限公司 一种自动化定制家具五金件分拣方法
CN114162536A (zh) * 2021-10-19 2022-03-11 北京旷视机器人技术有限公司 供料方法、控制装置及分拣设备

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