WO2022100699A1

WO2022100699A1 - Sorting system, article sorting method, and sorting robot and use method thereof

Info

Publication number: WO2022100699A1
Application number: PCT/CN2021/130395
Authority: WO
Inventors: 张俊; 张孟文; 王浩; 李林子
Original assignee: 深圳市鲸仓科技有限公司
Priority date: 2020-11-12
Filing date: 2021-11-12
Publication date: 2022-05-19

Abstract

Disclosed in the present invention are a sorting system, an article sorting method, and a sorting robot and a use method thereof. The sorting system comprises a track frame, a sorted article storage area, a first racking area, an assorting area, a second racking area, and a sorting robot; the track frame comprises a track; the sorted article storage area comprises a plurality of article delivery positions respectively corresponding to different orders; the first racking area is used for receiving a predetermined type of turnover boxes; the assorting area is used for assorting articles in turnover boxes that need to be mixed, and comprises a plurality of turnover boxes used for receiving the assorted articles; the second racking area is adjacent to the assorting area and is used for receiving turnover boxes from the assorting area after assorting is completed; and the sorting robot can move back and forth along the track to transfer the turnover boxes in the first racking area and the second racking area respectively to corresponding article delivery positions. The sorting system of the present invention utilizes the sorting robot to perform sorting, such that the automation degree of the sorting system is improved, thereby improving sorting efficiency, and lowering labor costs.

Description

Distribution system, article distribution method, distribution robot, and method of using the distribution robot

technical field

The invention relates to the technical field of logistics, in particular to a distribution system, an article distribution method, a distribution robot and a method for using the distribution robot.

Background technique

With the rapid development of the logistics industry, the requirements for the efficiency of sorting and transportation of goods are getting higher and higher. However, most of the existing logistics companies distribute manually, which is slow and requires a lot of labor, which increases labor costs.

technical problem

In order to solve the existing technical problems, the embodiments of the present invention provide a distribution system, which has the advantages of high distribution efficiency and low labor cost.

technical solutions

The distribution system is used to distribute the turnover boxes containing articles, and includes: a rail rack, the rail rack includes a rail; a distributed article storage area, located below the rail rack, the distributed article storage area The area includes a number of shipping positions corresponding to different orders; the first racking area is located below the track frame, and the first racking area is used to receive predetermined types of turnover boxes; the sowing area is used for mixing boxes. The articles in the turnover box are sown, and the sowing area includes a number of turnover boxes for receiving the sown articles; the second racking area is located below the track frame and adjacent to the sowing area, and the second racking area is used for receiving the turnover box that has been seeded in the seeding area; a distribution robot, the distribution robot is configured to move back and forth along the track under the control of the control module, so as to separate the first shelving area and the second shelving area. The turnover boxes in the second shelf area are respectively allocated to the corresponding shipping positions in the allocated item storage area.

In some embodiments, the turnover box of the predetermined type includes a turnover box that accommodates items of the first category or the second category and needs to be distributed by the whole case; and/or, the turnover box of the predetermined type includes a turnover box that accommodates the first category Totes of category items that have been mixed outside of the distribution system.

In some embodiments, the turnover box in the sowing area that needs to be mixed is a turnover box that contains the second category of items and needs to be mixed.

In some embodiments, the first shelving area includes a first shelving area and a second shelving area, and the first shelving area is used for receiving and accommodating the first or second category items, and needs to be divided into a whole box The turnover box is allocated, and the second shelf partition is used to receive the turnover box that accommodates the first category of articles and has been mixed outside the allocation system.

In some embodiments, the first rack-up area is located at the edge of the track frame.

In some embodiments, the second shelving area is closer to the allocated item storage area than the first shelving area, and the sowing area is located between the first shelving area and the second shelving area the sowing area includes at least one seeding wall for placing the turnover box for receiving the sown items and a turnover box storage area corresponding to the seeding wall, and the turnover box storage area is adjacent to the first The racking area is used to store turnover boxes that need to be mixed. When sowing, the items in the turnover boxes that need to be mixed in the turnover box storage area are distributed to a plurality of turnover boxes on the seeding wall.

In some embodiments, the dispensing robot includes a body and a lifting mechanism movably disposed on the body, the lifting mechanism is used to grab at least one turnover box and drive the grasped turnover box to rise or fall, the lifting mechanism The body includes an accommodating space, and the accommodating space penetrates the body in the longitudinal direction.

In another aspect, the present application also provides a distribution system, comprising a first racking area for receiving a turnover box of a predetermined type, a sowing area for seeding items that need to be mixed with boxes, and a first racking area for receiving the seeding The second racking area of the turnover box where the area has been seeded, the sowing area is located between the first racking area and the second racking area.

In some embodiments, the seeding area includes at least one seeding wall and a turnover box storage area corresponding to the seeding wall, the turnover box storage area is adjacent to the first shelving area and is used for storing turnovers that require mixing boxes The sowing wall is adjacent to the second racking area and is provided with a turnover box for receiving the items to be seeded. When sowing, the items in the turnover box that needs to be mixed are distributed to the sowing wall. in multiple crates.

On the other hand, the present application also provides an article distribution method for distributing a turnover box containing articles, the method includes: a first put-up area receives a turnover box of a predetermined type; a seeding area receives a mixed box The turnover box and sow the items in the turnover box that needs to be mixed; the second shelving area receives the turnover box of the required items that have been sown in the sowing area; the distribution robot places the first shelving area and The turnover boxes in the second shelving area are respectively allocated to the corresponding shipping positions in the allocated item storage area.

In some embodiments, the distributing robot to distribute the turnover boxes in the first put-away area and the second put-up area to corresponding shipping positions in the distributed item storage area respectively comprises: the distribution robot Move to the top of the first shelf area, grab a plurality of turnover boxes in the first shelf area at the same time or in sequence, and transport them to the distributed item storage area at the same time; the distribution robot moves to the Above the second racking area, grab a plurality of turnover boxes in the second racking area at the same time or in sequence and transport them to the distributed item storage area at the same time; or the distribution robot moves to the first racking Above the area, grab a plurality of turnover boxes in the first shelf area at the same time or in sequence, and then move to the top of the second shelf area, and then grab a plurality of turnover boxes in the second shelf area at the same time or in sequence boxes and simultaneously transported to the allocated item storage area.

In some embodiments, the distributing robot to distribute the turnover boxes in the first put-away area and the second put-up area respectively to the corresponding shipping positions in the distributed item storage area further includes: the allocating The robot weighs the grabbed turnover box, and feeds back the weight information to the control module; the distribution robot moves to a predetermined position according to the sequence indicated by the control module, so that the grabbed turnover box is in accordance with the upper light. The lower weight is stacked in the corresponding shipping position of the allocated item storage area.

In some embodiments, the first shelf area includes a first shelf area and a second shelf area, and the first shelf area receiving a turnover box of a predetermined type includes: the first shelf area receiving and accommodating a first category of articles or Totes of the second category that require FCL distribution; and/or the second put-away section receives totes that contain the first category of items and that have been mixed outside the distribution system.

In some embodiments, the seeding area includes a seeding wall and a turnover box storage area corresponding to the seeding wall, the seeding wall is provided with a number of turnover boxes for receiving the items to be sown, and the seeding area receives the needs to be mixed. The turnover box of the box and sowing the items in the turnover box that needs to be mixed include: the turnover box storage area receives the turnover box that needs to be mixed; the seeder places the turnover box storage area according to the order information. Items in totes that need to be mixed are distributed to multiple target totes on the placement wall.

In some embodiments, the seeding wall is provided with an indicating device corresponding to each turnover box on the seeding wall, and the planter puts the items in the turnover box that need to be mixed in the turnover box storage area according to the order information. The multiple target turnover boxes allocated to the seeding wall include: controlling the indicating device on the seeding wall corresponding to the target turnover box to issue an instruction signal according to the order information; The items corresponding to the order information are taken out from the turnover box of the mixed box and put into the turnover box corresponding to the indication signal.

On the other hand, the present application also provides a dispensing robot, which includes a body, a pulley mechanism installed at the bottom of the body for driving the body to move in the lateral direction, and a pulley mechanism that is movably mounted on the body and can be longitudinally moved. A lifting mechanism for lifting and lowering movement relative to the main body, the main body is provided with an accommodation space, and the accommodation space runs through the main body in the longitudinal direction. The load goes up or down.

In some embodiments, the dispensing robot further includes a weight sensor installed on the lifting mechanism, and the weight sensor is used to detect the weight of the grabbed object to be transported.

In some embodiments, the lifting mechanism includes a lifting portion movably connected to an inner wall of the accommodating space, and a grasping portion provided at a bottom end of the lifting portion for grasping the object to be transported.

In some embodiments, the body is square, and the accommodating space is provided in the middle of the body.

In some embodiments, the pulley mechanism includes a first gear train movable in a first direction and a second gear train movable in a second direction, the first direction and the second direction being perpendicular to each other.

In another aspect, the present application also provides a method of using a distribution robot, the distribution robot includes a body and a lifting mechanism, the body is provided with a accommodating space along the longitudinal direction, and the lifting mechanism can be longitudinally relative to the body. The method includes: moving the dispensing robot to the top of the object to be transported; the lifting mechanism extends downward and grabs at least one object to be transported; the lifting mechanism drives the object to be grasped The object to be transported rises, so that the grasped object to be transported is transported into the accommodating space or the grasped object to be transported protrudes above the top surface of the main body; The distribution robot of the object to be transported moves to a predetermined position; the lifting mechanism extends downward, and simultaneously drives the grasped object to be transported to move downward, thereby transporting the grasped object to be transported to the specified location.

In some embodiments, moving the dispensing robot loaded with the object to be transported to a predetermined position further includes: the dispensing robot weighing the grasped object to be transported, and placing the weight The information is fed back to the control module; the dispensing robot moves to the predetermined position according to the sequence indicated by the control module, so that the grabbed objects to be transported are stacked in the designated position in a light-heavy manner.

In some embodiments, moving the dispensing robot loaded with the object to be transported to a predetermined position includes: moving the dispensing robot in two directions perpendicular to each other on a rail frame.

beneficial effect

The solution provided in this application uses a distribution robot to transport the turnover boxes in the first and second put-away areas to the corresponding shipping positions, which improves the automation of the distribution system, thereby improving the distribution efficiency and reducing the need for The amount of labor can effectively reduce labor costs. Since the accommodating space runs through the body in the longitudinal direction, when the lifting mechanism grabs the object to be transported (ie the turnover box) and drives the object to be transported up, the grasped object to be transported can pass through the accommodating space and protrude from the top of the body. Above the surface, it is not affected by the height of the body, so that the distribution robot can grab and transport more objects to be transported at one time, which greatly improves the distribution efficiency of the distribution robot.

Description of drawings

1 is a schematic structural diagram of a storage system provided by an embodiment of the present invention;

2 is a schematic side view of a distribution system provided by an embodiment of the present invention;

3 is a schematic top view of a distribution system provided by an embodiment of the present invention;

Fig. 4 is the structural representation when the distribution system shown in Fig. 3 removes the track frame;

5 is a schematic diagram of the cooperation of a track frame, a distribution robot, and a turnover box provided by an embodiment of the present invention;

Fig. 6 is the structural representation of the distribution robot shown in Fig. 5;

Fig. 7 is the schematic diagram when the distribution robot shown in Fig. 5 grabs the turnover box;

FIG. 8 is a schematic diagram of the turnover box shown in FIG. 5 protruding above the top surface of the body of the dispensing robot.

FIG. 9 is a schematic flowchart of an item distribution method provided by an embodiment of the present invention.

FIG. 10 is a flowchart of a method for using a distribution robot according to an embodiment of the present invention.

Embodiments of the present invention

The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, on the premise of no conflict, the embodiments or technical features described below can be combined arbitrarily to form new embodiments. .

It should be noted that all directional indications (such as up, down, left, right, front, back, inside, outside, top, bottom...) in the embodiments of the present invention are only used to explain the As shown in the figure), the relative positional relationship between the components, etc., if the specific posture changes, the directional indication also changes accordingly.

It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Referring to FIG. 1 , a distribution system 100 provided by an embodiment of the present invention is suitable for a storage system. The storage system includes a storage area 200 , a temporary storage area 300 and a distribution area, and the distribution area includes the distribution system 100 .

Please refer to FIG. 1 and FIG. 2 together, the storage area 200 includes a cargo hold area 201 , an upper and lower rack area 202 and a first sowing area 203 . When the turnover box 2 loaded with articles is transported to the storage system, the turnover box 2 is first transferred to the temporary storage area 300, and then according to the category of the articles in the turnover box 2, the turnover box 2 that needs to be directly allocated, for example, contains fresh food The turnover box 2 of the articles is directly transported to the distribution system 100, and then the distribution operation is performed and then transported to the corresponding store; the turnover box 2 that needs to be stored, such as the turnover box 2 containing fast-moving consumer goods, is transferred to the storage area 200. In the rack area 202, for example, a picking robot will move the turnover box 2 in the rack area 202 to the cargo hold area 201 for storage. When it needs to be allocated, the turnover box 2 in the cargo hold area 201 that needs to be allocated by the whole box is transported to the upper and lower shelf area 202 by the picking robot, and then transported to the distribution system 100; for the turnover box 2 that needs to be mixed , it can be transported to the first sowing area 203 by, for example, a picking robot, and after sowing is completed in the first sowing area 203 , the turnover box 2 containing the items to be planted is transported to the distribution system 100 .

Please refer to FIG. 2 to FIG. 4 together. The distribution system 100 includes a track rack 10 , a distributed item storage area 20 , a first racking area 30 , a second sowing area 40 , a second racking area 50 and a distribution robot 60 . The distribution robot 60 is arranged on the top of the rail frame 10 , and the allocated object storage area 20 , the first racking area 30 , the second planting area 40 and the second racking area 50 are located below the rail frame 10 . The first racking area 30 is located at the edge of the rail frame 10 , the second racking area 50 is closer to the allocated item storage area 20 than the first racking area 30 , and the second sowing area 40 is located between the first racking area 30 and the second racking area 30 . Between the listing area 50. The first shelving area 30 and the second shelving area 50 are used to receive the turnover box 2 containing fresh products or fast-moving consumer goods, and the distribution robot 60 can put the first shelving area 30 and the second shelving under the control of the control module. The turnover box 2 in the area 50 is transported to the distributed item storage area 20, which improves the automation degree of the distribution system 100, thereby improving the distribution efficiency, and also reducing the required labor and labor costs.

Please refer to FIG. 5 , the rail frame 10 includes a plurality of rails 11 . The plurality of rails 11 are arranged in rows and form a grid. The bottom of the rails 11 is fixed with a column 12 for supporting the rail frame 10 , and the dispensing robot 60 is arranged on the rails. The top of the 11 can move back and forth along the rail 11 in the lateral direction of the rail frame 10 (ie, the direction perpendicular to the longitudinal direction).

Please refer to FIG. 3 and FIG. 4 together, the first shelf area 30 is used to receive a predetermined type of turnover box 2, and the predetermined type of turnover box 2 may be a turnover box 2 for accommodating items of the first category, or may be a turnover box 2 for accommodating articles of the second category Item turnover box 2. The first shelving area 30 includes a first shelving area 31 and a second shelving area 32. The first shelving area 31 is used to receive the turnover box 2 that accommodates the first or second category of articles and needs to be distributed by the whole box, and the second shelving area The partition 32 is used to receive totes 2 that contain items of the first category and that have been mixed outside the distribution system 100 , eg, in the first sowing area 203 of the storage area 200 .

In this embodiment, the first category of items may be fast-moving consumer goods that can be stored for a long time, such as potato chips and mineral water, and the second category of items may be fresh products that cannot be stored for a long time, such as vegetables and fruits. By dividing the first racking area 30 into a first racking area 31 and a second racking area 32, the first racking area 31 and the second racking area 32 respectively receive the turnover boxes 2 containing different types of articles, so that it is convenient for workers to put the corresponding turnover boxes 2 Transported to the predetermined location of the distribution system 100 .

In the above embodiment, the turnover box 2 that accommodates the first category of articles and needs to be distributed by the whole box is transported from the upper and lower shelf area 202 of the storage area 200 to the first shelving area 31 of the distribution system 100, and accommodates the first category of articles. The turnover box 2 in which the first sowing area 203 of the storage area 200 has completed mixing is transported from the first sowing area 203 of the storage area 200 to the second shelving area 32 of the distribution system 100 . The turnover box 2 that accommodates the second category of items and needs to be distributed by the whole box is transported from the temporary storage area 300 to the first shelf section 31 of the distribution system 100, and the turnover box 2 that accommodates the second category of items and needs to be mixed is transported from the temporary storage area. 300 is transported to the second sowing area 40 of the distribution system 100 .

Please refer to FIG. 4 , the second sowing area 40 is used for sowing the articles in the turnover box 2 that needs to be mixed. In this embodiment, the turnover box 2 that needs to be mixed is for accommodating the second category of articles and needs to be mixed. The turnover box 2. It can be understood that in the absence of the storage area 200, the turnover box 2 that needs to be mixed can also be the turnover box 2 that accommodates the first category of items and needs to be mixed; or even if there is a storage area 200, according to the actual situation If desired, the first category of items can also be mixed in the second seeding area 40 for seeding.

The second seeding area 40 includes at least one seeding wall 41 and a turnover box storage area 42 corresponding to the seeding wall 41 . The seeding wall 41 is provided with a number of empty turnover boxes 2 for receiving sown items, and the seeding walls 41 are arranged at intervals on the side of the turnover box storage area 42 away from the first racking area 30 . The turnover box storage area 42 is provided close to the first racking area 30 and is used to store the turnover box 2 that needs to be mixed, for example, the turnover box 2 that accommodates the second category of articles and needs to be mixed. Among them, the mixed box means that the items loaded in the turnover box 2 need to be distributed to other different turnover boxes 2 . When sowing, the seeder 3 distributes the items stored in the turnover box 2 that needs to be mixed in the turnover box storage area 42 to a plurality of turnover boxes 2 on the seeding wall 41, and then completes the sowing on the seeding wall 41. The turnover box 2 is transported to the second racking area 50 , for example, to the racking drawer 51 of the second racking area 50 , and then transported to the assigned item storage area 20 by the distribution robot 60 . It can be understood that the seeder 3 can be a worker or a robot.

In some embodiments, the sowing wall 41 is further provided with an indicating device corresponding to the turnover box 2 on the sowing wall 41 . When the turnover box 2 containing the second category of items and needing to be mixed is transported to the second sowing area 40, it can be determined according to the order information which items in the turnover box 2 in the turnover box storage area 42 need to be allocated to the seeding wall Which turnover box on 41 is in 2. In addition, the planter 3 can also control the indicating device on the planting wall 41 to issue an indication signal such as light or voice according to the order information, so as to remind the planter 3 to put the corresponding items into the turnover box 2 corresponding to the indicating device that issued the indication signal. . At the same time, the position corresponding to the turnover box 2 on the seeding wall 41 is also provided with a detection device, which can detect whether the seeder 3 has put the corresponding items into the corresponding turnover box 2 and whether the input quantity is accurate. When the seeder 3 does not put the items into the designated turnover box 2 or the quantity is wrong, alarm information such as voice or light can be issued, so as to guide the seeder 3 to complete the distribution quickly and accurately. It can be understood that the detection device can be an infrared sensor and a weight sensor. The infrared sensor can detect whether the seeder 3 has put items into the designated turnover box 2, and the weight sensor can detect whether the quantity of the items put into the turnover box 2 by the seeder 3 is correct.

Referring to FIG. 4 , the distributed item storage area 20 includes several shipping positions 21 corresponding to different orders, and the distribution robot 60 can arrange the turnover boxes 2 in the first shelf area 30 and the second shelf area 50 according to the order information. Allocate to the corresponding shipping location 21 of the allocated item storage area 20 . In this embodiment, each order corresponds to a store, and the order information is the store order information. When all the items required for the same order are allocated to the corresponding shipping location 21, they can be shipped by trucks and other transportation means. All the turnover boxes 2 on the shipping position 21 are moved to the corresponding store.

Please refer to FIG. 5 to FIG. 8 together. The dispensing robot 60 includes a main body 61 , a lifting mechanism 62 movably disposed on the main body 61 , and a pulley mechanism 63 installed at the bottom of the main body 61 . The pulley mechanism 63 is slidably matched with the track 11 of the track frame 10 , so that the pulley mechanism 63 can slide on the track frame 10 . The body 61 is provided with an accommodating space 611 , and the accommodating space 611 penetrates the body 61 in the longitudinal direction, that is, the top and the bottom of the body 61 are open. The body 61 can reciprocate along the rail frame 10 in a transverse plane, ie, a plane perpendicular to the longitudinal direction, through the pulley mechanism 63 . The lifting mechanism 62 can grab at least one object to be transported (that is, the above-mentioned turnover box 2 loaded with articles) and drive the grasped turnover box 2 to rise or fall, that is, drive the grasped turnover box 2 to be longitudinally opposite to the main body 61 performs a lifting motion. Since the accommodating space 611 runs through the main body 61 in the longitudinal direction, when the lifting mechanism 62 grabs the turnover box 2 and drives the turnover box 2 to rise, the grasped turnover box 2 can pass through the accommodating space 611 and protrude from the top of the main body 61 . on the face. That is, the top surface of the grabbed turnover box 2 is higher than the top surface of the main body 61, so that it is not affected by the height of the main body 61, so that the distribution robot 60 can grab and transport more turnover boxes 2 at a time, The distribution efficiency of the distribution robot 60 is greatly improved.

The shape of the body 61 and the location of the accommodating space 611 are not limited. In the illustrated embodiment, the body 61 is substantially square, and the accommodating space 611 is provided in the middle of the body 61 .

Please refer to FIG. 6 and FIG. 7 , the specific structure of the lifting mechanism 62 is not limited, as long as it can grasp the turnover box 2 and drive the turnover box 2 to move up and down relative to the main body 61 . For example, the lift mechanism 62 may include a lift portion 621 and a grab portion 622, the grab portion 622 is fixed at the bottom of the lift portion 621 and used to grab the turnover box 2, the lift portion 621 is movably connected to the inner wall of the accommodating space 611 and can be opposite to the body 61 performs a lifting motion. In some embodiments, the gripping portion 622 is provided with a claw, and the claw can cooperate with the flange on the periphery of the turnover box 2 to lift the turnover box 2. The lifting portion 621 can be a rope. One end of the rope is connected with the rotating shaft of the motor. When the rotating shaft of the motor rotates, the rope can be wound around the rotating shaft, thereby driving the turnover box 2 grasped by the claws to rise. When the rotating shaft of the motor rotates in the opposite direction , the captured turnover box 2 can be moved downward. It can be understood that the lifting portion 621 can also be a rack, and the lifting and lowering motion of the lifting portion 621 can also be realized through the cooperation of the rack and the gear.

In some embodiments, the lifting mechanism 62 is further provided with a weight sensor, and the weight sensor can detect the weight of the grabbed turnover box 2 and feed back the weight information to the control module. After the different distribution robots 60 responsible for the same order feed back the weight information of the turnover box 2 grabbed by them to the control module, the control module can control the different distribution robots 60 to move to predetermined positions in a certain order. For example, the distribution robot 60 that grabs the heavy turnover box 2 is moved to a predetermined position first, and the turnover box 2 it grabs is placed in the designated position, and then the distribution robot 60 that grabs the lighter turnover box 2 is controlled. The robot 60 moves to a predetermined position, and stacks the lighter turnover box 2 it grabs on the heavier turnover box 2, so as to stack the grabbed turnover box 2 at the designated position in a light-up and down-heavy manner , the designated position is the corresponding shipping position 21 of the above-mentioned allocated item storage area 20, so as to avoid the problem that the top turnover box 2 is too heavy and the bottom turnover box 2 is crushed, and at the same time, it can also reduce the stacked turnover box 2 the overall center of gravity, thereby enhancing its stability during transportation.

Referring to FIG. 7 , the pulley mechanism 63 includes a first gear train 631 and a second gear train 632 . The pulley of the first gear train 631 can move in the first direction, the pulley of the second gear train 632 can move in the second direction, and the first moving direction and the second moving direction are perpendicular to each other, so that the dispensing robot 60 can be perpendicular to each other. It moves in two directions, which enhances the flexibility of the distribution robot 60. In practical applications, the first gear train 631 and the second gear train 632 can be configured to be able to move up and down relative to the body 61. When the dispensing robot 60 needs to move in the first direction, the pulleys of the first gear train 631 can be connected to the track. 11 slidingly fits, the second wheel train 632 rises so that it does not contact the track 11, so that the pulley of the second wheel train 632 will not affect the movement of the dispensing robot 60 in the first direction; and when the dispensing robot 60 When the movement in the second direction is required, the pulleys of the second gear train 632 can be slidably matched with the rails 11 , and the first gear trains 631 are lifted up so that they are not in contact with the rails 11 .

Please refer to FIG. 9 , the present invention also provides an article distribution method S100, which includes the following steps:

Step S10, the first shelving area 30 receives the turnover box 2 of a predetermined type;

Step S20, the second sowing area 40 receives the turnover box 2 that needs to be mixed and seeds the articles in the turnover box 2 that needs to be mixed;

Step S30, the second racking area 50 receives the turnover box 2 in which the second sowing area 40 has been filled with the required items;

In step S40 , the distribution robot 60 distributes the turnover boxes 2 of the first shelving area 30 and the second shelving area 50 to the corresponding shipping positions 21 of the distributed item storage area 20 .

Before transporting the turnover box 2 containing the second category of articles from the temporary storage area 300 to the distribution system 100, it is first determined whether the turnover box 2 needs to be mixed according to the order information, and then the turnover box 2 that needs to be mixed is transported to the first In the turnover box storage area 42 of the second seeding area 40 , the turnover box 2 that does not need to be mixed is transported to the first racking area 30 . The carrier device for transporting the turnover box 2 to the first shelving area 30 or the second sowing area 40 is not limited. In some embodiments, a plurality of pallets and small carts are placed in the temporary storage area 300, loaded with the first category The turnover box 2 of the article is placed on the pallet, and then the pallet and the turnover box 2 on the pallet are transported to the storage area 200 by the forklift, and the turnover box 2 loaded with the second category of articles and needs to be distributed by the whole box is transported by the pallet and the forklift To the first racking area 31 , the turnover box 2 loaded with the second category of articles and needing to be mixed is placed on the small box car, and the turnover box 2 is directly transported to the second sowing area 40 by the small box car. When the turnover box 2 in the storage area 200 is transported to the distribution system 100, the turnover box 2 distributed by the whole box is placed on the pallet, and then transported by the forklift to the first shelf section 31, and the turnover box 2 after the mixing is completed. Transfer to the second shelving section 32 by a small car.

In some embodiments, step S10 includes:

The first shelving section 31 receives the turnover box 2 containing the first category or the second category and requiring FCL distribution; and/or;

The second shelving section 32 accommodates the totes 2 of the first category that have been mixed outside the distribution system 100 , eg, the first sowing area 203 of the storage area 200 .

In some embodiments, step S20 includes:

The turnover box storage area 42 receives the turnover box 2 that needs to be mixed. In this embodiment, the turnover box 2 that needs to be mixed is the turnover box 2 that accommodates the second category of articles and needs to be mixed;

The seeder 3 distributes the items in the turnover boxes 2 in the turnover box storage area 42 that need to be mixed into the plurality of turnover boxes 2 on the seeding wall 41 according to the order information.

In some embodiments, the seeder 3 distributes the items in the turnover box 2 in the turnover box storage area 42 that need to be mixed to the multiple turnover boxes 2 on the seeding wall 41 according to the order information, including:

According to the order information, the indicating device corresponding to the target turnover box 2 on the planting wall 41 is controlled to send out an indicating signal. In this embodiment, the indicating signal may be a light, a voice, or the like;

The seeder 3 takes out items corresponding to the order information from the turnover box 2 in the turnover box storage area 42 that needs to be mixed and puts them into the turnover box 2 corresponding to the instruction signal.

Specifically, before transporting the turnover box 2 that contains the second category of items and needs to be mixed to the distribution system 100 , the control module will first issue a control command, so that a worker such as a planter 3 transports the turnover box 2 to the turnover box The specific location of the storage area 42, so that the planter 3 can know the specific location of the turnover box 2 containing the corresponding items before the sowing operation, and during the sowing operation, it can be determined according to the order information that the target turnover box 2 needs to accommodate the items. and the seeder 3 can control the indicating device corresponding to the target turnover box 2 to issue an indication signal according to the order information, and has reminded the seeder 3 of the specific location of the target turnover box 2, and the seeder 3 is located in the turnover box storage area. Corresponding items to be accommodated in the target turnover box 2 are selected from the turnover boxes 2 in 42 and put into the target turnover box 2 .

In this embodiment, the planter 3 makes the indicating device send out an instruction signal through the cooperation of the code scanning gun and the barcode, for example, each order corresponds to several barcodes, and each barcode corresponds to a target turnover box 2, and also That is, each indicating device corresponds to a barcode, and the seeder 3 can know the type and quantity of the items that the target turnover box 2 corresponding to the barcode needs to contain through the barcode, and scan the barcode with a barcode scanner to match the barcode with the barcode. The corresponding indicating device will issue an indicating signal, and the seeder 3 will pick out the corresponding types and quantities of items from the turnover box 2 in the turnover box storage area 42, and put them into the target turnover box corresponding to the indicating device that issued the indicating signal. 2, the sowing operation can be completed.

In some embodiments, step S40 includes:

The distribution robot 60 moves to the top of the first put-up area 30, grabs a plurality of turnover boxes 2 in the first put-up area 30 at the same time or in sequence, and simultaneously transports them to the corresponding shipping positions 21 of the distributed item storage area 20; The dialing robot 60 moves to the top of the second racking area 50 , grabs a plurality of turnover boxes 2 in the second racking area 50 simultaneously or in sequence, and simultaneously transports them to the corresponding shipping positions 21 of the distributed item storage area 20 .

In other embodiments, the distribution robot 60 moves to the top of the first shelf area 30, grabs a plurality of turnover boxes 2 in the first shelf area 30 at the same time or sequentially, and then moves to the top of the second shelf area 50, and then simultaneously or sequentially. Or sequentially grab the turnover boxes 2 in the second racking areas 50 and transport them to the corresponding shipping positions 21 in the allocated item storage area 20 at the same time. That is to say, during a distribution process, the distribution robot 60 may only grab the turnover boxes 2 in the first racking area 30 or the second racking area 50 , or it may grab both the turnover boxes 2 in the first racking area 30 . box 2, and then grab the turnover box 2 in the second racking area 50.

In some embodiments, step S40 includes:

The distribution robot 60 weighs the grabbed turnover box 2, and feeds back the weight information to the control module. The distribution robot 60 moves to a predetermined position according to the sequence instructed by the control module to move the grabbed turnover box 2 according to the above. They are stacked at the corresponding shipping positions 21 in the allocated item storage area in a light-heavy manner. Specifically, after the different distribution robots 60 responsible for the same order feed back the weight of the turnover box 2 grabbed by them to the control module, the control module controls the distribution robot 60 that grabs the heavier turnover box 2 to move to the predetermined position first. position, and place the grabbed turnover box 2 on the corresponding shipping position 21 of the allocated item storage area 20, and then control the distribution robot 60 that grabs the lighter turnover box 2 to move to a predetermined position, and grab it The lighter turnover box 2 taken is stacked on the heavier turnover box 2 .

Referring to Figure 10, the present invention also provides a method S100' for using a distribution robot, which includes the following steps:

Step S10', the distribution robot 60 moves to the top of the object to be transported through the pulley mechanism 63, in this embodiment, the object to be transported is the turnover box 2;

Step S20', the lifting mechanism 62 extends downward and grabs at least one object to be transported;

Step S30 ′, the lifting mechanism 62 drives the grasped object to be transported up, so as to transport the grasped object to be transported into the accommodating space 611 or make the grasped object to be transported pass through the accommodating space 611 and protrude from the body over the top of 61;

Step S40', the distribution robot 60 loaded with the object to be transported moves to a predetermined position;

In step S50', the lifting mechanism 62 extends downward, and at the same time drives the grasped object to be transported to move downward, thereby conveying the grasped object to be transported to a designated position.

In some embodiments, step S40' includes:

The distribution robot 60 weighs the grasped object to be transported, and feeds back the weight information to the control module, and the dispensing robot 60 moves to the predetermined position according to the sequence instructed by the control module, so that the grasped object to be transported is in accordance with the order of the control module. They are stacked at the designated position (ie, the corresponding shipping position 21 of the above-mentioned allocated item storage area 20 ) in a light-up and down-heavy manner. Specifically, when different distribution robots 60 responsible for the same order feed back the weight information of the turnover box 2 grabbed by them to the control module, the control module will control the distribution robot that grabs the heavier turnover box 2 according to the weight information 60 first moves to the predetermined position, then places the turnover box 2 it grabs at the designated position, and then controls the distribution robot 60 that grabs the lighter turnover box 2 to move to the predetermined position, and grabs the lighter turnover box 2. The turnover box 2 is stacked on the heavier turnover box 2.

To sum up, the distribution system 100 provided by the present invention improves the automation degree of the distribution system 100 by using the distribution robot 60 to distribute the items loaded, thereby improving the distribution efficiency, and at the same time It also reduces the amount of labor required and effectively reduces labor costs, and because the main body 61 is provided with accommodating spaces 611 running through its opposite sides in the longitudinal direction, the turnover box 2 to be grabbed can pass through the accommodating space 611 and protrude from the main body. Therefore, the height of the grabbed turnover box 2 is no longer affected by the height of the main body 61, so that the distribution robot 60 can grab and transport more turnover boxes 2 at one time, which further improves the distribution efficiency.

The above-mentioned embodiments are only preferred embodiments of the present invention, and cannot be used to limit the scope of protection of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the scope of the present invention. Scope of protection claimed.

Claims

A distribution system for distributing a turnover box containing articles, characterized in that it includes:

a track frame, the track frame includes a track;

The allocated item storage area is located below the track frame, and the allocated item storage area includes several shipping positions corresponding to different orders;

a first racking area, located below the track frame, and the first racking area is used for receiving a predetermined type of turnover box;

The sowing area is used for sowing the articles in the turnover box that needs to be mixed, and the sowing area includes several turnover boxes for receiving the sown articles;

a second racking area, located below the track frame and adjacent to the sowing area, the second racking area is used to receive the turnover boxes that have been sown in the sowing area;

a distribution robot, which is configured to move back and forth along the track under the control of the control module, so as to distribute the turnover boxes in the first and second racking areas to the The corresponding shipping location of the allocated item storage area.
The distribution system according to claim 1, wherein the predetermined type of turnover box includes a turnover box that accommodates the first category of goods or the second category of goods and needs to be distributed by a whole box; and/or,

The predetermined type of totes include totes that contain items of the first category and have been mixed outside of the distribution system.
The distribution system according to claim 2, wherein the turnover box in the sowing area that needs to be mixed is a turnover box that accommodates the second category of goods and needs to be mixed.
The distribution system according to claim 2, wherein the first shelf area includes a first shelf area and a second shelf area, and the first shelf area is used to receive and accommodate the first category of items or the first shelf area. A turnover box of two categories of articles that needs to be distributed by a whole case, and the second shelf partition is used to receive a turnover box that accommodates the first category of articles and has been mixed outside the distribution system.
The distribution system according to claim 1, wherein the first racking area is located at the edge of the rail frame.
The distribution system according to claim 5, wherein the second racking area is closer to the allocated item storage area than the first racking area, and the sowing area is located in the first racking area Between the second racking area and the second racking area, the sowing area includes at least one seeding wall for placing the turnover box for receiving the sown items and a turnover box storage area corresponding to the seeding wall, the The turnover box storage area is adjacent to the first shelf area and is used to store the turnover boxes that need to be mixed. When sowing, the items in the turnover boxes that need to be mixed in the turnover box storage area are distributed to the seeding wall. in multiple crates.
The distribution system according to any one of claims 1-6, wherein the distribution robot comprises a body and a lifting mechanism movably arranged on the body, the lifting mechanism is used to grab at least one turntable and drives the grabbed turnover box to rise or fall, the body includes an accommodating space, and the accommodating space penetrates the body in the longitudinal direction.
A distribution system is characterized in that it includes a first racking area for receiving a turnover box of a predetermined type, a sowing area for sowing items that need to be mixed with boxes, and a sowing area for receiving the sowing area after the sowing has been completed. The second racking area of the turnover box, the sowing area is located between the first racking area and the second racking area.
The distribution system according to claim 8, wherein the seeding area includes at least one seeding wall and a turnover box storage area corresponding to the seeding wall, and the turnover box storage area is adjacent to the first shelving area And it is used to store the turnover box that needs to be mixed. The sowing wall is adjacent to the second racking area and is provided with a turnover box for receiving the items to be seeded. When sowing, the items in the turnover box that needs to be mixed. are distributed to multiple totes on the planting wall.
A method for distributing articles for distributing a turnover box containing articles, characterized in that the method comprises:

The first shelving area receives a turnover box of a predetermined type;

The sowing area receives the turnover box that needs to be mixed and seeded the items in the turnover box that needs to be mixed;

The second shelving area receives the turnover box of the items required for the sowing area to be sown;

The distribution robot distributes the turnover boxes in the first put-up area and the second put-up area to corresponding shipping positions in the distributed item storage area, respectively.
The article distribution method according to claim 10, wherein the distribution robot distributes the turnover boxes in the first put-up area and the second put-up area to the corresponding storage areas of the distributed goods respectively. Shipping locations include:

The distribution robot moves to the top of the first shelf area, grabs a plurality of turnover boxes in the first shelf area at the same time or in sequence, and transports them to the allocated item storage area at the same time;

The distribution robot moves to the top of the second racking area, grabs a plurality of turnover boxes in the second racking area at the same time or sequentially, and transports them to the distributed item storage area at the same time; or

The distribution robot moves to the top of the first racking area, grabs a plurality of turnover boxes in the first racking area simultaneously or sequentially, and then moves to the top of the second racking area, and then grabs simultaneously or sequentially. A plurality of turnover boxes in the second racking area are taken and transported to the allocated item storage area at the same time.
The article distribution method according to claim 11, wherein the distribution robot distributes the turnover boxes in the first put-up area and the second put-up area to the corresponding storage areas of the distributed goods respectively. Shipping locations also include:

The distribution robot weighs the grabbed turnover box, and feeds back the weight information to the control module;

The distribution robot moves to a predetermined position according to the sequence instructed by the control module, so that the grabbed turnover boxes are stacked in a corresponding shipping position of the distributed item storage area in a light-up and down-heavy manner.
The article distribution method according to claim 11, wherein the first shelving area includes a first shelving area and a second shelving area, and the first shelving area receiving a predetermined type of turnover boxes includes:

The first shelving section receives a turnover box that accommodates the first category of articles or the second category of articles and needs to be distributed by the whole box; and/or

The second shelving section receives totes that contain the first category of items and that have been mixed outside of the distribution system.
The article distribution method according to claim 11, wherein the sowing area comprises a sowing wall and a turnover box storage area corresponding to the sowing wall, and the sowing wall is provided with a plurality of The turnover box, the sowing area receives the turnover box that needs to be mixed and the items in the turnover box that needs to be mixed include:

The turnover box storage area receives the turnover box that needs to be mixed;

According to the order information, the seeder distributes the items in the turnover boxes that need to be mixed in the turnover box storage area to a plurality of target turnover boxes on the seeding wall.
The article distribution method according to claim 14, wherein an indication device is provided on the seeding wall corresponding to the turnover box on each of the seeding walls, and the seeder places the turnover box storage area according to the order information. Items in totes that need to be mixed into multiple target totes on the put wall include:

According to the order information, control the indicating device on the planting wall corresponding to the target turnover box to send out an indicating signal;

The seeder takes out the items corresponding to the order information from the turnover box in the turnover box storage area that needs to be mixed, and puts them into the turnover box corresponding to the indication signal.
A dispensing robot is characterized in that it comprises a body, a pulley mechanism installed at the bottom of the body to drive the body to move in the lateral direction, and a pulley mechanism that is movably installed on the body and can be longitudinally opposite to the body A lifting mechanism for lifting and lowering motion, the body is provided with a accommodating space, and the accommodating space runs through the body in the longitudinal direction, and the lifting mechanism is used to grasp the object to be transported and can drive the grasped object to be transported to rise or decline.
The distribution robot according to claim 16, characterized in that, the distribution robot further comprises a weight sensor installed on the lifting mechanism, and the weight sensor is used to detect the weight of the grasped object to be transported.
The dispensing robot according to claim 16, wherein the lifting mechanism comprises a lifting portion movably connected with the inner wall of the accommodating space and a bottom end of the lifting portion for grabbing the to-be-transported The grasping part of the object.
The dispensing robot according to claim 16, wherein the body is square, and the accommodating space is provided in the middle of the body.
The dispensing robot according to claim 16, wherein the pulley mechanism comprises a first wheel train movable in a first direction and a second wheel train movable in a second direction, the first direction and the The second directions are perpendicular to each other.
A method of using a distribution robot, the distribution robot includes a body and a lifting mechanism, the body is provided with a accommodating space along the longitudinal direction, and the lifting mechanism can perform lifting and lowering movement in the longitudinal direction relative to the body, and is characterized in that , the method includes:

the distribution robot moves to the top of the object to be transported;

the lifting mechanism extends downward and grabs at least one of the objects to be transported;

The lifting mechanism drives the grasped object to be transported to rise, so as to transport the grasped object to be transported into the accommodating space or make the grasped object to be transported protrude from the top of the main body. on the face;

moving the dispensing robot loaded with the object to be transported to a predetermined position;

The elevating mechanism extends downward, and simultaneously drives the grasped object to be transported to move downward, thereby transporting the grasped object to be transported to a designated position.
The method for using a distribution robot according to claim 21, wherein moving the distribution robot loaded with the object to be transported to a predetermined position further comprises:

The distribution robot weighs the grabbed object to be transported, and feeds back the weight information to the control module;

The dispensing robot moves to the predetermined position according to the sequence instructed by the control module, so that the grasped objects to be transported are stacked on the designated position in a light-up and down-heavy manner.
The method for using a distribution robot according to claim 21, wherein moving the distribution robot loaded with the object to be transported to a predetermined position comprises:

The dispensing robot moves in two mutually perpendicular directions on the track frame.