WO2024011954A1 - 分拣设备和仓储系统 - Google Patents

分拣设备和仓储系统 Download PDF

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Publication number
WO2024011954A1
WO2024011954A1 PCT/CN2023/084165 CN2023084165W WO2024011954A1 WO 2024011954 A1 WO2024011954 A1 WO 2024011954A1 CN 2023084165 W CN2023084165 W CN 2023084165W WO 2024011954 A1 WO2024011954 A1 WO 2024011954A1
Authority
WO
WIPO (PCT)
Prior art keywords
shelf
container
movable base
telescopic arm
delivery
Prior art date
Application number
PCT/CN2023/084165
Other languages
English (en)
French (fr)
Inventor
袭开俣
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2024011954A1 publication Critical patent/WO2024011954A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/38—Devices for discharging articles or materials from conveyor  by dumping, tripping, or releasing load carriers
    • 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
    • B65G47/34—Devices for discharging articles or materials from conveyor 
    • B65G47/46—Devices for discharging articles or materials from conveyor  and distributing, e.g. automatically, to desired points
    • 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
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels

Definitions

  • the present disclosure relates to the technical field of warehousing and logistics, and in particular to a sorting equipment and a warehousing system.
  • the sorting equipment takes sorting equipment as an example. After receiving the goods, the sorting equipment delivers the goods to the containers corresponding to the goods on the shelves. When the containers on the shelves are full or the sorting order is completed, the container handling equipment will remove the containers from the shelves. Take it out and transport it to the transfer location for temporary storage or transport it directly to the subsequent work station, review the packaging and labeling before sending it out.
  • each type of automation equipment in the current warehousing system can only complete one job.
  • multiple robots need to cooperate with each other to complete the sorting task.
  • the warehousing system has problems such as complex composition and difficult coordination.
  • the present disclosure provides a sorting equipment and a storage system.
  • the sorting equipment of the present disclosure includes:
  • a movable base movably disposed on the frame and configured to move relative to the frame
  • a delivery component disposed on the movable base, and configured to receive goods at a receiving position and deliver the goods into a container on a shelf at a delivery position;
  • a retrieval and return box assembly is provided on the movable base and is configured to pull the container on the shelf onto the delivery assembly located in the carrying position, or push the container on the delivery assembly into a designated position .
  • the return box assembly includes:
  • Two telescopic arms located on both sides of the delivery component, and configured to extend or contract relative to the movable base;
  • a front finger disposed on at least one of the telescopic arms, and configured to pull the container on the shelf onto the delivery assembly as the telescopic arm retracts toward the movable base;
  • the rear finger is provided on at least one of the telescopic arms, and is configured to push the container on the delivery assembly into a designated position when the telescopic arm extends from the movable base.
  • the return box assembly includes:
  • Two telescopic arm assemblies are respectively provided on the left and right side panels of the movable base, and the telescopic arm assemblies include:
  • the first telescopic arm is disposed on the movable base in a horizontally telescopic manner
  • a second telescopic arm that is telescopically disposed on the first telescopic arm in a horizontal direction;
  • a telescopic driving mechanism configured to drive the first telescopic arm to telescope relative to the movable base, and to cause the second telescopic arm to telescope synchronously relative to the first telescopic arm;
  • the lifting rod is configured to rotate relative to the second telescopic arm to extend from the inside of the second telescopic arm and to rise with the movable base to lift the container.
  • the delivery assembly includes a delivery mechanism.
  • the delivery component includes:
  • a flap rotatably disposed on the movable base and configured to rotate between a carrying position and a delivery position
  • the flap When in the carrying position, the flap is used to carry goods or containers;
  • the flap When it is in the delivery position, the flap is tilted at a preset angle relative to the load-bearing position so that the goods can slide down due to their own weight.
  • the movable base is configured to move horizontally and vertically relative to the frame.
  • the warehousing system of the present disclosure includes:
  • a main shelf is provided in the shelf docking area, and the main shelf is configured to store containers
  • the sorting equipment is arranged in the shelf parking area and is the sorting equipment according to any one of claims 1 to 6.
  • the sorting equipment is configured to switch containers at different storage locations on the main shelf.
  • the warehousing system further includes:
  • Transfer shelves are provided in the shelf parking area
  • the sorting equipment is configured to transport containers on the main shelf to the transfer shelf;
  • a shelf carrying robot is configured to carry the transfer shelf to a designated location.
  • the main shelf has a receiving area, and the transfer shelf is embedded in the receiving area.
  • the main shelf includes storage locations and temporary storage locations arranged in vertical staggered levels, and the storage locations are located above the temporary storage locations;
  • the sorting equipment is further configured to transport the containers of the storage location to the temporary storage location for temporary storage;
  • the warehousing system also includes:
  • the container handling robot is configured to move the container away from the temporary storage location.
  • the sorting equipment of the present disclosure has the functions of delivering goods and retrieving containers, and can use the gaps between sorted goods to organize containers on the shelves, which expands the scope of application of the sorting equipment. It can reduce the number of automation equipment involved in the warehousing system, reducing manufacturing costs and control costs.
  • Figure 1 is a schematic structural diagram of the telescopic arm of the sorting equipment of the present disclosure when it is in a retracted position in one embodiment
  • Figure 2 is a schematic structural diagram of the telescopic arm of the sorting equipment of the present disclosure in an extended position in one embodiment
  • Figures 3 and 4 are respectively three-dimensional structural diagrams of a single telescopic arm assembly of the retrieval and return box assembly in one embodiment from two different perspectives;
  • Figures 5 to 7 are respectively the front view, the rear view and the side view of the single telescopic arm assembly in Figure 3;
  • Figures 8 and 9 are respectively schematic structural diagrams of the sorting equipment in the extended and retracted states of the telescopic arm in one embodiment
  • Figure 10 is a schematic structural diagram of the warehousing system of the present disclosure in Embodiment 1;
  • Figure 11 is a schematic structural diagram of a container handling robot of the present disclosure in one embodiment
  • Figure 12 is a schematic structural diagram of the warehousing system of the present disclosure in Embodiment 2;
  • Figure 13 is a schematic structural diagram of the warehousing system of the present disclosure in Embodiment 3.
  • any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values.
  • the present disclosure provides a sorting equipment, which includes a frame, a movable base, a delivery component and a retrieval box component.
  • the movable base is movably arranged on the frame and is controlled by the driving mechanism to move relative to the frame;
  • the delivery component is arranged on the movable base and is configured Set to receive goods at a receiving position and deliver the goods into a container on a shelf at a delivery position;
  • the retrieval box assembly is disposed on a movable base and is configured to pull the container on the shelf into the delivery assembly located at the carrying position on, or push the container on the delivery component to the specified location.
  • the delivery component of the sorting equipment After the delivery component of the sorting equipment receives the goods, it moves with the movable base relative to the gantry from the receiving point to the location of the container corresponding to the goods on the shelf, and then delivers the goods to the corresponding container.
  • the sorting setup allows containers to be retrieved and returned from the shelves between sorting tasks to facilitate shelf organization.
  • the sorting equipment can pre-transport order containers that correspond to several sorting orders that need to be processed sequentially and are stored on different levels of storage on the same shelf to the same level of storage, or on the storage bits of adjacent layers.
  • the delivery component can move the minimum distance to quickly complete the delivery task of multiple goods.
  • the sorting equipment can transport idle containers on the same shelf to storage locations on the same level of the shelf, or to storage locations on adjacent levels, to facilitate the delivery component to quickly complete the delivery task.
  • the sorting equipment can use the return box assembly to pre-select and transport several order containers belonging to the same customer or the same downstream workstation to the storage location on the same level of the shelf, or to the storage location on the adjacent level, so as to facilitate downstream processing.
  • Manual or automated equipment can quickly move these containers off the shelves during processing.
  • the sorting equipment can use the return box component to transport the order container from the current storage location to a dedicated temporary storage on the same shelf. This allows manual or automated equipment in the downstream processing process to quickly move these containers off the shelf, or move the order container from the storage location of the current shelf to a dedicated shelf that stores full order containers.
  • shelves can be set up on both sides of the sorting equipment.
  • the sorting equipment can use the box retrieval and return mechanism to place empty containers on a shelf based on the situation of the containers, and place full boxes of order containers or order containers that still have delivery space. Place on another shelf.
  • the sorting equipment of the present disclosure has the functions of delivering goods and retrieving containers. It can use the gaps between sorted goods to organize containers on the shelves, expands the scope of application of the sorting equipment, and can reduce the number of automation equipment involved in the warehousing system. , reducing manufacturing costs and control costs.
  • the sorting equipment includes a frame 10, and the frame 10 includes a horizontal slide rail 100 and a vertical slide rail 101.
  • the vertical slide rail 101 is disposed on the horizontal slide rail 100 and is configured to slide along the horizontal rail 100. That is to say, the horizontal slide rail 100 is fixedly disposed on the warehouse.
  • the vertical slide rail 101 moves along the horizontal slide rail 100 in the X direction.
  • the movable base 11 is movably disposed on the rack 10 and is configured to move relative to the rack 10 to move from the current position to the container corresponding to the goods on the shelf.
  • the movable base 11 is connected to the vertical slide rail 101 through a lifting mechanism, and can rise or fall along the vertical slide rail 101 under the driving action of the lifting mechanism, that is, the movable base 11 moves along the vertical slide rail 101 at Y direction movement.
  • the movable base 11 may include a bottom plate and left and right panels disposed on the bottom plate.
  • the lifting mechanism may also include a motor and a power transmission mechanism.
  • the function of the power transmission mechanism is to convert the rotation of the motor into a transmission mechanism for linear motion, such as a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc.
  • the rack extends in the vertical direction and is fixedly connected to the vertical slide rail 101, and the gear meshing with the rack is rotatably arranged on the load carrying mechanism. .
  • the lifting mechanism adopts a belt transmission mechanism
  • its two transmission wheels are vertically spaced and rotatably arranged on the vertical slide rail 101.
  • the transmission belt is tensioned on the two transmission wheels, and the load-carrying mechanism is fixed on the transmission belt.
  • the motor After the motor is started, it drives one of the transmission wheels to rotate, and then the transmission belt drives the loading mechanism to rise and fall.
  • the lifting mechanism adopts a chain transmission mechanism
  • its two sprockets are vertically spaced and rotatably arranged on the vertical slide rail 101, the chain is tensioned on the two sprockets, and the load-carrying mechanism is fixed on the chain.
  • the motor After the motor is started, it drives one of the sprockets to rotate, and then the chain drives the load-carrying mechanism to rise and fall.
  • a delivery assembly 12 is provided on the movable base 11 .
  • the delivery assembly 12 is configured to receive goods at a receiving position and deliver the goods to containers on the shelf at a delivery position.
  • the delivery component 12 is a conveying mechanism.
  • the conveying mechanism includes a driving roller, at least one driven roller and an endless belt.
  • the driving roller and at least one driven roller are arranged parallel and rotationally on the base, the endless belt is tensioned and sleeved between the driving roller and the driven roller, and the conveying driving element is driven by the driving roller.
  • the annular belt Connected to drive the driving roller to rotate relative to the bracket, the annular belt also rotates with the driving roller under the action of friction, and then drives the driven roller to rotate, changing the conveyor drive
  • the rotation direction of the conveyor belt can be changed by changing the rotation direction of the moving element.
  • the conveying driving element is a motor.
  • the endless belt of the conveyor mechanism is in a stationary state.
  • the conveyor driving element is activated, which drives the conveyor belt to rotate to the position where the goods are transported. The goods are delivered into the container.
  • the delivery component can also use a flap to deliver goods, that is, the flap is rotatably arranged on the movable base 11.
  • the flap When the sorting equipment receives goods, the flap and the horizontal slide rail 100 The working surface is parallel.
  • the flap rotates at a preset angle relative to the movable base 11 so that the goods on it fall onto the container under its own weight.
  • the movable base 11 is also provided with a retrieval and return box assembly 13.
  • the retrieval and return box assembly 13 is configured to pull the containers on the shelf onto the delivery assembly 12 located in the carrying position, or to place the delivery assembly 12 on the The container is pushed into the specified location.
  • the retrieval box assembly 13 includes two telescopic arm assemblies. These two telescopic arm assemblies are respectively disposed in a telescopic manner on the left and right panels of the movable base 11 and are respectively located on the delivery assembly 12. Left and right sides.
  • each telescopic arm assembly has a first telescopic arm 130 and a second telescopic arm 131.
  • Figures 5 to 7 are respectively the front view, the rear view and the side view of a single telescopic arm assembly.
  • the first telescopic arm 130 is telescopically disposed on the movable base 11 through a linear guide mechanism. Specifically, the first linear guide rail 1305 of the linear guide mechanism is fixed on the movable base 11 and extends in the horizontal direction.
  • the block 1306 is fixed with the first telescopic arm 130 and is in sliding cooperation with the first linear guide rail 1305 .
  • the first telescopic arm 130 telescopes in the horizontal direction along the first linear guide rail 1304 relative to the movable base 11 under the action of the telescopic driving mechanism to take the container from the shelf or place the container on the shelf.
  • the telescopic driving mechanism includes a telescopic motor 1301 and a synchronous belt transmission mechanism driven by the telescopic motor 1301.
  • the synchronous belt transmission mechanism includes a driving synchronous pulley 1302 rotatably arranged on the movable base 11 and a first driven synchronous belt. pulley 1303, and the first synchronous belt 1304 tensioned by the two synchronous pulleys.
  • the outer belt surface of the first synchronous belt 1304 is provided with several teeth along its length direction.
  • the first telescopic arm 130 is connected to the outer belt surface. A number of teeth are also provided on the opposite side, and the teeth of the first synchronous belt 1304 and the first telescopic arm 130 mesh with each other.
  • the second telescopic arm 131 is also telescopically disposed on the first telescopic arm 130 through a linear guide rail mechanism.
  • the second linear guide rail 1313 of the linear guide rail mechanism is fixed on the first telescopic arm 130 and extends in the horizontal direction.
  • the second sliding block 1314 is fixed with the second telescopic arm 131 and slides with the second linear guide rail 1313 .
  • the first telescopic arm 130 is rotatably provided with a second driven synchronous pulley 1307 and a third driven synchronous pulley 1311.
  • One ends of the second synchronous belt 1308 and the third synchronous belt 1312 are fixedly connected to the movable On the base 11, the other ends of both are fixedly connected to the second telescopic arm 131, and the second synchronous belt 1308 is tensioned by the second driven synchronous pulley 1307, and the third synchronous belt 1312 is tightened by the third driven synchronous pulley 1307.
  • the pulley 1311 is tensioned, and the second synchronous belt 1308 and the third synchronous belt 1312 are tensioned and arranged with their openings facing each other.
  • the first synchronous belt 1304 pushes the first telescopic arm 130 to extend from the movable base 11 side, and at the same time, the second synchronous belt 1308 pulls the second telescopic arm 131 to extend from the first telescopic arm 130 side. , until the extreme extension position or the user-preset extension position, the telescopic motor 1301 is controlled to stop.
  • the telescopic motor 1301 When the telescopic motor 1301 is started to rotate in the reverse direction, the first synchronous belt 1304 pushes the first telescopic arm 130 to contract toward the movable base 11 , and at the same time, the third synchronous belt 1312 pulls the second telescopic arm 131 toward the first telescopic arm 130 After shrinking until the extreme shrinking position or the user-preset shrinking position, the telescopic motor 1301 is controlled to stop.
  • the third telescopic arm 132 is also provided with a lifting rod motor 1320 and a lifting rod 1321 fixed at the output shaft end of the lifting rod motor 1320.
  • the lifting rod 1321 is driven by the lifting rod motor 1320 to rotate to It extends from the inner side of the third telescopic arm 132 to contact the flanged bottom surface of the container and rises with the movable base 11 to lift the container, or rotates to lower the container.
  • the vertical slide rail 101 moves with its horizontal slide rail 100 to reach the horizontal position coordinate of the target container on the shelf, and the movable base 11 is raised and lowered to the target along the vertical slide rail 101.
  • the first synchronous belt 1304 drives the first telescopic arm 130 to extend from the side of the movable base 11.
  • the second synchronous belt 1308 drives the second telescopic arm 131 to extend from the first telescopic arm 130 side. to the side of the container inserted above the target container;
  • each The first synchronous belt 1304 drives the first telescopic arm 130 to retract to the movable base 11 side, and at the same time, the third synchronous belt 1312 drives the second telescopic arm 131 to retract to the first telescopic arm 130 side, that is, the target container is located at the delivery assembly. 12 on.
  • step S5 perform step S1 again to reach the designated position for placing the container, and then use the retrieval box assembly 13 to place the container on the delivery assembly 12 to the designated position, which can be another storage position on the shelf.
  • the retrieval box assembly 13 includes two telescopic arms, which are telescopically disposed on the left and right panels of the movable base 11 respectively. , and are respectively located on the left and right sides of the delivery component 12.
  • the two telescopic arms are provided with front finger 133 and rear finger 134.
  • the front finger 133 is rotatably arranged at the front end of the telescopic arm, and is driven by the finger motor to rotate relative to the telescopic arm to extend into the inside of the telescopic arm. , or rotate to the outside of the telescopic arm, and the rear finger 134 is fixed at the rear of the telescopic arm.
  • the directional words "inside and outside" used in this article are based on the space formed between the two telescopic arms. The space formed by the two telescopic arms is within the space formed by the two telescopic arms. What is outside the formed space is outside.
  • the two telescopic arms When the retrieval and return box assembly takes out the container from the shelf, the two telescopic arms extend toward the shelf direction relative to the delivery assembly to both sides of the container inserted on the shelf, and then the finger motor drives the front finger 133 to rotate toward the inside of the telescopic arm to the point where the container is inserted into the shelf.
  • the backend of the container is offset.
  • the two telescopic arms retract in opposite directions relative to the delivery assembly to pull the container onto the delivery assembly.
  • the two telescopic arms extend toward the shelf relative to the delivery assembly until the rear finger 134 pushes the container to a designated position on the shelf, and then retracts the telescopic arms to the delivery assembly to Prepare the container for the next time you pick it up.
  • the present disclosure also provides a storage system.
  • the storage system of the present disclosure includes a shelf docking area, a main shelf and a sorting equipment, wherein the main shelf is provided in the shelf docking area and is configured to store containers, Sorting equipment is also set up in the shelf docking area.
  • This sorting equipment is specifically the sorting equipment mentioned above. Its specific structure and working principle have been described in detail in the previous article. Those skilled in the art can completely implement it based on the previous records. This article is here No longer.
  • the sorting equipment of the warehousing system After receiving the goods, the sorting equipment of the warehousing system carries the goods to the location of the container corresponding to the goods on the shelf, and then delivers the goods into the container to complete the sorting task.
  • the sorting equipment can also move containers on the shelf to designated locations between execution of sorting tasks, such as switching containers between two different storage locations on the shelf, or moving containers to other shelves other than the main shelf.
  • this warehousing system can not only complete the task of sorting goods, but also use sorting equipment to organize shelves, which can reduce the number of automation equipment involved in the warehousing system and reduce manufacturing costs and control costs.
  • the warehousing system includes a shelf parking area.
  • the shelf parking area is an area artificially divided from the working site of the warehousing system for parking shelves.
  • the shelf parking area can be located on the ground of the work site, or it can be a platform built above the ground of the work site.
  • the main shelf 2 includes a bracket 20 and a plurality of shelves 21 arranged vertically and sequentially on the shelf. Containers 3 are placed on the shelf 21. There are multiple storage positions on the shelf 21, and each storage position can place a container 3.
  • the sorting equipment 1 is also set up in the shelf docking area. Its delivery component can accept the goods delivered by staff or automation equipment at the designated connection position. After that, the vertical slide rail moves along the horizontal slide rail in the horizontal direction until it reaches the container corresponding to the goods. The horizontal coordinate position, and then the movable base rises or drops along the vertical slide rail in the vertical direction until it reaches the vertical coordinate position of the container corresponding to the goods, that is, it reaches the container, and the delivery component delivers the goods to the container. Can.
  • the sorting equipment 1 can also perform the sorting task of sorting the shelves, that is, transferring a certain container on the main shelf from its current storage location to a free designated storage location.
  • the main shelf includes a storage position and a temporary storage position, and the storage position is located above the temporary storage position, and the temporary storage position is formed by a comb tooth mechanism fixedly provided on the bracket.
  • the comb tooth mechanism includes a plurality of spaced apart comb teeth. Comb teeth, at least two adjacent comb teeth bear a container.
  • the sorting equipment 1 is configured to transport the containers on the storage position of the main shelf to the temporary storage position for temporary storage.
  • the warehousing system also includes a container handling robot 4.
  • the container handling robot 4 is configured to move the containers on the temporary storage position to a designated position.
  • the designated position can be a subsequent work station or a container transfer station.
  • the container handling robot 4 is configured to pass under the comb mechanism and pass through the gap between two adjacent comb teeth of the comb mechanism to lift the container on the comb member and move the container away; or, the container
  • the transfer robot 4 is configured to carry a container and drive into the gap between two adjacent comb teeth, place the container on the comb tooth member, and then drive out.
  • the sorting equipment 1 can first transport it from the storage location to the temporary storage location, and then the container handling robot 5 can move the container from the temporary storage location. move to the designated location.
  • the container handling robot 4 includes a traveling mechanism 40 , a lifting frame 41 and a carrying tray 41 .
  • the lifting frame 41 is fixed on the traveling mechanism 40, and a bearing plate 42 is provided on the top thereof.
  • the bearing plate 42 is configured for placing containers.
  • the container handling robot 4 is configured to drive the lifting frame 41 to drive the carrier tray 42 to rise to pass through the gap between the two comb teeth and lift the container, and then drive the walking mechanism 40 to walk until the container is moved off the shelf and reaches the workstation.
  • the traveling mechanism 40 can be an AGV car.
  • the lifting frame 41 can be a piston rod of a cylinder or a hydraulic cylinder.
  • the cylinder is fixed on the traveling mechanism 40 and the bearing plate 42 is fixed on the free end of the piston rod.
  • the piston rod As the hydraulic oil or gas enters and exits the respective cylinder, the piston rod
  • the carrying tray 42 is driven to rise and fall to lift the container.
  • the lifting frame 41 may also be a telescopic linkage mechanism carried by a hinged combination of several rods.
  • Embodiment 2 differs from Embodiment 1 in that a transfer shelf 5 is added, and the container handling robot is replaced with a shelf handling robot 6.
  • the transfer shelf 5 is also parked in the shelf parking area, and the sorting equipment 1 is configured as
  • the containers on the main shelf are transported to the transfer shelf, and the shelf handling robot 6 is configured to transport the transfer shelf 5 from the shelf parking area to a designated location.
  • the designated location can be a follow-up work or a shelf transfer station.
  • the structure of the transfer shelf 5 is basically similar to the structure of the main shelf. It includes a bracket and vertically spaced shelves arranged on the bracket. The shelves are configured as at least one container.
  • shelf handling robot 6 is basically similar to that of the container handling robot, except that the size and weight of the items to be handled are different, and its volume and carrying capacity can be adjusted accordingly.
  • the shelf handling robot 6 travels to the bottom of the transfer shelf 5, then raises its carrier tray to lift the transfer shelf 5 through the layer board, then carries the transfer shelf 5 out of the shelf parking area to the designated position, and then lowers the carrier tray to The transfer rack can be landed smoothly in the rack docking area.
  • a storage area 20 is reserved on the main shelf 2 of the third embodiment, and the transfer shelf 5 is embedded in the storage area 20 of the main shelf 2 .
  • the shelves in the storage system are arranged reasonably and neatly in the docking area.
  • the bracket 20 of the main shelf 2 includes a left bracket 200, a right bracket 201 and a dividing bracket 202 located between the left bracket 200 and the right bracket 201.
  • the left bracket 200 and the right bracket 201 are fixedly connected by the layer plate 21, and the left bracket 200 and the dividing bracket 202 are also fixedly connected by the layer plate 21, and a reserved container area 22 is formed between the dividing bracket 202 and the right bracket 201 to accommodate the transfer shelf 5.

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  • Mechanical Engineering (AREA)
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Abstract

一种分拣设备和仓储系统，该分拣设备包括机架(10)、活动基座(11)、投递组件(12)和取还箱组件(13)。其中，活动基座(11)以可活动地方式设置在机架(10)上，并受控于驱动机构相对于机架(10)运动；投递组件(12)设置在活动基座(11)上，且被配置为在接货位置接受货物并在投递位置将货物投递至货架上的容器内；取还箱组件(13)设置在活动基座(11)上，且被配置为将货架上的容器拉入位于承载位置的投递组件(12)上，或者将投递组件(12)上的容器推入指定位置。分拣设备兼具投递货物和取还容器的功能，可以利用分拣货物间隙整理货架上的容器，拓展了分拣设备的适用范围，可以减少仓储系统涉及的自动化设备的数量，降低了制造成本和控制成本。

Description

分拣设备和仓储系统
本申请要求于2022年7月13日提交中国国家知识产权局、申请号为202210822300.2、发明名称为“分拣设备和仓储系统”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
本公开涉及仓储物流技术领域，特别涉及一种分拣设备和仓储系统。
背景技术
随着科技的飞速发展，物流领域自动化水平得到了飞跃性的进步，原来人工完成的分拣、搬运货物的工作都应对应的自动化设备替代。
以分拣设备为例，分拣设备接收到货物后将货物投递到货架上货物对应的容器内，当货架上容器满箱或者完成分拣订单后，再由搬运容器的设备将容器从货架上取出并搬运至中转位置暂存或者直接搬运至后续工位上，复核打包贴标签后送出。
显然，目前的仓储系统中每种自动化设备仅能完成一项工作，实践中需要多种机器人相互配合协作方能完成分拣任务，仓储系统存在组成繁杂、协调难度大的问题。
发明内容
本公开为了解决现有技术存在的技术问题，提供了一种分拣设备和仓储系统。
第一方面，本公开的分拣设备包括：
机架；
活动基座，以可活动地方式设置在所述机架上，并被配置为相对于机架运动；
投递组件，设置在所述活动基座上，且被配置为在接货位置接受货物并在投递位置将货物投递至货架上的容器内；
取还箱组件，设置在所述活动基座上，且被配置为将所述货架上的容器拉入位于承载位置的所述投递组件上，或者将所述投递组件上的容器推入指定位置。
在一个实施例中，所述取还箱组件包括：
两个伸缩臂，分设在所述投递组件两侧，且被配置为相对于所述活动基座伸出或收缩；
前拨指，设置在至少一个所述伸缩臂上，且被构造为随所述伸缩臂向所述活动基座收缩时将货架上的容器拉入所述投递组件上；
后拨指，设置在至少一个所述伸缩臂上，且被构造为随所述伸缩臂从所述活动基座伸出时将投递组件上的容器推入指定位置。
在一个实施例中，所述取还箱组件包括：
两个伸缩臂组件，分设在所述活动基座的左右侧板上，且所述伸缩臂组件包括：
第一伸缩臂，以可水平方向伸缩地方式设置在所述活动基座上；
第二伸缩臂，以可沿水平方向伸缩地方式设置在所述第一伸缩臂上；
伸缩驱动机构，被配置为带动所述第一伸缩臂相对于所述活动基座伸缩，并使所述第二伸缩臂相对于所述第一伸缩臂同步伸缩；
抬杆，被配置为相对于所述第二伸缩臂转动至从所述第二伸缩臂的内侧伸出并随所述活动基座上升至将容器抬起。
在一个实施例中，所述投递组件包括输送机构。
在一个实施例中，所述投递组件包括：
翻板，以可转动地方式设置在所述活动基座上，且被配置为在承载位置和投递位置之间转动；
位于承载位置时，所述翻板用于承载货物或容器；
位于投递位置时，所述翻板相对于承载位置倾斜预设角度，以使货物因自重而滑落。
在一个实施例中，所述活动基座被构造为相对于所述机架沿水平方向和竖直方向运动。
第二方面，本公开的仓储系统包括：
货架停靠区；
主货架，设置在所述货架停靠区，且所述主货架被构造为存放容器；
分拣设备，设置在所述货架停靠区，且为权利要求1至6中任一项所述的分拣设备。
在一个实施例中，所述分拣设备被配置倒换所述主货架上不同存储位处的容器。
在一个实施例中，所述仓储系统还包括：
中转货架，设置在所述货架停靠区；
所述分拣设备被配置为将所述主货架上的容器搬运至所述中转货架上；
货架搬运机器人，被配置为将所述中转货架搬运至指定位置。
在一个实施例中，所述主货架具有容纳区，所述中转货架嵌入式放置在所述容纳区内。
在一个实施例中，所述主货架包括垂直错层设置的存储位和暂存位，且所述存储位位于所述暂存位的上方；
所述分拣设备还被配置为将所述存储位的容器搬运至所述暂存位暂存；
所述仓储系统还包括：
容器搬运机器人，被配置为将容器搬离所述暂存位。
本公开的仓储系统的有益效果之一是，本公开的分拣设备兼具投递货物和取还容器的功能，可以利用分拣货物间隙整理货架上的容器，拓展了分拣设备的适用范围，可以减少仓储系统涉及的自动化设备的数量，降低了制造成本和控制成本。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本公开的实施例，并且连同其说明一起用于解释本公开的原理。
图1是一个实施例中本公开的分拣设备的伸缩臂位于收缩位置时的结构示意图；
图2是一个实施例中本公开的分拣设备的伸缩臂位于伸出位置时的结构示意图；
图3和图4分别是一个实施例中取还箱组件的单个伸缩臂组件两个不同视角的立体结构示图；
图5至图7分别是图3中单个伸缩臂组件的主视图、后视图和侧视图；
图8和图9分别是一个实施例中伸缩臂伸出和收缩状态下分拣设备的结构示意图；
图10是实施例一中本公开的仓储系统的结构示意图；
图11是一个实施例中本公开的容器搬运机器人的结构示意图；
图12是实施例二中本公开的仓储系统的结构示意图；
图13是实施例三中本公开的仓储系统的结构示意图。
图1至图13中各组件名称和附图标记之间的一一对应关系如下：
1分拣设备：10机架、100水平滑轨、101竖直滑轨、11活动基座、
12投递组件、13取还箱组件、130第一伸缩臂、1301伸缩电机、1302主动同步带轮、1303第一从动同步带轮、1304第一同步带、1305第一直线导轨、1306第一滑块、1307第二从动同步带轮、1308第二同步带、131第二伸缩臂、1311第三从动同步带轮、1312第三同步带、1313第二直线导轨、1314第二滑块、1320抬杆电机、1321抬杆、133前拨指、134后拨指；
2主货架、20支架、200左支架、201右支架、202分隔支架、21层板、
22容纳区、3容器、4容器搬运机器人、40行走机构、41升降架、42承载盘、5中转货架、6货架搬运机器人。
具体实施方式
现在将参照附图来详细描述本公开的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
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讨论。
如背景技术所述，现有的分拣设备仅具备投递货物的功能，如果整理货架时需要配置相对独立的其他自动化设备完成。
为此，本公开提供了一种分拣设备，该分拣设备包括机架、活动基座、投递组件和取还箱组件。其中，活动基座以可活动地方式设置在机架上，并受控于驱动机构相对于机架运动；投递组件设置在活动基座上，且被配 置为在接货位置接受货物并在投递位置将货物投递至货架上的容器内；取还箱组件设置在活动基座上，且被配置为将货架上的容器拉入位于承载位置的投递组件上，或者将投递组件上的容器推入指定位置。
该分拣设备的投递组件接收到货物后，随活动基座相对于门架从接货点位运动至货架上货物对应的容器所在位置，然后将货物投递至对应地的容器内。此外，该分拣设置可以在执行分拣任务间隙还可以从货架上取还容器，以便整理货架。
比如，分拣设备可以基于分拣订单，将与需要先后顺序处理的几个分拣订单对应，且存储在同一货架上的不同层存储位上的订单容器预先搬运至同一层存储位上，或者相邻层的存储位上。如此，分拣该分拣订单任务时，投递组件可以移动最少距离即可快速完成多个货物的投递任务。
再比如，分拣设备可以将同一货架上的空闲容器搬运至货架同一层存储位上，或者相邻层的存储位上，以方便投递组件快速完成投递任务。
再比如，分拣设备可以利用取还箱组件将隶属于同一个客户或者同一下游工作台的几个订单容器预选搬运至货架同一层存储位上，或者相邻层的存储位上，以便于下游处理流程中人工或自动化设备能快速将这些容器搬离货架。
再比如，分拣设备的投递组件完成货物投递后，发现投递的订单容器满箱时，分拣设备即可利用取还箱组件该订单容器从当前存储位搬运至同一货架的专设的暂存位，以供下游处理流程中人工或自动化设备能快速将这些容器搬离货架，或者将该订单容器从当前货架的存储位搬运至存储满箱订单容器的专用货架上。
再比如，分拣设备两侧均可设置货架，分拣设备可以基于容器的情况利用取还箱机构将空闲容器放在一个货架上，而将满箱的订单容器或者尚存在投递空间的订单容器放置在另一个货架上。
显然，本公开的分拣设备兼具投递货物和取还容器的功能，可以利用分拣货物间隙整理货架上的容器，拓展了分拣设备的适用范围，可以减少仓储系统涉及的自动化设备的数量，降低了制造成本和控制成本。
为了便于理解，下面结合图1至图9，以几个实施例为例详细说明本公开的分拣设备的具体结构及其工作原理。
参见图1和图2，本实施例中，分拣设备包括机架10，机架10包括水平滑轨100、竖直滑轨101。其中，竖直滑轨101设置在水平滑轨100上，且被配置为沿水平轨道100滑动，也就是说，水平滑轨100固定设置在仓 储系统的分拣场地的工作面上，竖直滑轨101沿水平滑轨100沿X方向运动。
活动基座11以可活动地方式设置在机架10，且被配置为相对于机架10机架活动，以从当前位置运动至货架上货物所对应的容器处。
详细地，活动基座11通过升降机构连接在竖直滑轨101上，且在升降机构驱动作用下可沿竖直滑轨101上升或下降，即活动基座11沿竖直滑轨101在Y方向运动。活动基座11可以包括底板和设置在底板上的左侧板和右侧板。
升降机构还可以包括电机和动力传动机构，该动力传动机构的作用是将电机的转动转化为直线运动的传动机构，比如齿轮齿条传动机构、带传动机构、链传动机构等。
详细地，升降机构采用齿轮齿条传动机构时，其齿条沿竖直方向延伸且固定连接在竖直滑轨101上，与该齿条啮合的齿轮以可转动地方式设置在载物机构上。
启动电机后，其驱动齿轮带动载物机构沿着齿条的延伸方向升降。
升降机构采用带传动机构时，其两个传动轮垂直间隔且以可转动地方式设置在竖直滑轨101上，其传动带张紧在两个传动轮上，载物机构固设在传动带上。
启动电机后，其驱动其中一个传动轮转动，继而使传动带带动载物机构升降。
升降机构采用链传动机构时，其两个链轮垂直间隔且以可转动地方式设置在竖直滑轨101上，其链条张紧在两个链轮上，载物机构固设在链条上。
启动电机后，其驱动其中一个链轮转动，继而使链条带动载物机构升降。
继续参见图1，活动基座11上设置有投递组件12，投递组件12被配置为在接货位置接受货物并在投递位置将货物投递至货架上的容器内。
详细地，投递组件12为输送机构。输送机构包括主动辊轮、至少一个从动辊轮和环形带。其中，主动辊轮和至少一个从动辊轮平行且以转动地方式设置在基座上，环形带张紧套装在主动辊轮和从动辊轮之间，且输送驱动元件与主动辊轮传动连接，以带动主动辊轮相对于支架转动，环形带在摩擦力作用下也随主动辊轮转动，继而带动从动辊轮转动，改变输送驱 动元件的转动方向即可改变传送带的转动方向。本实施例中输送驱动元件为电机。
当投递组件12处于接货和运输工况时，输送机构的环形带处于静止状态，当投递组件12达到与货物对应的容器处时，输送驱动元件被启动，其驱动输送带转动至将其上货物投递至容器内。
在一个实施例中，投递组件也可以利用翻板实现投递货物的工作，即翻板以可转动地方式设置在活动基座11上，分拣设备在接受货物时，翻板与水平滑轨100所在的工作面平行，当分拣设备到达与货物对应的容器处时，翻板相对于活动基座11转动预设角度，以使其上的货物在自重下落入容器上。
继续参见图1，活动基座11上还设置有取还箱组件13，取还箱组件13被被配置为将货架上的容器拉入位于承载位置的投递组件12上，或者将投递组件12上的容器推入指定位置。
详细地，取还箱组件13包括两个伸缩臂组件，这两个伸缩臂组件分别以可伸缩的方式设置在活动基座11的左侧板和右侧板上，且分设在投递组件12的左右两侧。
结合图3和图4，每个伸缩臂组件第一伸缩臂130和第二伸缩臂131。为了便于更好地理解伸缩臂组件的具体结构，请一并参见图5至图7，图5至图7分别是单个伸缩臂组件的主视图、后视图和侧视图。
第一伸缩臂130通过直线导轨机构可伸缩地设置在活动基座11上，具体地，直线导轨机构的第一直线导轨1305固设在活动基座11上并沿水平方向延伸，第一滑块1306固设有第一伸缩臂130，且与第一直线导轨1305滑动配合。第一伸缩臂130在伸缩驱动机构作用下沿第一直线导轨1304相对于活动基座11沿水平方向伸缩，以从货架上取容器或者将容器放置在货架上。
伸缩驱动机构包括伸缩电机1301和由伸缩电机1301驱动的同步带传动机构，该同步带传动机构包括以可转动地方式设置在活动基座11上的主动同步带轮1302和第一从动同步带轮1303，以及由这两个同步带轮张紧的第一同步带1304，第一同步带1304的外带面上沿其长度方向设置有若干个齿，第一伸缩臂130与该外带面相对侧也设置有若干个齿，第一同步带1304和第一伸缩臂130的齿相互啮合。当启动伸缩电机1301时，第一同步带1304转动，继而推动第一伸缩臂130相对于活动基座11沿水平方向伸缩。
第二伸缩臂131也通过直线导轨机构可伸缩地设置在第一伸缩臂130上，具体地，直线导轨机构的第二直线导轨1313固设在第一伸缩臂130上并沿水平方向延伸，第二滑块1314固设有第二伸缩臂131，且与第二直线导轨1313滑动配合。
第一伸缩臂130上以可转动地方式设置有第二从动同步带轮1307和第三从动同步带轮1311，第二同步带1308和第三同步带1312两者的一端固定连接在活动基座11上，两者的另一端均固定连接在第二伸缩臂131上，且第二同步带1308由第二从动同步带轮1307张紧，第三同步带1312由第三从动同步带轮1311张紧，且第二同步带1308和第三同步带1312被张紧后开口朝向相对设置。
当启动伸缩电机1301时，第一同步带1304推动第一伸缩臂130从活动基座11侧伸出，与此同时第二同步带1308拉动第二伸缩臂131从第一伸缩臂130侧伸出，直至极限伸出位置或者用户预设的伸出位置后，控制伸缩电机1301停机。
当启动伸缩电机1301反向转动时，第一同步带1304推动第一伸缩臂130向活动基座11侧收缩，与此同时第三同步带1312拉动第二伸缩臂131向第一伸缩臂130侧收缩，直至极限收拢位置或者用户预设的收拢位置后，控制伸缩电机1301停机。
继续参见图3和图4，第三伸缩臂132上还设置有抬杆电机1320以及固定在抬杆电机1320的输出轴端的抬杆1321，抬杆1321在抬杆电机1320的驱动作用下转动至从第三伸缩臂132的内侧伸出至与容器的翻边底面抵接并随活动基座11上升至将容器抬起，或者转动至将容器放下。
基于上述取还箱组件结构，分拣设备取放容器的过程如下所示：
S1、收到搬运容器的指令后，竖直滑轨101随其水平滑轨100运动至达到货架上目标容器所在的水平位置坐标处，并使活动基座11沿竖直滑轨101升降至目标容器所在的竖直位置坐标处；
S2、启动伸缩电机1301，第一同步带1304带动第一伸缩臂130从活动基座11侧伸出，与此同时第二同步带1308带动第二伸缩臂131从第一伸缩臂130侧伸出至插入目标容器上方的容器侧；
S3、启动抬杆电机1320，两个伸缩臂组件上的两个抬杆1321转动至从各自的第二伸缩臂131的内侧伸出至到达容器翻边的下端面或者与下端面抵接。
S4、启动伸缩电机1301反向转动，两个伸缩臂组件携带目标容器，各 自的第一同步带1304带动第一伸缩臂130收缩至活动基座11侧，与此同时第三同步带1312带动第二伸缩臂131收缩至第一伸缩臂130侧，即目标容器位于投递组件12上。
S5、再执行步骤S1达到放置该容器的指定位置，再利用取还箱组件13将投递组件12上的容器放置到指定位置即可，且可以为货架上的另一个存储位。
在一个实施例中，参见图8和图9，取还箱组件13包括两个伸缩臂，这两个伸缩臂分别以可伸缩的方式设置在活动基座11的左侧板和右侧板上，且分设在投递组件12的左右两侧。
两个伸缩臂上设置有前拨指133和后拨指134，前拨指133以可转动地方式设置于伸缩臂的前端，且由拨指电机驱动相对于伸缩臂转动至伸入伸缩臂内侧，或者转动至伸缩臂的外侧，后拨指134则固设于伸缩臂的后方。需要说明的是，本文在此所使用的方位词“内和外”是两个伸缩臂之间形成的空间为基准设定的，位于两个伸缩臂形成的空间为内，位于两个伸缩臂形成的空间之外的为外。
当取还箱组件从货架上取出容器时，两个伸缩臂相对于投递组件向货架方向伸出至插入货架上的容器两侧，然后拨指电机驱动前拨指133向伸缩臂内侧转动至与容器的后端相抵。两个伸缩臂再次相对于投递组件反向收缩以将容器拉动至投递组件上。
当取还箱组件将容器放回货架时，两个伸缩臂相对于投递组件向货架方向伸出至后拨指134推动容器至货架上指定位置，然后再将伸缩臂收缩至投递组件上，以备下一次取放容器。
除了上述分拣设备，本公开还提供了一种仓储系统，本公开的仓储系统包括货架停靠区、主货架和分拣设备，其中，主货架设置在货架停靠区，且被构造为存放容器，分拣设备也设置在货架停靠区，该分拣设备具体前文所述的分拣设备，其具体结构及工作原理前文中已有详细记载，本领域技术人员基于前文记载完全可以实现，本文在此不再赘述。
该仓储系统的分拣设备接收到货物后，携带货物运动至货架上与该货物对应地的容器所在的位置，再将货物投递至容器内，以完成分拣任务。该分拣设备在执行分拣任务间隙还可以将货架上的容器搬运至指定地点，比如倒换货架上两个不同存储位的容器，或者将容器搬运到主货架以外的其他货架上。
显然，该仓储系统不仅可以完成分拣货物的任务，还可以利用分拣设备整理货架，可以减少仓储系统涉及的自动化设备的数量，降低了制造成本和控制成本。
为了便于理解，下面参照图10至图13，结合三个实施例来详细说明该仓储系统的工作原理。
实施例一
参见图10，仓储系统包括货架停靠区，货架停靠区是从仓储系统的工作场地内人为划分出来的一个区域，供停靠货架使用。货架停靠区可以位于工作场地的地面上，也可以为搭建在工作场地的地面上方的平台。
主货架2包括支架20和垂直依次间隔设置在支架上的多个层板21，容器3放置在层板21上，层板21上具有多个存储位，每个存储位可以放置一个容器3。
分拣设备1也设置在货架停靠区，其投递组件可以在指定的接驳位置接受工作人员或自动化设备配送的货物后，竖直滑轨沿水平滑轨沿水平方向运动直至达到货物对应的容器的水平坐标位置，然后活动基座沿竖直滑轨沿竖直方向上升或下降至达到货物对应的容器的竖直坐标位置，即达到了容器处，投递组件将其上货物投递至该容器即可。
此外，分拣设备1还可以执行分拣任务间隙整理货架，即将主货架上的某一个容器从其当前存储位转移至空闲的指定存储位。
本实施例中，主货架包括存储位和暂存位，且存储位位于暂存位上方，且暂存位由固定设置在支架上的梳齿机构成型，梳齿机构包括依次间隔设置的多个梳齿，至少由相邻两个梳齿承担一个容器。
分拣设备1被配置为将主货架的存储位上容器搬运至暂存位上暂存。
该仓储系统还包括容器搬运机器人4，容器搬运机器人4被配置为将暂存位上的容器搬离至指定位置，该指定位置可以为后续工位或容器中转站。
容器搬运机器人4被配置为在梳齿机构下方穿行，且穿过梳齿机构的相邻两个梳齿之间的间隙，将梳齿构件上的容器举起并将容器搬离；或者，容器搬运机器人4被配置为携带容器驶入相邻两个梳齿之间的间隙，并将容器放置在梳齿构件上后驶出。
如此，当主货架2上的某个容器满箱或者分拣完成后，分拣设备1先可以将其从存储位搬运至暂存位，再由容器搬运机器人5将该容器从暂存 位搬离至指定位置。
参见图11，容器搬运机器人4包括行走机构40、升降架41和承载盘41。其中，升降架41固设在行走机构40上，其顶端设置了承载盘42，承载盘42被构造为用于放置容器。
容器搬运机器人4被配置为驱动升降架41带动承载盘42上升至穿过两个梳齿之间的间隙并举起容器，再驱动行走机构40行走至容器被搬离货架并达到工作站。
其中，行走机构40可以为AGV小车。
升降架41可以为气缸或液压缸的活塞杆，其缸体固设在行走机构40上，承载盘42固设在活塞杆的自由端，随着液压油或气体进出各自的缸体，活塞杆带动承载盘42升降，以托举容器。
升降架41还可以为由若干个杆件铰接组合承载的可伸缩连杆机构。
实施例二
参见图12，实施例二与实施例一的区别在于增加了中转货架5，且将容器搬运机器人更换为货架搬运机器人6，该中转货架5也停靠在货架停靠区，分拣设备1被配置为将主货架上的容器搬运至中转货架上，且货架搬运机器人6被配置为将中转货架5从货架停靠区搬运至指定位置，该指定位置可以为后续工作，也可以为货架中转站。
中转货架5的结构和主货架的结构基本类似，其包括支架以及垂直依次间隔设置在支架上的层板，层板被构造为至少一个容器。
需要说明的是，货架搬运机器人6的具体结构与容器搬运机器人基本类似，只是待搬运物品的体积大小和重量不同，相应的调整其体积和承载能力即可。
也就是说，货架搬运机器人6行驶至中转货架5的下方，再抬升其承载盘至通过层板将中转货架5抬起，然后携带中转货架5离开货架停靠区达到指定位置，再降低承载盘使中转货架平稳落在货架停靠区即可。
实施例三
与实施例二相比，参见图13，实施例三的主货架2上预留出一个容纳区20，中转货架5嵌入式放置在主货架2的容纳区20内。如此设置，仓储系统的货架停靠区内排布合理整齐。
详细地，主货架2的支架20包括左支架200、右支架201以及位于左支架200和右支架201之间的分隔支架202，左支架200和右支架201由层板21固定连接，且左支架200和分隔支架202也由层板21固定连接，而分割支架202和右支架201之间形成预留的容器区22，以容纳中转货架5。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。本公开的范围由所附权利要求来限定。

Claims (11)

  1. 一种分拣设备(1)，包括：
    机架(10)；
    活动基座(11)，以可活动地方式设置在所述机架(10)上，并被配置为相对于机架(10)运动；
    投递组件(12)，设置在所述活动基座(11)上，且被配置为在接货位置接受货物并在投递位置将货物投递至货架上的容器(3)内；
    取还箱组件(13)，设置在所述活动基座(11)上，且被配置为将所述货架上的容器(3)拉入位于承载位置的所述投递组件(12)上，或者将所述投递组件(12)上的容器(3)推入指定位置。
  2. 根据权利要求1所述的分拣设备(1)，所述取还箱组件(13)包括：
    两个伸缩臂，分设在所述投递组件(12)两侧，且被配置为相对于所述活动基座(11)伸出或收缩；
    前拨指(133)，设置在至少一个所述伸缩臂上，且被构造为随所述伸缩臂向所述活动基座(11)收缩时将货架上的容器(3)拉入所述投递组件(12)上；
    后拨指(134)，设置在至少一个所述伸缩臂上，且被构造为随所述伸缩臂从所述活动基座(11)伸出时将投递组件(12)上的容器(3)推入指定位置。
  3. 根据权利要求1所述的分拣设备(1)，所述取还箱组件(13)包括：
    两个伸缩臂组件，分设在所述活动基座(11)的左右侧板上，且所述伸缩臂组件包括：
    第一伸缩臂(130)，以可水平方向伸缩地方式设置在所述活动基座(11)上；
    第二伸缩臂(131)，以可沿水平方向伸缩地方式设置在所述第一伸缩 臂(130)上；
    伸缩驱动机构，被配置为带动所述第一伸缩臂(130)相对于所述活动基座(11)伸缩，并使所述第二伸缩臂(131)相对于所述第一伸缩臂(130)同步伸缩；
    抬杆(1321)，被配置为相对于所述第二伸缩臂(131)转动至从所述第二伸缩臂(131)的内侧伸出并随所述活动基座(11)上升至将容器(3)抬起。
  4. 根据权利要求1至3任一项所述的分拣设备(1)，所述投递组件(12)包括输送机构。
  5. 根据权利要求1至3任一项所述的分拣设备(1)，所述投递组件(12)包括：
    翻板，以可转动地方式设置在所述活动基座(11)上，且被配置为在承载位置和投递位置之间转动；
    位于承载位置时，所述翻板用于承载货物或容器(3)；
    位于投递位置时，所述翻板相对于承载位置倾斜预设角度，以使货物因自重而滑落。
  6. 根据权利要求1至3任一项所述的分拣设备(1)，所述活动基座(11)被构造为相对于所述机架(10)沿水平方向和竖直方向运动。
  7. 一种仓储系统，包括：
    货架停靠区；
    主货架(2)，设置在所述货架停靠区，且所述主货架(2)被构造为存放容器(3)；
    分拣设备(1)，设置在所述货架停靠区，且为权利要求1至6中任一 项所述的分拣设备(1)。
  8. 根据权利要求7所述的仓储系统，所述分拣设备(1)被配置倒换所述主货架(2)上不同存储位处的容器(3)。
  9. 根据权利要求7所述的仓储系统，所述仓储系统还包括：
    中转货架(5)，设置在所述货架停靠区；
    所述分拣设备(1)被配置为将所述主货架(2)上的容器(3)搬运至所述中转货架(5)上；
    货架搬运机器人(6)，被配置为将所述中转货架(5)搬运至指定位置。
  10. 根据权利要求9所述的仓储系统，所述主货架(2)具有容纳区(22)，所述中转货架(5)嵌入式放置在所述容纳区(22)内。
  11. 根据权利要求7所述的仓储系统，所述主货架(2)包括垂直错层设置的存储位和暂存位，且所述存储位位于所述暂存位的上方；
    所述分拣设备(1)还被配置为将所述存储位的容器(3)搬运至所述暂存位暂存；
    所述仓储系统还包括：
    容器搬运机器人(4)，被配置为将容器(3)搬离所述暂存位。
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