CN114602826B - Sorting system - Google Patents

Abstract

The invention relates to a sorting system, which comprises a sorting field, a robot guide rail, a sorting robot and a transport vehicle. The sorting site is provided with a material taking position for storing unsorted materials and a material placing position for storing sorted materials. The sorting robot is used for carrying required materials from a material taking position to a material placing position. The transport vehicle is used for supplementing materials to the material taking position and transporting the sorted materials out of the material placing position. The sorting system realizes the full-automatic working flows of material supplementing, sorting, discharging and the like. The labor cost is saved, the production efficiency is improved, the breakage rate of materials in the sorting process is reduced, and the occurrence of safety accidents is reduced.

Description

Sorting system

Technical Field

The invention relates to the technical field of material sorting, in particular to a sorting system.

Background

With the development of the building industry, a more efficient and more convenient operation mode is a continuous pursuit target of the building industry. The prefabricated parts refer to steel, wood or concrete parts prefabricated in a factory or on site according to design specifications. The prefabricated part is convenient to use and saves the construction time, so that the prefabricated part is widely applied in the building industry. Prefabricated components in a building generally comprise beams and columns, laminated floors, bay windows, kitchens and bathrooms of various specifications. When prefabricated parts are produced in a factory, the prefabricated parts with different types and specifications need to be sorted and boxed.

Specifically, for example, when prefabricated components are used for manufacturing composite floor slabs in factories, two production modes exist, one is to manufacture the composite floor slabs according to the order requirement, and the composite floor slabs are packaged according to the order requirement after being manufactured. Another mode is to produce composite floor slabs of various specifications in batch in advance and pack the composite floor slabs, and then sort the composite floor slabs manually according to the order requirement and pack the composite floor slabs secondarily. In the conventional sorting and secondary boxing processes, a crane is required to be manually operated to take out a laminated floor slab from different shelves and to put the laminated floor slab in a new shelf again according to the order requirement sequence. Manual sorting is time-consuming and labor-consuming, and has low efficiency, and can not meet the requirements of modern automatic production.

Disclosure of Invention

Based on this, it is necessary to provide a sorting system in view of how to improve the sorting efficiency.

A sorting system, comprising:

the sorting robot is used for carrying materials in a sorting site from the material taking position to the material placing position; the method comprises the steps of,

the transport vehicle is used for supplementing materials to the material taking position and transporting the sorted materials out of the material placing position;

the working plane of the sorting robot and the working plane of the transport vehicle are arranged at different heights.

Above-mentioned letter sorting system can be according to order demand at letter sorting place automatic sorting material through letter sorting robot, can get the material position on the letter sorting place through the transport vechicle and supplement the material to transport out the material that the letter sorting is accomplished and put the material position, thereby make letter sorting system realize workflow such as full automatization's feed supplement, letter sorting and ejection of compact. The labor cost is saved, the production efficiency is improved, the breakage rate of materials in the sorting process is reduced, and the occurrence of safety accidents is reduced. And through with the operation plane of letter sorting robot with the operation plane of transport vechicle sets up on different altitudes to form the reposition of redundant personnel effect in the space, avoid letter sorting robot and transport vechicle to take place to interfere in the transportation, improved letter sorting efficiency.

In one embodiment, the sorting system further comprises a robot rail for the sorting robot to travel, the robot rail being erected above the sorting site;

the sorting site is provided with a conveying channel for the transport vehicle to walk, and the conveying channel and the robot guide rail are arranged in a layered manner along the vertical direction.

Through setting up the robot guide rail above the letter sorting place and establishing at letter sorting place transportation passageway to make letter sorting robot and transport vechicle can realize carrying in the layering of vertical direction, thereby form the reposition of redundant personnel effect in the space, avoid letter sorting robot and transport vechicle to take place to interfere in the transportation.

In one embodiment, the sorting site is further provided with a shelf temporary storage position for storing shelves for carrying the material, and the sorting robot is further configured to transport the shelves to the discharge position and/or transport the shelves for the pick position to the shelf temporary storage position.

In one embodiment, the sorting site is further provided with a shelf temporary storage position for storing shelves for carrying the materials, and the transport vehicle is further used for transporting the shelves to the storage position and/or transporting the shelves of the picking position to the shelf temporary storage position.

The material is born through goods shelves, has avoided the problem of material and put material level direct contact damage material to the goods shelves that bear the material through lifting also be convenient for the transport vechicle transport the material of not sorting to get the material level, perhaps transport the material that the sorting was accomplished out the material level of putting.

In one embodiment, the sorting site is provided with a plurality of material taking positions, and different material taking positions are used for storing different specifications or different kinds of materials.

Through a plurality of get material position, improved the kind richness that can hold the material in the letter sorting place.

In one embodiment, the transport path includes a first path extending in a first direction and a second path extending in a second direction, the first direction being perpendicular to the second direction.

The transport vehicle can transport the material to any material taking position through the transport channel.

In one embodiment, the material taking position and the material placing position are respectively provided with a plurality of supporting pieces, the supporting pieces are used for supporting materials or shelves, a third channel for the transport vehicle to pass through is arranged between every two adjacent supporting pieces, and the third channel is communicated with the transport channel.

Through set up the third passageway on two adjacent support pieces for the transport vechicle can be through the removal of third passageway to goods shelves below, the transport vechicle of being convenient for lifts goods shelves and the material on the goods shelves.

In one embodiment, each material taking position comprises at least one main position and at least one standby position, the main position and the standby position are used for storing the materials with the same specification or the same kind, when one of the main position and the standby position is taken out by the sorting robot, the sorting robot obtains the materials from the other one of the main position and the standby position, and at the moment, the transport vehicle supplements the main position or the standby position from which the materials are taken out.

By setting the main bin and the standby bin, feeding and sorting are carried out simultaneously, so that the interruption of sorting work due to feeding is avoided, and the sorting efficiency is improved.

In one embodiment, the sorting sites are provided with a plurality of discharge levels, and when the transport vehicle transports sorted material from one of the discharge levels to the sorting site, the sorting robot transports the desired material from the discharge level to the other discharge level.

Through setting up a plurality of material levels of putting, can realize sorting and ejection of compact and go on simultaneously, avoid sorting work to break because of the ejection of compact, further improved the efficiency of letter sorting.

In one embodiment, the sorting robot includes:

the travelling mechanism can move along the robot guide rail, and a sliding rail perpendicular to the extending direction of the robot guide rail is arranged on the travelling mechanism;

the lifting trolley can move along the sliding rail; the method comprises the steps of,

the lifting appliance is arranged on the lifting trolley and is used for lifting or releasing materials or goods shelves.

According to the sorting robot, any movement of the lifting appliance in the Y-axis direction and the X-axis direction can be realized through the travelling mechanism movably arranged on the robot guide rail and the lifting trolley arranged on the travelling mechanism guide rail, so that the flexibility of the lifting appliance is improved. The lifting appliance can move to any position to lift or release the target object, and the flexibility of the lifting appliance is improved.

In one embodiment, the spreader includes:

a mounting frame;

the first fixing and holding mechanism is arranged on the mounting frame and is used for grabbing or releasing the materials;

the second fixing mechanism is arranged on the mounting frame and used for grabbing or releasing the goods shelf; the method comprises the steps of,

and the lifting mechanism is connected with the mounting frame and the lifting trolley and used for driving the mounting frame to lift.

According to the lifting appliance, the first fixing mechanism and the second fixing mechanism are arranged on the mounting frame, so that the lifting appliance can carry materials and can carry the goods shelves for carrying the materials, manual carrying of the goods shelves is avoided, and the sorting efficiency of the materials is improved. Simultaneously, can realize the transport of two kinds of materials of material and goods shelves through a hoist, reduce required hoist kind, reduced manufacturing cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a sorting system according to an embodiment;

FIG. 2 is a schematic view of a hanger according to an embodiment;

FIG. 3 is a front view of the spreader shown in FIG. 2;

FIG. 4 is an enlarged partial view of part A shown in FIG. 3;

FIG. 5 is a bottom view of a spreader of an embodiment;

FIG. 6 is a schematic structural view of a first traversing assembly of a spreader according to an embodiment;

fig. 7 is a schematic structural view of a hanger clamping shelf according to an embodiment.

Reference numerals illustrate:

10. a lifting appliance; 11. a mounting frame; 111. a hinge fulcrum; 12. a first holding mechanism; 121. a first mount; 122. a hanging piece; 1221. a gap; 123. a connecting piece; 124. a first driving member; 13. a second holding mechanism; 131. a first jaw; 132. a second jaw; 133. a second driving member; 14. a lifting mechanism; 141. a guide member; 142. a lifting member; 15. a visual detection module; 16. a first traversing assembly; 161. a second mounting base; 162. a first motor; 163. a first lead screw; 1631. a first thread segment; 1632. a second thread segment; 164. a first guide rail; 165. a first slider; 17. a second traversing assembly; 171. a second motor; 172. a second lead screw; 1721. a third thread segment; 1722. a fourth thread segment; 173. a second guide rail; 174. a second slider; 21. lifting trolley; 22. a walking mechanism; 23. a robot guide rail; 30. a material; 40. a goods shelf; 50. sorting sites; 51. taking a material level; 52. discharging material level; 53. temporary storage of the goods shelf; 54. a transport path; 55. a support; 551. a third channel; 60. and (5) a transport vehicle.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

Referring to fig. 1, one embodiment of the present invention provides a sorting system for sorting material 30, such as for sorting larger, heavier weight preforms. The sorting system of the present embodiment is applied to the sorting site 50, and it should be noted that the sorting site 50 in the present embodiment is provided with a material taking level 51 for storing the unsorted material 30 and a material discharging level 52 for storing the sorted material 30. Specifically, the sorting system of an embodiment includes a sorting robot and a transport vehicle. Wherein the sorting robot is adapted to carry the material 30 of the sorting floor 50 from a material take-out location 51 to a material discharge location 52. The carriage 60 serves for replenishing the material 30 to the material take-off location 51 and for transporting the sorted material 30 out of the material discharge location 52. Further, the working plane of the sorting robot and the working plane of the transport carriage 60 are disposed at different heights.

The sorting system can automatically sort the materials 30 in the sorting field 50 according to order demands by the sorting robot, can supplement the materials 30 on the sorting field 50 by the material taking position 51 through the transport vehicle 60, and conveys the sorted materials 30 out of the material discharging position 52, so that the sorting system realizes the full-automatic working flows of material supplementing, sorting, discharging and the like. The labor cost is saved, the production efficiency is improved, the breakage rate of the materials 30 in the sorting process is reduced, and the occurrence of safety accidents is reduced. And through with the operation plane of letter sorting robot with the operation plane of transport vechicle sets up on different altitudes to form the reposition of redundant personnel effect in the space, avoid letter sorting robot and transport vechicle 60 to take place to interfere in the transportation, improved letter sorting efficiency.

Further, in one of the embodiments, the sorting robot comprises a visual identification module for identifying the kind of material, thereby determining the position of the material taking position where the desired material is located, and then the sorting robot rests above the material taking position where the desired material is located and obtains the desired material, thereby realizing the transportation of the desired material from the material taking position 51 to the material taking position 52.

In another embodiment, the sorting system may also include a dispatching system, where the dispatching system is used to record the type of material stored on each of the material-placing positions on the sorting site, and when the dispatching system receives an order, the dispatching system may control the sorting robot to move above the material-placing position where the required material is located and obtain the required material, and the required material can be carried from the material-taking position 51 to the material-placing position 52.

Further, the sorting site 50 is also provided with a pallet buffering station 53 for storing pallets 40, and the sorting robot is also used for transporting the pallets 40 to the discharging level 52 or for transporting the pallets 40 of the picking level 51 back to the pallet buffering station 53. Further, the shelf 40 is used for carrying the material 30, the material 30 is carried by the shelf 40, the material 30 is prevented from being damaged by direct contact between the material 30 and the discharging position 52, and the carrier 60 is also convenient for conveying the unsorted material 30 to the discharging position 51 or conveying the sorted material 30 out of the discharging position 52 by lifting the shelf 40 carrying the material 30.

It should be noted that in another embodiment, the pallet 40 may be transported to the loading location 52 or the pallet 40 of the fetching location 51 may be transported back to the pallet temporary storage location 53 by a transport vehicle.

Preferably, the sorting floor 50 is provided with a plurality of material taking positions 51, and different material taking positions 51 are used for storing different specifications or different kinds of materials 30. The sorting robot moves between different material taking positions 51 through the robot guide rail, so that materials 30 with different required specifications or types are obtained.

Further, the sorting system further comprises a robot rail 23 for the sorting robot to travel, the robot rail 23 being erected above the sorting floor 50. The sorting site is also provided with a conveying passage 54 for the transport vehicle 60 to walk, and the conveying passage 54 and the robot guide rail are layered in the vertical direction. Through setting up the robot guide rail 23 above the letter sorting place and establishing at letter sorting place transport passage 54 to make letter sorting robot and transport vechicle 60 can realize carrying in the layering of vertical direction, thereby form the reposition of redundant personnel effect in the space, avoid letter sorting robot and transport vechicle 60 to take place to interfere in the transportation, improved letter sorting efficiency, also saved letter sorting place occupation space.

Further, the transport path 54 preferably includes a first path extending in a first direction and a second path extending in a second direction, the first direction being perpendicular to the second direction. For example, the first direction is the Y-axis direction, and the second direction is the X-axis direction, so that the conveying passage 54 can quickly reach any of the sampling positions 51 through the first passage and the second passage which are perpendicular to each other. Preferably, the method comprises the steps of. The transport vehicle 60 is a backpack type load-carrying AGV trolley, and can realize the actions of traveling back and forth, traversing left and right, lifting the material 30 and the like.

Further, a plurality of supporting members 55 are provided on each of the material taking positions 51, the supporting members 55 are used for supporting the material 30 or the shelf 40, a third channel 551 for the transport vehicle 60 to pass through is provided between two adjacent supporting members 55, and the third channel 551 is communicated with the transport channel 54. In particular, the support 55 is used to prop up the racks 40 and the material 30 on the racks 40. By providing the third channel 551 on two adjacent supports 55, the carriage 60 can be moved under the shelf 40 via the third channel 551, facilitating the carriage 60 to lift the shelf 40 and the material 30 on the shelf 40.

Further, each of the material taking positions 51 includes at least one main storage position and at least one standby storage position, the main storage position and the standby storage position are used for materials 30 of the same specification or type, and when one of the main storage position and the standby storage position is taken out by the sorting robot, the sorting robot takes out the other of the main storage position and the standby storage position, and at this time, the transport vehicle 60 supplements the main storage position or the standby storage position of the taken material 30. Specifically, for example, each of the material taking positions 51 is provided with a main storage position and a standby storage position, and the main storage position and the standby storage position are used for storing the same material 30. The sorting robot acquires the materials 30 from the main bin firstly, when the materials 30 in the main bin are taken out, the sorting robot starts to acquire the materials 30 from the standby bin, and the transport vehicle 60 starts to supplement the materials 30 to the main bin at the moment, so that feeding and sorting are carried out simultaneously, interruption of sorting work due to feeding is avoided, and sorting efficiency is improved.

Further, the sorting floor 50 is provided with a plurality of discharge levels 52, and when the transport vehicle 60 transports the sorted material 30 on one of the discharge levels 52 out of the discharge level 52, the sorting robot transports the desired material 30 from the pick level 51 to the other discharge level 52. Specifically, when one of the discharging positions 52 is full of the material 30, the carrier vehicle 60 conveys the material 30 on the discharging position 52 out of the sorting site 50, and at this time, the sorting robot can place the sorted material 30 on the other discharging position 52, so that sorting and discharging are performed simultaneously, interruption of sorting due to discharging is avoided, and sorting efficiency is further improved.

Further, referring to fig. 1, the sorting robot comprises a travelling mechanism 22, a lifting trolley 21 and a spreader 10. The running mechanism 22 can move along the robot guide rail 23, and a slide rail 22 perpendicular to the extending direction of the robot guide rail 23 is arranged on the running mechanism 22. The lifting trolley 21 can move along the slide rails 22. The spreader 10 is connected to a lifting trolley 21. Specifically, the robot guide rail 23 is a cloud rail, and the robot guide rail 23 is slidably connected with the travelling mechanism 22, so that the travelling mechanism 22 can drive the lifting trolley 21 and the lifting appliance 10 to move along the robot guide rail 23. The extending direction of the slide rail 22 on the lifting trolley 21 is perpendicular to the extending direction of the robot guide rail 23, for example, the robot guide rail 23 extends along the Y-axis direction, and the slide rail 22 on the lifting trolley 21 extends along the X-axis direction. The lifting trolley 21 is in sliding fit with the sliding rail 22 of the walking structure, so that the lifting trolley 21 can drive the lifting appliance 10 to move along the sliding rail 22 (X-axis direction). Further, a lifting trolley 21 is connected to the lifting mechanism 14 of the spreader 10. In the present embodiment, the lifting direction of the spreader 10 is the Z-axis direction.

The sorting robot can realize any movement of the lifting appliance 10 in the Y-axis direction and the X-axis direction by the travelling mechanism 22 movably arranged on the robot guide rail 23 and the lifting trolley 21 arranged on the travelling mechanism 22 guide rail 22, thereby improving the flexibility of the lifting appliance 10. So that the lifting appliance 10 can be moved to any position to lift or release the target object, and the flexibility of the lifting appliance 10 is improved.

Referring to fig. 2-3, in particular, a spreader 10 of an embodiment includes a mounting frame 11, a first holding mechanism 12, a second holding mechanism 13, and a lifting mechanism 14. The first holding mechanism 12 is disposed on the mounting frame 11, and the first holding mechanism 12 is used for grabbing or releasing the material 30. The second holding mechanism 13 is movably arranged on the mounting frame 11, and the second holding mechanism 13 is used for grabbing or releasing the shelf 40. The lifting mechanism 14 is connected with the mounting frame 11, and the lifting mechanism 14 is used for driving the mounting frame 11 to lift.

According to the lifting appliance 10, the first fixing and holding mechanism 12 and the second fixing and holding mechanism 13 are arranged on the mounting frame 11, so that the lifting appliance 10 can carry the material 30 and can carry the goods shelf 40 for carrying the material 30, the manual carrying of the goods shelf 40 is avoided, and the sorting efficiency of the material 30 is improved. Meanwhile, two materials, namely the material 30 and the goods shelf 40, can be carried through one lifting appliance 10, so that the types of the lifting appliances 10 are reduced, and the production cost is reduced.

Specifically, when in use, the empty shelf 40 can be obtained from the shelf 40 through the second holding mechanism 13, then the empty shelf 40 is placed on the discharging position, then the required material 30 is obtained from the material taking position through the first holding mechanism 12, and the material 30 is placed on the empty shelf 40, so that the sorting of the material 30 is completed. It should be noted that the hanger 10 of the present application is not limited to use in lifting materials 30 and shelves 40, and in other embodiments, the hanger 10 may be used to lift other materials, which is not limited herein.

According to the lifting appliance 10, the first fixing mechanism 12 and the second fixing mechanism 13 are arranged on the mounting seat, so that the lifting appliance 10 can carry the material 30 and can carry the goods shelf 40 for carrying the material 30, the manual carrying of the goods shelf 40 is avoided, and the sorting efficiency of the material 30 is improved. Meanwhile, two materials, namely the material 30 and the goods shelf 40, can be carried through one lifting appliance 10, so that the types of the lifting appliances 10 are reduced, and the production cost is reduced.

Specifically, referring to fig. 3-4, the first holding mechanism 12 includes a first mount 121, two hangers 122, a connector 123, and a first driver 124. The two hanging members 122 are arranged on the first mounting seat 121 at intervals to form a gap 1221 for accommodating a hanging portion of the material 30, wherein the hanging portion of the material 30 may be a truss rib or a lifting lug. Further, both of the hangers 122 are provided with through holes penetrating the gap 1221. The first driving member 124 is driven by the connecting member 123, and the first driving member 124 is used for driving the connecting member 123 to be inserted into the through hole or for driving the connecting member 123 to withdraw from the through hole, so that when the material 30 needs to be lifted, the lifting part of the material 30 is placed into the gap 1221 between the two hanging pieces 122, and the connecting member 123 is driven by the first driving member 124 to be inserted into the through holes of the two hanging pieces 122 and the lifting part of the material 30, so that the connecting member 123 can form a locking structure with the two hanging pieces 122, and the lifting part of the material 30 is locked in the gap 1221 between the two hanging pieces 122. When the material 30 needs to be released, the first driving member 124 drives the connecting member 123 to withdraw from the through hole and the lifting part of the material 30, so that the lifting part of the material 30 withdraws from the gap 1221 between the two hanging members 122, and the lifting appliance 10 releases the material 30.

Further, in the initial state, the connecting member 123 is located in the through hole of the first hanger 122, and when the material 30 needs to be lifted, the driving member drives the connecting member 123 to extend into the through hole of the second hanger 122, so as to lock the lifting portion of the material 30 in the gap 1221 between the hangers 122. When the material 30 needs to be released, the first driving member 124 drives the connecting member 123 to withdraw from the through hole of the second hanger 122 and retract into the through hole of the first hanger 122, so that the hanging portion of the material 30 withdraws from the gap 1221 between the two hangers 122, and the first driving member 124 is preferably a cylinder. The connecting member 123 includes a connecting plate connected to an output shaft of the cylinder and a hanger plate inserted into the through hole, and one end of the hanger plate is in a wedge-shaped structure, thereby facilitating the hanger plate to pass through the through hole and the hanging portion of the member.

Further, a plurality of first holding mechanisms 12 may be disposed on the lifting appliance 10, so as to improve stability of the lifted material 30, for example, as shown in fig. 5, the lifting appliance 10 is provided with four first holding mechanisms 12, and the four first holding mechanisms 12 respectively correspond to four corners of a member thereof, so as to ensure balance of the material 30 when the material 30 is lifted, and avoid damage to the material 30. It should be noted that the number of the first holding mechanisms 12 is not limited to four, but may be two, three, five or more in other embodiments, which are not described herein.

Further, referring to fig. 5, the spreader 10 further comprises a first traversing assembly 16 and a second traversing assembly 17 for driving the translation of the first holding mechanism 12. The first traversing assembly 16 is directly or indirectly connected to the first mounting seat 121, and the first traversing assembly 16 is used for driving the first mounting seat 121 to reciprocate along the third direction. And the second traversing assembly 17, the second traversing assembly 17 is directly or indirectly connected with the first mounting seat 121, and the second traversing assembly 17 is used for driving the first mounting seat 121 to reciprocate along the fourth direction. The third direction is perpendicular to the fourth direction, for example, the third direction is a Y-axis direction, and the fourth direction is an X-axis direction. Specifically, the kinds and specifications of the materials 30 are various, and the positions of the lifting lugs or truss ribs of the materials 30 with different specifications are different, so that the first holding mechanism 12 can be moved to different positions in the plane by driving the first traversing assembly 16 and the second traversing assembly 17 which are perpendicular to each other, so as to adapt to the components with different specifications, and the universality of the lifting appliance 10 is improved.

Further, referring to fig. 5-6, the first traversing assembly 16 includes a second mount 161, a first motor 162, and a first lead screw 163. The first motor 162 is disposed on the second mounting seat 161, and the first motor 162 is in driving connection with the first screw 163, so that the first motor 162 drives the screw to rotate. Further, the first screw 163 is provided with a first screw section 1631 and a second screw section 1632, and the screw thread of the first screw section 1631 is rotated in the opposite direction to the screw thread of the second screw section 1632. For example, the first threaded section 1631 may be left-handed, the second threaded section 1632 may be right-handed, or the first threaded section 1631 may be right-handed, and the second threaded section 1632 may be left-handed. Further, a first nut is connected to the first threaded section 1631, a second nut is connected to the second threaded section 1632, and one first holding mechanism 12 is connected to each of the first and second nuts.

When the positions of the first holding mechanisms 12 in the third direction are required to be adjusted for the materials 30 with different specifications, when the first motor 162 drives the first screw 163 to rotate, the two first holding mechanisms 12 can synchronously move close to or synchronously move away from each other along the third direction, so that the adjustment time is shortened while the position adjustment of the two first holding mechanisms 12 in the third direction is realized, and the sorting efficiency is further improved.

Further, the first traversing assembly 16 further includes a first guide rail 164 disposed on the second mounting base 161, the first guide rail 164 extends along the third direction, the first mounting base 121 is connected with a first slider 165, and the first slider 165 is slidably matched with the first guide rail 164, so as to improve the stability of the first holding mechanism 12 when moving along the third direction. Preferably, the second mounting seat 161 is provided with two first guide rails 164, the two first guide rails 164 are respectively located at two sides of the first screw 163, correspondingly, the first mounting seat 121 is provided with two sliding blocks, and the two sliding blocks are respectively in sliding fit with the two first guide rails 164, so that the moving stability of the first holding mechanism 12 along the third direction is further improved.

Further, referring to fig. 5, the spreader 10 includes two first traversing assemblies 16, each first traversing assembly 16 receiving a tube provided with two first holding mechanisms 12. Further, the second traversing assembly 17 includes a second motor 171 and a second screw 172, wherein the second motor 171 is disposed on the mounting frame 11.

The second screw rod 172 is in driving connection with the second motor 171, the second screw rod 172 is provided with a third threaded section 1721 and a fourth threaded section 1722, and the thread direction of the third threaded section 1721 is opposite to the thread direction of the fourth threaded section 1722. For example, third thread segments 1721 are left-handed threads, fourth thread segments 1722 are right-handed threads, or third thread segments 1721 are right-handed threads, and fourth thread segments 1722 are left-handed threads. A third nut is connected to third threaded section 1721 and a fourth nut is connected to fourth threaded section 1722. Further, a third nut is coupled to one of the two first traversing assemblies 16, specifically, the third nut is coupled to the second mount 161 of the first traversing assembly 16. The fourth nut is connected to the other one of the first traversing assemblies 16, specifically, the fourth nut is connected to the second mount 161 of the other one of the first traversing assemblies 16.

When the position of the first holding mechanism 12 in the fourth direction needs to be adjusted for the materials 30 with different specifications, when the second motor 171 drives the second screw 172 to rotate, the two first traversing assemblies 16 can synchronously move close to or synchronously move away from each other along the fourth direction, so that the first holding mechanisms 12 on the two first traversing assemblies 16 synchronously move close to or move away from each other, and the adjustment time is shortened while the position adjustment of the first holding mechanisms 12 in the fourth direction is realized, and the sorting efficiency is further improved.

Further, the second traversing assembly 17 further includes a second guide 173 disposed on the mounting frame 11, the second guide extending along the fourth direction, and the second mounting base 161 is connected with a second slider 174, and the second slider 174 is slidably engaged with the second guide 173, so as to improve the smoothness of the first traversing assembly 16 moving along the fourth direction. Preferably, two second guide rails 173 are disposed on the mounting frame 11, the two second guide rails 173 are respectively located at two sides of the second screw rod 172, correspondingly, two sliding blocks are disposed on the second mounting seat 161 and are respectively in sliding fit with the two second guide rails 173, so that the moving stability of the second traverse assembly 17 along the fourth direction is further improved.

Further, referring to fig. 7, the second holding mechanism 13 includes a first clamping jaw 131 and a second clamping jaw 132 rotatably disposed on the mounting frame 11, the first clamping jaw 131 is disposed opposite to the second clamping jaw 132, and the first clamping jaw 131 and the second clamping jaw 132 are connected with a second driving member 133, where the second driving member 133 is used to drive the first clamping jaw 131 and the second clamping jaw 132 to grasp or release the shelf 40. Preferably, the two sides of the mounting frame 11 are provided with hinge points, and the first clamping jaw 131 and the second clamping jaw 132 are respectively rotatably connected with the hinge points of the two sides. Further, the first clamping jaw 131 and the second clamping jaw 132 each comprise two clamping jaw portions and a connecting portion connected with the two clamping jaw portions, and the connecting portion is connected with the second driving member 133, so that the connecting portion is driven by the second driving member 133, and the clamping jaw portions are driven to rotate around the hinge point, so that one end of the clamping jaw portions away from the connecting portion clamps or releases the goods shelf 40. Preferably, the second driving member 133 is a cylinder.

Referring to fig. 2-3, the hoist 14 includes a fixed base, a hoist, and a hoist 142. Wherein, the hoist engine is located on the fixing base. One end of the lifting piece 142 is in driving connection with the winch; the other end of the lifting member 142 is connected to the mounting seat, so that the first holding mechanism 12 and the second holding mechanism 13 can be lifted or lowered by winding or releasing the lifting member 142 by the winding machine. Preferably, the lifting member 142 may be a wire rope. Further, the lifting mechanism 14 may also include a guide 141. The guide 141 is provided on the fixed base, and the guide 141 is slidably fitted with the mounting frame 11. Specifically, the guide 141 is a guide column, and the extending direction of the guide column coincides with the lifting direction of the spreader 10. The mount pad is equipped with the guiding hole, and the guide post wears to establish in the guiding hole to make the guide post play spacing guide effect to mounting bracket 11, prevent that mounting bracket 11 from appearing the horizontal hunting at the lift in-process.

Preferably, the fixing base is provided with at least two guiding elements 141, at least two guiding elements 141 are arranged at intervals, and at least two guiding elements 141 are in sliding fit with the mounting frame 11, so that the motion stability of the mounting frame 11 is further improved.

Further, the lifting appliance 10 further comprises a visual detection module 15 and a ranging sensor, wherein the visual detection module 15 and the ranging sensor are arranged on the mounting frame 11 and used for detecting the distance between the visual detection module 15 and a target object. Specifically, the vision inspection module 15 is used to detect the exact location and surface imperfections of the object (material 30 or shelf 40). Since the accuracy of detection by the visual detection module 15 is relatively large in relation to the height distance from the visual detection module to the target object. The distance between the visual detection module 15 and the target object is thus detected by the distance measuring sensor. When the distance is improper, the mounting frame 11 is adjusted to a proper height by the lifting mechanism 14 so as to be convenient for the visual detection module 15 to detect and identify.

The sorting flow of the sorting system is as follows:

s110: the carrier 60 conveys the materials 30 of various specifications to different discharge positions 52, and the carrier 60 conveys the plurality of empty racks 40 to the rack temporary storage position 53;

s120: the sorting robot acquires the empty shelf 40 from the shelf temporary storage 53 and places the empty shelf on the discharge level 52;

s130: the sorting robot obtains the required material 30 from the material taking position 51 and conveys the material to the goods shelf 40 of the material placing position 52;

s140, when the sorting robot finishes sorting or the material 30 on the shelf 40 of the discharge level 52 is fully loaded, the carrying side carries the shelf 40 of the discharge level 52 and the material 30 on the shelf 40 out of the sorting site 50.

S150: the steps of looping S120 to S140 are repeated.

Further, when the material 30 on a certain material taking level 51 is sorted out, the method further comprises the following steps:

s160: the sorting robot conveys empty racks 40 on the material taking level 51 to the rack temporary storage position 53, and the transport vehicle 60 supplements the material taking level 51.

Further, when the fetching bits 51 include at least one main bank bit and at least one spare bank bit, the step of S160 further includes:

and S161, the transport vehicle 60 supplements the main storage position or the standby storage position of the fetched materials 30, and at the moment, the sorting robot acquires the materials 30 from the other of the main storage position and the standby storage position and conveys the materials to the discharging position 52.,

the technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" 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. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Claims (8)

1. A sorting system for use on a sorting floor, the sorting floor being provided with a material take-out location for depositing unsorted material and a material discharge location for depositing sorted material, the sorting system comprising:

the sorting robot is used for conveying materials in the sorting site from a material taking position to a material placing position;

the transport vehicle is used for supplementing materials to the material taking position and transporting the sorted materials out of the material placing position;

the working plane of the sorting robot and the working plane of the transport vehicle are arranged at different heights;

the transport vehicle can supplement different kinds of materials to different material taking positions, when receiving order demands, the sorting robot can acquire materials corresponding to the order demands from the material taking positions and carry the materials to the material placing positions, and when the sorting robot sorts the materials corresponding to the order demands or the materials on the material placing positions are full, the transport vehicle conveys the materials out from the material placing positions;

the sorting system further comprises a robot guide rail for the sorting robot to walk, and the robot guide rail is erected above the sorting site; the sorting site is provided with a conveying channel for the transport vehicle to walk, and the conveying channel and the robot guide rail are arranged in layers along the vertical direction;

the material taking position and the material placing position are respectively provided with a plurality of supporting pieces, the supporting pieces are used for supporting materials or goods shelves, a third channel used for the transport vehicle to pass through is arranged between every two adjacent supporting pieces, and the third channel is communicated with the transport channel.

2. The sortation system of claim 1, wherein said conveyance path comprises a first path extending in a first direction and a second path extending in a second direction, said first direction being perpendicular to said second direction.

3. The sorting system according to claim 1, characterized in that the sorting site is further provided with a pallet buffer for storing pallets for carrying the material, the sorting robot being further adapted to transport the pallets to the discharge level and/or to transport the pallets of the pick level to the pallet buffer.

4. The sorting system of claim 1, wherein the sorting floor is further provided with storage shelvesThe goods shelf temporary storage position is used for bearing the materials, and the transport vehicle is also used for transporting the goods shelf to the discharging position and/or transporting the goods shelf of the material taking position to the goods shelf temporary storage position _。

5. The sortation system of claim 1, wherein each of said pick up locations includes at least one main bin and at least one spare bin for storing the same specification or type of said material, wherein when one of said main bin and said spare bin is depleted of said material by said sortation robot, said sortation robot retrieves material from the other of said main bin and said spare bin, at which time said transport vehicle supplements said main bin or said spare bin depleted of said material.

6. The sorting system of claim 1, wherein the sorting venue is provided with a plurality of the discharge levels, and the sorting robot carries a desired material from the pick-out level to another of the discharge levels as the transport cart transports the sorted material from one of the discharge levels to the sorting venue.

7. The sortation system of claim 1, wherein said sortation robot comprises:

the travelling mechanism can move along the robot guide rail, and a sliding rail perpendicular to the extending direction of the robot guide rail is arranged on the travelling mechanism;

the lifting trolley can move along the sliding rail; the method comprises the steps of,

the lifting appliance is arranged on the lifting trolley and is used for lifting or releasing materials or goods shelves.

8. The sortation system of claim 7, wherein said spreader comprises:

a mounting frame;

the first fixing and holding mechanism is arranged on the mounting frame and is used for grabbing or releasing the materials;

the second fixing mechanism is arranged on the mounting frame and used for grabbing or releasing the goods shelf; the method comprises the steps of,

and the lifting mechanism is connected with the mounting frame and the lifting trolley and used for driving the mounting frame to lift.