CN210504200U

CN210504200U - Intelligent sorting system

Info

Publication number: CN210504200U
Application number: CN201921258556.5U
Authority: CN
Inventors: 陈宇奇; 李小龙
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-05-12
Anticipated expiration: 2029-07-31

Abstract

The utility model relates to an intelligence commodity circulation field especially relates to an intelligence letter sorting system, the system includes the storage robot, the storage robot includes mobile device, handling device and storage device, and the mobile device bears handling device reaches storage device, the storage robot removes through its mobile device, storage device storage has first workbin and/or goods, the storage robot removes near presetting goods shelves, handling device will first workbin and/or goods are carried extremely predetermine the position of predetermineeing on the goods shelves, predetermine the position with the delivery destination of first workbin and/or goods corresponds, has realized utilizing the robot to carry out workbin and/or goods and has transported the operation, has promoted the efficiency of goods letter sorting.

Description

Intelligent sorting system

[ technical field ] A method for producing a semiconductor device

The application relates to the field of intelligent logistics, in particular to an intelligent sorting system.

[ background of the invention ]

With the increasing development of artificial intelligence and online shopping, a great development opportunity is brought to the intelligentization of the warehousing, sorting and logistics of goods, and in recent years, the technology for transporting goods and sorting goods based on the warehousing robot 10 is becoming mature. In the prior art, the warehousing robot 10 can transport goods according to a predetermined route in a warehouse for warehousing goods, for example, the goods are transported from a goods shelf to an operation table, and the goods are sorted according to orders by manual work, during the sorting process, bar codes of bins are scanned or input by manual work to determine the sorting destination, and meanwhile, the bins to be sorted are moved to a tray or a temporary storage position corresponding to the delivery destination by manual work.

In the process of implementing the application, the inventor finds that in the related art, the efficiency of sorting the goods is influenced mainly by manually moving the material boxes to the trays or temporary storage positions corresponding to the delivery destinations.

[ Utility model ] content

In order to solve the technical problem, the embodiment of the utility model provides a system of intelligence letter sorting goods utilizes the robot to carry out workbin and/or goods and transports the operation, has promoted the efficiency of goods letter sorting.

The embodiment of the utility model provides a solve its technical problem and adopt following technical scheme:

the intelligent sorting system comprises a warehousing robot and a preset goods shelf;

the warehousing robot comprises a moving device, a carrying device and a storage device, wherein the moving device bears the carrying device and the storage device, and the warehousing robot moves through the moving device;

the storage device stores a first bin and/or goods, the warehousing robot moves to the position near the preset shelf, the carrying device carries the first bin and/or goods to a preset position on the preset shelf, and the preset position corresponds to a delivery destination of the first bin and/or goods.

Optionally, the preset location includes a plurality of storage devices, any one of the plurality of storage devices is used for storing the first bin and/or the goods, and the plurality of storage devices correspond to a delivery destination.

Optionally, the preset shelf is a multilayer fluent shelf;

each layer of the fluent goods shelf comprises a plurality of preset positions, and each preset position is used for accommodating the first bin and/or goods corresponding to the preset position;

the warehousing robot further comprises a lifting device;

the lifting device is used for driving the carrying device to lift so that the carrying device can carry the first material box and/or goods to a preset position of a corresponding layer of the fluent goods shelf.

Optionally, the system further comprises:

the goods transferring device is used for transferring the goods in the goods boxes at the preset positions of the preset goods shelves into the corresponding containers respectively so as to facilitate the delivery of the goods to the first goods box and/or the delivery destination corresponding to the goods,

and the empty box collecting device is used for collecting the empty boxes at all preset positions after the goods are transferred by the goods transferring device, so that the warehousing robot can convey the empty boxes to preset destinations.

Optionally, the warehousing robot further comprises a visual recognition device;

the visual recognition device acquires first identification information arranged on the first material box and/or goods and second identification information arranged on the preset goods shelf, and the first identification information corresponds to the second identification information so as to determine the preset position.

Optionally, the system further comprises a sorting robot for transporting sorted goods to a target bin, the sorted goods being taken out of the goods to be sorted and/or the containers storing the goods to be sorted.

Optionally, the warehousing robot is further configured to exchange the target bin for a second bin.

Optionally, the warehousing robot is also used for transporting goods to be sorted and/or containers storing goods to be sorted to a goods sorting area.

Optionally, the system further comprises a processing terminal for instructing the warehousing robot to transport the first bin and/or the goods to a preset shelf.

Optionally, the processing terminal is further configured to:

instructing the warehousing robot to transport the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area, and/or

Instructing the sorting robot to transport the sorted goods to a target bin, the sorted goods being taken from the goods to be sorted and/or from a container in which the goods to be sorted are stored, and/or,

and instructing the warehousing robot to replace the target bin with an empty bin according to the bin replacement instruction.

Compared with the prior art, the embodiment of the utility model provides an intelligence letter sorting system, include the storage robot, the storage robot be used for with target workbin and/or goods transport extremely predetermine the position of predetermineeing on the goods shelves, predetermine the position and be used for placing target workbin and/or goods, predetermine the position with the delivery destination of target workbin and/or goods corresponds, has realized utilizing the robot to carry out workbin and/or goods transport the operation, has promoted the efficiency of goods letter sorting.

[ description of the drawings ]

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

Fig. 1 is a schematic diagram illustrating an intelligent sorting system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a warehousing robot of the intelligent sorting system shown in fig. 1;

fig. 3 is a schematic structural diagram of a sorting robot of the intelligent sorting system shown in fig. 1;

fig. 4 is a schematic structural view of another state of the sorting robot shown in fig. 3.

[ detailed description ] embodiments

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" 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 be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 and 2 together, an embodiment of the present invention provides an intelligent sorting system 100, which includes a storage robot 10 and a preset shelf 60, wherein the storage robot 10 is configured to transport the target bin and/or the goods to a preset position on the preset shelf 60.

The warehousing robot 10 includes a storage device 11, a carrying device 12, a moving device 13 and a lifting device 14, wherein the moving device 13 carries the carrying device 12, the storage device 11 and the lifting device 14. The storage device 11 is used for storing the target bin and/or the goods, the carrying device 12 is used for carrying the target bin and/or the goods, the warehousing robot 10 is moved by the moving device 13, the lifting device 14 is used for driving the carrying device 12 to move relative to the first storage device 12a along the vertical direction, and the lifting assembly 40 comprises a lifting transmission mechanism and a lifting driving mechanism. Wherein the lifting driving mechanism is used for providing a second driving force for moving the carrying device 12 relative to the first storage device 12a along the vertical direction, and the lifting transmission mechanism is used for transmitting the second driving force to the carrying device 12. The storage device 11 stores the target bin and/or the goods, the warehousing robot 10 moves to the vicinity of the preset shelf 60 through the moving device 13, the carrying device 12 carries the target bin and/or the goods to a preset position on the preset shelf 60, the preset position is used for placing the target bin and/or the goods, and the preset position corresponds to a delivery destination of the target bin and/or the goods.

Preferably, preset goods shelves 60 is the fluent goods shelves, can further promote the efficiency of goods letter sorting, moreover, the fluent goods shelves include multilayer goods shelves, and every layer of goods shelves includes a plurality of preset positions, and every preset position is used for holding rather than corresponding target workbins and/or goods, every layer of goods shelves comprises many fluent strips, and every fluent strip both ends have certain slope, so that target workbins and/or goods are by the relatively higher one end free landing of fluent strip to relatively lower one end because fluent goods shelves itself have certain slope, like this, on transporting goods shelves target workbins and/or goods can utilize the gravity of target workbins and/or goods is by oneself sliding down.

In order to achieve that the target bin and/or goods are placed at the corresponding preset positions, the corresponding relationship between the target bin and/or goods and the preset positions can be established through identification information, for example, the target bin and/or goods information includes first identification information of the target bin and/or goods, each preset position includes respective second identification information, and the corresponding relationship between the target bin and/or goods and the preset positions is established by establishing the corresponding relationship between the first identification information and the second identification information. In order to realize that the delivery destinations of the order goods are centralized at a preset position, each preset position can comprise a plurality of storage devices, each storage device is used for storing the target bin and/or goods, and meanwhile, the plurality of storage devices at each preset position correspond to the same delivery destination, so that the time for transporting the target bin and/or goods to the transport vehicle corresponding to the delivery destination can be further saved. The target bin and/or cargo information may include a storage location of the target bin and/or cargo, and the warehousing robot 10 may further instruct the handling device 12 to transfer the target bin and/or cargo from the storage location to the storage device. For the target bin and/or goods to be transported, the target bin and/or goods may also be manually transported from the location where the target bin and/or goods are stored to the storage device 11 of the warehousing robot 10, wherein the target bin and/or goods may be moved to the location where the target bin and/or goods are stored by the warehousing robot 10 before the target bin and/or goods are manually transported, and of course, the target bin and/or goods may also be transported to the storage device 11 of the warehousing robot 10 by a robot, for example, a robotic arm.

In order to place the transported target bin and/or goods to the corresponding delivery location, the target bin and/or goods information may include first identification information of the target bin and/or goods, and meanwhile, each preset location on the preset shelf 60 may include second identification information, and the first identification information corresponds to the second identification information, wherein when the preset location includes a plurality of storage devices, a plurality of first identification information may correspond to one second identification information, and at this time, the number of the first identification information is consistent with the number of the storage devices at the preset location, so as to ensure that each target bin and/or goods has a corresponding storage device. In this way, since the preset position corresponds to the delivery destination of the target bin and/or the goods, the target bin and/or the goods can be placed to the corresponding delivery area only by placing the target bin and/or the goods to the preset position corresponding to the second identification information according to the first identification information.

The intelligent sorting system 100 further comprises a goods transfer device, which is used for transferring goods in goods boxes at preset positions of the preset goods shelves to corresponding containers respectively, so that the goods are conveyed to a delivery destination corresponding to the first goods box and/or the goods, the containers can be various boxes suitable for packaging and transporting the goods, for example, cartons, and various robots or AGV trolleys with transportation functions can be used for transporting the containers.

The intelligent sorting system 100 further includes an empty box collecting device for collecting empty boxes at each preset position after the goods are transferred by the goods transferring device, so that the warehousing robot can transport the empty boxes to a preset destination. In order to facilitate the collection and management of the empty containers after the goods in the containers at the preset positions of the preset goods shelves are transferred to the corresponding containers, the empty containers can be collected through an empty container collecting device, and then the collected empty containers are conveyed to a preset destination by the storage robot.

The intelligent sorting system 100 includes a supply console 40 and/or robotic arm for sorting the items to be sorted and/or the containers storing the items to be sorted. The warehousing robot 10 transports the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area, which is located in a location area of the supply console 40 and/or the robot arm. When sorting the goods, the warehousing robot 10 needs to transport the goods to be sorted to the position area of the operation table or the mechanical arm, so that the goods can be sorted through the operation table or the mechanical arm.

In the present embodiment, the warehousing robot 10 is further configured to transport the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area, which is located in a location area of the supply console 40 and/or the robot arm. When carrying out the goods letter sorting, need will wait to sort the goods and transport to the position region of operation panel or arm to can sort the goods through operation panel or arm.

The system 100 for intelligently sorting goods further comprises a fixed rack and/or a movable rack, the containers comprise the movable rack, containers located on the fixed rack and/or containers located on the movable rack, the warehousing robot 10 comprises a first warehousing robot 101 and/or a second warehousing robot 102, the first warehousing robot 101 is used for transporting the goods to be sorted from the fixed rack and/or containers stored with the goods to be sorted to a goods sorting area, and the second warehousing robot 102 is used for transporting the movable rack stored with the goods to be sorted and/or the movable rack stored with the containers to be sorted to the goods sorting area.

The system 100 for intelligently sorting goods comprises the sorting robot 20, when goods to be sorted are sorted on the operating platform 40 and/or the mechanical arm, the sorting robot 20 can transport the sorted goods to the position of the target bin from the position for receiving the sorted goods, namely, the sorting cell 50 where the target bin is located, each sorting cell 50 can be used for placing a goods bin, and the bin can correspond to a goods receiving party. After sorting is complete, the bins may be transported to an delivery area for delivery. The sorted goods are taken out of the goods to be sorted and/or the containers in which the goods to be sorted are stored. After the sorting robot 20 delivers the sorted goods to the sorting bay 50, the robot travels from the sorting bay 50 to a goods sorting area, such as a supply station or a robot area, to receive the sorted goods from the goods to be sorted by the supply station or the robot.

The sorting robot 20 includes a moving assembly 21, a storage assembly 22, and a dumping device 23, and both the storage assembly 22 and the dumping device 23 are mounted to the moving assembly 21. The moving assembly 21 includes at least two driving wheels installed at the bottom end of the sorting robot 20, the moving assembly 21 drives the sorting robot 20 to travel along a planned path through the driving wheels, and the sorting robot 20 transports the sorted goods to the target bin through the moving assembly 21. The storage assembly 22 is a pallet, and the storage assembly 22 is used for storing sorted goods. The dumping device 23 is a link mechanism, and the dumping device 23 can rotate relative to the moving assembly 21 to drive the storage assembly 22 to dump the sorted goods stored in the storage assembly 22 into the bin of the sorting cell 50.

The intelligent sorting system 100 further includes a processing terminal 30, the warehousing robot 10 can be connected to the processing terminal 30 through a network, the network can be a wired network or a wireless network, and the processing terminal 30 instructs the warehousing robot 10 through the network.

The processing terminal 30 may be configured to:

instructing the warehousing robot 10 to transport the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area, and/or

Instruct the sorting robot 20 to deliver the sorted goods to the target bin, and/or

Instructing the warehousing robot 10 to replace the target bin with an empty bin.

The processing terminal 30 instructs the warehousing robot 10 to perform corresponding processing according to various corresponding information, such as the storage position information of the empty bin, the sorting grid 50 where the target bin is located, the identification information of the target bin, and/or the destination information of the target bin.

The processing terminal 30 may instruct the warehousing robot 10 to replace the target bin with an empty bin when the bin is full, overweight, or sorted, or may, of course, instruct the warehousing robot 10 to replace the bin whenever a bin change is required. The situation of whether the bin is full or overweight can be sensed by the sensor, and a sensing signal is sent to indicate a corresponding state, for example, a full signal or an overweight signal, so as to be reported to the processing terminal 30, and after receiving the corresponding signal, the processing terminal 30 indicates the warehousing robot 10 to replace the bin. In order to determine which specific bin is full or overweight, when the bin needs to be replaced, the processing terminal 30 receives a corresponding signal including the target bin information that needs to be replaced, the target bin information may include the position information of the target bin, for example, the sorting grid 50 of the target bin, so that the warehousing robot 10 finds the replaced target bin according to the position information, and meanwhile, may lock the sorting grid 50 of the target bin to stop sorting the goods of the target bin.

When the bin is replaced, the sorting cell 50 is in a locked state, the warehousing robot 10 moves to the sorting cell 50 where the target bin is, instructs the carrying device 12 to carry the target bin to the storage device 11, and carries the empty bin to the sorting cell 50. When there are a plurality of target bins to be replaced, the warehousing robot 10 may go to the sorting cell 50 of each target bin, complete the target bin replacement at the sorting cell 50, and then proceed to the next sorting cell 50.

The target bin information may further include the target bin identification information, which may be used to confirm whether the identification information is consistent with the identification information on the target bin, to determine the target bin to be replaced, and/or to align the location of the target bin according to the identification information. In addition, in order to align the position of the target bin, the position of the target bin may also be aligned by a visual recognition method, the warehousing robot 10 may include a visual recognition device, for example, a camera, and the camera collects image information of the target bin, and aligns the target bin according to the image information, where the image information may be image frames in a recorded video, and the position of the target bin is determined by changes of the image frames during the moving process of the warehousing robot 10.

The processing terminal 30 may also include information about the storage location of the empty bin in the received signal, and the warehousing robot 10 travels to the storage location of the empty bin and stores the empty bin in the storage device 11 by the handling device 12. The storage position of the empty bin may be a designated location where the empty bin is specially stored, the warehousing robot 10 may travel to the location, the carrying device 12 may grab the empty bin, and place the empty bin to the storage device 11, in some embodiments, the storage device 11 may be multiple, in the process, the warehousing robot 10 may grab one empty bin at a time at the storage location of the empty bin to the corresponding storage device 11, and grab the empty bin according to the number of the target bins to be replaced as required, so as to improve the efficiency of replacing the bins.

The storage device 11 of the bin of the warehousing robot 10 may be configured to place an empty bin, or place the target bin, and when the target bin is placed, the storage device 11 may be referred to as the target bin, and the storage device 11 of the target bin needs to be in an empty state before the target bin is replaced by the warehousing robot 10, so that the warehousing robot 10 instructs the carrying device 12 to carry the target bin to the storage device 11 of the target bin.

The warehousing robot 10 is further configured to transport the target bin to the destination, where the destination may include a delivery buffer location or a delivery packing location of the target bin. The temporary delivery position or the loading delivery position of the target material box and the target material box have a preset corresponding relation, so that the receiving address of the goods in the target material box can be determined according to the goods order information, and different receiving addresses correspond to corresponding delivery areas or delivery positions, so that the target material box filled with the goods can be sent to a delivery area through the warehousing robot 10, the human input is further liberated, and the intelligent degree of the goods logistics is enhanced.

The intelligent sorting system that the embodiment of this application provided, include warehousing robot 10, warehousing robot 10 be used for with target workbin and/or goods are transported to predetermine the preset position on goods shelves 60, predetermine the position and be used for placing target workbin and/or goods, predetermine the position with the delivery destination of target workbin and/or goods corresponds, has realized utilizing the robot to carry out workbin and/or goods and has transported the operation, has promoted the efficiency of goods letter sorting.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. The intelligent sorting system is characterized by comprising a warehousing robot and a preset goods shelf;

2. The system of claim 1, wherein the predetermined location comprises a plurality of storage devices, any of the plurality of storage devices being configured to store the first bin and/or the goods, the plurality of storage devices each corresponding to a delivery destination.

3. The system of claim 2, wherein the preset shelf is a multi-tiered fluent shelf;

the warehousing robot further comprises a lifting device;

4. The system of claim 1, further comprising:

5. The system of claim 1, wherein the warehousing robot further comprises a visual recognition device;

6. The system according to claim 1, characterized in that the system further comprises a sorting robot for transporting sorted goods to a target bin, the sorted goods being taken out of the goods to be sorted and/or the containers storing the goods to be sorted.

7. The system of claim 6, wherein the warehousing robot is further configured to exchange the target bin for a second bin.

8. The system of claim 1, wherein the warehousing robot is further configured to transport the goods to be sorted and/or the containers storing the goods to be sorted to a goods sorting area.

9. The system according to any one of claims 1 to 8, further comprising a processing terminal for instructing the warehousing robot to transport the first bin and/or goods to a preset shelf.

10. The system of claim 9, wherein the processing terminal is further configured to: