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WO2022022203A1 - 转运装置、机器人、分拣系统及分拣方法 - Google Patents

转运装置、机器人、分拣系统及分拣方法 Download PDF

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Publication number
WO2022022203A1
WO2022022203A1 PCT/CN2021/103260 CN2021103260W WO2022022203A1 WO 2022022203 A1 WO2022022203 A1 WO 2022022203A1 CN 2021103260 W CN2021103260 W CN 2021103260W WO 2022022203 A1 WO2022022203 A1 WO 2022022203A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
conveyor
turnover box
support frame
tote
Prior art date
Application number
PCT/CN2021/103260
Other languages
English (en)
French (fr)
Inventor
陈叶广
Original Assignee
深圳市海柔创新科技有限公司
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 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to EP21849698.2A priority Critical patent/EP4190719A4/en
Publication of WO2022022203A1 publication Critical patent/WO2022022203A1/zh
Priority to US18/156,586 priority patent/US11975363B2/en

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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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • 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
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots

Definitions

  • the present application relates to the field of intelligent storage, and in particular, to a transfer device, a robot, a sorting system and a sorting method.
  • Robots can replace manual handling of turnover boxes and play an important role in intelligent warehousing.
  • the robot includes a body, a control device, a pickup device and a plurality of storage shelves arranged on the body, and the movement of the body is controlled by the control device.
  • the totes on the storage rack are moved out of the body (also referred to as loading) or placed on the storage rack on the body (also referred to as unloading) by the pick-up device.
  • the present application provides a transfer device, a robot, a sorting system and a sorting method, which can improve the working efficiency of the robot.
  • the application provides a transfer device, which is applied to a device that can place a multi-layer turnover box along a first direction.
  • the transfer device is provided with at least two layers along the first direction of the device, and the transfer device includes a support base and a first transmission.
  • the first transmission assembly is located on the support base, and the first transmission assembly is used for transporting the turnover box.
  • the transfer device further includes a first controller and at least one first detection component, the first detection component is arranged on the support base, and the first transmission component and the first detection component are both connected with the first detection component.
  • a controller is electrically connected;
  • the first detection component is used to detect whether the turnover box is in a non-safe position, and the first controller is used to control the first transmission component to drive in the second direction or the third direction when the turnover box is in the non-safe position, so as to move the turnover box to the Safe position, the second direction is opposite to the third direction;
  • the turnover box part in the non-safe position, extends out of the support base, or the turnover box part extends out of the detection area formed by the first detection component.
  • At least two first detection assemblies are respectively disposed at both ends of the support base.
  • the first detection component is a reflective photoelectric sensor.
  • the first detection component is located on the support base, and the detection area formed by the first detection component covers at least part of the support base.
  • the first detection component is a light curtain sensor.
  • the support base includes two brackets, and the two brackets are respectively located on opposite sides of the first transmission assembly;
  • the bracket includes a support part and a rib for blocking the turnover box, the rib is connected with the support part, the first transmission component is fixed on the support part, and the first detection component is located on the support part and/or the rib.
  • the first transmission component is a conveyor belt component or a drum transmission component.
  • the first direction is the height direction of the device.
  • the present application provides a robot, comprising a body and at least two transfer devices disposed on the body, the transfer devices are disposed along a first direction of the body, and the transfer device is the above-mentioned transfer device.
  • the body includes a first mobile chassis and at least two first support frames disposed on the first mobile chassis, and the first mobile chassis is used to drive the first support frames to move;
  • the first support frame extends toward the top of the first moving chassis and is perpendicular to the first moving chassis, and the transfer device is connected between two adjacent first support frames.
  • each transfer device is arranged at intervals along the first direction of the first support frame.
  • the present application provides a sorting system, comprising at least one conveyor and at least one robot as described above, where the conveyor is used for receiving totes on the robot, or transferring the totes to the robot.
  • the conveyor includes a second support frame and at least two layers of first storage layers, the first storage layers are arranged along the first direction of the second support frame, and the first storage layer For receiving totes on the robot, or transferring the totes to the robot.
  • the first storage layer can be moved between a first position and a second position, the first position is located on the second support frame, and the second position is located at a position where the support frame is away from the robot. side.
  • the second support frame is provided with a shield
  • the shield is located on the side of the second support frame away from the robot
  • the shield is used to shield at least one layer located on the upper part of the second support frame.
  • the first storage layer is the above-mentioned transfer device.
  • the conveyor includes a third support frame, a second transmission assembly located on the third support frame, and at least one transfer mechanism;
  • the transfer mechanism is used for receiving the turnover box
  • the second transmission assembly is connected with the transfer mechanism
  • the second transmission assembly drives the transfer mechanism to rotate around the third support frame to transfer the turnover box to the lower part of the third support frame.
  • the sorting system provided by the present application further includes at least one unloader, and the unloader is used for transferring the turnover box between the robot and the conveyor.
  • the unloader has at least two second storage layers, each second storage layer is arranged along the first direction of the unloader, and the unloader passes through the second storage layer. Transfer totes between robots and conveyors.
  • the second storage layer is the above-mentioned transfer device.
  • the sorting system provided by the present application further includes at least one elevator, and the elevator is used to transfer the turnover box between the robot and the conveyor.
  • the sorting system provided by the present application further includes at least one elevator, and the elevator is used for transferring the turnover box between the unloader and the conveyor.
  • the elevator includes a fourth support frame and at least one third storage layer, and the third storage layer is arranged in the first direction of the fourth support frame and can be along the fourth support frame.
  • the first direction of movement, the third storage layer is used to transport the turnover box.
  • the elevator further includes a second mobile chassis, the fourth support frame is located on the second mobile chassis, and the second mobile chassis is used to drive the elevator to move.
  • the elevator further includes a second controller and at least one second detection component, the second detection component is electrically connected to the second controller, and the second detection component is used to detect the third storage goods.
  • the distance between the layer and the object on the side of the elevator, and the second controller is used for controlling the third storage layer to stop moving in the first direction when the distance is less than or equal to a preset value.
  • the number of elevators is less than or equal to the number of conveyors.
  • the sorting system provided by the present application further includes at least one rack and/or a turnover box transport component, wherein the rack is used for storing the turnover box on the conveyor, and the turnover box transport component is used for transporting the turnover box on the conveyor.
  • the number of unloaders is the same as the number of conveyors.
  • the present application provides a sorting method, using the above sorting system, the sorting method includes the following steps:
  • the robot receives the totes to be sorted
  • the conveyor receives the totes on the robot so that the totes on the conveyor can be sorted.
  • the sorting method provided in this application further includes:
  • the conveyor transports the totes to the robot.
  • the present application provides a sorting method, using the above sorting system, the sorting method includes the following steps:
  • the robot receives the totes to be sorted
  • the unloader receives the turnover box on the robot and transports the turnover box to the conveyor;
  • the conveyor receives the totes on the unloader so that the totes on the conveyor can be sorted.
  • the sorting method provided in this application further includes:
  • the conveyor transports the totes through the unloader to the robot.
  • the present application provides a sorting method, using the above sorting system, the sorting method includes the following steps:
  • the robot receives the totes to be sorted
  • the elevator receives the tote on the robot and transports the tote to the conveyor;
  • the conveyor receives the totes on the elevator so that the totes on the conveyor can be sorted.
  • the sorting method provided in this application further includes:
  • the conveyor transports the totes to the robot via the elevator.
  • the present application provides a sorting method, using the above sorting system, the sorting method includes the following steps:
  • the robot receives the totes to be sorted
  • the unloader receives the turnover box on the robot and transports the turnover box to the elevator;
  • the elevator receives the turnover box on the unloader and transports the turnover box to the conveyor;
  • the conveyor receives the totes on the unloader so that the totes on the conveyor can be sorted.
  • the sorting method provided in this application further includes:
  • the conveyor transports the totes to the robot through the elevator and the unloader in sequence.
  • the application provides a transfer device, a robot, a sorting system and a sorting method.
  • the transfer device is applied to a device that can place a multi-layer turnover box along a first direction.
  • the turnover box is moved to the rack or the turnover box transportation component corresponding to the equipment, so that all the turnover boxes on the equipment can be moved to the rack or the turnover box transportation component at one time, which improves the unloading speed of the equipment and reduces the unloading of the equipment. time and improve the working efficiency of the equipment.
  • Fig. 1 is the structural representation of the transfer device provided by the embodiment of this application.
  • Fig. 2 is the exploded view of the transfer device provided by the embodiment of the application;
  • FIG. 3 is a schematic structural diagram of a support and a detection assembly in a transport device provided in an embodiment of the present application;
  • FIG. 4 is a schematic structural diagram of a support rod in a transfer device provided by an embodiment of the application.
  • Fig. 5 is the use state diagram of the transfer device provided by the embodiment of the present application.
  • Fig. 6 is the top view of Fig. 5;
  • FIG. 7 is a schematic structural diagram of a robot provided by an embodiment of the present application.
  • Fig. 8 is the partial enlarged view of A place in Fig. 7;
  • FIG. 9 is a schematic structural diagram 1 of a sorting system provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram 1 of a conveyor in a sorting system provided by an embodiment of the application;
  • Figure 11 is a schematic diagram of the internal structure at B in Figure 10;
  • FIG. 12 is a second structural schematic diagram of a conveyor in a sorting system provided by an embodiment of the application.
  • FIG. 13 is a second schematic structural diagram of a sorting system provided by an embodiment of the application.
  • Figure 14 is a schematic structural diagram of the unloader in Figure 13;
  • FIG. 15 is a third schematic structural diagram of a sorting system provided by an embodiment of the application.
  • Figure 16 is a schematic structural diagram of the elevator in Figure 15;
  • Fig. 17 is a partial enlarged view at C in Fig. 16;
  • Fig. 18 is the use state diagram of the second detection component in Fig. 15;
  • FIG. 19 is a fourth schematic structural diagram of a sorting system provided by an embodiment of the application.
  • Figure 20 is a side view of Figure 19;
  • Fig. 21 is the top view of Fig. 19;
  • Fig. 22 is the structural representation of the shelf in Fig. 20;
  • FIG. 23 is a flowchart 1 of a sorting method provided by an embodiment of the present application.
  • FIG. 24 is a second flowchart of the sorting method provided by the embodiment of the application.
  • FIG. 25 is a third flowchart of the sorting method provided by the embodiment of the present application.
  • FIG. 26 is a fourth flowchart of the sorting method provided by the embodiment of the present application.
  • 100-transfer device 110-support base; 110a-first end of support base; 110b-second end of support base; 111, 111a, 111b-support; 1111-support part; 1112-rib; side; 1114-second connection part; 112-installation piece; 1121-installation part; 130-first transmission assembly; 131-spindle; 132-conveyor belt; 133-support rod; 134-support plate; a first detection component;
  • 600-elevator 610-fourth support frame; 620-third storage layer; 630-second mobile chassis; 640-second detection component; H-spacing;
  • Robots can replace manual handling of turnover boxes and play an important role in intelligent warehousing.
  • the robot includes a body, a control device, a pickup device and a plurality of storage shelves arranged on the body, and the movement of the body is controlled by the control device.
  • the totes on the storage rack are moved out of the body (also referred to as loading) or placed on the storage rack on the body (also referred to as unloading) by the pick-up device.
  • the embodiments of the present application provide a transfer device, a robot, a sorting system and a sorting method, which can improve the working efficiency of the robot.
  • FIG. 1 is the structural representation of the transfer device provided by the embodiment of the application
  • Fig. 2 is an exploded view of the transfer device provided by the embodiment of the application
  • Fig. 3 is the structural representation of the support and the detection assembly in the transfer device provided by the embodiment of the application
  • FIG. 4 is a schematic structural diagram of a support rod in a transfer device provided by an embodiment of the application
  • FIG. 5 is a use state diagram of the transfer device provided by an embodiment of the application
  • FIG. 6 is a top view of FIG. 5 ;
  • FIG. 7 is a schematic structural diagram of a robot provided by an embodiment of the present application; and
  • FIG. 8 is a partial enlarged view of part A in FIG. 7 .
  • the present application provides a transfer device 100 , which is applied to a device in which a multi-layer turnover box 200 can be placed along a first direction.
  • the transfer device 100 is provided with at least two layers along the first direction of the device.
  • the first direction may be the height direction of the device.
  • the transfer device 100 includes a support base 110 and a first transmission assembly 130 , the first transmission assembly 130 is located on the support base 110 , and the first transmission assembly 130 transports the turnover box 200 .
  • the device that can place the multi-layered turnover box 200 along the first direction may be the equipment used in the art for transporting the turnover box, such as the robot 300 , the unloader 500 or the conveyor 400 .
  • the description in this application is that the robot 300 is provided with at least two layers of transfer devices 100 along the first direction, that is, the robot 300 can be provided with at least two layers of transfer devices 100 along its height direction, and each layer of transfer devices 100 can be placed on the transfer device 100 for turnover. Box of 200.
  • the size and packaging of the goods are different.
  • the goods can be placed in the turnover box 200, and the turnover box 200 is placed on the first transmission assembly 130 to realize the transportation of the turnover box 200.
  • one or more turnover boxes 200 may be placed on the first transmission assembly 130 .
  • the goods When the goods have an outer package and the size is close to or equal to the size of the turnover box 200 , the goods can be directly placed on the first transmission assembly 130 for transportation.
  • the first transmission assembly 130 is used for transporting the turnover box 200 .
  • the turnover boxes 200 are placed one by one into the multi-layer transfer device 100 set on the robot 300 through the picking device such as the fork 313 on the robot 300, and at least one turnover box can be placed in each layer of the transfer device 100. 200, at least one piece of goods can be placed in the same turnover box 200.
  • the selection can be made according to the actual situation, which is not limited in this application.
  • the rack or conveyor 400 may have a storage layer opposite to the transfer device 100, and the first transmission assembly 130 is synchronously driven along the +Y direction or the -Y direction in FIG. 1 to move the turnover box 200 to the storage layer opposite to it, Therefore, all the turnover boxes 200 on the robot 300 can be simultaneously moved to the storage floor at one time, the unloading speed of the robot 300 is improved, the unloading time of the robot 300 is saved, and the working efficiency of the robot 300 is improved.
  • the turnover box 200 on the storage layer can also be returned to the transfer device 100 on the robot 300 at the same time, so as to improve the loading efficiency of the robot 300 .
  • the transfer device 100 may further include a first controller (not shown in the figure) and at least one first detection component 120 , the first detection component 120 is disposed on the support base 110 , and Both the first transmission assembly 130 and the first detection assembly 120 are electrically connected to the first controller.
  • the first detection component 120 is used for detecting whether the turnover box 200 is in the unsafe position
  • the first controller is used for controlling the first transmission component 130 to drive in the second direction or the third direction when the turnover box 200 is in the unsafe position, so as to transmit the The tote 200 is moved to the safe position, and the second direction is opposite to the third direction.
  • the second direction may be the +Y direction in FIG. 1
  • the third direction may be the ⁇ Y direction in FIG. 1 .
  • the turnover box 200 partially extends out of the support base 110 , or the turnover box 200 partially extends out of the detection area formed by the first detection assembly 120 .
  • the support base 110 is used to support the first transmission assembly 130, and the length of the support base 110 along the second direction is equal to the length of the first transmission assembly 130 along the second direction, or the length of the support base 110 along the second direction is the same as the length of the first transmission assembly 130 along the second direction.
  • the difference between the lengths of the transmission assemblies 130 along the second direction is less than or equal to 50 mm, thereby facilitating the first detection assembly 120 to detect whether the turnover box 200 is located in an unsafe position.
  • the first controller may be disposed on the support base 110 . Thus, it is convenient to electrically connect the first transmission assembly 130 with the first controller, and to facilitate the installation of the first controller. In some embodiments, the first controller may also be disposed on other positions of the robot 300 . The present application does not limit the position of the first controller.
  • the transfer device 100 further includes a first controller and at least one first detection component 120.
  • the first detection component 120 detects whether the turnover box 200 is in an unsafe position, and the first controller is in the first detection component. 120 detects that the turnover box 200 is in a non-safe position, controls the first transmission assembly 130 to drive along the +Y direction or the -Y direction in FIG.
  • the turnover box 200 is dropped from the transfer device 100 .
  • the number of the first detection assemblies 120 is at least two, wherein the at least two first detection assemblies 120 are respectively disposed at both ends of the support base 110 .
  • the turnover box 200 tends to protrude out of the support base 110, and the first first detection component 120a can detect the turnover box 200.
  • the first controller may control the first transmission assembly 130 to drive toward the -Y direction, so that the turnover box 200 is moved toward the second end 110 b of the support base, so as to move the turnover box 200 into the support base 110 .
  • the second first detection assembly 120b can detect the turnover box 200, and at this time, the first controller can control the first transmission assembly 130 to move towards + The Y direction is driven to move the turnover box 200 toward the first end 110 a of the support base, so as to move the turnover box 200 into the support base 110 . Thereby, the turnover box 200 can be prevented from falling from the transfer device 100 .
  • the first detection component 120 may be a reflective photoelectric sensor, which is not affected by the shape, color and material of the object to be inspected, and is easy to install.
  • the detection timing for the first detection component 120 to detect whether the turnover box 200 is located in a non-safe position may be during the process of moving the robot 300 to the position to be unloaded, or during other moving processes.
  • the first detection assembly 120 may stop the detection operation.
  • the number of the first detection assembly 120 may be one, the first detection assembly 120 may be located on the support base 110 , and the detection area formed by the first detection assembly 120 covers at least part of the support base 110 .
  • the first detection component 120 may be a light curtain sensor. The detection area formed by the light curtain sensor can be matched with the turnover box 200.
  • the first controller can control the first transmission component 130 to face the -Y direction or + Drive in the Y direction, so that the turnover box 200 is located in the detection area formed by the detection assembly 120 . Thereby, the turnover box 200 can be prevented from falling from the transfer device 100 .
  • the support base 110 includes two brackets 111 , and the two brackets 111 are located on opposite sides of the first transmission assembly 130 respectively.
  • the bracket 111 includes a support portion 1111 and a rib 1112 for shielding the turnover box 200.
  • the rib 1112 is connected to the support portion 1111, and the rib 1112 is located above the support portion 1111.
  • the first transmission assembly 130 is fixed on the support portion 1111.
  • the first detection assembly 120 is located on the support portion 1111 and/or the rib 1112 .
  • the first transmission assembly 130 is a conveyor belt assembly or a roller conveying assembly.
  • the conveyor belt assembly may include a motor (not shown in the figure), two main shafts 131 and a conveyor belt 132 sleeved on the main shafts 131 .
  • the turnover box 200 is located on the conveyor belt 132, the two ends of the main shaft 131 are respectively connected to the two support parts 1111 in rotation, the number of motors can be one, the motor is connected to any main shaft 131, and the main shaft 131 is driven by the motor to rotate in the forward direction or Reverse rotation to drive the turnover box 200 on the conveyor belt 132 to move in the +Y direction or the -Y direction in FIG. 5 .
  • two motors are connected to the two main shafts 131 , one motor can drive the connected main shaft 131 to rotate in the forward direction, and the other motor can drive the connected main shaft 131 to rotate in the reverse direction, so as to drive the turnover box 200 on the conveyor belt 132 to move.
  • a support rod 133 is connected between the two brackets 111 , the support rod 133 is located in the area enclosed by the conveyor belt 132 , and the drive belt 132 is supported by the support rod 133 .
  • a supporting plate 134 can be connected to the supporting rod 133 , and the conveyor belt 132 is supported by the supporting plate 134 .
  • a non-slip layer can be provided on the conveyor belt 132 , and the anti-skid layer can increase the static friction between the turnover box 200 and the surface of the conveyor belt 132 to prevent the turnover box 200 from sliding on the conveyor belt 132 .
  • the anti-skid layer can be a non-slip pattern provided on the surface of the conveyor belt 132 (the contact surface between the conveyor belt 132 and the turnover box 200 ), a concave-convex structure provided on the surface of the conveyor belt 132 , or an anti-skid layer well-known to those skilled in the art. layer, which is not limited in this embodiment.
  • the first transmission assembly 130 may be a roller conveyor assembly.
  • the roller conveying assembly may include at least one driving member and a plurality of main shafts 131 , wherein two ends of the main shaft 131 are respectively rotatably connected with the two supporting parts 1111 , and at least one main shaft 131 is connected with the driving member.
  • the turnover box 200 is placed on the main shaft 131, and the main shaft 131 is driven to rotate by the driving member, so that the turnover box 200 moves in the +Y direction or the -Y direction.
  • a non-slip sleeve can be set on the main shaft 131 to increase the static friction between the turnover box 200 and the surface of the main shaft 131 through the anti-skid sleeve, so as to prevent the turnover box 200 from sliding on the main shaft 131 .
  • the support base 110 further includes at least two mounting pieces 112 .
  • the at least two mounting pieces 112 are respectively connected to opposite ends of the support base 110 .
  • the mounting pieces 112 have mounting portions 1121 , and the first detection assembly 120 on the mounting part 1121 .
  • both ends of at least one bracket 111 can be connected to a mounting member 112; or two ends of one of the two brackets 111 are respectively connected to a mounting member 112; or, the first end of a bracket 111a is connected to a mounting member 112, The second end of the other bracket 111b is connected to a mounting piece 112; As long as it is ensured that at least two first detection assemblies 120 are respectively disposed at both ends of the support base 110 .
  • the turnover box 200 moves on the first transmission assembly 130 , in order to avoid collision between the turnover box 200 and the first detection assembly 120 .
  • the mounting portion 1121 is an accommodating groove
  • the first detection component 120 is accommodated in the accommodating groove
  • the detection end of the first detection component 120 faces the first transmission component 130 .
  • the sensing surface of the reflective photoelectric sensor faces the first transmission assembly 130 .
  • the first detection component 120 may also be a travel switch, and the travel switch may be located on the first transmission component 130 or on the mounting portion 1121, as long as it can detect that the first transmission component 130 is in a static state, the turnover box 200 is relatively relative to the first transmission component 130.
  • the component 130 only needs to move, which is not limited in this embodiment.
  • both ends of the baffle 1112 are provided with bent edges away from the first transmission assembly 130, so as to increase the opening size of the outlet and the inlet of the transfer device 100, so that the turnover box 200 flows into the first transmission device.
  • the assembly 130 and the outgoing first transmission assembly 130 play a guiding role.
  • the mounting portion 1121 is flush with the inner side of the bending edge 1113 or is located at the outer side of the bending edge 1113 .
  • the height of the bent edge 1113 (+X direction in FIG. 1 ) may be greater or less than the height of the mounting portion 1121 (+X direction in FIG. 1 ), as long as the first detection component 120 is higher than the bent edge 1113 .
  • the present application further provides a robot 300 including a main body 310 and at least one transfer device 100 disposed on the main body 310 , and the transfer device 100 is the transfer device provided in any of the above embodiments 100.
  • a pick-up device may also be provided on the robot 300 , and the pick-up device is used to transport the turnover box 200 to the transfer device 100 .
  • the pickup device may be a commonly used pickup device, such as a robotic arm, a gripping fork, or a clamping claw, which is not limited in this application.
  • the fork 313 is taken as the pickup device for description.
  • the body 310 includes a first mobile chassis 311 and at least two first support frames 312 disposed on the first mobile chassis 311.
  • the first mobile chassis 311 is used to drive the first support frames 312 moves.
  • the first support frame 312 extends toward the top of the first moving chassis 311 and is perpendicular to the first moving chassis 311 , and the transfer device 100 is connected between two adjacent first support frames 312 .
  • the transfer devices 100 are arranged at intervals along the first direction of the first support frame 312 (ie, the height direction of the first support frame 312 ).
  • the distances between two adjacent layers of transport devices 100 may be the same or different.
  • the distance between two adjacent transfer devices 100 increases or decreases sequentially along the height direction of the first moving chassis 311 .
  • turnover boxes 200 of different specifications can be placed.
  • the installation positions of the transfer devices 100 are adjustable, so that the distance between the transfer devices 100 can be adjusted according to the specifications of the turnover box 200 .
  • a plurality of first through holes are arranged at intervals in the height direction of the first support frame 312 , and the transfer device 100 is connected with the through holes by bolts to adjust the distance between the transfer devices 100 .
  • the first support frame 312 has at least one first connection portion 3121 in the first direction
  • the support base 110 has a second connection portion 1114
  • the transfer device 100 and the first support frame 312 pass through the first connection portion
  • the 3121 is detachably connected to the second connecting portion 1114 .
  • one of the first connecting portion 3121 and the second connecting portion 1114 is a first connecting hole, and the other is a connecting seat, the connecting seat has a second through hole, and the screw passes through the second connecting seat on the connecting seat.
  • the through hole is connected with the first connection hole, so as to detachably connect the transport device 100 to the first support frame 312 .
  • the first connecting portion 3121 is snapped with the second connecting portion 1114 .
  • One of the first connecting portion 3121 and the second connecting portion 1114 is a card slot, and the other is a clip matching the card slot.
  • the transfer device 100 can be connected to the first support frame 312 in a detachable connection manner well known to those skilled in the art to adjust the distance between the transfer devices 100 . There are no restrictions here.
  • the second connection portion 1114 may be located on the support portion 1111 , and the support portion 1111 is the main load-bearing portion of the support base 110 . Thus, the reliability of the connection between the transfer device 100 and the body 310 is increased.
  • FIG. 9 is a schematic structural diagram 1 of a sorting system provided by an embodiment of the present application.
  • the sorting system provided by the present application includes at least one conveyor 400 and at least one robot 300 provided in the above embodiments.
  • the conveyor 400 is used to receive the turnover box 200 on the robot 300, or to The tote 200 on the conveyor 400 is transferred to the robot 300 .
  • FIG. 10 is a schematic structural diagram 1 of a conveyor in a sorting system according to an embodiment of the present application
  • FIG. 11 is a schematic diagram of the internal structure at B in FIG. 10
  • the conveyor 400 includes a second support frame 410 and at least two first storage layers 411 on the second support frame 410 .
  • the first storage layer 411 is arranged along the first direction of the second support frame 410 (ie, the height direction of the second support frame 410 ); the first storage layer 411 is used to receive the turnover box 200 on the robot 300 or transfer the turnover box 200 to the robot 300 .
  • the second support frame 410 may be a cuboid frame, and the first storage layer 411 is located in the second support frame 410 .
  • the first storage layer 411 is provided in a one-to-one correspondence with the transfer device 100 on the robot 300 .
  • each transfer device 100 on the robot 300 is simultaneously driven by the first transmission assembly 130 to move the turnover box 200 to the first storage layer 411 opposite to it.
  • the first storage layer 411 of 400 is for sorting the turnover box 200 . In this way, direct contact between the operator and the robot 300 is avoided, the unloading speed of the robot 300 is also increased, the unloading time of the robot 300 is reduced, and the working efficiency of the robot 300 is improved.
  • the first storage layer 411 can be moved between a first position and a second position, wherein the first position is located on the second support frame On 410 , the second position is located on the side of the second support frame 410 away from the robot 300 . That is, the first storage layer 411 can move to the side away from the robot 300 to the outside of the second support frame 410 , so that the operator can directly follow the first storage layer 411 to move to the outside of the second support frame 410 to the turnover box 200 performs the operation of sorting the goods, which is convenient for the operator to sort the goods in the turnover box 200 .
  • one or both of the first storage layers 411 in the lower portion of the second support frame 410 are movable between a first position and a second position. In this way, the operator can stand at a comfortable height that can be reached to sort the goods without squatting or climbing, which increases the comfort of the operator's work.
  • the height of a part of the first storage layer 411 located on the upper part of the second support frame 410 may exceed the height of the operator, which is inconvenient for the operator to sort the goods. Therefore, the part of the first storage layer 411 can be temporarily placed as a turnover box for temporarily placing the turnover box 200 , and the turnover box 200 on the first storage layer 411 at the lower part of the second support frame 410 is to sort the goods. When completed, the turnover box 200 in the temporary storage position of the turnover box can be moved to the first storage layer 411 at the lower part of the second support frame 410 .
  • the second support frame 410 has a shielding member 412 , the shielding member 412 is located on the side of the second supporting frame 410 away from the robot 300 , and the shielding member 412 is used to shield at least one part located on the upper part of the second supporting frame 410 .
  • the boundary between the upper part of the second support frame 410 and the lower part of the second support frame 410 can be divided according to the comfort height of the operator.
  • the operator needs to sort the turnover boxes 200 in the first storage layer 411
  • an auxiliary tool such as a foot pad or a ladder is used, the height and the above height can be divided into the upper part of the second support frame 410 .
  • the second support frame 410 has a guide rail 413 , and the guide rail 413 may extend toward the outside of the second support frame 410 .
  • two guide rails 413 may be arranged horizontally, and the first storage layer 411 is connected between the two guide rails 413 .
  • the guide rails 413 play a guiding role for the movement of the first storage layer 411 , so that the first storage layer 411 can smoothly extend out of the second support frame 410 .
  • the first storage layer 411 is slidably connected to the guide rail 413 and slides along the extending direction of the guide rail 413 .
  • the guide rail 413 has grooves
  • the first storage layer 411 has protrusions
  • the protrusions are inserted into the grooves to slidably connect the first storage layer 411 and the guide rails 413 .
  • a sliding connection method well known to those skilled in the art can be used.
  • the second support frame 410 is provided with a driving structure, and the driving structure is connected with the first storage layer 411 to drive the first storage layer 411 to extend out of the second support frame 410 .
  • the driving structure may include a motor, a gear 414 and a rack 415 meshing with the gear 414, the rack 415 is located on the guide rail 413, and the motor drives the gear 414 to rotate forward or reverse, so as to drive the gear 414 to move along the rack 415, thereby The first storage layer 411 connected to the rack 415 is driven to extend out of the second support frame 410 or retreat into the second support frame 410 .
  • the implementation manner of the first storage layer 411 extending out of the second support frame 410 is not limited to the above two. In specific implementation, the above two methods can be combined to realize that the first storage layer 411 extends out of the second support frame 410 . Alternatively, the structure of the sliding drawer in the prior art can be used to realize that the first storage layer 411 extends out of the second support frame 410 . This embodiment is not limited herein.
  • the first storage layer 411 is the transfer device 100 provided in the above-mentioned embodiments.
  • FIG. 12 is a second structural schematic diagram of a transport device in a sorting system provided by an embodiment of the present application.
  • the conveyor 400 includes a third support frame 416 , a second transmission assembly (not shown in the figure) and at least one transfer mechanism 417 .
  • the transfer mechanism 417 is used to receive the turnover box 200 , the second transmission assembly is connected with the transfer mechanism 417 , and the second transmission assembly drives the transfer mechanism 417 to rotate around the third support frame 416 to transfer the turnover box 200 to the lower part of the third support frame 416 .
  • the division method of the upper part of the third support frame 418 and the lower part of the third support frame 418 is the same as the division method of the upper part of the second support frame 410 and the lower part of the second support frame 410 in the above-mentioned embodiment.
  • the division manner of the upper part of the support frame 410 and the lower part of the second support frame 410 will not be repeated here.
  • the second transmission assembly includes a driving member, a driving pulley, a driven pulley and a pulley
  • the transfer mechanism 417 is connected to the pulley at intervals
  • the driving pulley and the driven pulley are connected through the pulley
  • the pulley can be in the shape of a racetrack to wrap around the first pulley.
  • the three support frames 416 rotate, thereby driving the transfer mechanism 417 to rotate around the third support frame 416 .
  • the driving wheel is connected with the driving member, and the driving member drives the pulley to rotate through the driving wheel, so as to transmit the turnover box 200 to the lower part of the third support frame 416.
  • the transfer mechanism 417 can be the transfer device 100 provided in the above embodiment, and the transfer mechanism 417 can also be the toothed support structure shown in FIG. 13 . This embodiment is not limited herein.
  • FIG. 13 is a second schematic structural diagram of a sorting system provided by an embodiment of the application
  • FIG. 14 is a structural schematic diagram of the unloader in FIG. 13 . 13 and 14
  • the sorting system provided by the present application further includes at least one unloader 500
  • the unloader 500 is used for connecting between the robot 300 and the conveyor 400 on the basis of the above-mentioned third embodiment. Transfer tote 200.
  • the structure of the conveyor 400 of the embodiment shown in FIG. 12 described above is adopted.
  • the unloader 500 has at least two second storage layers 520, and each second storage layer 520 is arranged along the first direction of the unloader 500 (ie, the height direction of the unloader 500), and the unloader 500 passes through the The second storage level 520 transfers the tote 200 between the robot 300 and the conveyor 400 .
  • the unloader 500 further includes a fifth support frame 510 , and the second storage layer 520 is located on the fifth support frame 510 .
  • the second storage layer 520 is supported by the fifth support frame 510 , wherein the fifth support frame 510 may be in the shape of a rectangular frame, and the second storage layer 520 is located in the fifth support frame 510 .
  • the turnover box 200 on the robot 300 can be temporarily stored on the unloader 500, thereby saving the unloading time of the robot 300, and then releasing the robot 300 so that the robot 300 can perform other tasks.
  • the operation efficiency of the robot 300 is further improved.
  • the turnover box 200 on the conveyor 400 is transferred to the robot 300 through the unloader 500 .
  • the second storage layer 520 is arranged in a one-to-one correspondence with the transfer device 100 on the robot 300, and the second storage layer 520 is used to transfer the turnover box 200 on the transfer device 100 of the robot 300 to the conveyor 400 at one time.
  • the transfer mechanism 417 may correspond to the second storage layer 520 one-to-one, and the turnover box 200 is sequentially transferred to the transfer device 100 of the robot 300 through the transfer mechanism 417 and the second storage layer 520 at one time.
  • the second storage layer 520 may be the transfer device 100 provided in the above embodiment.
  • the sorting system further includes at least one elevator 600 , and the elevator 600 is used to transfer the turnover box 200 between the robot 300 and the conveyor 400 .
  • the elevator 600 receives the turnover box 200 on the robot 300 and transfers the turnover box 200 to the conveyor 400 .
  • the elevator 600 receives the tote 200 on the conveyor 400 and transfers the tote 200 to the robot 300 .
  • the elevator 600 includes a fourth support frame 610 and at least two third storage layers 620.
  • the third storage layers 620 are arranged in the first direction of the fourth support frame 610 (ie, the height direction of the fourth support frame 610). And the third storage layer 620 can move along the first direction of the fourth support frame 610 (ie, move up and down along the height direction of the fourth support frame 610 ), and the third storage layer 620 is used for placing the turnover box 200 .
  • the elevator 600 may have a timing belt assembly or a chain assembly, and the third storage layer 620 is driven to move along the first direction of the fourth support frame 610 by the timing belt assembly or the chain assembly.
  • the third storage layer 620 may be the transfer device 100 provided in the above embodiment.
  • the elevator 600 may be omitted, and the sorting system may include the robot 300 and the conveyor 400 .
  • the elevator 600 further includes a second moving chassis 630 on which the fourth support frame 610 is located, and the second moving chassis 630 is used to drive the elevator 600 to move.
  • the third storage layer 620 can move up and down along the height direction of the fourth support frame 610 , that is, the third storage layer 620 can be lifted and lowered cyclically.
  • the totes 200 that have been sorted on the first storage layer 411 at the lower part of the conveyor 400 can be transferred to the robot 300, or sent to the upper part of the conveyor 400.
  • the first storage layer 411 performs buffering.
  • the unsorted turnover box 200 on the upper part of the conveyor 400 can also be transferred to the first storage layer 411 at the lower part of the conveyor 400 for sorting.
  • the elevator 600 further includes a second controller (not shown in the figure) and at least one second detection component 640, the second detection component 640 is electrically connected with the second controller, and the second detection component 640 is used for The distance H between the third storage layer 620 and the object on the side of the elevator 600 is detected, and the second controller 640 is configured to control the third storage layer 620 to stop moving in the first direction when the distance H is less than or equal to a preset value .
  • the objects on the side of the elevator 600 may be the turnover box 200 in the unsafe position on the robot 300 shown in FIG. 18 and/or the turnover box 200 in the unsafe position on the conveyor 400 .
  • the detection surfaces of each of the second detection components 640 face the first end in the first direction and the second end in the second direction, respectively.
  • the third storage layer 620 is one layer
  • at least one second detection component 640 may be connected to the upper surface and the lower surface of any third storage layer 620 .
  • the third storage layer 620 is two or more layers
  • the lower surface of the third storage layer 620 at the second end of the direction is connected to at least one second detection component 640, and the second detection component 640 detects the edge of the third storage layer 620.
  • the preset value is the safety distance between the third storage layer 620 and the turnover box 200 on the robot 300 in the unsafe position and/or the turnover box 200 on the conveyor 400 in the unsafe position, that is, when the distance is less than or When it is equal to the safe distance, the third storage layer 620 is controlled to stop moving up and down, so as to prevent the third storage layer 620 from colliding with the turnover box 200 in the unsafe position on the robot 300 and/or the turnover box in the unsafe position on the conveyor 400 200.
  • the sorting system may include a master controller to which each of the first and second controllers is connected.
  • the second controller controls the third storage layer 620 to stop moving in the first direction
  • the turnover box 200 controls the transfer device 100 thereon through the respective first controllers Drive toward the second direction or the third direction to move the turnover box 200 to a safe position.
  • the second controller 640 controls the third storage layer 620 to move in the first direction.
  • the angle of the second detection assembly 640 can be adjusted, and by adjusting the angle of the second detection assembly 640, the detection surface of the second detection assembly 640 can detect the turnover box 200 and/or the tote box 200 in the unsafe position Tote 200 on conveyor 400 in an unsafe position.
  • the angle adjustment structure commonly used by those skilled in the art may be adopted, which is not limited in this embodiment.
  • the second detection component 640 may be a gap sensor.
  • the second moving chassis 630 can drive the elevator 600 to move, so that the elevator 600 moves between the conveyors 400 and the robots 300, so as to transport the peripheral boxes 200, That is, one elevator 600 may correspond to at least one conveyor 400 and at least one robot 300 . In this way, the number of elevators 600 may be less than or equal to the number of conveyors 400 .
  • FIG. 19 is a fourth schematic structural diagram of a sorting system provided by an embodiment of the application;
  • FIG. 20 is a side view of FIG. 19 ;
  • FIG. 21 is a top view of FIG. 19 .
  • the sorting system further includes at least one elevator 600, that is, the sorting system includes the robot 300, the unloader 500, the elevator 600 and the conveyor 400, and the elevator 600 Used to transport the totes between the unloader 500 and the conveyor 400.
  • the elevator 600 receives the turnover box 200 on the unloader 500 and transfers the turnover box 200 to the conveyor 400 .
  • the elevator 600 receives the turnover box 200 on the conveyor 400 and transfers the turnover box 200 to the unloader 500 , and then transfers the turnover box 200 to the robot 300 through the unloader 500 .
  • the object on the side of the elevator 600 may be at least one of the turnover box 200 located in the unsafe position on the unloader 500 or the turnover box 200 located in the unsafe position on the conveyor 400 .
  • the second detection component 640 detects whether the third storage layer 620 will collide with the turnover box 200 in the unsafe position on the unloader 500 or the conveyor 400 during the process of moving up and down along the height direction of the fourth support frame 610 . Tote 200 in a non-secure location.
  • the detection method of the second detection component 640 is the same as that in the fifth embodiment, and will not be repeated here.
  • FIG. 22 is a schematic structural diagram of the shelf in FIG. 20 .
  • the sorting system provided by the present application further includes at least one rack 700 and/or a goods transport component, the rack 700 is used for storing the turnover boxes 200 in the conveyor 400, and the rack 700 is used for To place the turnover box 200.
  • the cargo transport assembly is used to transport the totes 200 in the conveyor 400 .
  • At least one of the third embodiment to the fifth embodiment above may include at least one shelf 700 and/or a cargo transportation component.
  • the number of robots 300, the number of unloaders 500, and the number of conveyors 400 may be the same.
  • the number of robots 300 is six and the number of elevators 600 is two.
  • the number of robots 300 is less than the number of unloaders 500 , thereby ensuring that the robots 300 can transfer the turnover boxes 200 on them to the unloader 500 in time to avoid occupying the robots 300 .
  • the number of unloaders 500 and the number of conveyors 400 may be the same.
  • the lifter 600 and the robot 300 can move independently, and the robot 300, the unloader 500, the lifter 600 and the conveyor 400 cooperate with each other, so that the operator can conveniently sort the goods, while reducing the implementation of The difficulty of deployment reduces the workload of deploying and handling the sorting system, and reduces the cost.
  • the conveyor 400 is arranged between the robot 300 and the operator, which improves the safety of the operator's work, and the operator does not directly operate on the robot 300 .
  • the first storage layer 411 at the lower part of the conveyor 400 can actively extend out of the second support frame 410, so that the operator does not need to climb up when sorting the goods, which improves the operational friendliness.
  • the first storage layer 411 at the lower part of the conveyor 400 can extend out of the second support frame 410 to facilitate the operator to sort the goods in the turnover box 200 .
  • the operator can work at a comfortable height that can be reached by standing,
  • the robot 300 can transfer the turnover box 200 on it to the unloader 500 or the conveyor 400 at one time, which improves the work efficiency of the robot 300. Unload the turnover box 200 to the unloader 500 or the conveyor 400, or transfer the turnover box 200 on the unloader 500 or the conveyor 400 to the robot 300, so that the robot 300 will not be damaged due to the slow operation of the personnel. It takes too long, thereby increasing the actual effective working time of the robot 300 and improving the efficiency.
  • one elevator 600 can correspond to multiple unloaders 500 or conveyors 400, and complete the transportation of goods through circular lifting, making full use of the performance of the elevator 600 and saving the overall cost.
  • the sorting system can include the robot 300, the unloader 500, the elevator 600 and the conveyor 400, which can be independently designed. According to the size of the warehouse and the needs of the logistics efficiency of the warehouse, four different sorting systems in the third to sixth embodiments can be carried out. Picking system selection.
  • the sorting system is made flexible and modular, and each part can be moved and assembled independently, which reduces the difficulty of implementation and deployment, reduces the workload of migration, and reduces the cost. To accommodate leased warehouses, or warehouses that require dynamic changes to operational processes.
  • FIG. 23 is a flowchart 1 of the sorting method provided by the embodiment of the present application. Referring to FIG. 23 , the present application also provides a sorting method. Using the sorting system provided in the third embodiment above, the sorting method includes the following steps:
  • the robot receives the turnover box to be sorted.
  • the turnover boxes 200 are placed one by one into the multi-layer transfer device 100 provided on the robot 300 through the forks 313 on the robot 300 , and at least one turnover box 200 can be placed on each layer of the transfer device 100 , and the turnover box 200 is placed inside the turnover box 200 . at least one item.
  • the turnover boxes 200 placed on each layer of the transfer device 100 of the robot 300 may be the same or different.
  • the conveyor receives the turnover box on the robot, so that the turnover box on the conveyor can be sorted.
  • the first storage layer 411 on the conveyor 400 may be set in a one-to-one correspondence with the transfer device 100 on the robot 300 , and the first storage layer 411 receives the turnover box 200 on the robot 300 .
  • the cargo in the turnover box 200 on the cargo floor 411 or the transfer mechanism 417 is sorted to deliver the cargo to the rack 700 or the cargo transport assembly. In this way, direct contact between the operator and the robot 300 is avoided, the unloading speed of the robot 300 is also increased, the unloading time of the robot 300 is reduced, and the working efficiency of the robot 300 is improved.
  • the method further includes: the conveyor 400 transports the turnover box 200 to the robot 300 . That is, the conveyor 400 may transfer the new tote 200 or the sorted tote 200 thereon to the robot 300 so that the robot 300 transports the new tote 200 or the sorted tote 200 to the warehouse.
  • FIG. 24 is a second flowchart of the sorting method provided by the embodiment of the present application. Referring to Fig. 24, the present application also provides a sorting method, using the sorting system provided in the fourth embodiment above, the sorting method includes the following steps:
  • the robot receives the turnover box to be sorted.
  • the unloader receives the turnover box on the robot, and transports the turnover box to the conveyor.
  • the second storage layer 520 on the unloader 500 is in one-to-one correspondence with the transfer device 100 on the robot 300 .
  • the cargo floor 520 receives the tote 200 in the robot 300 and transports the tote 200 to the transfer mechanism 417 on the conveyor 400 .
  • the conveyor receives the turnover box on the unloader, so that the turnover box on the conveyor can be sorted.
  • the transfer mechanism 417 on the conveyor 400 receives the turnover box 200 on the unloader 500, and the operator sorts the goods in the turnover box 200 on the transfer mechanism 417 to deliver the goods to the shelf 700 or the goods on the transport components.
  • the method further includes: the conveyor 400 transports the turnover box 200 to the robot 300 through the unloader 500 . That is, the conveyor 400 may transfer the new tote 200 or the sorted tote 200 thereon to the unloader 500, and the unloader 500 transports the new tote 200 or the sorted tote 200 is transferred to the robot 300 so that the robot 300 transports the new tote 200 or the tote 200 that has been sorted to the warehouse.
  • FIG. 25 is a third flowchart of the sorting method provided by the embodiment of the present application. Referring to Fig. 25, the present application also provides a sorting method, using the sorting system provided in the fifth embodiment above, the sorting method includes the following steps:
  • the robot receives the turnover box to be sorted.
  • the elevator receives the turnover box on the robot, and transports the turnover box to the conveyor.
  • the elevator 600 moves to the robot 300 , and the third storage layer 620 on the elevator 600 receives the turnover box 200 placed on the transfer device 100 on the robot 300 , and transports the turnover box 200 to the first container on the conveyor 400 . on the storage layer 411.
  • the conveyor receives the turnover box on the elevator, so that the turnover box on the conveyor can be sorted.
  • the turnover box 200 placed on the third storage layer 620 on the elevator 600 is received on the first storage layer 411 on the conveyor 400 , and the operator sorts the goods in the turnover box 200 on the first storage layer 411 picking to deliver the goods to the rack 700 or the goods transport assembly.
  • the sorted totes 200 on the first storage layer 411 at the lower part of the conveyor 400 can be transferred to the robot 300 or sent to the first storage layer 411 at the upper part of the conveyor 400 cache.
  • the unsorted turnover box 200 on the upper part of the conveyor 400 can also be transferred to the first storage layer 411 at the lower part of the conveyor 400 for sorting.
  • the method further includes: the conveyor 400 transports the turnover box 200 to the robot 300 through the elevator 600 .
  • the conveyor 400 may transfer the new tote 200 or the sorted tote 200 thereon to the elevator 600, and the elevator 600 transfers the new tote 200 or the sorted tote 200 to the robot 300, so that the robot 300 transports the new tote 200 or the sorted tote 200 to the warehouse.
  • FIG. 26 is a fourth flowchart of the sorting method provided by the embodiment of the present application. Referring to FIG. 26 , the present application also provides a sorting method. Using the sorting system provided in the fifth embodiment, the sorting method includes the following steps:
  • the robot receives the turnover box to be sorted.
  • the robot 300 receives an instruction to pick up at least one turnover box 200 to be sorted, and puts the turnover box 200 one by one into each transfer device 100 provided on the robot 300 through the forks 313 on the robot 300 .
  • the turnover box 200 may be affixed with an identification, such as a two-dimensional code, for identifying the goods in the turnover box 200 .
  • the unloader receives the turnover box on the robot, and transports the turnover box to the elevator.
  • the second storage layer 520 on the unloader 500 is in one-to-one correspondence with the transfer device 100 on the robot 300 .
  • the cargo floor 520 receives the tote 200 in the robot 300 and transports the tote 200 to the elevator 600 .
  • the elevator receives the turnover box on the unloader, and transports the turnover box to the conveyor.
  • the third storage layer 620 in the elevator 600 receives the turnover box 200 of the second storage layer 520 on the unloader 500 .
  • the elevator 600 moves to the position of the conveyor 400, and transports the tote 200 to the transfer mechanism 417 on the conveyor 400 or the first storage layer 411.
  • the conveyor receives the turnover box on the unloader, so that the turnover box on the conveyor can be sorted.
  • the transfer mechanism 417 on the conveyor 400 or the first storage layer 411 receives the turnover box 200 placed on the third storage layer 620 on the elevator 600, and the operator controls the transfer mechanism 417 on the first storage layer 411 or the transfer mechanism 417.
  • the goods in the turnover box 200 are sorted to deliver the goods to the rack 700 or the goods transport assembly.
  • an indicator light is provided below the cargo box 710, and the indicator light is used to prompt the personnel to place the goods.
  • the pattern and text of the indicator light can be matched with the goods.
  • the operator sorts the goods he can also place the goods on the goods transportation component, such as the transportation component such as the conveyor line. sorting efficiency.
  • each cargo box 710 may correspond to a different order, and each cargo box 710 may hold at least one item.
  • the goods can be placed in the boxes 710 corresponding to the same order.
  • the sorted totes 200 on the first storage layer 411 at the lower part of the conveyor 400 can be transferred to the unloader 500 or sent to the first storage at the upper part of the conveyor 400
  • Layer 411 performs caching.
  • the unsorted turnover box 200 on the upper part of the conveyor 400 can also be transferred to the first storage layer 411 at the lower part of the conveyor 400 for sorting.
  • the method further includes: the conveyor transports the turnover box to the robot through the elevator and the unloader in sequence. That is, the conveyor 400 may transfer the new tote 200 or the sorted tote 200 thereon to the elevator 600, and the elevator 600 transfers the new tote 200 or the sorted tote 200 to the unloading
  • the feeder 500 and the unloader 500 transfer the new tote 200 or the sorted tote 200 to the robot 300 so that the robot 300 transports the new tote 200 or the sorted tote 200 to the warehouse .

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Abstract

一种转运装置、机器人、分拣系统及分拣方法，转运装置（100）应用于沿第一方向上可放置多层周转箱（200）的设备，转运装置（100）沿设备的第一方向至少设置两层，转运装置（100）包括支撑座（110）和第一传动组件（130），第一传动组件（130）位于支撑座（110）上，第一传动组件（110）运输周转箱（200）。通过使用所提供的转运装置，能提高设备的工作效率。

Description

转运装置、机器人、分拣系统及分拣方法
本申请要求于2020年07月30日提交中国专利局，申请号为202010753970.4，申请名称为“转运装置、机器人、分拣系统及分拣方法”的中国申请专利申请的优先权，其与本申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能存储领域，尤其涉及一种转运装置、机器人、分拣系统及分拣方法。
背景技术
智能仓储是物流过程的一个重要环节。机器人可代替人工搬运周转箱，在智能仓储中扮演着重要的角色。
机器人包括本体以及设置在本体上的控制装置、取货装置和多个存储货架，通过控制装置控制本体移动。通过取货装置将存储货架上周转箱移出本体(也可称为装货)或放到本体上的存储货架上(也可称为卸货)。
但是，机器人在卸货时，需要通过取货装置逐一将各存储货架上的周转箱移出本体，导致机器人工作效率低。
发明内容
本申请提供一种转运装置、机器人、分拣系统及分拣方法，能提高机器人的工作效率。
第一方面，本申请提供一种转运装置，应用于沿第一方向上可放置多层周转箱的设备，转运装置沿设备的第一方向至少设置两层，转运装置包括支撑座和第一传动组件，第一传动组件位于支撑座上，第一传动组件用于运输周转箱。
可选的，本申请提供的转运装置，转运装置还包括第一控制器和至少一个第一检测组件，第一检测组件设置在支撑座上，且第一传动组件和第一检测组件均与第一控制器电连接；
第一检测组件用于检测周转箱是否位于非安全位置，第一控制器用于在周转箱位于非安全位置时，控制第一传动组件沿第二方向或第三方向传动，以将周转箱移动至安全位置，第二方向与第三方向相反；
其中，在非安全位置时，周转箱部分伸出支撑座外，或者周转箱部分伸出第一检测组件形成的检测区域外。
可选的，本申请提供的转运装置，至少两个第一检测组件分别设置在支撑座的两端。
可选的，本申请提供的转运装置，第一检测组件为反射光电传感器。
可选的，本申请提供的转运装置，第一检测组件位于支撑座上，第一检 测组件形成的检测区域覆盖至少部分支撑座。
可选的，本申请提供的转运装置，第一检测组件为光幕传感器。
可选的，本申请提供的转运装置，支撑座包括两个支架，两个支架分别位于第一传动组件的相对的两侧；
支架包括支撑部和用于挡设周转箱的挡边，挡边与支撑部连接，第一传动组件固定于支撑部上，第一检测组件位于支撑部和/或挡边上。
可选的，本申请提供的转运装置，第一传动组件为传送带组件或滚筒传动组件。
可选的，本申请提供的转运装置，第一方向为设备的高度方向。
第二方面，本申请提供了一种机器人，包括本体和至少两个设置在本体上的转运装置，转运装置沿本体的第一方向设置，转运装置为上述的转运装置。
可选的，本申请提供的机器人，本体包括第一移动底盘和设置在第一移动底盘上的至少两个第一支撑架，第一移动底盘用于驱动第一支撑架移动；
第一支撑架朝向第一移动底盘的上方延伸，且与第一移动底盘垂直，转运装置连接在相邻的两个第一支撑架之间。
可选的，本申请提供的机器人，各转运装置沿第一支撑架的第一方向间隔设置。
第三方面，本申请提供了一种分拣系统，包括至少一个输送机和至少一个上述的机器人，输送机用于接收机器人上的周转箱，或将周转箱传输至机器人。
可选的，本申请提供的分拣系统，输送机包括第二支撑架和至少两层第一储货层，第一储货层沿第二支撑架的第一方向设置，第一储货层用于接收机器人上的周转箱，或将周转箱传输至机器人。
可选的，本申请提供的分拣系统，第一储货层可在第一位置和第二位置之间移动，第一位置位于第二支撑架上，第二位置位于支撑架背离机器人的一侧。
可选的，本申请提供的分拣系统，第二支撑架上具有遮挡件，遮挡件位于第二支撑架背离机器人的一侧，遮挡件用于遮挡位于第二支撑架的上部的至少一层第一储货层。
可选的，本申请提供的分拣系统，第一储货层为上述的转运装置。
可选的，本申请提供的分拣系统，输送机包括第三支撑架、位于第三支撑架上的第二传动组件和至少一个转运机构；
转运机构用于接收周转箱，第二传动组件与转运机构连接，第二传动组件驱动转运机构绕第三支撑架回转，以将周转箱传递至第三支撑架的下部。
可选的，本申请提供的分拣系统，还包括至少一个卸料机，卸料机用于在机器人和输送机之间传输周转箱。
可选的，本申请提供的分拣系统，卸料机具有至少两层第二储货层，各第二储货层沿卸料机的第一方向设置，卸料机通过第二储货层在机器人和输 送机之间传输周转箱。
可选的，本申请提供的分拣系统，第二储货层为上述的转运装置。
可选的，本申请提供的分拣系统，还包括至少一个升降机，升降机用于在机器人和输送机之间传输周转箱。
可选的，本申请提供的分拣系统，还包括至少一个升降机，升降机用于在卸料机和输送机之间传输周转箱。
可选的，本申请提供的分拣系统，升降机包括第四支撑架和至少一层第三储货层，第三储货层设置在第四支撑架的第一方向，可沿第四支撑架的第一方向移动，第三储货层用于传输周转箱。
可选的，本申请提供的分拣系统，升降机还包括第二移动底盘，第四支撑架位于第二移动底盘上，第二移动底盘用于驱动升降机移动。
可选的，本申请提供的分拣系统，升降机还包括第二控制器和至少一个第二检测组件，第二检测组件与第二控制器电连接，第二检测组件用于检测第三储货层与升降机侧方物体之间的间距，第二控制器用于在间距小于或等于预设值时，控制第三储货层停止沿第一方向移动。
可选的，本申请提供的分拣系统，升降机的数量小于或等于输送机的数量。
可选的，本申请提供的分拣系统，还包括至少一个货架和/或周转箱运输组件，其中，货架用于存储输送机上的周转箱，周转箱运输组件用于运输输送机上的周转箱。
可选的，本申请提供的分拣系统，卸料机的数量和输送机的数量相同。
第四方面，本申请提供了一种分拣方法，采用上述的分拣系统，分拣方法包括以下步骤：
机器人接收待分拣的周转箱；
输送机接收机器人上的周转箱，以使输送机上的周转箱能被分拣。
可选的，本申请提供的分拣方法，还包括：
输送机将周转箱运输至机器人。
第五方面，本申请提供了一种分拣方法，采用上述的分拣系统，分拣方法包括以下步骤：
机器人接收待分拣的周转箱；
卸料机接收机器人上的周转箱，并将周转箱运输至输送机；
输送机接收卸料机上的周转箱，以使输送机上的周转箱能被分拣。
可选的，本申请提供的分拣方法，还包括：
输送机将周转箱通过卸料机运输至机器人。
第六方面，本申请提供了一种分拣方法，采用上述的分拣系统，分拣方法包括以下步骤：
机器人接收待分拣的周转箱；
升降机接收机器人上的周转箱，并将周转箱运输至输送机；
输送机接收升降机上的周转箱，以使输送机上的周转箱能被分拣。
可选的，本申请提供的分拣方法，还包括：
输送机将周转箱通过升降机运输至机器人。
第七方面，本申请提供了一种分拣方法，采用上述的分拣系统，分拣方法包括以下步骤：
机器人接收待分拣的周转箱；
卸料机接收机器人上的周转箱，并将周转箱运输至升降机；
升降机接收卸料机上的周转箱，并将周转箱运输至输送机；
输送机接收卸料机上的周转箱，以使输送机上的周转箱能被分拣。
可选的，本申请提供的分拣方法，还包括：
输送机将周转箱依次通过升降机和卸料机运输至机器人。
本申请提供一种转运装置、机器人、分拣系统及分拣方法，转运装置应用于沿第一方向上可放置多层周转箱的设备，转运装置包括第一传动组件，通过第一传动组件将周转箱移动至与设备相对应的货架或周转箱运输组件上，从而实现一次将设备上所有的周转箱同时移动至货架或周转箱运输组件上，提高了设备的卸货速度，降低了设备的卸货时间，提高了设备的工作效率。
附图说明
图1为本申请实施例提供的转运装置的结构示意图；
图2为本申请实施例提供的转运装置的爆炸图；
图3为本申请实施例提供的转运装置中支架和检测组件的结构示意图；
图4为本申请实施例提供的转运装置中支撑杆的结构示意图；
图5为本申请实施例提供的转运装置的使用状态图；
图6为图5的俯视图；
图7为本申请实施例提供的机器人的结构示意图；
图8为图7中A处的局部放大图；
图9为本申请实施例提供的分拣系统的结构示意图一；
图10为本申请实施例提供的分拣系统中输送机的结构示意图一；
图11为图10中B处的内部结构示意图；
图12为本申请实施例提供的分拣系统中输送机的结构示意图二；
图13为本申请实施例提供的分拣系统的结构示意图二；
图14为图13中卸料机的结构示意图；
图15为本申请实施例提供的分拣系统的结构示意图三；
图16为图15中升降机的结构示意图；
图17为图16中C处的局部放大图；
图18为图15中第二检测组件的使用状态图；
图19为本申请实施例提供的分拣系统的结构示意图四；
图20为图19的侧视图；
图21为图19的俯视图；
图22为图20中货架的结构示意图；
图23为本申请实施例提供的分拣方法的流程图一；
图24为本申请实施例提供的分拣方法的流程图二；
图25为本申请实施例提供的分拣方法的流程图三；
图26为本申请实施例提供的分拣方法的流程图四。
附图标记说明：
100-转运装置；110-支撑座；110a-支撑座的第一端；110b-支撑座的第二端；111、111a、111b-支架；1111-支撑部；1112-挡边；1113-折弯边；1114-第二连接部；112-安装件；1121-安装部；130-第一传动组件；131-主轴；132-传送带；133-支撑杆；134-支撑板；120、120a、120b-第一检测组件；
200-周转箱；200a-周转箱的第一端；200b-周转箱的第二端；
300-机器人；310-本体；311-第一移动底盘；312-第一支撑架；3121-第一连接部；313-货叉；
400-输送机；410-第二支撑架；411-第一储货层；412-遮挡件；413-导轨；414-齿轮；415-齿条；416-第三支撑架；417-转运机构；
500-卸料机；510-第五支撑架；520-第二储货层；
600-升降机；610-第四支撑架；620-第三储货层；630-第二移动底盘；640-第二检测组件；H-间距；
700-货架。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请的优选实施例中的附图，对本申请实施例中的技术方案进行更加详细的描述。在附图中，自始至终相同或类似的标号表示相同或类似的部件或具有相同或类似功能的部件。所描述的实施例是本申请一部分实施例，而不是全部的实施例。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。下面结合附图对本申请的实施例进行详细说明。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应作广义理解，例如，可以使固定连接，也可以是通过中间媒介间接相连，可以是两个元件内部的连通或者两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或者位置关系为基于附图所述的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第 三”(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。
此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或显示器不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或显示器固有的其它步骤或单元。
机器人可代替人工搬运周转箱，在智能仓储中扮演着重要的角色。机器人包括本体以及设置在本体上的控制装置、取货装置和多个存储货架，通过控制装置控制本体移动。通过取货装置将存储货架上周转箱移出本体(也可称为装货)或放到本体上的存储货架上(也可称为卸货)。但是，机器人在卸货时，需要通过取货装置逐一将各存储货架上的周转箱移出本体，导致机器人工作效率低。因此，本申请实施例提供了一种转运装置、机器人、分拣系统及分拣方法，能提高机器人的工作效率。
下面结合附图和具体实施例对本申请进行详细说明。
实施例一
图1为本申请实施例提供的转运装置的结构示意图；图2为本申请实施例提供的转运装置的爆炸图；图3为本申请实施例提供的转运装置中支架和检测组件的结构示意图；图4为本申请实施例提供的转运装置中支撑杆的结构示意图；图5为本申请实施例提供的转运装置的使用状态图；
图6为图5的俯视图；图7为本申请实施例提供的机器人的结构示意图；图8为图7中A处的局部放大图。参见图1至图8所示，本申请提供了一种转运装置100，应用于沿第一方向上可放置多层周转箱200的设备，转运装置100沿设备的第一方向至少设置两层。其中，第一方向可以为设备的高度方向。
转运装置100包括支撑座110和第一传动组件130，第一传动组件130位于支撑座110上，第一传动组件130运输周转箱200。
在本申请中，沿第一方向上可放置多层周转箱200的设备可以为机器人300、卸料机500或者输送机400等本领域用于运输周转箱的设备。为了便于描述，本申请中以机器人300沿第一方向设置至少两层转运装置100进行说明，即机器人300沿其高度方向可设置至少两层转运装置100，每层转运装置100上均可以放置周转箱200。
需要说明的是，货物的大小尺寸和包装各不相同，为了便于运输货物，货物可以放置在周转箱200内，将周转箱200放置在第一传动组件130上，以实现对周转箱200的运输。其中，第一传动组件130上可放置一个或多个周转箱200。当货物具有外包装，且其尺寸接近或等于周转箱200的尺寸时，可直接将货物放置在第一传动组件130上进行运输。
其中，第一传动组件130用于运输周转箱200。机器人300在装货时， 通过机器人300上的取货装置如货叉313将周转箱200逐一放到机器人300上设置的多层转运装置100中，每层转运装置100中可放置至少一个周转箱200，同一周转箱200内可以放置至少一件货物。可以根据实际情况进行选择，本申请在此不做限制。
机器人300在卸货时，机器人300移动到需要卸货的位置，例如，机器人300移动至货架旁，或者输送机400旁。货架或输送机400可具有与转运装置100相对的储货层，第一传动组件130沿图1中+Y方向或-Y方向同步传动，以将周转箱200移动至与其相对的储货层，从而实现一次性的将机器人300上所有的周转箱200同时移动至储货层，提高了机器人300的卸货速度，节约了机器人300的卸货时间，提高了机器人300的工作效率。也可以将储货层上的周转箱200，同时回流至机器人300上的转运装置100上，提高机器人300装货的效率。
请继续参见图1至图6所示，转运装置100还可以包括第一控制器(图中未示出)和至少一个第一检测组件120，第一检测组件120设置在支撑座110上，且第一传动组件130和第一检测组件120均与第一控制器电连接。第一检测组件120用于检测周转箱200是否位于非安全位置，第一控制器用于在周转箱200位于非安全位置时，控制第一传动组件130沿第二方向或第三方向传动，以将周转箱200移动至安全位置，第二方向和第三方向相反。其中，为了便于描述，第二方向可以为图1中+Y方向，第三方向可以为图1中-Y方向。
在非安全位置时，周转箱200部分伸出支撑座110外，或者周转箱200部分伸出第一检测组件120形成的检测区域外。
具体的，支撑座110用于支撑第一传动组件130，支撑座110沿第二方向的长度等于第一传动组件130沿第二方向的长度，或者支撑座110沿第二方向的长度与第一传动组件130沿第二方向的长度之间的差值小于或等于50mm，由此，便于第一检测组件120检测周转箱200是否位于非安全位置。第一控制器可以设置在支撑座110上。由此，便于第一传动组件130与第一控制器电连接，以及便于安装第一控制器。在一些实施例中，第一控制器也可以设置在机器人300的其他位置上。本申请对于第一控制器的位置不做限制。
机器人300移动到需要卸货的位置的过程中，或者其他需要移动的过程中，由于振动等原因，导致周转箱200可能会在第一传动组件130上移动，从而有从转运装置100上跌落的风险。因此，在本申请中，转运装置100还包括第一控制器和至少一个第一检测组件120，通过第一检测组件120检测周转箱200是否位于非安全位置，第一控制器在第一检测组件120检测到周转箱200位于非安全位置时，控制第一传动组件130沿图1中+Y方向或-Y方向传动，以将周转箱200移动至安全位置内，由此，避免机器人300移动的过程中，周转箱200从转运装置100上跌落。
在一些实施例中，第一检测组件120的数量为至少两个，其中，至少两 个第一检测组件120分别设置在支撑座110的两端。当周转箱的第一端200a移动至支撑座的第一端110a时，周转箱200有伸出支撑座110外的趋势，第一个第一检测组件120a可检测到周转箱200，此时，第一控制器可以控制第一传动组件130朝向-Y方向传动，以使周转箱200朝向支撑座的第二端110b移动，以将周转箱200移动至支撑座110内。当周转箱的第二端200b移动至支撑座的第二端110b时，第二个第一检测组件120b可检测到周转箱200，此时，第一控制器可以控制第一传动组件130朝向+Y方向传动，以使周转箱200朝向支撑座的第一端110a移动，以将周转箱200移动至支撑座110内。由此，可避免周转箱200从转运装置100上跌落。
其中，第一检测组件120可以为反射光电传感器，反射光电传感器不受被检物的形状、颜色和材质影响，且便于安装。
需要说明的是，对于第一检测组件120检测周转箱200是否位于非安全位置的检测时机，可以为机器人300移动到需要卸货的位置的过程中，或者其他需要移动的过程中。当机器人300处于静止状态或者传输周转箱200的过程中，第一检测组件120可以停止检测作业。
在另一实施例中，第一检测组件120的数量可以为一个，第一检测组件120可以位于支撑座110上，第一检测组件120形成的检测区域覆盖至少部分支撑座110。其中，第一检测组件120可以为光幕传感器。光幕传感器形成的检测区域可以与周转箱200相匹配，周转箱200部分伸出第一检测组件120形成的检测区域外时，第一控制器可以控制第一传动组件130朝向-Y方向或+Y方向传动，以使周转箱200位于检测组件120形成的检测区域内。由此，可避免周转箱200从转运装置100上跌落。
请继续参见图1至图3所示，本申请提供的转运装置，支撑座110包括两个支架111，两个支架111分别位于第一传动组件130的相对的两侧。
支架111包括支撑部1111和用于遮挡周转箱200的挡边1112，挡边1112与支撑部1111连接，且挡边1112位于支撑部1111的上方，第一传动组件130固定于支撑部1111上，第一检测组件120位于支撑部1111和/或挡边1112上。
本申请提供的转运装置，第一传动组件130为传送带组件或滚筒传送组件。其中，传送带组件可以包括电机(图中未示出)、两个主轴131和套设在主轴131上的传送带132。其中，周转箱200位于传送带132上，主轴131的两端分别与两个支撑部1111转动连接，电机的数量可以为一个，电机与任一主轴131连接，通过电机驱动该主轴131正向转动或者反向转动，以驱动传送带132上的周转箱200沿图5中+Y方向或-Y方向移动。或者，两个主轴131上均连接电机，一电机可驱动与其连接的主轴131正向转动，另一电机可驱动与其连接的主轴131反向转动，以驱动传送带132上的周转箱200移动。
若周转箱200较重，传送带132不足以支撑周转箱200，会导致传送带132上的周转箱200移动速度降低，或者难以顺畅的移动。因此，在一些实施例中，在两个支架111之间连接支撑杆133，支撑杆133位于传送带132 围成的区域内，通过支撑杆133支撑传动带132。为了增加支撑面积，可以在支撑杆133上连接支撑板134，通过支撑板134支撑传送带132。
在本申请中，可以在传送带132上设置防滑层，通过防滑层增加周转箱200与传送带132表面之间的静摩擦力，防止周转箱200在传送带132上滑动。其中，防滑层可以为设置在传送带132表面(传送带132与周转箱200的接触面)上的防滑纹，也可以为设置在传送带132表面上的凹凸结构，或者设置本领域技术人员所熟知的防滑层，本实施例在此不做限定。
在一些实施例中，第一传动组件130可以为滚筒传送组件。滚筒传送组件可以包括至少一个驱动件和多个主轴131，其中，主轴131的两端分别与两个支撑部1111转动连接，至少一个主轴131与驱动件连接。将周转箱200放在主轴131上，通过驱动件驱动主轴131转动，以使周转箱200沿+Y方向或-Y方向移动。其中，可以在主轴131上套设防滑套，通过防滑套增加周转箱200与主轴131表面之间的静摩擦力，防止周转箱200在主轴131上滑动。
为了便于安装第一检测组件120。本申请提供的转运装置，支撑座110还包括至少两个安装件112，至少两个安装件112分别连接在支撑座110相对的两端，安装件112上具有安装部1121，第一检测组件120位于安装部1121上。
其中，至少一个支架111的两端均可以连接一个安装件112；或者两个支架111中一者的两端分别连接一个安装件112；或者，一支架111a的第一端连接一个安装件112，另一支架111b的第二端连接一个安装件112；或者，一支架111a的第二端连接一个安装件112，另一支架111b的第一端连接一个安装件112。只要保证至少两个第一检测组件120分别设置在支撑座110的两端即可。
周转箱200在第一传动组件130上移动，为了避免周转箱200与第一检测组件120之间发生碰撞。在具体实现时，安装部1121为容纳槽，第一检测组件120收容于容纳槽内，且第一检测组件120的检测端朝向第一传动组件130。
示例性的，反射光电传感器的感应面朝向第一传动组件130。第一检测组件120也可以为行程开关，行程开关可以位于第一传动组件130上，或者位于安装部1121上，只要能检测第一传动组件130在静止状态下，周转箱200相对于第一传动组件130移动即可，本实施例在此不做限定。
进一步的，本申请提供的转运装置，挡边1112的两端设置有背离第一传动组件130的折弯边，以增加转运装置100的出口和入口的开口尺寸，对周转箱200流入第一传动组件130和流出第一传动组件130起到导向作用。
其中，安装部1121与折弯边1113的内侧面平齐或位于折弯边1113的外侧。由此，可避免周转箱200与第一检测组件120之间发生碰撞。折弯边1113的高度(图1中+X方向)可以大于或者小于安装部1121的高度(图1中+X方向)，只要第一检测组件120高于折弯边1113即可。
实施例二
请继续参见图1至图8所示，本申请还提供了一种机器人300，包括本体310和至少一个设置在本体310上的转运装置100，转运装置100为上述任一实施例提供的转运装置100。
其中，转运装置100的结构在上述实施例中进行了详细说明，此处不再赘述。
机器人300上还可以设置取货装置，取货装置用于将周转箱200搬运至转运装置100上。其中，取货装置可以为机械臂、抱夹式货叉或者卡爪等本领常用的取货装置，本申请在此不做限制。本实施例的图7中，以取货装置为货叉313进行说明。
为了便于机器人300移动，在具体实现时，本体310包括第一移动底盘311和设置在第一移动底盘311上的至少两个第一支撑架312，第一移动底盘311用于带动第一支撑架312移动。
第一支撑架312朝向第一移动底盘311的上方延伸，且与第一移动底盘311垂直，转运装置100连接在相邻的两个第一支撑架312之间。
各转运装置100沿第一支撑架312的第一方向(即第一支撑架312的高度方向)间隔设置。相邻两层转运装置100之间的距离可以相同或者不同。例如，相邻两个转运装置100之间的距离沿第一移动底盘311的高度方向依次增加或者减小。由此，可以放置不同规格的周转箱200。
在一些实施例中，转运装置100的安装位置可调，由此，可根据周转箱200的规格，以调节各转运装置100之间的距离。例如，在第一支撑架312的高度方向间隔设置多个第一通孔，转运装置100与通孔通过螺栓连接，以调节各转运装置100之间的距离。
为了便于将转运装置100安装在本体310上。本申请提供的机器人，第一支撑架312的第一方向上具有至少一个第一连接部3121，支撑座110上具有第二连接部1114，转运装置100和第一支撑架312通过第一连接部3121与第二连接部1114可拆卸连接。
在具体实现时，第一连接部3121和第二连接部1114中的一者为第一连接孔，另一者为连接座，连接座上具有第二通孔，螺钉通过连接座上的第二通孔与第一连接孔连接，以将转运装置100可拆卸的连接在第一支撑架312上。或者，第一连接部3121与第二连接部1114卡接。第一连接部3121和第二连接部1114中的一者为卡槽，另一者为与卡槽相匹配的卡扣。或者采用本领域技术人员熟知的可拆卸的连接方式将转运装置100连接在第一支撑架312上，调节各转运装置100之间的距离。此处不做限制。
其中，第二连接部1114可以位于支撑部1111上，支撑部1111为支撑座110的主要承重部分。由此，增加转运装置100与本体310连接的可靠性。
实施例三
图9为本申请实施例提供的分拣系统的结构示意图一。参见图1至图9 所示，本申请提供的分拣系统，包括至少一个输送机400和至少一个上述实施例提供的机器人300，输送机400用于接收机器人300上的周转箱200，或将输送机400上的周转箱200传输至机器人300。
其中，机器人300的结构在上述实施例中进行了详细说明，此处不再赘述。
下面，通过不同的实施方式，对输送机400可能的实现结构进行说明。
图10为本申请实施例提供的分拣系统中输送机的结构示意图一；图11为图10中B处的内部结构示意图。参见图10和图11所示，本申请提供的分拣系统，输送机400包括第二支撑架410和位于第二支撑架410上的至少两层第一储货层411，第一储货层411沿第二支撑架410的第一方向(即第二支撑架410的高度方向)设置；第一储货层411用于接收机器人300上的周转箱200，或将周转箱200传输至机器人300。其中，第二支撑架410可以为呈长方体状的框架，第一储货层411位于第二支撑架410内。
可选的，第一储货层411与机器人300上的转运装置100一一对应设置。当机器人300移动至输送机400时，机器人300上的各转运装置100同时通过第一传动组件130的传动，以将周转箱200移动至与其相对的第一储货层411，操作人员在输送机400的第一储货层411进行分拣周转箱200。这样，避免操作人员直接与机器人300接触，也提高了机器人300的卸货速度，降低了机器人300的卸货时间，提高了机器人300的工作效率。
为了便于操作人员分拣周转箱200内的货物，本申请提供的分拣系统，第一储货层411可在第一位置和第二位置之间移动，其中，第一位置位于第二支撑架410上，第二位置位于第二支撑架410背离机器人300的一侧。即第一储货层411可朝向背离机器人300的一侧移动至第二支撑架410外，由此，操作人员可直接对跟随第一储货层411移动至第二支撑架410外的周转箱200进行分拣货物的操作，便于操作人员进行分拣周转箱200内的货物。
在一些实施例中，第二支撑架410的下部中的一层或两层第一储货层411可在第一位置和第二位置之间移动。这样，操作人员可站立所能触及的舒适高度上进行分拣货物，不需要下蹲或者登高，增加了操作人员工作的舒适性。
在本申请中，位于第二支撑架410上部的部分第一储货层411的高度可能超过操作人员的身高，不便于操作人员进行分拣货物。因此，可以将该部分的第一储货层411作为周转箱暂放位，用于暂时放置周转箱200，待第二支撑架410下部的第一储货层411上的周转箱200分拣货物完成时，可将位于周转箱暂放位的周转箱200移动至第二支撑架410的下部的第一储货层411。
在一些实施例中，第二支撑架410上具有遮挡件412，遮挡件412位于第二支撑架410背离机器人300的一侧，遮挡件412用于遮挡位于第二支撑架410的上部的至少一层第一储货层411。通过遮挡件412遮挡位于第二支撑架410的上部的至少一层第一储货层411，避免第二支撑架410上部的第一储货层411上的周转箱200跌落至操作人员侧，提高的操作人员工作的安全性。
需要说明的是，第二支撑架410的上部和第二支撑架410的下部的分界线可以根据操作人员工作的舒适高度作为划分，操作人员分拣第一储货层411内的周转箱200需要借助脚垫或梯子等辅助工具时，可以将该高度以及以上的高度划分为第二支撑架410的上部。
为了便于第一储货层411伸出第二支撑架410外，在一实施例中，第二支撑架410上具有导轨413，导轨413可朝向第二支撑架410的外侧延伸。其中，导轨413可以水平设置两个，第一储货层411连接在两个导轨413之间。导轨413为第一储货层411的移动起到了导向作用，以使第一储货层411能顺畅的伸出第二支撑架410。
下面，对第一储货层411伸出第二支撑架410外的实现方式进行说明。
一种可能的实现方式中，第一储货层411与导轨413滑动连接，且沿导轨413延伸方向滑动。例如，导轨413上具有凹槽，第一储货层411上具有凸块，凸块插设于凹槽内，以滑动连接第一储货层411与导轨413。或者采用本领域技术人员熟知的滑动连接方式。
另一种可能的实现方式中，第二支撑架410上具有驱动结构，驱动结构与第一储货层411连接，以驱动第一储货层411伸出第二支撑架410外。具体的，驱动结构可以包括电机、齿轮414和与齿轮414啮合的齿条415，齿条415位于导轨413上，电机驱动齿轮414正转或者反转，以驱动齿轮414沿齿条415移动，从而驱动与齿条415连接的第一储货层411伸出第二支撑架410外或退至第二支撑架410内。
第一储货层411伸出第二支撑架410外的实现方式不限于上述两种。在具体实现时，可以采用上述两种方式结合，以实现第一储货层411伸出第二支撑架410外。或者采用现有技术中滑动抽屉的结构，实现第一储货层411伸出第二支撑架410外。本实施例在此不做限定。
在一些实施例中，第一储货层411为上述实施例提供的转运装置100。
图12为本申请实施例提供的分拣系统中运输装置的结构示意图二。参见图12所示，本申请提供的分拣系统，输送机400包括第三支撑架416、第二传动组件(图中未示出)和至少一个转运机构417。
转运机构417用于接收周转箱200，第二传动组件与转运机构417连接，第二传动组件驱动转运机构417绕第三支撑架416回转，以将周转箱200传递至第三支撑架416的下部。
其中，第三支撑架418的上部和第三支撑架418的下部的划分方式与上述实施例中第二支撑架410的上部和第二支撑架410的下部的划分方式相同，可参照上述第二支撑架410的上部和第二支撑架410的下部的划分方式此处不再赘述。
具体的，第二传动组件包括驱动件、主动轮、从动轮和带轮，转运机构417间隔连接在带轮上，主动轮和从动轮通过带轮连接，带轮可以呈跑道状，以绕第三支撑架416回转，从而带动转运机构417绕第三支撑架416回转。主动轮与驱动件连接，驱动件通过主动轮驱动带轮旋转，以将周转箱200传 递至第三支撑架416的下部。
其中，转运机构417可以为上述实施例提供的转运装置100，转运机构417也可以为图13中所示的齿状支撑结构。本实施例在此不做限制。
实施例四
图13为本申请实施例提供的分拣系统的结构示意图二；图14为图13中卸料机的结构示意图。在上述实施例三的基础上，参见图13和图14所示，本申请提供的分拣系统，还包括至少一个卸料机500，卸料机500用于在机器人300和输送机400之间传输周转箱200。此时，采用上述图12中实施方式输送机400的结构。
其中，卸料机500具有至少两层第二储货层520，各第二储货层520沿卸料机500的第一方向(即卸料机500的高度方向)设置，卸料机500通过第二储货层520在机器人300和输送机400之间传输周转箱200。
在具体实现时，卸料机500还包括第五支撑架510，第二储货层520位于第五支撑架510上。通过设置第五支撑架510支撑第二储货层520，其中，第五支撑架510可以为呈矩形框架状，第二储货层520位于第五支撑架510内。
通过设置卸料机500，可将机器人300上的周转箱200可以暂存在卸料机500上，由此，能节约机器人300的卸货时间，进而释放该机器人300，以便于机器人300执行其它任务，进一步提高机器人300的运行效率。或者，将输送机400上的周转箱200通过卸料机500传输至机器人300上。
为了能使机器人300上的周转箱200及时的移动至卸料机500上，在一些实施例中，第二储货层520与机器人300上的转运装置100一一对应设置，第二储货层520用于将机器人300的转运装置100上的周转箱200一次性的转运至输送机400。转运机构417可以与第二储货层520一一对应，周转箱200依次经转运机构417和第二储货层520一次性的传输至机器人300的转运装置100上。
为了便于卸料机500上的周转箱200转运至输送机400上，或者传输至机器人300上，第二储货层520可以为上述实施例提供的转运装置100。
实施例五
图15为本申请实施例提供的分拣系统的结构示意图三；图16为图15中升降机的结构示意图；图17为图16中C处的局部放大图；图18为图15中第二检测组件的使用状态图。在上述实施例三的基础上，参见图15至图18所示，分拣系统还包括至少一个升降机600，升降机600用于在机器人300和输送机400之间传输周转箱200。具体的，升降机600接收机器人300上的周转箱200，并将周转箱200传输至输送机400上。或者，升降机600接收输送机400上的周转箱200，并将周转箱200传输至机器人300上。
其中，升降机600包括第四支撑架610和至少两层第三储货层620，第 三储货层620设置在第四支撑架610的第一方向(即第四支撑架610的高度方向)，且第三储货层620可沿第四支撑架610的第一方向移动(即沿第四支撑架610的高度方向上下移动)，第三储货层620用于放置周转箱200。在具体实现时，升降机600上可以具有同步带组件或者链条组件，通过同步带组件或者链条组件驱动第三储货层620沿第四支撑架610的第一方向移动。其中，第三储货层620可以为上述实施例提供的转运装置100。
当输送机400为图12所示的结构时，可以省去升降机600，分拣系统可包括机器人300和输送机400。
为了便于升降机600在机器人300和输送机400之间移动，升降机600还包括第二移动底盘630，第四支撑架610位于第二移动底盘630上，第二移动底盘630用于驱动升降机600移动。
在本申请中，第三储货层620可沿第四支撑架610的高度方向上下移动，即第三储货层620可循环升降。通过升降机600的第三储货层620的循环升降，可将输送机400下部的第一储货层411上已被分拣的周转箱200传输至机器人300上，或者送到输送机400上部的第一储货层411进行缓存。通过升降机600的第三储货层620的循环升降，还可以将输送机400上部未被分拣的周转箱200传输至送到输送机400下部的第一储货层411进行分拣。
在一些实施例中，升降机600还包括第二控制器(图中未示出)和至少一个第二检测组件640，第二检测组件640与第二控制器电连接，第二检测组件640用于检测第三储货层620与升降机600侧方物体之间的间距H，第二控制器640用于在间距H小于或等于预设值时，控制第三储货层620停止沿第一方向移动。
其中，升降机600侧方物体可以为图18所示的机器人300上位于非安全位置的周转箱200和/或输送机400上位于非安全位置的周转箱200。
在本申请中，各第二检测组件640的检测面分别朝向第一方向的第一端和第二方向的第二端。当第三储货层620为一层时，可以在任一第三储货层620的上表面以及下表面均连接至少一个第二检测组件640。当第三储货层620为两层或两层以上时，可以在第一方向第一端的第三储货层620(图18中最上层第三储货层620)的上表面以及第一方向第二端的第三储货层620(图18中最下层第三储货层620)的下表面均连接至少一个第二检测组件640，通过第二检测组件640检测第三储货层620沿第四支撑架610的高度方向上下移动的过程中，是否会碰撞机器人300上位于非安全位置的周转箱200和/或者输送机400上位于非安全位置的周转箱200。
其中，预设值即为第三储货层620与机器人300上位于非安全位置的周转箱200和/或输送机400上位于非安全位置的周转箱200之间的安全间距，即在小于或等于该安全间距时，控制第三储货层620停止移动升降，避免第三储货层620碰撞机器人300上位于非安全位置的周转箱200和/或输送机400上位于非安全位置的周转箱200。
分拣系统可以包括总控制器，各第一控制器和第二控制器均与总控制器 连接。在本申请中，间距H小于或等于预设值时，第二控制器控制第三储货层620停止沿第一方向移动，周转箱200通过各自的第一控制器控制其上的转运装置100朝向第二方向或第三方向传动，以将周转箱200移动至安全位置，此时，第二控制器640控制第三储货层620沿第一方向移动。
在一些实施例中，第二检测组件640的角度可调节，通过调节第二检测组件640的角度，以使第二检测组件640的检测面能检测到位于非安全位置的周转箱200和/或输送机400上位于非安全位置的周转箱200。可以采用本领域技术人员常用的角度调节结构，本实施例在此不作限定。
其中，第二检测组件640可以为缝隙传感器。
在本申请中，由于升降机600具有第二移动底盘630，第二移动底盘630可以驱动升降机600移动，以使升降机600在各输送机400和各机器人300之间移动，从而传输周装箱200，即一个升降机600可以对应至少一个输送机400和至少一个机器人300。这样，升降机600的数量可以小于或等于输送机400的数量。
实施例六
图19为本申请实施例提供的分拣系统的结构示意图四；图20为图19的侧视图；图21为图19的俯视图。在上述实施例四的基础上，参见图19至图21所示，分拣系统还包括至少一个升降机600，即分拣系统包括机器人300，卸料机500，升降机600和输送机400，升降机600用于在卸料机500和输送机400之间传输周转箱。
在本申请中，升降机600的结构以及工作原理与上述实施例五相同，此处不再赘述。
本申请中，卸料机500接收机器人300上的周转箱200后，升降机600接收卸料机500上的周转箱200，并将周转箱200传输至输送机400上。或者，升降机600接收输送机400上的周转箱200，并将周转箱200传输至卸料机500，在通过卸料机500将周转箱200传输至机器人300上。
其中，升降机600侧方物体可以为卸料机500上位于非安全位置的周转箱200、或者输送机400上位于非安全位置的周转箱200中的至少一者。通过第二检测组件640检测第三储货层620沿第四支撑架610的高度方向上下移动的过程中，是否会碰撞卸料机500上位于非安全位置的周转箱200、或者输送机400上位于非安全位置的周转箱200。第二检测组件640的检测方式与上述实施例五中相同，此处不再赘述。
图22为图20中货架的结构示意图。参见图20和图22所示，本申请提供的分拣系统，分拣系统还包括至少一个货架700和/或货物运输组件，货架700用于存储输送机400中的周转箱200，货架700用于放置周转箱200。货物运输组件用于运输输送机400中的周转箱200。
其中，上述实施例三至实施例五至少一者可以包括至少一个货架700和/或货物运输组件。
机器人300的数量、卸料机500的数量和输送机400的数量可以相同。图21中以机器人300的数量为六个，升降机600的数量为两个进行说明。在一些实施例中，机器人300的数量小于卸料机500的数量，由此保证机器人300能及时将其上的周转箱200传输至卸料机500上，避免占用机器人300。卸料机500的数量和输送机400的数量可以相同。
本申请提供的分拣系统，升降机600和机器人300可以独立移动，通过机器人300、卸料机500、升降机600和输送机400相互配合，以使操作人员能方便的进行分拣货物，同时降低实施部署难度，减少部署和搬运分拣系统的工作量，降低了成本。
上述实施例提供的分拣系统具有以下优点：
1、机器人300和操作人员之间设置输送机400，提高了操作人员工作的安全性，操作人员不直接在机器人300身上操作。输送机400下部的第一储货层411可主动伸出第二支撑架410，操作人员在分拣货物时不需要登高，提高操作友好性。
2、输送机400下部的第一储货层411可伸出第二支撑架410外，便于操作人员在周转箱200内进行分拣货物。人机交互友好，操作人员可站立所能触及的舒适高度上作业，
3、通过设置卸料机500和输送机400，机器人300可将其上的周转箱200一次性的传输至卸料机500或者输送机400上，提高了机器人300的工作效率，机器人300可以一次性将周转箱200卸载到卸料机500或者输送机400上，或者将卸料机500或者输送机400上的周转箱200传输至机器人300上，不会因为人员操作的缓慢而使得机器人300被占用过长时间，从而提升了机器人300的实际有效工作时间，提高效率。
4、通过设置可移动的升降机600，一台升降机600可对应多台卸料机500或输送机400，通过循环升降完成货物的传输，充分利用升降机600的性能，节约总体成本。
5、分拣系统可包括机器人300、卸料机500、升降机600和输送机400独立设计，可根据仓库的大小、仓储物流效率的需要，进行实施例三至实施例六中四种不同的分拣系统选择。使分拣系统柔性化和模块化，各部分可以独立移动和装配，降低实施部署难度，减少迁移工作量，成本低。以适应租赁型仓库，或者需要动态变更操作流程的仓库。
实施例七
图23为本申请实施例提供的分拣方法的流程图一。参见图23所示，本申请还提供了一种分拣方法，采用上述实施例三提供的分拣系统，分拣方法包括以下步骤：
S101、机器人接收待分拣的周转箱。
具体的，通过机器人300上的货叉313将周转箱200逐一放到机器人300 上设置的多层转运装置100中，每层转运装置100上可放置至少一个周转箱200，周转箱200内放置有至少一件货物。其中，机器人300的每层转运装置100上放置的周转箱200可以相同，也可以不同。
S102、输送机接收机器人上的周转箱，以使输送机上的周转箱能被分拣。
具体的，输送机400上的第一储货层411可以与机器人300上的转运装置100一一对应设置，第一储货层411接收机器人300上的周转箱200。操作人员拉出输送机400下部的第一储货层411，或者输送机400的下部自动伸出第一储货层411，或者转运机构417回转至输送机400的下部，操作人员对第一储货层411或转运机构417上的周转箱200内的货物进行分拣，以将货物投递至货架700或货物运输组件上。这样，避免操作人员直接与机器人300接触，也提高了机器人300的卸货速度，降低了机器人300的卸货时间，提高了机器人300的工作效率。
可选的，本申请提供的分拣方法，S102之后还包括：输送机400将周转箱200运输至机器人300。也就是说，输送机400可以将其上新的周转箱200或者已被分拣的周转箱200传输至机器人300，以使机器人300将新的周转箱200或者已被分拣的周转箱200运输至仓库。
实施例八
图24为本申请实施例提供的分拣方法的流程图二。参见图24所示，本申请还提供了一种分拣方法，采用上述实施例四提供的分拣系统，分拣方法包括以下步骤：
S201、机器人接收待分拣的周转箱。
S202、卸料机接收机器人上的周转箱，并将周转箱运输至输送机。
具体的，卸料机500上的第二储货层520与机器人300上的转运装置100一一对应，机器人300上的转运装置100用于放置周转箱200，卸料机500上的第二储货层520接收机器人300中的周转箱200，并将周转箱200运输至输送机400上的转运机构417上。
S203、输送机接收卸料机上的周转箱，以使输送机上的周转箱能被分拣。
具体的，输送机400上的转运机构417上接收卸料机500上的周转箱200，操作人员对转运机构417上的周转箱200内的货物进行分拣，以将货物投递至货架700或货物运输组件上。
可选的，本申请提供的分拣方法，S203之后还包括：输送机400将周转箱200通过卸料机500运输至机器人300。也就是说，输送机400可以将其上新的周转箱200或者已被分拣的周转箱200传输至卸料机500，卸料机500将新的周转箱200或者已被分拣的周转箱200传输至机器人300，以使机器人300将新的周转箱200或者已被分拣的周转箱200运输至仓库。
实施例九
图25为本申请实施例提供的分拣方法的流程图三。参见图25所示，本 申请还提供了一种分拣方法，采用上述实施例五提供的分拣系统，分拣方法包括以下步骤：
S301、机器人接收待分拣的周转箱。
S302、升降机接收机器人上的周转箱，并将周转箱运输至输送机。
具体的，升降机600移动至机器人300处，升降机600上的第三储货层620接收机器人300上的转运装置100上放置的周转箱200，并将周转箱200运输至输送机400上的第一储货层411上。
S303、输送机接收升降机上的周转箱，以使输送机上的周转箱能被分拣。
具体的，输送机400上的第一储货层411上接收升降机600上第三储货层620放置的周转箱200，操作人员对第一储货层411上的周转箱200内的货物进行分拣，以将货物投递至货架700或货物运输组件上。
周转箱200被分拣后，可将输送机400下部的第一储货层411上已被分拣的周转箱200传输至机器人300上，或者送到输送机400上部的第一储货层411进行缓存。通过升降机600的第三储货层620的循环升降，还可以将输送机400上部未被分拣的周转箱200传输至送到输送机400下部的第一储货层411进行分拣。可选的，本申请提供的分拣方法，S303之后还包括：输送机400将周转箱200通过升降机600运输至机器人300。也就是说，输送机400可以将其上新的周转箱200或者已被分拣的周转箱200传输至升降机600，升降机600将新的周转箱200或者已被分拣的周转箱200传输至机器人300，以使机器人300将新的周转箱200或者已被分拣的周转箱200运输至仓库。
实施例十
图26为本申请实施例提供的分拣方法的流程图四。参见图26所示，本申请还提供了一种分拣方法，采用上述实施例五提供的分拣系统，分拣方法包括以下步骤：
S401、机器人接收待分拣的周转箱。
具体的，机器人300接收拿取至少一个待分拣的周转箱200的指令，通过机器人300上的货叉313将周转箱200逐一放到机器人300上设置的各转运装置100中。其中，周转箱200上可以贴有用于识别周转箱200内的货物的标识，例如二维码。
S402、卸料机接收机器人上的周转箱，并将周转箱运输至升降机。
具体的，卸料机500上的第二储货层520与机器人300上的转运装置100一一对应，机器人300上的转运装置100用于放置周转箱200，卸料机500上的第二储货层520接收机器人300中的周转箱200，并将周转箱200运输至升降机600。
S403、升降机接收卸料机上的周转箱，并将周转箱运输至输送机。
具体的，升降机600中的第三储货层620接收卸料机500上第二储货层520的周转箱200。升降机600移动至输送机400的位置，并将周转箱200运 输至输送机400上的转运机构417或第一储货层411上。
S404、输送机接收卸料机上的周转箱，以使输送机上的周转箱能被分拣。
具体的，输送机400上的转运机构417或第一储货层411上接收升降机600上第三储货层620放置的周转箱200，操作人员对第一储货层411或转运机构417上的周转箱200内的货物进行分拣，以将货物投递至货架700或货物运输组件上。示例性的，为了便于操作人员将分拣后的货物放到相应的货箱710中，货箱710的下方设置指示灯，通过指示灯提示人员放置位置。指示灯的图案和文字可以与货物相匹配。操作人员分拣货物后，也可以将货物放置于货物运输组件上，例如输送线等运输组件，操作人员将周转箱200放置于该输送线上，由其它设备或者操作人员进行分类，从而进一步提高分拣效率。
需要说明的是，周转箱200若放置至少两个货物时，同一操作人员可以将每个货物放置于货架700中的对应的不同货箱710，也可以通过不同的操作人员将每个货物放置于货架700中的对应的不同货箱710。
其中，每个货箱710可以对应不同的订单，每个货箱710可以放置至少一个货物。通过上述的分拣方法，可将货物放置于同一订单对应的货箱710中。
周转箱200被分拣后，可将输送机400下部的第一储货层411上已被分拣的周转箱200传输至卸料机500上，或者送到输送机400上部的第一储货层411进行缓存。通过升降机600的第三储货层620的循环升降，还可以将输送机400上部未被分拣的周转箱200传输至送到输送机400下部的第一储货层411进行分拣。
可选的，本申请提供的分拣方法，S403之后还包括：输送机将周转箱依次通过升降机和卸料机运输至机器人。也就是说，输送机400可以将其上新的周转箱200或者已被分拣的周转箱200传输至升降机600，升降机600将新的周转箱200或者已被分拣的周转箱200传输至卸料机500，卸料机500将新的周转箱200或者已被分拣的周转箱200传输至机器人300，以使机器人300将新的周转箱200或者已被分拣的周转箱200运输至仓库。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (37)

  1. 一种转运装置，其特征在于，应用于沿第一方向上可放置多层周转箱的设备，所述转运装置沿所述设备的第一方向至少设置两层，所述转运装置包括支撑座和第一传动组件，所述第一传动组件位于所述支撑座上，所述第一传动组件用于运输所述周转箱。
  2. 根据权利要求1所述的转运装置，其特征在于，所述转运装置还包括第一控制器和至少一个第一检测组件，所述第一检测组件设置在所述支撑座上，且所述第一传动组件和所述第一检测组件均与所述第一控制器电连接；
    所述第一检测组件用于检测所述周转箱是否位于非安全位置，所述第一控制器用于在所述周转箱位于所述非安全位置时，控制所述第一传动组件沿第二方向或第三方向传动，以将所述周转箱移动至安全位置，所述第二方向与所述第三方向相反；
    其中，在所述非安全位置时，所述周转箱部分伸出支撑座外，或者所述周转箱部分伸出所述第一检测组件形成的检测区域外。
  3. 根据权利要求2所述的转运装置，其特征在于，至少两个所述第一检测组件分别设置在所述支撑座的两端。
  4. 根据权利要求3所述的转运装置，其特征在于，所述第一检测组件为反射光电传感器。
  5. 根据权利要求2所述的转运装置，其特征在于，所述第一检测组件位于所述支撑座上，所述第一检测组件形成的检测区域覆盖至少部分所述支撑座。
  6. 根据权利要求5所述的转运装置，其特征在于，所述第一检测组件为光幕传感器。
  7. 根据权利要求2至6任一项所述的转运装置，其特征在于，所述支撑座包括两个支架，两个所述支架分别位于所述第一传动组件的相对的两侧；
    所述支架包括支撑部和用于挡设所述周转箱的挡边，所述挡边与所述支撑部连接，所述第一传动组件固定于所述支撑部上，所述第一检测组件位于所述支撑部和/或所述挡边上。
  8. 根据权利要求1至6任一项所述的转运装置，其特征在于，所述第一传动组件为传送带组件或滚筒传动组件。
  9. 根据权利要求1至6任一项所述的转运装置，其特征在于，所述第一方向为所述设备的高度方向。
  10. 一种机器人，其特征在于，包括本体和至少两个设置在所述本体上的转运装置，所述转运装置沿所述本体的第一方向设置，所述转运装置为权利要求1至9任一项所述的转运装置。
  11. 根据权利要求10所述的机器人，其特征在于，所述本体包括第一移动底盘和设置在所述第一移动底盘上的至少两个第一支撑架，所述第一移动底盘用于驱动所述第一支撑架移动；
    所述第一支撑架朝向所述第一移动底盘的上方延伸，且与所述第一移动 底盘垂直，所述转运装置连接在相邻的两个所述第一支撑架之间。
  12. 根据权利要求11所述的机器人，其特征在于，各所述转运装置沿所述第一支撑架的第一方向间隔设置。
  13. 一种分拣系统，其特征在于，包括至少一个输送机和至少一个权利要求10至12任一项所述的机器人，所述输送机用于接收所述机器人上的周转箱，或将周转箱传输至所述机器人。
  14. 根据权利要求13所述的分拣系统，其特征在于，所述输送机包括第二支撑架和至少两层第一储货层，所述第一储货层沿所述第二支撑架的第一方向设置，所述第一储货层用于接收所述机器人上的所述周转箱，或将所述周转箱传输至所述机器人。
  15. 根据权利要求14所述的分拣系统，其特征在于，所述第一储货层可在第一位置和第二位置之间移动，所述第一位置位于所述第二支撑架上，所述第二位置位于所述支撑架背离所述机器人的一侧。
  16. 根据权利要求14或15所述的分拣系统，其特征在于，所述第二支撑架上具有遮挡件，所述遮挡件位于所述第二支撑架背离所述机器人的一侧，所述遮挡件用于遮挡位于所述第二支撑架的上部的至少一层所述第一储货层。
  17. 根据权利要求14所述的分拣系统，其特征在于，所述第一储货层为权利要求1至9任一项所述的转运装置。
  18. 根据权利要求13所述的分拣系统，其特征在于，所述输送机包括第三支撑架、位于所述第三支撑架上的第二传动组件和至少一个转运机构；
    所述转运机构用于接收所述周转箱，所述第二传动组件与所述转运机构连接，所述第二传动组件驱动所述转运机构绕所述第三支撑架回转，以将所述周转箱传递至所述第三支撑架的下部。
  19. 根据权利要求13所述的分拣系统，其特征在于，还包括至少一个卸料机，所述卸料机用于在所述机器人和所述输送机之间传输所述周转箱。
  20. 根据权利要求19所述的分拣系统，其特征在于，所述卸料机具有至少两层第二储货层，各所述第二储货层沿所述卸料机的第一方向设置，所述卸料机通过所述第二储货层在所述机器人和所述输送机之间传输所述周转箱。
  21. 根据权利要求20所述的分拣系统，其特征在于，所述第二储货层为权利要求1至9任一项所述的转运装置。
  22. 根据权利要求13所述的分拣系统，其特征在于，还包括至少一个升降机，所述升降机用于在所述机器人和所述输送机之间传输所述周转箱。
  23. 根据权利要求19所述的分拣系统，其特征在于，还包括至少一个升降机，所述升降机用于在所述卸料机和所述输送机之间传输所述周转箱。
  24. 根据权利要求22或23所述的分拣系统，其特征在于，所述升降机包括第四支撑架和至少一层第三储货层，所述第三储货层设置在所述第四支撑架的第一方向，可沿所述第四支撑架的第一方向移动，所述第三储货层用于传输所述周转箱。
  25. 根据权利要求24所述的分拣系统，其特征在于，所述升降机还包括 第二移动底盘，所述第四支撑架位于所述第二移动底盘上，所述第二移动底盘用于驱动所述升降机移动。
  26. 根据权利要求24所述的分拣系统，其特征在于，所述升降机还包括第二控制器和至少一个第二检测组件，所述第二检测组件与所述第二控制器电连接，所述第二检测组件用于检测所述第三储货层与所述升降机侧方物体之间的间距，所述第二控制器用于在所述间距小于或等于预设值时，控制所述第三储货层停止沿所述第一方向移动。
  27. 根据权利要求25所述的分拣系统，其特征在于，所述升降机的数量小于或等于所述输送机的数量。
  28. 根据权利要求22或23所述的分拣系统，其特征在于，还包括至少一个货架和/或周转箱运输组件，其中，所述货架用于存储所述输送机上的周转箱，所述周转箱运输组件用于运输所述输送机上的周转箱。
  29. 根据权利要求23所述的分拣系统，其特征在于，所述卸料机的数量和所述输送机的数量相同。
  30. 一种分拣方法，采用权利要求13至18任一项所述的分拣系统，其特征在于，所述分拣方法包括以下步骤：
    所述机器人接收待分拣的周转箱；
    所述输送机接收所述机器人上的所述周转箱，以使所述输送机上的所述周转箱能被分拣。
  31. 根据权利要求30所述的分拣方法，其特征在于，所述分拣方法还包括：
    所述输送机将所述周转箱运输至所述机器人。
  32. 一种分拣方法，采用权利要求19至21任一项所述的分拣系统，其特征在于，所述分拣方法包括以下步骤：
    所述机器人接收待分拣的周转箱；
    所述卸料机接收所述机器人上的所述周转箱，并将所述周转箱运输至所述输送机；
    所述输送机接收所述卸料机上的所述周转箱，以使所述输送机上的所述周转箱能被分拣。
  33. 根据权利要求32所述的分拣方法，其特征在于，所述分拣方法还包括：
    所述输送机将所述周转箱通过所述卸料机运输至所述机器人。
  34. 一种分拣方法，采用权利要求22、24至28任一项所述的分拣系统，其特征在于，所述分拣方法包括以下步骤：
    所述机器人接收待分拣的周转箱；
    所述升降机接收所述机器人上的所述周转箱，并将所述周转箱运输至所述输送机；
    所述输送机接收所述升降机上的所述周转箱，以使所述输送机上的所述周转箱能被分拣。
  35. 根据权利要求34所述的分拣方法，其特征在于，所述分拣方法还包括：
    所述输送机将所述周转箱通过所述升降机运输至所述机器人。
  36. 一种分拣方法，采用权利要求23或29所述的分拣系统，其特征在于，所述分拣方法包括以下步骤：
    所述机器人接收待分拣的周转箱；
    所述卸料机接收所述机器人上的所述周转箱，并将所述周转箱运输至所述升降机；
    所述升降机接收所述卸料机上的所述周转箱，并将所述周转箱运输至所述输送机；
    所述输送机接收所述卸料机上的所述周转箱，以使所述输送机上的所述周转箱能被分拣。
  37. 根据权利要求36所述的分拣方法，其特征在于，所述分拣方法还包括：
    所述输送机将所述周转箱依次通过所述升降机和所述卸料机运输至所述机器人。
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