CN110369301A - Goods sorting system and method for sorting - Google Patents
Goods sorting system and method for sorting Download PDFInfo
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- CN110369301A CN110369301A CN201810793222.1A CN201810793222A CN110369301A CN 110369301 A CN110369301 A CN 110369301A CN 201810793222 A CN201810793222 A CN 201810793222A CN 110369301 A CN110369301 A CN 110369301A
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- Prior art keywords
- sorting
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- car body
- agv
- lane
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Classifications
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- 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
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
- B07C3/087—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
Abstract
This disclosure relates to a kind of goods sorting system and method for sorting, goods sorting system includes: sorting AGV (10), for by goods handling to be sorted and being unloaded to corresponding sorting area；And rail system, it is arranged in goods sorting place, is used to form the channel for sorting AGV (10) operation, and guide to the movement of sorting AGV (10) by the side wall in the channel.The disclosure can be improved goods sorting efficiency.
Description
Technical field
This disclosure relates to logistics field more particularly to a kind of goods sorting system and method for sorting.
Background technique
With the development of logistics field, the promotion of goods sorting efficiency becomes the emphasis paid close attention in industry.In some correlations
In technology, goods sorting is carried out using sorting automated guided vehicle (Automated Guided Vehicle, abbreviation AGV).
Cargo is unloaded to target area using turnover panel unloading manner by some sorting AGV.Other in the related technology, using halved belt
Sorter carries out goods sorting.Halved belt sorter is by main points driving for belt conveyor and the trolley for being loaded with miniature belt type conveyer
It is attached, and when trolley is moved to the sort positions of defined, rotating belt sends out packages.
Summary of the invention
Inventor has found that sorting AGV in the related technology is required to stop in upper packet fire unloading, and with ground
The sorting AGV for marking reading code mode requires to stop and rotate 90 ° when turning to, so that acceleration and deceleration and the residence time of sorting AGV
Excessively, the operational efficiency of sorting AGV is reduced.And halved belt sorting machine equipment in the related technology is huge, arrangement and installation are multiple
Miscellaneous and time-consuming, manufacture, maintenance and telephone-moving cost are very high, lack flexibility and rapid deployment.
In view of this, the embodiment of the present disclosure provides a kind of goods sorting system and method for sorting, goods sorting can be improved
Efficiency.
In one aspect of the present disclosure, a kind of goods sorting system is provided, comprising:
AGV is sorted, for by goods handling to be sorted and being unloaded to corresponding sorting area；With
Rail system is arranged in goods sorting place, is used to form the channel for the sorting AGV operation, and pass through
The side wall in the channel guides the movement of the sorting AGV.
In some embodiments, the sorting AGV includes:
Car body has the driving mechanism for driving the car body to run in the channel；With
Belt loading platform is arranged on the car body, and has traffic direction and the car body traffic direction at preset angle
The loading band of degree gets rid of packet unloading for realizing in the state that the car body is advanced.
In some embodiments, the driving mechanism includes:
Double difference dynamic formula driving wheel is arranged on the car body, for driving the car body linear running or differential steering.
In some embodiments, the sorting AGV further include:
Multiple side directive wheels, are arranged in the side of the car body, for being in rolling contact by the side wall with the channel
Realize the guiding function of the car body operation.
In some embodiments, the multiple directive wheel when directive wheel includes four, is located at the vehicle bottom
Four angle points.
In some embodiments, the pivot center of the traffic direction of the loading band and the double difference dynamic formula driving wheel is flat
Row.
In some embodiments, it is additionally provided in terrestrial reference code reader and obstacle avoidance sensor extremely on the car body of the sorting AGV
It is one of few.
In some embodiments, the rail system includes:
Multiple tracks, are arranged in multiple functional areas in the goods sorting place, and two in the multiple track
It is connected between a track by lane-change unit, so that the sorting AGV realizes lane-change via the lane-change unit.
In some embodiments, the lane-change unit includes:
Both ends are connected to the rectilinear orbit of described two tracks, broken line track or curve track.
In some embodiments, the lane-change unit is greater than 0 ° with the angle of described two traces cross respectively, and is less than
Equal to 60 °.
In some embodiments, the rail system further includes at least one of lower unit:
Dividing cell, including at least two lane-change units, for being realized by at least two lane-changes unit from described
A track in multiple tracks is shunted to other at least two tracks；Or
Collaborate unit, including at least two lane-change units, for realizing by at least two lane-changes unit from described
At least two tracks in multiple tracks collaborate to other tracks.
In some embodiments, the dividing cell includes tree-like dividing cell or fishbone dividing cell；Or, the interflow
Unit includes tree-like interflow unit or fishbone interflow unit.
In some embodiments, the multiple functional areas include the area Shang Bao, servicing area and unloading area, the multiple track packet
It includes: being arranged in the first annular track in the area Shang Bao, is arranged in the second circular orbit of the servicing area and is arranged in described
Unload area third circular orbit, the inside of second circular orbit be equipped with multiple maintenance points, the multiple maintenance point with
Second circular orbit is connected to by lane-change unit.
In some embodiments, the multiple functional areas include the area Shang Bao, servicing area and unloading area, the multiple track packet
Include: being arranged in the prograde orbit in the same direction in the area Shang Bao and be arranged in the serpentine track in the unloading area, the parallel rail in the same direction
It is connected between road by lane-change unit.
In some embodiments, the multiple functional areas include upper packet/servicing area, unloading area, merging area and shunting zone, institute
Stating multiple tracks includes: the prograde orbit in the same direction for being arranged in the unloading area, the interflow unit and cloth for being arranged in the merging area
The dividing cell in the shunting zone is set, the track in the upper packet/servicing area is single via the interflow unit and the shunting
It is first to be connected to the prograde orbit in the same direction.
In one aspect of the present disclosure, a kind of method for sorting based on goods sorting system above-mentioned is provided, comprising:
Driving carries channel of the sorting AGV of cargo to be sorted in rail system and runs to corresponding sorting area；
It controls the sorting AGV and the cargo is unloaded to the sorting area.
In some embodiments, the sorting AGV includes the car body run in the channel and is arranged in the car body
On loading band, the operation for unloading cargo includes:
It controls the sorting AGV and packet unloading is got rid of by the loading band realization in the state that car body is advanced.
In some embodiments, the sorting AGV includes the car body run in the channel and is arranged in the car body
On double difference dynamic formula driving wheel, drive the sorting AGV to include: in the operation that channel is run
It is run by car body described in the double difference dynamic formula drive wheel along the passages or in a manner of differential shuttle
Another track is run to through lane-change unit.
Therefore, according to the embodiment of the present disclosure, by goods sorting Ground arrangement rail system, to be formed for sorting AGV
The channel of operation guides the movement for sorting AGV using channel side wall, and what needs expended when reducing sorting AGV turning adds
Deceleration time and residence time by goods handling to be sorted and are unloaded to pair with higher efficiency to enable to sort AGV
The sorting area answered.
Detailed description of the invention
The attached drawing for constituting part of specification describes embodiment of the disclosure, and together with the description for solving
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the partial structural diagram according to some embodiments of disclosure goods sorting system；
Fig. 2 and Fig. 3 is the sorting AGV according to some embodiments of disclosure goods sorting system respectively in the vertical of different perspectives
Body structural schematic diagram；
Fig. 4-Fig. 6 is the layout according to three kinds of rail system examples of some embodiments of disclosure goods sorting system respectively
Schematic diagram.
It should be understood that the size of various pieces shown in attached drawing is not to draw according to actual proportionate relationship.
In addition, same or similar reference label indicates same or similar component.
Specific embodiment
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.Description to exemplary embodiment
It is merely illustrative, never as to the disclosure and its application or any restrictions used.The disclosure can be with many differences
Form realize, be not limited to the embodiments described herein.These embodiments are provided so that the disclosure is thorough and complete, and
The scope of the present disclosure is given full expression to those skilled in the art.It should also be noted that unless specifically stated otherwise, otherwise in these implementations
Component described in example and the positioned opposite of step, parameter values should be construed as merely illustratively, not as limit
System.
" first ", " second " used in the disclosure and similar word are not offered as any sequence, quantity or again
The property wanted, and be used only to distinguish different parts.The similar word such as " comprising " or "comprising" means the element before the word
Cover the element enumerated after the word, it is not excluded that be also covered by the possibility of other element."upper", "lower", "left", "right" etc. are only used
In indicating relative positional relationship, after the absolute position for being described object changes, then the relative positional relationship may also be correspondingly
Change.
In the disclosure, when being described to certain device between the first device and the second device, in the certain device
There may be devices between two parties between the first device or the second device, and device between two parties can also be not present.When being described to specific device
When part connects other devices, which can be directly connected to without device between two parties with the other devices, can also be with
It is not directly connected to the other devices and there is device between two parties.
All terms (including technical term or scientific term) that the disclosure uses are common with disclosure fields
The meaning that technical staff understands is identical, unless otherwise specifically defined.It is also understood that in term such as defined in the general dictionary
The meaning consistent with their meanings in the context of the relevant technologies should be interpreted as having, without application idealization or
The meaning of extremely formalization explains, unless being clearly defined herein.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
As shown in Figure 1, for according to the partial structural diagram of some embodiments of disclosure goods sorting system.With reference to Fig. 1,
And the schematic perspective view of Fig. 2 and sorting AGV shown in Fig. 3 are combined, goods sorting system includes: sorting AGV 10 and track
System.Sorting AGV 10 is used for goods handling to be sorted and is unloaded to corresponding sorting area.Rail system is arranged in goods
Object sorts in place, is used to form the channel run for the sorting AGV 10, and by the side wall in the channel to described point
The movement for picking AGV 10 guides.
Sorting AGV 10 can be run in rail system according to stroke planning, and can advance in some non-rectilinears
In situation (such as lane-change, turning or unloading etc.), be formed by channel side wall using rail system guide sorting AGV movement,
The stopping that sorting AGV Acceleration and deceleration time is too long caused by these situations or sorting AGV is temporary is reduced or eliminated to advance, thus
Effectively improve the goods sorting efficiency of goods sorting system.
With reference to Fig. 2, in some embodiments, AGV 10 is sorted can include: car body 11 and belt loading platform 12.Car body 11 has
There is driving mechanism, which can drive car body to move in channel according to stroke planning.Car body 11 is in linear running
It can not be contacted with vias inner walls, and when car body 11 needs turning or lane-change, it can be assisted by means of the guiding function of vias inner walls
Car body 11 turns to.Channel can be surrounded by baffle arranged side by side, and height can be designed according to the height of car body 11, so that car body
11 will not derail in traveling.
Belt loading platform 12 is arranged on the car body 11, and has traffic direction with 11 traffic direction of car body at pre-
If the loading band of angle.Belt loading platform 12 can be realized in the state that the car body 11 is advanced gets rid of packet unloading.Belt loading platform
12 operation can be independently of the movement of car body 11, and no matter car body 11 in traveling or rests on some position, belt loading platform
12 can execute unloading operation based on unloading command driving loading band.Car body 11 is allowed in this way when closing on sorting area, it can
Realization does not stop unloading.For example, when car body 11 is with speed v1When advancing to close to sorting area corresponding to cargo, belt loading
The loading band of platform 12 is with speed v2It is moved to sorting area side, the cargo for driving it to carry also is moved to the side together；
When cargo leaves loading band, cargo just has the initial velocity of forward direction component and cross component, and is based on the initial velocity, cargo
Sorting area can be moved in the state of sorting AGV and advancing, complete cargo unloading.In further embodiments, AGV is sorted
It can be by the way of stopping unloading.
In order to reduce transmission range of the cargo on belt loading platform, and discharge rate and time are more easily calculated, it is excellent
Choosing keeps the traffic direction of the loading band parallel with the pivot center of the double difference dynamic formula driving wheel 13.In this way when the sorting edge AGV
When straight line is advanced, the traffic direction of loading band is vertical with the sorting direction of travel of AGV.
In figure 2 and figure 3, driving mechanism includes the double difference dynamic formula driving wheel 13 being arranged on the car body 11.Double differential
Formula driving wheel 13 can drive 11 linear running of car body, and the difference of car body can also be realized by friction speed between driving wheel
Speed turns to.When sorting the progress differential steering of AGV 10, channel side wall can carry out the guidance of the direction of motion to sorting AGV 10.
In addition to this, multiple support wheels 16, the support and movement of Lai Shixian car body can also be set in the lower part of car body 11.Support wheel 16
Universal wheel etc. can be used.
With reference to Fig. 1-Fig. 3, sorting in AGV 10 may also include multiple side directive wheels 14.Multiple side directive wheels 14 are arranged in institute
The side for stating car body 11, for realizing that the guidance that the car body 11 is run is made by being in rolling contact for the side wall with the channel
With.Side directive wheel 14 can reduce or eliminate direct friction and collision between car body 11 and channel side wall, avoid because friction or
The damage of car body brought by colliding and cargo fall problem.In addition the control that sorting AGV 10 can also be made up to a certain extent is calculated
The deficiency of method.
In Fig. 4, multiple directive wheels 14 when directive wheel 14 includes four are located at four of 11 bottom of car body
Angle point.For quadrangular or the car body of cubic shaped used by sorting AGV 10, side directive wheel 14 is arranged at four angles
The guidance effect of each direction of motion may be implemented in point.In this way, no matter sorting AGV 10 with the movement of which direction, with great angle
Degree turns to, and side directive wheel 14 has high probability to contact prior to car body 11 with channel side wall and realizes guiding role.
In addition, the settable terrestrial reference at a certain distance in rail system.It correspondingly, can on the car body of sorting AGV 10
The device for reading terrestrial reference is set.With reference to Fig. 3, in some embodiments, can also be configured on the car body 11 of sorting AGV 10
Code reader 17 is marked, which may be provided at the bottom or side of car body 11, and effect is to read to be arranged in cargo
Sort the terrestrial reference being arranged in place.Sorting AGV 10 can be judged based on the read landmark information of terrestrial reference code reader 17 where itself
Position, can also be carried out in time according to landmark information lane-change, unloading, stop or other movement.
In Fig. 3, obstacle avoidance sensor 18 can also be arranged in the car body 11 for sorting AGV, which may be provided at
On the wall surface of car body in the front-back direction when sorting AGV linear motion.In this way, obstacle avoidance sensor 18 can to close to car body 11 its
He sorts AGV and detects, with the distance between control sorting AGV, in case other sortings AGV and sorting AGV collides,
Car body damage or cargo is caused to slide.
With reference to Fig. 4-Fig. 6, respectively according to three kinds of rail system examples of some embodiments of disclosure goods sorting system
Schematic layout pattern.In some embodiments, rail system includes multiple tracks 20 (with reference to Fig. 1).These tracks 20 can be distinguished
It is arranged in multiple functional areas in the goods sorting place.And lane-change list can be passed through between two tracks in multiple tracks 20
Member connection, so that the sorting AGV 10 realizes lane-change via the lane-change unit.
Operator can need each track in goods sorting place easily deployment rails system according to sorting, and
Without complicated construction work, do not need using large-scale equipment yet, thus reduce the foundation of goods sorting system, maintenance,
The workload and cost of the work such as adjustment and dismounting, to keep goods sorting system more flexible and quick in deployment.
By taking rail system example shown in Fig. 4 as an example, multiple functional areas of rail system include the area Shang Bao, servicing area and unload
Carry area.And multiple tracks 20 include: the first annular track 21 for being arranged in the area Shang Bao, are arranged in the second of the servicing area
Circular orbit 22 and the third circular orbit 23 for being arranged in the unloading area.First annular track 21 and the second circular orbit 22 can
It is connected to by lane-change unit 31.Second circular orbit 22 can also be connected to third circular orbit 23 by lane-change unit 31.Institute
The settable multiple maintenance points 50 in inside of the second circular orbit 22 are stated, these maintenance points 50 can be logical with second circular orbit 22
Cross the connection of lane-change unit 31.
Sorting AGV 10 can advance in circular orbit, and in the position of circular orbit turning by the channel of circular orbit
Inner wall realizes turning.When needing to enter another circular orbit from a circular orbit, the lane-change of two tracks of connection can be passed through
Unit 31 realizes lane-change operation.In Fig. 4, lane-change unit 31 may include the rectilinear orbit that both ends are connected to two tracks.Work as sorting
When AGV 10 runs to boundary position (be equivalent to cross road mouth) of the current orbit with lane-change unit 31, sorting AGV 10 can utilize double
Differential type driving wheel 13 adjusts its direction of motion, to enter lane-change unit 31, and reaches another track via the lane-change unit 31.
When sort AGV 10 enter another track after, using double difference dynamic formula driving wheel 13 adjust its direction of motion, so as to the rail
The traffic direction in road is consistent.
Lane-change unit can also just pass through including the track in unloading area in curve track, such as Fig. 5 and the track in the area Shang Bao
Curve track connection.In further embodiments, lane-change unit can also include broken line track.More in order to facilitate sorting AGV 10
It switches tracks, preferably lane-change unit is greater than 0 ° with the angle of described two traces cross respectively, and is less than or equal to 60 °, so as not to it is excessive
Corner cause sorting AGV 10 reduction of speed in lane-change excessive or be unable to complete lane-change operation.
It can be related to converging between a plurality of tracks for goods sorting system, in rail system and separate, therefore rail
Road system can also include at least one of dividing cell 34 or interflow unit 33.With reference to Fig. 6, dividing cell 34 may include
At least two lane-change units.The dividing cell can be realized from the multiple track 20 by at least two lane-changes unit
One track is shunted to other at least two tracks.Here lane-change unit may include rectilinear orbit, curve track or folding
Trajectory.Dividing cell 34 may include tree-like dividing cell shown in Fig. 6, may also comprise fishbone dividing cell.Collaborate unit
33 may include at least two lane-change units, for being realized from the multiple track 20 by at least two lane-changes unit
At least two tracks collaborate to other tracks.Interflow unit 33 may include tree-like interflow unit or fishbone interflow unit.
In rail system example shown in Fig. 4, servicing area can be located at the area Shang Bao and unload the centre in area.And according to reality
It needs, the side in the area Shang Bao is arranged in see also Fig. 5 for servicing area, far from unloading area.Servicing area may also be arranged on unloading area one
Side, far from the area Shang Bao.The area Shang Bao, functional areas and unloading area can rearrange respective range according to actual needs, such as will
The a part in the area Shang Bao is set to unloading area or servicing area etc..
In Fig. 4, can be used artificial upper packet or the automatic upper mode wrapped the belt loading platform of sorting AGV 10 place to
The cargo of sorting.Upper package operation can be completed in any position of first annular track 21 by sorting AGV 10.Carry point of cargo
Picking AGV 10 can move from according to arrow direction along first annular track 21, and according to instruction and landmark information via some lane-change
Second circular orbit 22 of 31 oblique line of the unit shuttle into servicing area.Along the second circular orbit 22, sorting AGV 10 can be via
Some 31 oblique line of lane-change unit shuttles to the third circular orbit 23 in unloading area.
It is distinguished in unloading and is furnished with multiple sorting ports 40, and third circular orbit 23 is threaded through between each sorting port 40.Point
When picking AGV 10 and being moved in third circular orbit 23, driven in advance according to the position relation of its sorting port 40 corresponding with cargo
Direction where from loading band to the sorting port moves, this makes it possible to realize it is not parking get rid of packet unloading.
When needing to safeguard sorting AGV 10 (such as charging, maintenance or replacement etc.), sorting AGV 10 can be driven
Enter the maintenance point 50 in servicing area from the area Shang Bao or unloading area.The maintenance point 50 is settable can be with sorting AGV 10
The charger that charge port 16 (referring to Fig. 2) is plugged into.Automatic maintenance of equipment or replacement mechanism can also be set in maintenance point 50, used
It places under repair or replaces in the sorting AGV 10 being unable to operate normally.
With reference to Fig. 5, in some embodiments, multiple functional areas may include the area Shang Bao, servicing area and unloading area.It servicing area can
With reference to the servicing area setting in Fig. 4, servicing area can also be as desired as the extensible zone in the area Shang Bao.Similarly, servicing area
Also it can according to need the extensible zone as unloading area.
In Fig. 5, multiple tracks 20 are including being arranged in the prograde orbit in the same direction 25 in the area Shang Bao and being arranged in described unload
Carry the serpentine track 24 in area.It can be connected to by lane-change unit 31 between prograde orbit 25 in the same direction.This prograde orbit in the same direction 25
Intermediate settable automatic parcel loading machine carries out automatic upper packet or carries out manually upper package operation by operator, wraps effect to improve
Rate.Prograde orbit 25 in the same direction can be connect by the lane-change unit 32 of curve track form at least one end of serpentine track 24.Snake
Shape track 24 is flexible and in turn passes through multiple groups sorting port 40.This orbit form has longer length, therefore can prop up
Hold more sort positions.And channel is formed by for serpentine track 24, biggish bending angle can be used, by means of AGV
10 side directive wheel can favorably accomplish the turning guiding of sorting AGV 10.
With reference to Fig. 6, multiple functional areas include upper packet/servicing area, unloading area, merging area and shunting zone.Here it speaks and wraps area
It is integrated in a region with servicing area, packet portion or service portion is made to occupy suitable regional scope according to actual needs.
And in order to reduce sorting AGV 10 unloading area move distance, multiple tracks 20 may include be arranged in it is described unloading area it is in the same direction
Prograde orbit 25.Sorting AGV 10 in this way can select corresponding orbit form unloading to save it according to specific sort positions
Run duration in area.Correspondingly, may also include the interflow unit 33 for being arranged in the merging area and arrangement in multiple tracks 20
Dividing cell 34 in the shunting zone.Track in upper packet/servicing area is via the interflow unit 33 and the dividing cell
34 are connected to the prograde orbit 25 in the same direction.Wherein, interflow unit 33 can will be in each track in prograde orbit 25 in the same direction
Sorting AGV is convergeed in less track, and the sorting AGV in a track can be diverted to different tracks by dividing cell 34
In, such as be diverted in prograde orbit 25 in the same direction in track corresponding to the sorting port of cargo.
On the basis of each embodiment of above mentioned goods sorting system, the disclosure additionally provides corresponding method for sorting and implements
Example.In some method for sorting embodiments, sort process includes: that driving carries the sorting AGV 10 of cargo to be sorted along track
Channel in system runs to corresponding sorting area；It controls the sorting AGV 10 and the cargo is unloaded to the off-sorting station
Domain.
For including the sorting AGV of the car body 11 run in the channel and the loading band being arranged on the car body 11
For 10, the operation for unloading cargo be may particularly include: the control sorting AGV 10 is logical in the state that the car body 11 is advanced
It crosses the loading band realization and gets rid of packet unloading.
In addition, sorting AGV 10 may include the car body 11 run in the channel and be arranged in double on the car body 11
Differential type driving wheel 13.Correspondingly, the operation that the driving sorting AGV10 is run in channel can include: pass through the double differential
Formula driving wheel 13 drives the car body 11 to run along the passages or in a manner of differential shuttle through lane-change unit 31 or lane-change
Unit 32 runs to another track.
Multiple embodiments are described in a progressive manner in this specification, and the emphasis of each embodiment is different, and each
The same or similar part cross-reference between embodiment.For embodiment of the method, due to its entirety and it is related to
The step of there are corresponding relationships with the content in system embodiment, therefore be described relatively simple, related place is referring to system reality
Apply the part explanation of example.
So far, the presently disclosed embodiments is described in detail.In order to avoid covering the design of the disclosure, do not describe
Some details known in the field.Those skilled in the art as described above, completely it can be appreciated how implement here
Disclosed technical solution.
Although being described in detail by some specific embodiments of the example to the disclosure, the skill of this field
Art personnel it should be understood that above example merely to be illustrated, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel it should be understood that can not depart from the scope of the present disclosure and spirit in the case where, modify to above embodiments or
Some technical features can be equivalently replaced.The scope of the present disclosure is defined by the following claims.
Claims (18)
1. a kind of goods sorting system, comprising:
It sorts AGV (10), for by goods handling to be sorted and being unloaded to corresponding sorting area；With
Rail system is arranged in goods sorting place, is used to form the channel for sorting AGV (10) operation, and pass through
The side wall in the channel guides the movement of sorting AGV (10).
2. goods sorting system according to claim 1, wherein the sorting AGV (10) includes:
Car body (11) has the driving mechanism for driving the car body (11) to run in the channel；With
Belt loading platform (12) is arranged on the car body (11), and has traffic direction and the car body (11) traffic direction
At the loading band of predetermined angle, packet unloading is got rid of for realizing in the state that the car body (11) advance.
3. goods sorting system according to claim 2, wherein the driving mechanism includes:
Double difference dynamic formula driving wheel (13) is arranged on the car body (11), for driving the car body (11) linear running or difference
Speed turns to.
4. goods sorting system according to claim 2, wherein the sorting AGV (10) further include:
Multiple side directive wheels (14) are arranged in the side of the car body (11), for the rolling by the side wall with the channel
The guiding function of car body (11) operation is realized in contact.
5. goods sorting system according to claim 4, wherein the multiple to be oriented to when directive wheel (14) include four
It takes turns (14), is located at four angle points of the car body (11) bottom.
6. goods sorting system according to claim 3, wherein the traffic direction of the loading band and the double difference dynamic formula
The pivot center of driving wheel (13) is parallel.
7. goods sorting system according to claim 2, wherein also set on the car body (11) of sorting AGV (10)
There are at least one of terrestrial reference code reader (17) and obstacle avoidance sensor (18).
8. goods sorting system according to claim 1, wherein the rail system includes:
Multiple tracks (20), are arranged in multiple functional areas in the goods sorting place, in the multiple track (20)
Two tracks between by lane-change unit (31,32) be connected to, so as to the sorting AGV (10) via the lane-change unit (31,
32) lane-change is realized.
9. goods sorting system according to claim 8, wherein the lane-change unit (31,32) includes:
Both ends are connected to the rectilinear orbit of described two tracks, broken line track or curve track.
10. goods sorting system according to claim 8, wherein the lane-change unit (31,32) respectively with it is described two
The angle of traces cross is greater than 0 °, and is less than or equal to 60 °.
11. goods sorting system according to claim 8, wherein the rail system further include in lower unit extremely
Few one kind:
Dividing cell (34), including at least two lane-change units (31,32), for by at least two lane-changes unit (31,
32) realize that a track from the multiple track (20) is shunted to other at least two tracks；Or
Collaborate unit (33), including at least two lane-change units (31,32), for by at least two lane-changes unit (31,
32) realize that at least two tracks from the multiple track (20) collaborate to other tracks.
12. goods sorting system according to claim 11, wherein the dividing cell (34) includes tree-like dividing cell
Or fishbone dividing cell；Or, the interflow unit (33) includes tree-like interflow unit or fishbone interflow unit.
13. goods sorting system according to claim 8, wherein the multiple functional areas include the area Shang Bao, servicing area and
Area is unloaded, the multiple track (20) includes: the first annular track (21) for being arranged in the area Shang Bao, is arranged in the maintenance
Second circular orbit (22) in area and the third circular orbit (23) for being arranged in the unloading area, in second circular orbit
(22) inside is equipped with multiple maintenance points (50), and the multiple maintenance point (50) and second circular orbit (22) pass through lane-change
Unit (31,32) connection.
14. goods sorting system according to claim 8, wherein the multiple functional areas include the area Shang Bao, servicing area and
Area is unloaded, the multiple track (20) includes: to be arranged in the prograde orbit in the same direction (25) in the area Shang Bao and unload described in being arranged in
The serpentine track (24) in area is carried, is connected between the prograde orbit (25) in the same direction by lane-change unit (31,32).
15. goods sorting system according to claim 8, wherein the multiple functional areas include upper packet/servicing area, unload
Carry area, merging area and shunting zone, the multiple track (20) include: the prograde orbit in the same direction (25) for being arranged in the unloading area,
It is arranged in the interflow unit (33) of the merging area and is arranged in the dividing cell (34) of the shunting zone, the upper packet/maintenance
Track in area is connected to via the interflow unit (33) and the dividing cell (34) with the prograde orbit (25) in the same direction.
16. a kind of method for sorting based on any goods sorting system of claim 1~15, comprising:
Driving carries channel of the sorting AGV (10) of cargo to be sorted in rail system and runs to corresponding sorting area；
It controls the sorting AGV (10) and the cargo is unloaded to the sorting area.
17. method for sorting according to claim 16, wherein the sorting AGV (10) includes running in the channel
Car body (11) and loading band on the car body (11) is set, the operation for unloading cargo includes:
It controls the sorting AGV (10) and packet unloading is got rid of by the loading band realization in the state that car body (11) advance.
18. method for sorting according to claim 16, wherein the sorting AGV (10) includes running in the channel
Car body (11) and double difference dynamic formula driving wheel (13) on the car body (11) is set, drive the sorting AGV (10) leading to
Road operation operation include:
The car body (11) is driven to run along the passages or shuttle with differential by the double difference dynamic formula driving wheel (13)
Mode runs to another track through lane-change unit (31,32).
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