CN113460550B - Goods sorting system and sorting method - Google Patents
Goods sorting system and sorting method Download PDFInfo
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- CN113460550B CN113460550B CN202110738928.XA CN202110738928A CN113460550B CN 113460550 B CN113460550 B CN 113460550B CN 202110738928 A CN202110738928 A CN 202110738928A CN 113460550 B CN113460550 B CN 113460550B
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- 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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
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Abstract
The invention provides a goods sorting system and a goods sorting method, wherein the goods sorting system comprises a goods shelf, a four-way shuttle, a top rail vehicle and a transfer vehicle, a ground rail track and a top rail track are laid in a roadway of the goods shelf, the ground rail track and the top rail track extend along the length direction of the goods shelf, the four-way shuttle can be slidably mounted on the ground rail track, a manipulator is mounted on the top rail vehicle, the top rail vehicle is slidably mounted on the top rail track, the transfer vehicle track is arranged between the roadways, the transfer vehicle can be slidably mounted on the transfer vehicle track, and the transfer vehicle is clamped with the top rail vehicle moving to the place so as to transfer the top rail vehicle from one roadway to the other roadway along the transfer vehicle track. The goods sorting system and the sorting method have high space utilization rate; the integral composite warehouse entry and exit efficiency can be improved by increasing the vehicle quantity, and the expansion is convenient; the overhead rail vehicle and the ground rail vehicle are arranged in a vertically split mode, the transfer rail vehicle slides along the transfer rail vehicle track to move the overhead rail vehicle between the roadways, the overhead rail vehicle can be dispatched at any position of the goods shelf, and the jam risk of the roadways is reduced.
Description
Technical Field
The invention relates to the technical field of logistics equipment, in particular to a goods sorting system and a goods sorting method.
Background
A picking mode from goods to people is generally adopted in a picking system of a traditional stacker stereoscopic warehouse or a four-way vehicle stereoscopic warehouse, but the picking mode from goods to people is generally applied to the fast-moving goods industry with few material types and more single storage amount. For the production line logistics field of the heavy industry and commercial vehicles, due to the fact that more customized spare and accessory parts exist, the fields have the advantages of being wide in material types, small in single-type storage quantity, large in part size difference, low in part turnover rate and the like, and the implementation difficulty of automatic storage is large and the application degree is low.
Taking a small-sized plate part (the length and the width are less than 1.2 m) in the mechanical heavy industry as an example, the automatic storage mostly uses a traditional stacker three-dimensional warehouse, the small-sized plate part is manually selected after being taken out of the warehouse, and the tray after being disassembled is returned to the vertical warehouse. The stacker has an upper efficiency limit, the number of returned trays after zero removal is multiplied, automatic control of mixed-tray storage and picking is difficult to meet, the stacker still belongs to a picking mode of goods arrival, storage and sorting, efficiency waste of repeated warehouse-in and warehouse-out exists, and using requirements cannot be met.
Disclosure of Invention
The embodiment of the invention provides a goods sorting system and a sorting method, which are used for solving the defect that the existing sorting system in the prior art is low in efficiency and cannot meet the application requirement of the field of mechanical heavy industry.
The embodiment of the invention provides a goods sorting system which comprises a goods shelf, a four-way shuttle car, a top rail car and a transfer car, wherein a ground rail track and a top rail track are laid in a roadway of the goods shelf, the ground rail track and the top rail track extend along the length direction of the goods shelf, the four-way shuttle car is slidably mounted on the ground rail track, a manipulator is mounted on the top rail car, the top rail car is slidably mounted on the top rail track, the transfer car track is arranged between the roadways, the transfer car is slidably mounted on the transfer car track, and the transfer car is used for being clamped with the top rail car moving to the place so as to transfer the top rail car from one roadway to the other roadway along the transfer car track.
According to the goods picking system provided by the embodiment of the invention, the sky-rail track is provided with the lane openings, and the rail-transfer vehicle track is communicated with the lane openings correspondingly arranged on the two sky-rail tracks.
According to the goods picking system provided by the embodiment of the invention, the sky rail track is a C-shaped slide rail, the mechanical arm is provided with a power wheel, and the power wheel is arranged in the C-shaped slide rail and can slide along the C-shaped slide rail.
According to the goods picking system provided by the embodiment of the invention, the transfer car track and the overhead rail track are independent from each other, and the transfer car track is arranged above the overhead rail track along the height direction of the goods shelf.
According to the goods picking system provided by the embodiment of the invention, the goods shelf is provided with a plurality of layers of ground rail tracks and a plurality of layers of overhead rail channels, and each overhead rail track is laid on and positioned below the cross beam of the upper layer of ground rail track.
The goods picking system further comprises a lifter, wherein the lifter is installed at the feeding end of the goods shelf and used for moving incoming material trays into corresponding roadways to be warehoused.
According to the goods picking system provided by the embodiment of the invention, the number of the four-way shuttle vehicles is two, one four-way shuttle vehicle is used for bearing incoming material trays, the other four-way shuttle vehicle is used for bearing empty trays, and the manipulator can slide along the sky rail track to transfer target materials in the incoming material trays to the empty trays.
According to one embodiment of the invention, the goods sorting system further comprises a manual sorting area, wherein a discharging lifter, a conveying line and a workbench are distributed in the manual sorting area, the discharging lifter is positioned at the discharging end of the goods shelf, and the conveying line is communicated with the discharging position of the discharging lifter and the workbench.
According to one embodiment of the invention, the goods picking system further comprises a conveyor, a plurality of conveying lines are distributed on the conveyor line and the roadway in a one-to-one correspondence manner, a plurality of working platforms are distributed on the conveyor line, and the plurality of working platforms are arranged on the same side of the conveyor in parallel.
The invention also provides a goods sorting method, which comprises the following steps:
the four-way shuttle vehicle slides along a ground rail, the overhead rail vehicle slides along an overhead rail, the overhead rail vehicle is provided with a manipulator, the manipulator is used for transferring target materials from the feeding tray to the empty tray, the feeding tray and the empty tray are respectively borne by one four-way shuttle vehicle, and after being sorted by the manipulator, the feeding tray is conveyed to a manual sorting area for manual sorting;
the track-guided vehicle is characterized in that the track-guided rail is provided with a lane-turning port, a track-guided vehicle track is communicated with a corresponding lane-turning port of the track-guided vehicle track in the adjacent lane, the track-guided vehicle slides along the track-guided vehicle track, and the track-guided vehicle is butted with the track-guided vehicle after moving to the lane-turning port so as to move to another lane along with the track-guided vehicle.
According to the goods sorting system and the sorting method provided by the invention, the four-way shuttle is used as the carrying unit, so that the space utilization rate is high; the integral composite warehouse entry and exit efficiency can be improved by increasing the vehicle quantity, and the expansion is convenient; the four-way shuttle car slides along the ground rail track, and the sky rail car slides along the sky rail track, makes the components of a whole that can function independently setting from top to bottom of sky rail car and ground rail car, and the transfer rail car slides along the transfer rail car track and removes the sky rail car between the tunnel to make the scheduling of free position of sky rail car cooperation four-way shuttle car at the goods shelves, compare in the mode that three cars cooperate in the tunnel to select among the prior art, can effectively reduce the tunnel risk of blocking up.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a top plan view of a cargo picking system provided by an embodiment of the present invention;
FIG. 2 is a side view of a shelf provided by an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the cooperative picking of a four-way shuttle and a sky rail vehicle provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a switching lane of a head-end rail vehicle according to an embodiment of the present invention.
Reference numerals:
1: a shelf; 2: a track car; 21: a lane entrance; 22: a manipulator; 3: a head rail track; 4: a four-way shuttle; 5: a ground rail track; 6: a rail transfer vehicle; 7: a transfer car track; 8: an elevator; 9: a discharge elevator; 10: a conveying line; 11: a work table; 12: a conveyor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The structure of the cargo picking system of the embodiment of the present invention will be described with reference to fig. 1 to 4.
As shown in fig. 1 to 4, an embodiment of the invention provides a cargo picking system, which includes a rack 1, a four-way shuttle 4, a head rail vehicle 2 and a transfer vehicle 6, wherein a floor rail 5 and a head rail 3 are laid in a roadway of the rack 1, the floor rail 5 and the head rail 3 extend along the roadway of the rack 1, and the four-way shuttle 4 is slidably mounted on the floor rail 5. As shown in fig. 3 and 4, the overhead railcars 2 are provided with manipulators 22, the overhead railcars 2 are slidably mounted on the overhead railways 3, the transfer car rails 7 are provided between the roadways, the transfer cars 6 are slidably mounted on the transfer car rails 7, and the transfer cars 6 are adapted to be engaged with the overhead railcars 2 moved thereto so as to transfer the overhead railcars 2 from one of the roadways to the other roadway along the transfer car rails 7.
The shelf 1 is used for storing materials. The four-way shuttle 4 moves along the sky rail track 3 to carry materials to realize warehousing of the materials. The mechanical arm 22 is installed on the overhead rail vehicle 2, and along with the movement of the overhead rail vehicle 2 along the overhead rail track 3, the mechanical arm 22 selects materials in the goods shelf 1. Wherein, the transfer car 6 can move to another tunnel from a tunnel together with the overhead rail car 2 joint in order to drive overhead rail car 2, makes overhead rail car 2 can select in the optional position in goods shelves 1 space.
As shown in fig. 1 and 2, the storage rack 1 has multiple layers and multiple rows of material racks, a row of sky rail tracks 3 is laid between two adjacent rows of material racks, a ground rail track 5 is laid below the sky rail track 3, and a sky rail track 3 and a ground rail track 5 are laid on each layer of material rack, which is not specifically described in the embodiment of the present invention. Correspondingly, multiple layers of the transfer car tracks 7 are laid, and each layer of material rack is provided with the transfer car track 7. The transfer car track 7 and the sky track 3 are both located above the corresponding ground track 5, the transfer car track 7 extends along the width direction of the goods shelf 1, and the sky track 3 and the ground track 5 also extend along the roadway direction of the goods shelf 1 in the length direction. In addition, in the warehousing process, if the warehousing position is not occupied by the sorting equipment, occupied roadways can be avoided by bypassing; if the warehousing and ex-warehousing position is occupied by the picking equipment, an optimal mode can be selected according to the picking remaining time and an actual avoidance algorithm, the four-way shuttle 4 avoids in an empty warehousing position, and the overhead rail car 2 directly arrives at the picking position to wait for the ground rail car to pick after taking in place, so that the tunnel congestion is avoided.
According to the goods picking system provided by the embodiment of the invention, the four-way shuttle 4 is used as the carrying unit, so that the space utilization rate is high; the integral composite warehouse entry and exit efficiency can be improved by increasing the vehicle quantity, and the expansion is convenient; the quadriversal shuttle 4 slides along ground rail track 5, and the overhead rail car 2 slides along overhead rail track 3, makes overhead rail car 2 and ground rail car components of a whole that can function independently setting from top to bottom, and the transfer rail car 6 slides along transfer rail car track 7 and removes overhead rail car 2 between the tunnel to make overhead rail car 2 cooperation quadriversal shuttle 4 can be in the arbitrary position scheduling of goods shelves 1, compare in the mode that three cars cooperate in the tunnel and select among the prior art, can effectively reduce the tunnel risk of blocking up.
Specifically, as shown in fig. 4, the sky-rail track 3 is provided with a lane entrance 21, and the rail vehicle track 7 is communicated with the lane entrances 21 correspondingly arranged on the two sky-rail tracks 3.
The rail guide rails 3 in different roadways are correspondingly provided with the lane change openings 21, and the rail guide vehicle rails 7 are communicated with the corresponding lane change openings 21. The width of the lane-changing opening 21 is slightly larger than that of the monorail car 2, when the monorail car 2 moves to the lane-changing opening 21 along the monorail track 3, the monorail car 2 can be in butt joint with the monorail car 6 installed on the monorail car track 7, and the monorail car 2 moves along the monorail car track 7 along with the monorail car 6, so that roadway switching is achieved.
The number of the lane openings 21 can be one or more, and is specifically set according to actual needs. When a plurality of lane entrances 21 are provided, one rail vehicle 6 is provided at each lane entrance 21 so as to select an appropriate lane entrance 21 to switch tracks according to actual needs. When one lane entrance 21 is provided, the overhead rail vehicle 2 is moved to the lane entrance 21 when the lane needs to be switched, and the lane is switched at the same position every time.
The traditional sky-rail track 3 is a continuous slide way, the sky-rail vehicles 2 are arranged on the sky-rail track 3 and limited by the sky-rail track 3, and can only move back and forth along the sky-rail track 3, and the four-way shuttle vehicles 4 cannot be dispatched and moved in four directions.
Specifically, the rail transfer car 6 is provided with a slide rail, the slide rail is matched with the head rail car 2, the head rail car 2 slides into the slide rail after moving to the lane crossing 21, then the rail transfer car 6 locks the head rail car 2 tightly, and the rail transfer car 6 and the head rail car 2 move together along the rail transfer car track 7. Wherein, the butt joint clearance of the slide rail and the sky rail track 3 is less than 20mm. If the butt joint gap between the slide rail and the overhead rail 3 is too large, the overhead rail vehicle is likely to deflect during transfer, and cannot smoothly slide into the transfer rail vehicle 6. Therefore, the butt gap between the slide rail and the top rail 3 needs to be set within a reasonable range. For example, the butt joint gap between the slide rail and the sky rail 3 is 15mm, and the gap between the slide rail and the sky rail is small, so that the sky rail vehicle can smoothly transit to the slide rail when moving to the lane entrance 21.
The sky rail 3 is a C-shaped slide rail, the manipulator 22 is provided with a power wheel, and the power wheel is arranged in the C-shaped slide rail and can slide along the C-shaped slide rail. Borrow by the stability of guaranteeing to travel with the power wheel injects in the track by C type slide rail, cooperation manipulator 22 can realize steady selection operation, avoids rocking and leads to selecting the material and not selecting successfully. Correspondingly, the slide rail is a C-shaped rail which is the same as the sky rail 3, and the two rails are consistent, so that smooth switching can be ensured.
The transfer car track 7 and the overhead rail track 3 are independent of each other, and the transfer car track 7 is arranged above the overhead rail track 3 along the height direction of the goods shelf 1.
When the overhead rail vehicle 2 moves to the lane entrance 21, the overhead rail vehicle 2 can continue to move forward along the track of the overhead rail vehicle 2, can slide along the track of the overhead rail vehicle 7 along the track of the overhead rail vehicle 6, the two slideways are mutually independent, the overhead rail vehicle 2 can be moved to the overhead rail track 3 of another lane by means of butt joint of the overhead rail vehicle 6, the overhead rail vehicle 2 is separated from the overhead rail vehicle 2 after the overhead rail vehicle is transferred in place, and the overhead rail vehicle 2 slides along the overhead rail track 3 of the other lane.
Wherein, goods shelves 1 is equipped with multilayer ground rail track 5 and multilayer day rail track 3, and each day rail track 3 lays on the crossbeam of upper strata ground rail track 5 and is located its below.
The sky rail track 3 is laid on the crossbeam of upper strata earth rail track 5 to reduce the shared space of track laying, conveniently lay.
As shown in fig. 1, the cargo picking system provided by the invention further comprises an elevator 8, wherein the elevator 8 is installed at the feeding end of the shelf 1, and the elevator 8 is used for transferring the incoming pallets to the corresponding roadway for warehousing.
When the tray is used, materials are stacked in order in the tray, so that the manipulator 22 can visually recognize the materials. After the material information is bound with the tray information, the storage positions are distributed and the warehousing path is planned, the elevator 8 moves the materials to the corresponding height, and then the four-way shuttle 4 at the corresponding height in the roadway is connected with the materials and conveyed to the corresponding warehouse position.
In the embodiment of the present invention, as shown in fig. 3, there are two four-way shuttle cars 4, one of the four-way shuttle cars 4 is used for carrying incoming material trays, the other four-way shuttle car 4 is used for carrying empty trays, and the manipulator 22 can slide along the top rail track 3 to move the target material in the incoming material trays to the empty trays.
In the field of production line logistics of mechanical heavy industry and commercial vehicles, a large number of customized parts are produced, the types of materials are various, a large number of trays which are disassembled to be zero exist after the materials are sorted, and the pallets need to be warehoused again in order to reduce the space occupied by the pallets, so that the shipping units are occupied when the pallets are warehoused again, and the efficiency waste and the energy waste of the shipping units are caused.
In addition, as shown in fig. 1, the cargo picking system according to the embodiment of the present invention further includes a manual picking area, the manual picking area is located at the discharging end of the shelf 1, a discharging elevator 9, a conveying line 10 and a workbench 11 are disposed in the manual picking area, the discharging elevator 9 is located at the discharging end of the shelf 1, and the conveying line 10 communicates the discharging position of the discharging elevator 9 and the workbench 11.
The material is transferred to the discharge end of goods shelves 1 by four-way shuttle 4, and ejection of compact lift 9 will come the material tray and carry to workstation 11 through transfer chain 10 and select by hand.
According to the goods sorting system provided by the embodiment of the invention, the sorting in the goods shelf 1 is matched with the manual sorting, so that the workload and the labor cost of the manual sorting are reduced, the times of warehouse-in and warehouse-out are reduced, and the energy efficiency of the sorting system is improved.
Specifically, goods system of selecting still includes conveyer 12, and transfer chain 10 has laid many with the tunnel one-to-one, and workstation 11 has laid a plurality ofly, and a plurality of workstations 11 are parallel to be set up in the same one side of conveyer 12.
The working tables 11 are arranged in a centralized mode, and a conveying line 10 is arranged at the discharge end of each roadway. For example, the conveyor 12 is arranged along the length direction of the shelf 1, the working tables 11 are intensively arranged on the same side of the conveyor 12, one end of the conveying line 10 is positioned at the discharging position of the discharging lifter 9, and the other end is butted with the working tables 11. After manual picking, the conveyor 12 conveys the material to an operation station to complete delivery.
The embodiment of the invention also provides a goods sorting method, which comprises the following steps:
the four-way shuttle 4 slides along the ground rail 5, the overhead rail vehicle 2 slides along the overhead rail 3, the manipulator 22 is installed on the overhead rail vehicle 2, the manipulator 22 is used for transferring target materials from the material trays to empty trays, the incoming material trays and the empty trays are respectively borne by the four-way shuttle 4, and after being sorted by the manipulator 22, the incoming material trays are conveyed to a manual sorting area for manual sorting;
the sky-rail track 3 is provided with a lane-changing port 21, the rail-changing car track 7 is communicated with a lane-changing port 21 correspondingly arranged on the sky-rail track 3 in an adjacent lane, the rail-changing car 6 slides along the rail-changing car track 7, and the sky-rail car 2 is in butt joint with the rail-changing car 6 after moving to the lane-changing port 21 so as to move to another lane along with the rail-changing car 6.
According to the goods sorting method provided by the embodiment of the invention, the four-way shuttle 4 can move in four directions, the four-way shuttle is matched with the overhead rail vehicle 2 to realize sorting in the goods shelf 1, and the overhead rail vehicle 2 realizes roadway switching through the transfer rail vehicle 6 and the transfer rail vehicle track 7, so that the sorting of materials with multiple dimensions is realized, and the avoidance can be conveniently carried out.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A goods sorting system is characterized by comprising a goods shelf, a four-way shuttle car, a top rail car and a transfer car, wherein a ground rail track and a top rail track are laid in a roadway of the goods shelf, the ground rail track and the top rail track extend along the length direction of the goods shelf, the four-way shuttle car is slidably mounted on the ground rail track, a manipulator is mounted on the top rail car, the top rail car is slidably mounted on the top rail track, the transfer car track is arranged between the roadways, the transfer car is slidably mounted on the transfer car track, and the transfer car is used for being clamped with the top rail car moving to the place so as to transfer the top rail car from one roadway to the other roadway along the transfer car track; the number of the four-direction shuttle vehicles is two, one of the four-direction shuttle vehicles is used for bearing incoming material trays, the other four-direction shuttle vehicle is used for bearing empty trays, and the manipulator can slide along the sky rail track to transfer target materials in the incoming material trays to the empty trays.
2. The cargo picking system of claim 1, wherein the sky-rail track is provided with a lane-turning port, and the rail-car track communicates with the lane-turning ports correspondingly provided on the two sky-rail tracks.
3. The cargo picking system according to claim 1 or 2, wherein the top rail track is a C-shaped slide rail, and the manipulator is provided with a power wheel which is mounted in the C-shaped slide rail and can slide along the C-shaped slide rail.
4. The cargo picking system according to claim 1 or 2, wherein the switch rail is independent of the overhead rail, and the switch rail is arranged above the overhead rail in the height direction of the rack.
5. The cargo picking system of claim 1, wherein the racks are provided with a plurality of levels of ground rail tracks and a plurality of levels of the overhead rail tracks, each level of the overhead rail tracks being disposed on and below a cross member of an upper level of the ground rail tracks.
6. The cargo culling system of claim 1, further comprising an elevator mounted at a feed end of the rack, the elevator for moving incoming pallets into corresponding lanes for warehousing.
7. The cargo picking system according to claim 1, further comprising a manual picking area, wherein a discharging elevator, a conveying line and a workbench are arranged in the manual picking area, the discharging elevator is located at the discharging end of the shelf, and the conveying line is communicated with the discharging level of the discharging elevator and the workbench.
8. The cargo picking system according to claim 7, further comprising a conveyor, wherein a plurality of the conveyor lines are arranged in one-to-one correspondence with the lanes, and a plurality of the work tables are arranged in parallel on the same side of the conveyor.
9. A method of sorting goods, comprising:
the four-way shuttle vehicle slides along a ground rail, the overhead rail vehicle slides along an overhead rail, the overhead rail vehicle is provided with a manipulator, the manipulator is used for transferring target materials from the feeding tray to the empty tray, the feeding tray and the empty tray are respectively borne by one four-way shuttle vehicle, and after being sorted by the manipulator, the feeding tray is conveyed to a manual sorting area for manual sorting;
the track head rail is provided with a lane port, a lane port is correspondingly arranged on the track head rail in the adjacent roadway of the track head rail communicating pipe, the track head vehicle slides along the track head rail, and the track head vehicle is butted with the track head vehicle after moving to the lane port so as to move to another roadway along with the track head vehicle.
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| CN202110738928.XA CN113460550B (en) | 2021-06-30 | 2021-06-30 | Goods sorting system and sorting method |
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| CN202110738928.XA CN113460550B (en) | 2021-06-30 | 2021-06-30 | Goods sorting system and sorting method |
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| CN114104583B (en) * | 2022-01-22 | 2022-06-10 | 多麦智能制造(广东)有限公司 | Storage with sorting function |
| CN116553059B (en) * | 2023-07-07 | 2023-11-10 | 成都飞机工业（集团）有限责任公司 | Man-machine combined efficient material sorting equipment and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040202531A1 (en) * | 2003-01-29 | 2004-10-14 | Amada America Inc. | System for handling material and parts cut therefrom |
| US7381022B1 (en) * | 2004-12-18 | 2008-06-03 | Rodney Joe King | Automated 3-dimensional multitasking, stocking, storage, and distribution system |
| DE102014012254A1 (en) * | 2014-08-19 | 2016-02-25 | Lisa-Marie Amminger | Storage and / or picking systems |
| CN206813788U (en) * | 2017-01-17 | 2017-12-29 | 胜利油田胜机石油装备有限公司 | One kind is automatically into pile three-dimensional device for storing and retrieving steel pipes |
| CA3099086A1 (en) * | 2018-06-12 | 2019-12-19 | Autostore Technology AS | System and applicable methods of collecting items from storage containers using robotic operator |
| CN108584271A (en) * | 2018-07-24 | 2018-09-28 | 深圳市鲸仓科技有限公司 | Stereoscopic warehousing system |
| NO344971B1 (en) * | 2018-11-06 | 2020-08-03 | Autostore Tech As | Robot vehicle assembly with picking system |
| CN111017457A (en) * | 2019-12-10 | 2020-04-17 | 江苏金珹智能储存设备有限公司 | Intelligent warehouse transportation system |
| CN212767908U (en) * | 2020-06-19 | 2021-03-23 | 隆链智能科技（上海）有限公司 | Large-scale picking device based on four-way shuttle vertical warehouse area |
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Address after: 710000 Room 305, building 5, Fengxi new town headquarters economic Park, Xixian New District, Xi'an City, Shaanxi Province Patentee after: Sany Robot Equipment (Xi'an) Co.,Ltd. Address before: 710000 Room 305, building 5, Fengxi new town headquarters economic Park, Xixian New District, Xi'an City, Shaanxi Province Patentee before: Sany construction robot (Xi'an) Research Institute Co.,Ltd. |