CN114602826A - Sorting system - Google Patents

Abstract

The invention relates to a sorting system which comprises a sorting field, a robot guide rail, a sorting robot and a transport vehicle. The sorting field is provided with a material taking position for storing unsorted materials and a material placing position for storing sorted materials. The sorting robot is used for conveying the required materials from the material taking position to the material placing position. The transport vehicle is used for supplementing materials to the material taking position and transporting the sorted materials out of the material placing position. The sorting system realizes the full-automatic work flows of feeding, sorting, discharging and the like. The cost of using manpower sparingly improves production efficiency, reduces the letter sorting in-process, and the breakage rate of material reduces the emergence of incident.

Description

Sorting system

Technical Field

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

Background

With the development of the construction industry, a more efficient and more convenient operation mode is a continuous pursuit target of the construction industry. The prefabricated member refers to a steel, wood or concrete member previously manufactured in a factory or on the site according to design specifications. The prefabricated member is convenient to use, and saves the construction time, so that the prefabricated member is widely applied to the building industry. Prefabricated parts in a building generally comprise beams and columns with various specifications, laminated floor slabs, bay windows, kitchens and bathrooms and the like. During the production of prefabricated parts in factories, the prefabricated parts with different types and specifications need to be sorted and boxed.

Specifically, when a prefabricated member factory produces a laminated floor slab, for example, there are two production modes, one is production according to order requirements, and after production, the prefabricated member factory sequentially boxes according to requirements. The other mode is to produce the laminated floor slabs with various specifications in batch in advance and pack the laminated floor slabs, and then manually sort the laminated floor slabs according to the order requirement and pack the laminated floor slabs for the second time. In the conventional sorting and secondary boxing processes, a manually operated crane is required to take out one laminated floor slab from different shelves and restock the same in a new shelf in order of order demand. Manual sorting is time-consuming and labor-consuming, and is low in efficiency, so that the requirement of modern automatic production cannot be met.

Disclosure of Invention

Based on this, it is necessary to provide a sorting system aiming at the problem of how to improve the sorting efficiency.

A sorting system comprising:

the sorting robot is used for conveying the materials in a sorting field from the material taking position to the material placing position; and the number of the first and second groups,

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

the operation plane of the sorting robot and the operation plane of the transport vehicle are arranged on different heights.

Above-mentioned letter sorting system can be according to the order demand at letter sorting place automatic sorting material through the letter sorting robot, can get the material level through the transport vechicle on to the letter sorting place and supply the material to carry out the material level of putting with the material that the letter sorting was accomplished, thereby make letter sorting system realize work flow such as full automatization feed supplement, letter sorting and ejection of compact. The cost of using manpower sparingly improves production efficiency, reduces the letter sorting in-process, and the breakage rate of material reduces the emergence of incident. And through the operation plane with letter sorting robot with the operation plane of transport vechicle sets up on not co-altitude to form the reposition of redundant personnel effect in space, avoid letter sorting robot and transport vechicle to take place to interfere in the transportation, improved letter sorting efficiency.

In one embodiment, the sorting system further comprises a robot guide rail for the sorting robot to walk, and the robot guide rail is erected above the sorting field;

the letter sorting place is equipped with the confession the transport passageway of transport vechicle walking, transport passageway with the robot guide rail sets up along the upper layering of vertical direction.

Through erectting the robot guide rail in letter sorting place top and establishing in letter sorting place transfer passage to make letter sorting robot and transport vechicle realize carrying in the vertical direction layering, thereby form the reposition of redundant personnel effect in the space, avoid letter sorting robot and transport vechicle to take place to interfere in the transportation.

In one embodiment, the sorting field is further provided with a shelf temporary storage position for storing a shelf, the shelf is used for bearing the material, and the sorting robot is further used for conveying the shelf to the placing position and/or conveying the shelf at the taking position to the shelf temporary storage position.

In one embodiment, the sorting field is further provided with a temporary storage position for storing a shelf, the shelf is used for bearing the material, and the transport vehicle is further used for transporting the shelf to the storage position and/or transporting the shelf of the taking position to the temporary storage position.

Bear the weight of the material through goods shelves, avoided material and the problem that blowing position direct contact damaged the material to the goods shelves that are bearing the weight of the material through lifting also be convenient for the transport vechicle to transport the material of not letter sorting to getting the material position, or transport the material of accomplishing the letter sorting and put the material position.

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

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

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

The material can be conveyed to any material taking position by the transport vehicle through the conveying channel.

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

Through set up the third passageway on two adjacent support pieces for the transport vechicle can move to goods shelves below through the third passageway, is convenient for the transport vechicle lifting goods shelves and the material on the goods shelves.

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

Through setting up main position in storehouse and reserve position in storehouse, realize that the feed supplement goes on with the letter sorting simultaneously, avoided letter sorting work to interrupt because of the feed supplement, improved letter sorting efficiency.

In one embodiment, the sorting field is provided with a plurality of material placing positions, and when the transport vehicle transports the sorted materials on one of the material placing positions out of the sorting field, the sorting robot transports the required materials from the material taking positions to the other material placing positions.

Through setting up a plurality of material levels of putting, can realize that the letter sorting goes on simultaneously with the ejection of compact, avoided letter sorting work to interrupt because of the ejection of compact, further improved the efficiency of letter sorting.

In one embodiment, the sorting robot includes:

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

the lifting trolley can move along the slide rail; and the number of the first and second groups,

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

Above-mentioned letter sorting robot can realize the arbitrary removal of hoist in Y axle direction and X axle direction through movably setting up the running gear at the robot guide rail to and set up the play to rise dolly on the running gear slide rail, has improved the hoist flexibility. The lifting appliance can move to any position to lift or release the target object, and the flexibility of the lifting appliance is improved.

In one embodiment, the spreader comprises:

a mounting frame;

the first holding mechanism is arranged on the mounting rack and used for grabbing or releasing the material;

the second fixing mechanism is arranged on the mounting rack and used for grabbing or releasing the goods shelf; and the number of the first and second groups,

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

According to the lifting appliance, the first fixing mechanism and the second fixing mechanism are arranged on the mounting frame, so that the lifting appliance can carry materials and can also carry goods shelves for bearing the materials, manual carrying of the goods shelves is avoided, and sorting efficiency of the materials is improved. Meanwhile, the carrying of two materials of the materials and the goods shelf can be realized through one lifting appliance, the types of the required lifting appliances are reduced, and the production cost is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a sorting system according to one embodiment;

fig. 2 is a schematic structural view of a spreader according to an embodiment;

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

fig. 4 is a partially enlarged view of a portion a shown in fig. 3;

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

FIG. 6 is a schematic illustration of a first traverse assembly of the spreader in accordance with an embodiment;

fig. 7 is a schematic structural view of a spreader gripping rack according to an embodiment.

Description of reference numerals:

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

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1, an embodiment of the present invention provides a sorting system for sorting materials 30, such as larger and heavier prefabricated components. The sorting system of the present embodiment is applied to a sorting site 50, and it should be noted that the sorting site 50 of the present embodiment is provided with a material taking position 51 for storing unsorted materials 30 and a material placing position 52 for storing sorted materials 30. Specifically, the sorting system of an embodiment includes a sorting robot and a transport vehicle. Wherein the sorting robot is adapted to transport material 30 of a sorting floor 50 from a material pick-up location 51 to a material discharge location 52. The transport carriage 60 serves for supplying the material discharge level 51 with material 30 and for transporting the sorted material 30 out of the discharge level 52. Further, the working plane of the sorting robot and the working plane of the carrier vehicle 60 are disposed at different heights.

Above-mentioned letter sorting system can be according to the order demand at letter sorting place 50 automatic sorting material 30 through the letter sorting robot, can get material level 51 through transport vechicle 60 and supply material 30 to letter sorting place 50 on to carry out the material of putting material level 52 with the material 30 that the letter sorting was accomplished out, thereby make letter sorting system realize work flow such as full-automatic feed supplement, letter sorting and ejection of compact. The cost of using manpower sparingly improves production efficiency, reduces the letter sorting in-process, and the breakage rate of material 30 reduces the emergence of incident. And through the operation plane with letter sorting robot with the operation plane of transport vechicle sets up on not co-altitude to form the reposition of redundant personnel effect in space, avoid letter sorting robot and transport vechicle 60 to take place to interfere in the transportation, improved letter sorting efficiency.

Further, in one embodiment, the sorting robot includes a visual identification module, and the visual identification module is used for identifying the material type, so as to determine the position of the material taking position where the required material is located, and then the sorting robot stops above the material placing position where the required material is located and obtains the required material, so that the required material is carried from the material taking position 51 to the material placing position 52.

In another embodiment, the sorting system may also include a dispatching system, the dispatching system is configured to record the type of the material stored in each material placing position on the sorting field, and when the dispatching system receives an order demand, the dispatching system may control the sorting robot to move above the material placing position where the required material is located and obtain the required material, and also may achieve the purpose of transporting the required material from the material taking position 51 to the material placing position 52.

Further, the sorting yard 50 is further provided with a temporary shelving location 53 for storing the shelves 40, and the sorting robot is further configured to transport the shelves 40 to the placement location 52 or transport the shelves 40 at the pickup location 51 back to the temporary shelving location 53. Further, the shelf 40 is used for bearing the materials 30, the shelf 40 bears the materials 30, the materials 30 are prevented from being damaged by direct contact of the materials 30 and the material placing positions 52, and the carrier vehicle 60 is convenient for conveying unsorted materials 30 to the material taking positions 51 or conveying sorted materials 30 out of the material placing positions 52 by lifting the shelf 40 bearing the materials 30.

It should be noted that in another embodiment, the rack 40 may be transported to the placement position 52 or the rack 40 at the retrieval position 51 may be transported back to the temporary rack storage position 53 by a transport vehicle.

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

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

Further, preferably, the conveying passage 54 includes a first passage extending in a first direction and a second passage extending in a second direction, and the first direction is perpendicular to the second direction. For example, the first direction is the Y-axis direction, the second direction is the X-axis direction, and the first channel and the second channel perpendicular to each other can make the conveying channel 54 reach any material taking position 51 quickly. Preferably. The transport vehicle 60 is a backpack loading AGV trolley which can realize the actions of driving forwards and backwards, transversely moving left and right, lifting the materials 30 and the like.

Further, each of the material taking positions 51 is provided with a plurality of supporting members 55, the supporting members 55 are used for supporting the material 30 or the goods shelf 40, a third channel 551 for passing the transport vehicle 60 is arranged between two adjacent supporting members 55, and the third channel 551 is communicated with the conveying channel 54. In particular, the support 55 is used to support the rack 40 and the material 30 on the rack 40. By providing a third channel 551 on two adjacent supports 55, the transport vehicle 60 can move through the third channel 551 to below the shelf 40, facilitating the transport vehicle 60 to lift the shelf 40 and the material 30 on the shelf 40.

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

Further, the sorting site 50 is provided with a plurality of discharge locations 52, and when the transport vehicle 60 transports the sorted material 30 on one of the discharge locations 52 out of the discharge location 52, the sorting robot carries the desired material 30 from the material discharge location 51 to another discharge location 52. Specifically, when one of them is put material 30 and is filled up the back on the position 52, the transport vechicle 60 will be put the material 30 on the position 52 and transport out letter sorting place 50, and at this moment, the letter sorting robot can place the material 30 that the letter sorting is good on another is put the position 52 to realize letter sorting and ejection of compact and go on simultaneously, avoided letter sorting work to interrupt because of the ejection of compact, further improved the efficiency of letter sorting.

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

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

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

According to the lifting appliance 10, the first fixing mechanism 12 and the second fixing mechanism 13 are arranged on the mounting frame 11, so that the lifting appliance 10 can carry the material 30 and also can carry the goods shelf 40 for bearing the material 30, the goods shelf 40 is prevented from being carried manually, and the sorting efficiency of the material 30 is improved. Meanwhile, the two materials, namely the material 30 and the goods shelf 40, can be carried by one lifting appliance 10, so that the types of the required lifting appliances 10 are reduced, and the production cost is reduced.

Specifically, in use, the empty rack 40 is obtained from the rack 40 position by the second holding mechanism 13, then the empty rack 40 is placed on the placing position, then the required material 30 is obtained from the taking position by the first holding mechanism 12, and the material 30 is placed on the empty rack 40, so that the sorting of the material 30 is completed. It should be noted that the spreader 10 of the present application is not limited to be used for lifting the material 30 and the rack 40, and in other embodiments, the spreader 10 may be used for lifting other materials, which is not limited herein.

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

Specifically, referring to fig. 3-4, the first holding mechanism 12 includes a first mounting seat 121, two hanging members 122, a connecting member 123 and a first driving member 124. Wherein, two pendants 122 are arranged on the first mounting seat 121 at intervals to form a gap 1221 of a sling part for accommodating the material 30, wherein the sling part of the material 30 can be a truss rib or a lifting lug. Further, both the hanging members 122 are provided with through holes penetrating the gaps 1221. First driving piece 124 drives has connecting piece 123, first driving piece 124 is used for driving connecting piece 123 to insert and locates in the through-hole or be used for driving connecting piece 123 to withdraw from the through-hole, thereby when needing hoist and mount material 30, put into the clearance 1221 of two pendants 122 with the hoist and mount portion of material 30 earlier, in inserting the through-hole of locating two pendants 122 and the hoist and mount portion of material 30 through first driving piece 124 drive connecting piece 123, make connecting piece 123 can form locking structure with two pendants 122, in clearance 1221 between two pendants 122 with the hoist and mount portion locking of material 30. When the material 30 needs to be released, the first driving member 124 drives the connecting member 123 to exit from the through hole and the lifting portion of the material 30, so that the lifting portion of the material 30 exits from the gap 1221 between the two hanging members 122, and the lifting device 10 releases the material 30.

Further, in the initial state, the connecting member 123 is located in the through hole of the first hanging member 122, and when the material 30 needs to be hoisted, the driving member drives the connecting member 123 to extend into the through hole of the second hanging member 122, so that the hoisting part of the material 30 is locked in the gap 1221 between the hanging members 122. When the material 30 needs to be released, the first driving member 124 drives the connecting member 123 so that the through hole of the second hanging member 122 is withdrawn, and retracts into the through hole of the first hanging member 122, so that the hanging part of the material 30 is withdrawn from the gap 1221 between the two hanging members 122, and preferably, the first driving member 124 is a cylinder. The connecting piece 123 comprises a connecting plate connected with the output shaft of the cylinder and a hook plate inserted into the through hole, and one end of the hook plate is of a wedge-shaped structure, so that the hook plate can conveniently penetrate through the through hole and a hoisting part for manufacturing a component.

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

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

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

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

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

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

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

When the positions of the first holding mechanisms 12 in the fourth direction need to be adjusted according to materials 30 of different specifications, and the second screw 172 is driven to rotate by the second motor 171, the two first traverse assemblies 16 can synchronously move close to or away from each other along the fourth direction, so that the first holding mechanisms 12 on the two first traverse assemblies 16 synchronously move close to or away from each other, the adjustment time is shortened while the position of the first holding mechanisms 12 in the fourth direction is adjusted, and the sorting efficiency is improved.

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

Further, referring to fig. 7, the second holding mechanism 13 includes a first jaw 131 and a second jaw 132 rotatably disposed on the mounting frame 11, the first jaw 131 and the second jaw 132 are disposed opposite to each other, and a second driving member 133 is connected to each of the first jaw 131 and the second jaw 132, and the second driving member 133 is used for driving the first jaw 131 and the second jaw 132 to grab or release the rack 40. Preferably, the mounting frame 11 has hinge points at two sides, and the first jaw 131 and the second jaw 132 are rotatably connected to the hinge points at the two sides respectively. Further, the first clamping jaw 131 and the second clamping jaw 132 each include two clamping jaw portions and a connecting portion connected to the two clamping jaw portions, and the connecting portions are connected to the second driving member 133, so that the connecting portions are driven by the second driving member 133, and the clamping jaw portions are driven to rotate around the hinge points, so that the clamping jaw portions are far away from one ends of the connecting portions to clamp or release the shelf 40. Preferably, the second driving member 133 is a cylinder.

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

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

Further, the lifting appliance 10 further comprises a visual detection module 15 and a distance measuring sensor, wherein the visual detection module 15 and the distance measuring sensor are both arranged on the mounting frame 11 and used for detecting the distance between the visual detection module 15 and the target object. In particular, the vision inspection module 15 is used to detect the exact location and surface defects of the target (material 30 or shelf 40). The detection accuracy of the visual detection module 15 is related to the height distance between the visual detection module and the target object. The distance between the vision detecting module 15 and the target object is detected by the distance measuring sensor. When the spacing is improper, the mounting frame 11 is adjusted to the proper height by the lifting mechanism 14 so as to facilitate the detection and identification of the visual detection module 15.

The sorting process of the sorting system comprises the following steps:

s110: the transport cart 60 transports the materials 30 of various specifications to different discharge locations 52, and the transport cart 60 transports a plurality of empty racks 40 to the temporary rack storage location 53;

s120: the sorting robot obtains the empty rack 40 from the temporary storage position 53 and places the empty rack on the placing position 52;

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

and S140, when the sorting robot finishes sorting or the goods 30 on the shelf 40 of the placing position 52 are full, the goods shelf 40 on the placing position 52 and the goods 30 on the shelf 40 are conveyed out of the sorting field 50 by the back and back side.

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

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

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

Further, when the material taking position 51 includes at least one main position and at least one spare position, the step of S160 further includes:

s161, the transport vehicle 60 feeds the main storage position or the standby storage position of the taken material 30, and at the moment, the sorting robot obtains the material 30 from the other one of the main storage position and the standby storage position and conveys the material to the material placing position 52. ,

the technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

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

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (10)

1. A sorting system, comprising:

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

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

the operation plane of the sorting robot and the operation plane of the transport vehicle are arranged on different heights.

2. The sorting system according to claim 1, further comprising a robot guide rail for the sorting robot to travel, the robot guide rail being erected above the sorting floor;

the letter sorting place is equipped with the confession the transport passageway of transport vechicle walking, transport passageway with the robot guide rail sets up along the upper layering of vertical direction.

3. A sortation system as claimed in claim 2, wherein said conveyance path includes a first path extending in a first direction and a second path extending in a second direction, said first direction being perpendicular to said second direction.

4. The sorting system according to claim 3, wherein a plurality of supporting members are arranged on each of the material taking position and the material placing position, the supporting members are used for supporting materials or goods shelves, a third channel for the transport vehicle to pass through is arranged between every two adjacent supporting members, and the third channel is communicated with the conveying channel.

5. The sortation system as claimed in claim 1, wherein said sorting floor is further provided with a staging location for storing shelves for carrying said material, said sorting robot being further adapted to transport said shelves to said staging location and/or said shelves of said picking location to said staging location.

6. The sortation system as claimed in claim 1, wherein said sortation yard is further provided with a staging location for storing shelves for carrying said material, said transport vehicle being further configured to transport said shelves to said placement location and/or said shelves of said retrieval location to said staging location.

7. The sorting system according to claim 1, wherein each of the material taking positions comprises at least one main position and at least one spare position, the main position and the spare position are used for storing the same specification or the same kind of the material, when the material on one of the main position and the spare position is taken out by the sorting robot, the sorting robot takes the material from the other one of the main position and the spare position, and at the same time, the transport vehicle replenishes the main position or the spare position from which the material is taken out.

8. The sortation system as claimed in claim 1, wherein said sorting floor is provided with a plurality of said discharge locations, and wherein said sorting robot transports desired materials from one of said discharge locations to another of said discharge locations when said transport vehicle transports said sorted materials from one of said discharge locations out of said sorting floor.

9. The sorting system according to claim 2, wherein the sorting robot comprises:

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

the lifting trolley can move along the slide rail; and the number of the first and second groups,

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

10. The sorting system according to claim 9, wherein the spreader comprises:

a mounting frame;

the first holding mechanism is arranged on the mounting rack and used for grabbing or releasing the material;

the second fixing mechanism is arranged on the mounting rack and used for grabbing or releasing the goods shelf; and the number of the first and second groups,

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

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