WO2022206420A1 - 物流分拣*** - Google Patents
物流分拣*** Download PDFInfo
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- WO2022206420A1 WO2022206420A1 PCT/CN2022/081553 CN2022081553W WO2022206420A1 WO 2022206420 A1 WO2022206420 A1 WO 2022206420A1 CN 2022081553 W CN2022081553 W CN 2022081553W WO 2022206420 A1 WO2022206420 A1 WO 2022206420A1
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- Prior art keywords
- sorting
- conveying line
- conveying
- material box
- goods
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- 239000000463 material Substances 0.000 claims abstract description 202
- 238000003860 storage Methods 0.000 claims abstract description 40
- 238000012546 transfer Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000003032 molecular docking Methods 0.000 claims description 19
- 238000004806 packaging method and process Methods 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 21
- 230000008569 process Effects 0.000 description 16
- 230000032258 transport Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000009826 distribution Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000004904 shortening Methods 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Definitions
- the present application relates to the technical field of warehousing and logistics, in particular to a logistics sorting system.
- the current logistics center has higher and higher requirements for the efficiency of logistics warehousing and distribution.
- logistics sorting can ensure continuous and efficient sorting work, which can improve the overall efficiency of goods delivery.
- the logistics center is usually divided into a storage area and a sorting area.
- the storage area is equipped with shelves to store goods.
- the sorting work is usually done manually, and the sorted goods are then packed or boxed manually.
- the present application provides a logistics sorting system, which can improve the efficiency of logistics sorting.
- the application provides a logistics sorting system
- the logistics sorting system includes a shelf, a sorting device, a material box transfer device and a goods receiving device, and the material box transfer device can transport the goods on the shelf to the sorting device for sorting,
- the sorted goods can be directly packaged out of the warehouse through the goods receiving device or sorted to form an order and then packaged out of the warehouse.
- the sorting device includes a conveying component and a picking component.
- the component is used to transfer the material box, and the picking component is arranged on the side of the conveying component.
- the picking component is used to sort the goods in the material box on the conveying component.
- the material box transfer device includes a material box handling robot, and the material box handling robot is used for The material box to be sorted is transported from the shelf to the conveying component, and the sorted material box sent by the conveying component is received.
- the goods receiving device is arranged at the end of the sorting device away from the shelf, and the goods receiving device is used to receive the picking component from The goods taken out of the material box, so that the goods can be sorted according to the order or directly out of the warehouse.
- the material box handling robot completes the task of picking up and delivering goods, and the material box handling robot can directly connect with the sorting device, and directly transport the material boxes to be sorted to the sorting device. After accepting the sorted material box and entering the next task, the sorting device can continue to carry out the task of sorting the goods, thereby improving the overall efficiency of the logistics sorting system.
- the conveying assembly includes a first conveying line, the first conveying line has an inlet and an outlet, and the inlet and the outlet are respectively located at two ends of the first conveying line, so that the material box can pass from the first conveying line. One end enters the conveying assembly and leaves the other end of the conveying assembly.
- the inlet and the outlet are located on the same side of the first conveying line, the material box handling robot puts in the material box from the entrance, and receives the material box from the outlet, so that the material box handling robot can move on the first conveying line.
- the same side to pick up and place the material box shortens the moving path of the material box handling robot.
- first conveying lines there are multiple first conveying lines, and the multiple first conveying lines are divided into at least two conveying line groups, each conveying line group includes at least two first conveying lines, and the picking components are multiple Each conveying line group corresponds to one picking component, so that one picking component can sort multiple first conveying lines.
- the conveying line group includes a first conveying line group
- the sorting assembly includes a sorting robot and a manual sorting table
- the sorting robot and the manual sorting table are located on different sides of the first conveying line, so that the Through the cooperation of sorting robots and manual labor, the goods are sorted at the same time, and the efficiency of goods sorting is improved.
- the first conveying lines may be arranged at intervals, and the sorting robots are located between two adjacent first conveying lines, so that the sorting robots may process the material boxes on the two first conveying lines. Goods are sorted separately.
- the sorting robot is a robotic arm, and the working radius of the robotic arm is greater than half of the distance between two adjacent first conveying lines, so that the working range of the robotic arm can cover both sides of the robotic arm at the same time.
- the first conveyor line is a robotic arm, and the working radius of the robotic arm is greater than half of the distance between two adjacent first conveying lines, so that the working range of the robotic arm can cover both sides of the robotic arm at the same time.
- the at least two conveying line groups include a second conveying line group
- the sorting assembly includes at least two manual sorting tables, and the manual sorting tables are arranged in a one-to-one correspondence with the first conveying line, so that different The goods in the material boxes on the first conveyor line are sorted separately.
- the conveying assembly includes a second conveying line
- the second conveying line includes an upper conveying line and a lower conveying line
- the upper conveying line and the lower conveying line extend in the same direction and are arranged in an overlapping manner
- One of the two conveying lines and the lower conveying line conveys the material boxes to be sorted, and the other conveys the material boxes after the goods are sorted, so that the space occupied by the second conveying line can be reduced and the space utilization rate can be improved.
- the material boxes move in opposite directions on the upper conveying line and the lower conveying line, so that the material boxes can be picked in one direction on the second conveying line, and the material boxes after the picking can be Return in the opposite direction.
- the first end of the second conveying line is provided with the inlet port of the upper conveying line and the outgoing port of the lower conveying line, and the second end of the second conveying line is simultaneously provided with the upper conveying line
- the first end of the second conveyor line is docked with the material box handling robot, so that the material box handling robot can pick up and place material boxes at the same position without moving.
- the upper conveying line includes a main conveying section and at least one sorting conveying section, two ends of the sorting conveying section are respectively connected to different positions in the extending direction of the main conveying section, and the sorting conveying section is used for One side of the main conveyor section forms the sorting position.
- the second end of the second conveying line is provided with a docking structure, and the docking structure is used to transfer the material boxes located on the upper conveying line to the lower conveying line, so that the material boxes can carry goods on the upper conveying line.
- the sorted material boxes can be transferred to the lower conveying line at the second end of the second conveying line through the docking structure, and returned by the lower conveying line.
- the docking structure may include a lifting mechanism, the lifting mechanism includes a lifting platform, and the lifting platform can move along the height direction of the second conveying line, and is respectively connected to the upper conveying line and the lower conveying line at both ends of the moving stroke.
- the material box can be transferred to the lifting platform at the second end of the second conveying line, so that the material box can be transferred from the upper conveying line to the lower conveying line.
- the docking structure may include a gradient steering mechanism, the gradient steering mechanism includes a carrier, the carrier is used to receive the material box, and the carrier can be rotated relative to the second end of the second conveying line to transfer the material The boxes are transferred from the upper conveying line to the lower conveying line.
- the gradient steering mechanism includes a carrier
- the carrier is used to receive the material box
- the carrier can be rotated relative to the second end of the second conveying line to transfer the material The boxes are transferred from the upper conveying line to the lower conveying line.
- the grade steering mechanism further includes a mounting column and a driving unit, the first end of the carrier is rotatably connected to the mounting column, and is rotated under the driving of the driving unit, and the second end of the carrier is in the rotation stroke
- the two ends of the conveyor are connected with the upper conveyor line and the lower conveyor line respectively.
- the goods receiving device includes at least one goods conveying line, and the outgoing port of the goods conveying line is docked with the packaging platform, so that the sorted goods can be moved along the goods conveying line to the packaging platform to be directly packaged out of the warehouse .
- the logistics sorting system provided by the present application may further include a cargo sorting box, the cargo sorting box includes a plurality of accommodating cavities, the cargo receiving device includes a cargo handling robot, and the cargo handling robot is used to transport the cargo to In the accommodating cavity, the goods of the same order are placed in the same accommodating cavity, and then they are collectively released from the warehouse.
- the cargo sorting box includes a plurality of accommodating cavities
- the cargo receiving device includes a cargo handling robot
- the cargo handling robot is used to transport the cargo to In the accommodating cavity, the goods of the same order are placed in the same accommodating cavity, and then they are collectively released from the warehouse.
- one side of the picking assembly may be provided with a waiting position, and the waiting position is used for the goods handling robot to wait for receiving goods.
- the logistics sorting system includes shelves, a sorting device, a material box transfer device, and a goods receiving device.
- the picking devices are distributed at intervals outside the edge of the storage area.
- the sorting device includes a conveying component and a picking component.
- the conveying component is used to transfer the material box.
- the picking component is arranged on the side of the conveying component.
- the material box transfer device includes a material box handling robot.
- the material box handling robot is used to transport the material boxes to be sorted from the shelves to the conveying components, and receive the sorted material boxes sent by the conveying components.
- the cargo receiving device is arranged at the end of the sorting device away from the shelf.
- the cargo receiving device is used to receive the goods taken out from the material box by the picking component, so as to sort the goods according to the order or directly leave the warehouse.
- the sorting device can continuously sort the goods. task, and improve the overall efficiency of the distribution and delivery of the logistics sorting system.
- FIG. 1 is a schematic structural diagram of a logistics sorting system provided by an embodiment of the present application.
- Fig. 2 is the structural representation of the first conveying line group in the logistics sorting system provided by the embodiment of the application;
- FIG. 3 is a schematic structural diagram of a second conveying line group in the logistics sorting system provided by the embodiment of the present application;
- FIG. 4 is a schematic structural diagram of a second conveying line in a logistics sorting system provided by an embodiment of the present application.
- FIG. 5 is a schematic structural diagram of the second end of the second conveying line in the logistics sorting system provided by the embodiment of the present application;
- FIG. 6 is a schematic structural diagram of a bin handling robot in a logistics sorting system provided by an embodiment of the present application.
- connection and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of the two components.
- connection should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or an integral connection; it can be a mechanical connection or an electrical connection; it can be the internal communication of the two components.
- the logistics center has higher and higher requirements for the efficiency of logistics warehousing and distribution, and ensuring continuous and efficient sorting work can improve the overall delivery efficiency of goods.
- the logistics center can usually be divided into a storage area and a sorting area.
- the storage area is equipped with shelves to store goods.
- the goods that need to be out of the warehouse are first taken out from the shelves and transported to the sorting area.
- Goods are sorted according to order requirements.
- the present application provides a logistics sorting system, and the transfer process of goods from a storage area to a sorting area has better flexibility, and at the same time, the efficiency of goods sorting can be improved.
- the logistics sorting system provided by the embodiment of the application can be applied to the delivery of inventory products in manufacturing factories, the delivery of inventory products in retail industries, and the express delivery of e-commerce logistics.
- Different fields such as warehouse sorting, and the products or goods involved in transportation and sorting can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., which are not specifically limited in the embodiments of this application. All use "goods" to refer to the sorting objects of the logistics sorting system, and no specific examples will be given.
- FIG. 1 is a schematic structural diagram of a logistics sorting system provided by an embodiment of the present application.
- the logistics sorting system provided by an embodiment of the present application includes a shelf 10, a sorting device, a material box transfer device, and a cargo receiving device.
- the material box transfer device can transport the goods on the shelf 10 to the sorting device for sorting, and the sorted goods can be directly packaged out of the warehouse through the goods receiving device or sorted to form an order and then packaged out of the warehouse.
- the logistics sorting system can be divided into a storage area, a sorting area and a packing and outgoing area according to the working area.
- the sorting, packing and outgoing area provides space for the sorted goods to be temporarily stored according to the order or out of the warehouse for packaging.
- the sorting device includes a conveying assembly and The picking component, the conveying component is used for conveying the material box 60, the picking component is arranged on the side of the conveying component, the picking component is used for sorting the goods in the material box 60 on the conveying component, and the material box transfer device includes the material box handling robot 30 , the material box handling robot 30 is used to transport the material box 60 to be sorted from the rack 10 to the conveying assembly, during this process, the goods it takes out are placed in the material box 60, and the material box handling robot 30 can receive the conveying assembly.
- the goods receiving device can be arranged at the end of the sorting device away from the shelf 10, that is, the sorting area is located between the storage area and the packing and outgoing area, and the goods receiving device is used to receive the picking components from
- the process of receiving and transferring the goods taken out from the material box 60 can be implemented in different ways.
- the container handling robot 30 can travel to and from the common area between the rack 10 and the sorting device, and complete the task of picking up and delivering goods, while the container handling robot 30 can It is directly connected with the sorting device, and the material boxes 60 to be sorted are directly transported to the sorting device, and at the same time, the material boxes 60 delivered from the sorting device are accepted and entered into the next task, and the sorting device can continue to carry out the goods. sorting tasks, thereby improving the overall delivery and outbound efficiency of the logistics sorting system.
- the sorted material boxes 60 may have remaining goods or may be empty material boxes 60 with no remaining goods. This embodiment does not apply to this.
- the structure of each working area of the logistics sorting system of the present application will be described in detail below.
- each shelf 10 may have multiple rows of storage locations, and the storage locations of each row are arranged along the height direction of the shelves 10.
- the box handling robot 30 can move in the aisle and take out goods from a specific location according to its assigned work tasks.
- multiple rows of racks 10 can be arranged in parallel, and multiple rows of racks 10 can form a three-dimensional warehouse, that is, each row of storage positions of racks 10 extends upward, and the upper space is used as much as possible to improve space utilization.
- the container handling robot 30 can pick and place the goods in different heights on the shelf 10 .
- each location on the shelf 10 may correspond to a material box 60
- the goods may be placed in the material box 60
- the material box handling robot 30 may take and place the material box 60 as a whole.
- the container handling robot 30 may include a moving base, and a lifting mechanism may be provided on the moving base, and the lifting mechanism may move along its height direction, and moving to different heights may correspond to different heights of the storage positions on the shelf 10, and the lifting mechanism
- a retractable robotic arm can be provided on the top, and a clamping structure can be provided at the end of the robotic arm.
- the container handling robot 30 can dock with the rack 10 and climb along the height direction of the rack 10, and after reaching the storage position of the corresponding height, the material container 60 to pick and place, and then move down along the height direction of the shelf 10 and return to the ground.
- the specific structure and working mode of the bin handling robot 30 are not limited in the logistics sorting system of the embodiment of the present application, and can actually be selected according to the application scenario and the size of the space.
- the multiple storage locations on the shelf 10 can be either fixed storage locations or dynamic storage locations, or a combination of fixed storage locations and dynamic storage locations.
- dynamic storage locations When dynamic storage locations are used, the corresponding storage locations
- the space size of the warehouse can be confirmed and adjusted according to whether there are goods or material boxes 60 stored, and according to the size of the material boxes 60 or goods that need to be stored during the operation of the actual logistics system, a suitable space can be selected. After the bin handling robot 30 picks and places, redefines the storage space.
- the specific size and changing method of the storage space of the shelf 10 can be selected and set according to the actual application scenario and the work flow, which is not specifically limited in this embodiment of the present application.
- a sorting device can be installed in the sorting area.
- the sorting device needs to cooperate with the work task of the material box handling robot 30 to sort the goods in the material box 60 sent by the handling robot, and at the same time
- the efficiency of picking and conveying needs to be coordinated with the task planning of the handling robot to avoid the situation where the material box 60 is docked and stuck.
- the sorting device includes a conveying component and a picking component, which respectively transport the material box 60 and transfer the material box 60 to the material box 60. The goods are sorted, and the structure and cooperation of the two will be described in detail below.
- the conveying assembly may include a first conveying line 21, the first conveying line 21 has an entrance 211 and an exit 212, and the material box handling robot 30 docks with the entrance 211 to place the material boxes 60 to be sorted to the first conveying line 21, and the inlet 211 and the outlet 212 are located at two ends of the first conveying line 21, respectively, so that the material box 60 can enter the conveying assembly from one end of the first conveying line 21, and leave the other end of the conveying assembly , the handling robot can correspondingly dock with the outlet 212 to retrieve the material box 60 after the goods are sorted.
- the material box 60 can move along the length direction of the first conveying line 21 on the first conveying line 21.
- the extension structure of the first conveying line 21 can be designed according to the actual space size of the site and other layout requirements such as the shelves 10 and public areas.
- the shape of the first conveying line 21 can be linear, annular, U-shaped, W-shaped, etc.
- the material box 60 moves unidirectionally on the first conveying line 21, and can reach the exit 212 from the entrance 211.
- This application implements
- the specific shape and structure of the first conveying line 21 are not specifically limited.
- the inlet 211 and the outlet 212 of the first conveying line 21 may be located on the same side of the first conveying line 21.
- the first conveying line 21 can be in the shape of a ring, U-shape, etc.
- the material box handling robot 30 puts the material box 60 from the inlet 211 and receives the material box 60 from the outlet 212 , so that the material box handling robot 30 can move on the first conveying line 21 .
- the material box 60 is received and placed on the same side of the box, thereby shortening the moving path of the material box handling robot 30, and at the same time, it can reduce the difficulty of path planning when assigning work tasks of the material box handling robot 30.
- each conveying line group includes at least two first conveying lines 21, correspondingly, there can be multiple picking components, and each conveying line group corresponds to one picking component, so that one picking component can convey multiple first lines Line 21 for sorting.
- FIG. 2 is a schematic structural diagram of a first conveying line group in a logistics sorting system provided by an embodiment of the present application.
- the conveying line group may include a first conveying line group 20a
- the sorting component may include a sorting robot 23 and The manual sorting table 24, the sorting robot 23 and the manual sorting table 24 can be located on different sides of the first conveying line 21, so that the sorting robot 23 and the manual work can be used to sort goods at the same time, thereby improving the efficiency of goods sorting .
- the sorting staff can sort the goods in the material box 60 on the manual sorting table 24, and each first conveying line 21 can be coordinated by the sorting robot 23 and manually, or multiple sorting The robot 23 , wherein, since the material box 60 is conveyed along a single line on the first conveying line 21 , the sorting robot 23 and the manual sorting table 24 can be arranged corresponding to different conveying sections of the first conveying line 21 .
- the material box 60 can run at a constant speed on the first conveying line 21. During the movement of the material box 60, the sorting robot 23 and manual sorting of the goods are carried out. It can also be that when the material box 60 moves to the corresponding sorting position, the first conveying line 21 stops conveying, and after the sorting is completed, the first conveying line 21 continues to convey the material box 60, and the conveying process of the material box 60 can have For a faster moving speed, the embodiment of the present application does not specifically limit the actual picking process of the material box 60 on the first conveying line 21 .
- the first conveying lines 21 may be arranged at intervals, and the sorting robot 23 may be arranged between two adjacent first conveying lines 21, so that the sorting robot 23 may The goods in the material boxes 60 on a conveying line 21 are sorted respectively, so as to make full use of the working efficiency of the sorting robot 23 .
- the sorting robot 23 may be a robotic arm, and the working radius of the robotic arm is greater than half of the distance between two adjacent first conveying lines 21, so that the working range of the robotic arm can cover the first conveyor lines on both sides of the robotic arm at the same time.
- the sorting position corresponding to the manipulator can be set at any one or more positions within the working range of the manipulator.
- the end of the manipulator can be provided with an identification unit and a clamping unit.
- the goods are identified, so as to determine the order or order set to which the goods belong, and whether the goods need to be packaged directly out of the warehouse, and the clamping unit can clamp the goods out of the material box 60 .
- the embodiment of the present application does not specifically limit the specific structure and picking method of the sorting robot 23 .
- FIG. 3 is a schematic structural diagram of the second conveying line group in the logistics sorting system provided by the embodiment of the present application.
- the conveying line group may also The second conveying line group 20b is included, and the sorting assembly may include at least two manual sorting tables 24, and the manual sorting tables 24 are arranged in a one-to-one correspondence with the first conveying line 21, so that the material boxes 60 on different first conveying lines 21 are arranged in a one-to-one correspondence.
- the goods are sorted separately, and the conveying direction of any two conveying lines in the second conveying line group may be the same or opposite, which is not limited here.
- the difference between the second conveying line group 20b and the first conveying line group 20a is that the first conveying line group 20a has a picking robot to complete the picking work, or the picking robot and the manual cooperate to complete the picking work, while the second conveying line group 20b can be A plurality of manual sorting tables 24 are arranged to sort the material boxes 60 on the first conveying line 21 .
- the first conveying line group 20a and the second conveying line group 20b may be set at the same time, and the sorting work is carried out according to different cargo types and outbound task requirements, thereby improving the overall logistics sorting system.
- the flexibility of the work flow can ensure that the logistics sorting work continues when the work task changes temporarily or some equipment fails.
- the conveying assembly may further include a second conveying line 22.
- the second conveying line 22 and the first conveying line 21 have different structures and conveying methods of the material box 60, so that different site planning can be used. As required, the specific structure of the second conveying line 22 will be described in detail below.
- FIG. 4 is a schematic structural diagram of the second conveyor line in the logistics sorting system provided by the embodiment of the application
- FIG. 5 is a schematic structural diagram of the second end of the second conveyor line in the logistics sorting system provided by the embodiment of the application, as shown in FIG. 4 and As shown in FIG.
- the second conveying line 22 may include an upper conveying line 221 and a lower conveying line 222 , the upper conveying line 221 and the lower conveying line 222 extend in the same direction and are arranged to overlap up and down, and the upper conveying line 221 and the lower conveying line 222
- One of the two transports the material box 60 to be sorted, and the other transports the material box 60 after the goods are sorted, so that the space occupied by the second conveyor line 22 can be reduced and the space utilization rate can be improved. After completing the sorting operation on one of them, it can be switched to the other to return.
- the upper conveying line 221 and the lower conveying line 222 are arranged horizontally, the material boxes 60 to be sorted can be sorted on one layer, and the material boxes 60 after the goods are sorted can be returned from the other layer to wait for reception
- the material box handling robot 30 has a certain interval between the upper conveying line 221 and the lower conveying line 222, so as to provide accommodation space for the movement of the material box 60 on the lower conveying line 222.
- the material box 60 moves in opposite directions on the upper conveying line 221 and the lower conveying line 222, so that the material box 60 can carry out goods picking in one direction on the second conveying line 22, and the material box 60 after the picking is completed It can return in the opposite direction, and a plurality of picking components are arranged at intervals along the length direction of the second conveying line 22, so that the goods in the material box 60 can be continuously sorted.
- the upper conveying line 221 can be set to convey the material boxes 60 to be sorted, and correspondingly, the lower conveying line 222 can be set to convey the sorted material boxes 60; or, the lower conveying line 222 can be set to The material boxes 60 to be sorted are conveyed.
- the upper conveying line 221 may be configured to convey the material boxes 60 after the goods are sorted. The former will be used as an example for description below.
- the first end of the second conveying line 22 is provided with the inlet port of the upper conveying line 221 and the outgoing port of the lower conveying line 222, and the second end of the second conveying line 22 is simultaneously provided There are an outlet of the upper conveying line 221 and an inlet of the lower conveying line 222, and the container handling robot 30 is docked with the first end of the second conveying line 22, so that the container handling robot 30 can enter the upper conveying line 221.
- the cargo port is put into the material box 60 to be sorted, the material box 60 moves along the upper conveying line 221 and the goods are sorted during this process, and then the sorted material box 60 is sent from the delivery port of the upper conveying line 221 Enter the cargo inlet of the lower conveying line 222 , and move along the lower conveying line 222 , and finally the material box 60 returns to the first end of the second conveying line 22 along the lower conveying line 222 , and is fed from the outlet of the lower conveying line 222
- the case handling robot 30 receives, and the case handling robot 30 can pick up and place the material case 60 at the same location.
- the upper conveying line 221 includes a main conveying section 2211 and at least one sorting and conveying section 2212. Both ends of the sorting and conveying section 2212 are respectively connected to different positions in the extending direction of the main conveying section 2211.
- the sorting and conveying section 2212 is used for A sorting position is formed on one side of the main conveying section 2211, and the sorting components can be arranged opposite to the sorting position.
- the conveying speed between the main conveying section 2211 and at least one sorting conveying section 2212 determines the sorting position corresponding to the material box 60.
- the main conveying section 2211 can first enter the sorting position. The goods are sorted on the conveying section 2212 and then returned to the main conveying section 2211.
- the second end of the second conveying line 22 may be provided with a docking structure, and the docking structure is used to automatically transfer the material box 60 located on the upper conveying line 221 to the lower conveying line 222.
- the lower conveying line 222 so that the material boxes 60 can be sorted on the upper conveying line 221, and then the material boxes 60 can be transferred to the lower conveying line 222 at the second end of the second conveying line 22 through the docking structure, and conveyed by the lower layer Line 222 returns.
- the docking structure can be implemented in a variety of manners, which will be illustrated by examples below.
- the docking structure may include a lifting mechanism, the lifting mechanism includes a lifting platform, the lifting platform can move along the height direction of the second conveying line 22, and is respectively connected to the upper conveying line 221 at both ends of the moving stroke. Connected to the lower conveying line 222 , the material box 60 can be transferred to the lifting platform at the second end of the second conveying line 22 .
- the lifting platform when the lifting platform is docked with the upper conveying line 221, the sorted material boxes 60 can be moved from the delivery section of the upper conveying line 221 to the lifting platform, and thereafter, the lifting platform can be moved down to the lower conveying line. 222 is docked, so that the material box 60 can be transferred from the upper conveying line 221 to the lower conveying line 222 .
- the lifting mechanism can also include a gear, a chain and a motor, the lifting platform can be driven by the chain to lift and lower, the gear is meshed with the chain, and the motor can drive the gear to rotate, and the reciprocating movement of the chain can be realized by controlling the forward and reverse rotation of the motor. , so as to realize the up and down movement of the lifting platform.
- the docking structure may include a gradient steering mechanism 223, the gradient steering mechanism 223 includes a carrier 2231, the carrier 2231 may be a flat panel, the carrier 2231 is used to receive the material box 60, and the carrier 2231 may Rotate relative to the second end of the second conveying line 22 to transfer the material box 60 from the upper conveying line 221 to the lower conveying line 222 .
- the gradient steering mechanism 223 may further include an installation column 2232, the first end of the bearing member 2231 is rotatably connected with the installation column 2232, the second end of the bearing member 2231 is a free end, and at both ends of the rotation stroke, the bearing member 2231 has a free end.
- the second end can be respectively connected to the upper conveying line 221 and the lower conveying line 222.
- the height of the connection position between the mounting post 2232 and the carrier 2231 is located between the upper conveying line 221 and the lower conveying line 222, that is, higher than the height of the lower conveying line 222 and lower than the height of the upper conveying line 221, so set,
- the second end of the carrier 2231 is butted with the upper conveying line 221
- a slope inclined from the second end of the carrier 2231 to the first end can be formed, and then the material box 60 can slide to the carrier 2231 along the gradient
- the second end of the carrier 2231 is docked with the lower conveying line 222, a gradient inclined from the first end of the carrier 2231 to the second end can be formed, and the material box 60 can slide along the gradient from the carrier 2231 to the lower conveying line 222 on.
- a baffle plate may also be provided at the first end of the carrier member 2231 , and when the material box 60 slides onto the carrier member 2231 , the baffle plate can limit the position of the material box 60 .
- the gradient steering mechanism 223 may further include a driving unit, the driving unit may be a motor, the first end of the bearing member 2231 may be connected with the output end of the driving unit, and the bearing member 2231 may rotate under the driving of the driving unit, and
- the rotation stroke of the carrier 2231 can be controlled by two upper and lower limit switches respectively, that is, when the carrier 2231 rotates to be docked with the upper conveying line 221, it will touch a limit switch to stop the rotation and maintain the docking state, while the rotation When it is docked with the lower conveying line 222, another travel switch will be touched to stop the rotation and maintain the docking state.
- the travel switch may also be a non-contact photoelectric sensor, which is not specifically limited in this embodiment.
- a material box detection sensor can also be provided on the carrier 2231 to determine whether there is a material box 60 on the carrier 2231, so as to determine whether the carrier 2231 needs to be switched between the docking state with the upper conveying line 221 and the lower conveying line 222,
- the material box detection sensor may be a pressure sensor, and by detecting the load of the material box 60 to determine whether the material box 60 moves to the carrier 2231 or whether it slides out from the carrier 2231; or, the material box detection sensor may be a contact
- a position sensor such as a switch or a photoelectric switch can determine whether there is a material box 60 on the carrier 2231 by detecting the position of the material box 60 .
- the logistics sorting system After the sorting of the goods is completed, the sorted goods need to be packaged out of the warehouse, or when an order contains multiple goods, or an order set contains multiple orders, the goods need to be classified and temporarily stored. Therefore, the logistics sorting system provided by the present application realizes the above functions through the cargo receiving device, which will be described below.
- the goods receiving device may include at least one goods conveying line 40, the goods conveying line 40 is disposed opposite to the conveying assembly, and the outlet of the goods conveying line 40 is butted with the packaging platform 70, so that the sorted The goods can be moved along the goods conveying line 40 to the packaging platform 70 to be directly packaged out of the warehouse.
- the logistics sorting system provided in this embodiment may further include a cargo sorting box 50.
- a cargo sorting box 50 There may be a plurality of cargo sorting boxes 50, and they may be arranged in sequence.
- the cargo receiving device may further include a cargo handling robot 41, which is used for transporting the cargo into the accommodating cavity, so that the goods of the same order are placed in the same accommodating cavity, and then the goods are collectively delivered out of the warehouse.
- one side of the picking assembly may be provided with a waiting position, and the waiting position is used for the goods handling robot 41 to wait for receiving goods.
- the cargo handling robot 41 may need to transport multiple goods at one time according to the order requirements, and multiple goods need to be picked from different material boxes 60, so the cargo handling robot 41 can wait at the waiting position for corresponding Picking goods without interfering with other picking and delivery tasks improves overall logistics efficiency.
- the cargo handling robot 41 may be a tipping robot.
- the tipping robot includes a body and a storage box arranged on the top of the body.
- the storage box can be turned over relative to the body to pour out the goods in the storage box.
- One side receives the goods, then moves to the corresponding sorting box position, and turns the goods into the accommodating cavity.
- both the container handling robot 30 and the cargo handling robot 41 in this embodiment can be trackless robots, and can perform distribution tasks according to the unified scheduling and path planning of the control center.
- the specific movement mode, scheduling mode and path planning method of the cargo handling robot 41 are not specifically limited.
- FIG. 6 is a schematic structural diagram of a material box handling robot in the logistics sorting system provided by the embodiment of the present application.
- the moving base of the material box handling robot 30 may be provided with multi-layer pallets arranged at intervals along the height direction.
- the material boxes 60 can be placed on the pallets, so that the material box handling robot 30 can transport a plurality of material boxes 60 at the same time, thereby improving the efficiency of the single work of the material box handling robot 30 .
- different sorting devices can adopt the combination of the above-mentioned conveying components and sorting components with different structures and working modes, and according to actual application scenarios, can Specifically, the arrangement structure of the picking device, and the number of conveying components and picking components included are selected to improve the efficiency of logistics sorting, and at the same time, it can adapt to the needs of different application scenarios.
- the logistics sorting system includes a rack, a sorting device, a material box transfer device, and a goods receiving device.
- the sorting device is distributed at intervals outside the edge of the storage area.
- the sorting device includes a conveying component and a picking component.
- the conveying component is used to transfer the material box.
- the picking component is arranged on the side of the conveying component.
- the goods in the box are sorted, and the material box transfer device includes a material box handling robot.
- the material box handling robot is used to transport the material boxes to be sorted from the shelves to the conveying components, and receive the sorted material boxes sent by the conveying components.
- the goods receiving device is arranged at the end of the sorting device away from the shelf.
- the goods receiving device is used to receive the goods taken out by the picking component from the material box, so as to sort the goods according to the order or directly leave the warehouse, and the sorting device can continuously carry out the sorting of the goods. Picking tasks, improve the overall efficiency of logistics sorting system distribution and warehouse delivery.
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Abstract
本申请提供一种物流分拣***,该物流分拣***包括货架、分拣装置、料箱转运装置和货物接收装置,货架可以为多个,多个货架间隔排列形成仓储区域,分拣装置位于仓储区域的侧方,分拣装置包括输送组件和拣选组件,输送组件用于传送物料箱,拣选组件设置于输送组件的侧方,拣选组件用于对输送组件上物料箱中的货物进行分拣,料箱转运装置包括料箱搬运机器人,料箱搬运机器人用于将待分拣的物料箱由货架搬运至输送组件,并接收输送组件送出的货物分拣后的物料箱,货物接收装置设置于分拣装置背离货架的一端,货物接收装置用于接收拣选组件从物料箱中取出的货物,分拣装置可以持续进行货物分拣任务,整体提高物流分拣***的配送出库效率。
Description
本申请要求于2021年03月31日提交中国专利局、申请号为202120678289.8、申请名称为“物流分拣***”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本申请涉及仓储物流技术领域,特别涉及一种物流分拣***。
目前的物流中心对物流仓储配送的效率要求越来越高,物流分拣作为物流仓储配送中十分重要的环节,保证持续高效率的分拣工作,可以提高货物的整体出库效率。
现有技术中,物流中心通常划分为仓储区域和分拣区域,仓储区域通过设置货架以储存货物,在物流配送过程中,首先将需要出库的货物由货架取出并运送至分拣区域,而分拣工作通常由人工完成,分拣后的货物再由人工进行打包或装箱。
然而,现有的物流分拣过程的效率较低。
发明内容
本申请提供一种物流分拣***,可以提高物流分拣的效率。
本申请提供一种物流分拣***,该物流分拣***包括货架、分拣装置、料箱转运装置和货物接收装置,料箱转运装置可以将货架上的货物运送至分拣装置进行分拣,分拣后的货物可以通过货物接收装置直接打包出库或者分类形成订单再打包出库。
其中,货架可以为多个,多个货架间隔排列形成仓储区域,分拣装置为多个,且多个分拣装置在仓储区域的边缘外侧间隔分布,分拣装置包括输送组件和拣选组件,输送组件用于传送物料箱,拣选组件设置于输送组件的侧方,拣选组件用于对输送组件上物料箱中的货物进行分拣,料箱转运装置包括料箱搬运机器人,料箱搬运机器人用于将待分拣的物料箱由货架搬运至输送组件,并接收输送组件送出的货物分拣后的物料箱,货物接收装置设置于 分拣装置背离货架的一端,货物接收装置用于接收拣选组件从物料箱中取出的货物,从而将货物按订单进行分类或者直接出库。
本申请提供的物流分拣***中,由料箱搬运机器人完成货物的取送任务,而料箱搬运机器人可以直接与分拣装置对接,将待分拣的物料箱直接运送至分拣装置,同时接受分拣后的物料箱并进入下一个作业任务,分拣装置可以持续进行货物分拣任务,从而整体提高了物流分拣***的配送出库效率。
作为一种可选地实施方式,输送组件包括第一输送线,第一输送线具有入口和出口,其入口和出口分别位于第一输送线的两端,从而物料箱可以从第一输送线的一端进入输送组件,并由输送组件的另一端离开。
作为一种可选地实施方式,入口和出口位于第一输送线的同一侧,料箱搬运机器人从入口放入物料箱,并从出口接收物料箱,从而料箱搬运机器人可以在第一输送线的同一侧接放物料箱,减短料箱搬运机器人的移动路径。
作为一种可选地实施方式,第一输送线为多个,且多个第一输送线分成至少两个输送线组,每个输送线组包括至少两个第一输送线,拣选组件为多个,每个输送线组对应一个拣选组件,从而一个拣选组件可以对多条第一输送线进行分拣。
作为一种可选地实施方式,输送线组包括第一输送线组,拣选组件包括分拣机器人和人工分拣台,分拣机器人和人工分拣台位于第一输送线的不同侧,从而可以通过分拣机器人和人工的配合同时进行货物分拣,提高货物分拣的效率。
作为一种可选地实施方式,第一输送线可以间隔设置,分拣机器人位于两个相邻的第一输送线之间,从而分拣机器人可以对两个第一输送线上的物料箱中货物分别进行分拣。
作为一种可选地实施方式,分拣机器人为机械臂,机械臂的工作半径大于相邻两个第一输送线之间间距的一半,从而使得机械臂的工作范围可以同时覆盖其两侧的第一输送线。
作为一种可选地实施方式,至少两个输送线组包括第二输送线组,拣选组件包括至少两个人工分拣台,人工分拣台与第一输送线一一对应设置,从而对不同第一输送线上物料箱中的货物分别进行分拣。
作为一种可选地实施方式,输送组件包括第二输送线,第二输送线包括 上层输送线和下层输送线,上层输送线和下层输送线沿相同方向延伸且上下重叠设置,且上层输送线和下层输送线两者中的一者传送待分拣的物料箱,另一者传送货物分拣后的物料箱,从而可以减少第二输送线所占用的空间,提高空间利用率。
作为一种可选地实施方式,物料箱在上层输送线和下层输送线上沿相反方向移动,从而物料箱可以在第二输送线上沿一个方向进行货物拣选,而拣选完成后的物料箱可以沿相反方向返回。
作为一种可选地实施方式,第二输送线的第一端同时设置有上层输送线的入货口和下层输送线的出货口,第二输送线的第二端同时设置有上层输送线的出货口和下层输送线的入货口,料箱搬运机器人与第二输送线的第一端对接,从而料箱搬运机器人不需要移动即可在同一位置接放物料箱。
作为一种可选地实施方式,上层输送线包括主输送段和至少一个分拣输送段,分拣输送段的两端分别与主输送段延伸方向的不同位置连接,分拣输送段用于在主输送段的一侧形成分拣位。
作为一种可选地实施方式,第二输送线的第二端设置有对接结构,对接结构用于将位于上层输送线的物料箱转运至下层输送线,从而物料箱可以在上层输送线进行货物分拣,其后分拣后的物料箱可以通过对接结构在第二输送线的第二端转移至下层输送线,并由下层输送线返回。
作为一种可选地实施方式,对接结构可以包括升降机构,升降机构包括升降平台,升降平台可沿第二输送线的高度方向移动,且在移动行程的两端分别与上层输送线和下层输送线对接,物料箱在第二输送线的第二端可以转移至升降平台上,从而可以将物料箱由上层输送线转移至下层输送线。
作为一种可选地实施方式,对接结构可以包括坡度转向机构,坡度转向机构包括承载件,承载件用于承接物料箱,承载件可相对于第二输送线的第二端转动,以将物料箱由上层输送线转移至下层输送线。
作为一种可选地实施方式,坡度转向机构还包括安装柱和驱动单元,承载件的第一端与安装柱转动连接,并在驱动单元的驱动下转动,承载件的第二端在转动行程的两端分别与上层输送线和下层输送线对接,当物料箱移动至承载件上时,承载件可以由上层输送线的端部向下层输送线转动,从而实现物料箱的转移。
作为一种可选地实施方式,货物接收装置包括至少一个货物输送线,货物输送线的出货口与包装平台对接,从而分拣后的货物可以沿货物输送线移动至包装平台直接打包出库。
作为一种可选地实施方式,本申请提供的物流分拣***还可以包括货物分类盒,货物分类盒包括多个容纳腔,货物接收装置包括货物搬运机器人,货物搬运机器人用于将货物运送至容纳腔内,从而将同一订单的货物放置在同一容纳腔中,其后集中出库。
作为一种可选地实施方式,拣选组件的一侧可以设置有等待位,等待位用于货物搬运机器人等待接收货物。
本申请提供的物流分拣***包括货架、分拣装置、料箱转运装置和货物接收装置,货架可以为多个,多个货架间隔排列形成仓储区域,分拣装置为多个,且多个分拣装置在仓储区域的边缘外侧间隔分布,分拣装置包括输送组件和拣选组件,输送组件用于传送物料箱,拣选组件设置于输送组件的侧方,拣选组件用于对输送组件上物料箱中的货物进行分拣,料箱转运装置包括料箱搬运机器人,料箱搬运机器人用于将待分拣的物料箱由货架搬运至输送组件,并接收输送组件送出的货物分拣后的物料箱,货物接收装置设置于分拣装置背离货架的一端,货物接收装置用于接收拣选组件从物料箱中取出的货物,从而将货物按订单进行分类或者直接出库,分拣装置可以持续进行货物分拣任务,整体提高物流分拣***的配送出库效率。
除了上面所描述的本申请实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外,本申请提供的物流分拣***所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果,将在具体实施方式中作出进一步详细的说明。
为了更清楚地说明本申请实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的物流分拣***的结构示意图;
图2为本申请实施例提供的物流分拣***中第一输送线组的结构示意 图;
图3为本申请实施例提供的物流分拣***中第二输送线组的结构示意图;
图4为本申请实施例提供的物流分拣***中第二输送线的结构示意图;
图5为本申请实施例提供的物流分拣***中第二输送线第二端的结构示意图;
图6为本申请实施例提供的物流分拣***中料箱搬运机器人的结构示意图。
附图标记说明:
10-货架;
20a-第一输送线组;20b-第二输送线组;21-第一输送线;211-入口;212-出口;22-第二输送线;221-上层输送线;2211-主输送段;2212-分拣输送段;222-下层输送线;223-坡度转向机构;2231-承载件;2232-安装柱;23-分拣机器人;24-人工分拣台;
30-料箱搬运机器人;
40-货物输送线;41-货物搬运机器人;
50-货物分类盒;
60-物料箱;
70-包装平台。
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
首先,本领域技术人员应当理解的是,这些实施方式仅仅用于解释本申请的技术原理,并非旨在限制本申请的保护范围。本领域技术人员可以根据需要对其作出调整,以便适应具体地应用场合。
其次,需要说明的是,在本申请的描述中,术语“内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系,这仅仅是为了便 于描述,而不是指示或暗示装置或构件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。
此外,还需要说明的是,在本申请的描述中,除非另有明确的规定和限定,术语“相连”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是两个构件内部的连通。对于本领域技术人员而言,可根据具体情况理解上述术语在本申请中的具体含义。
在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不一定指的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
在现代物流***中,分拣是一个十分重要的过程,目前的物流中心对物流仓储配送的效率要求越来越高,而保证持续高效率的分拣工作,可以提高货物的整体出库效率。物流中心通常可以划分为仓储区域和分拣区域,仓储区域设置有货架以储存货物,在物流配送过程中,首先将需要出库的货物由货架取出并运送至分拣区域,在分拣区域对货物按订单需求进行分拣。
现有的物流中心虽然在许多应用场景下进行了一定程度的自动化改造,但多数改造主要是对仓储区域的改造,例如利用堆垛机进行货物取放,但对于仓储规模较大的物流中心,建立固定的货物传输线与堆垛机移动轨道使得整体物流过程柔性较差且成本较高,同时,货物取出后的分拣过程仍然需要依靠人工完成,物流分拣过程的效率较低。
本申请提供一种物流分拣***,货物由仓储区域至分拣区域的传递过程具有更好柔性,同时可以提高货物分拣的效率。
首先,对于申请实施例的应用场景,本申请实施例提供的物流分拣***可以应用于制造业工厂库存产品的出库、零售业库存产品的出库,也可以应用于电商物流的快递出库分拣等不同领域,且涉及运输和分拣的产品或货物可以是工业零部件、电子配件或产品、药物、服装饰品、食品、书籍等,本申请实施例对此不作具体限定,下面将都以“货物”来指代物流分拣***的 分拣对象,不再具体举例。
图1为本申请实施例提供的物流分拣***的结构示意图,如图1所示,本申请实施例提供的物流分拣***包括货架10、分拣装置、料箱转运装置和货物接收装置,料箱转运装置可以将货架10上的货物运送至分拣装置进行分拣,分拣后的货物可以通过货物接收装置直接打包出库或者分类形成订单再打包出库。
其中,该物流分拣***按工作区域划分可以包括仓储区域、分拣区域和打包出库区域,仓储区域用于放置货架10以储存货物,分拣区域用于放置分拣装置对取出的货物进行分拣,打包出库区域为分拣后的货物按订单临时存放或者出库打包提供空间,在各个区域之间还可以设置有公共区域,公共区域可以供料箱转运装置或者工作人员活动,以进行货物传递或者设备维护。
具体地,仓储区域的货架10可以为多个,多个货架10间隔排列,分拣装置可以为多个,且多个分拣装置在仓储区域的边缘外侧间隔分布,分拣装置包括输送组件和拣选组件,输送组件用于传送物料箱60,拣选组件设置于输送组件的侧方,拣选组件用于对输送组件上物料箱60中的货物进行分拣,料箱转运装置包括料箱搬运机器人30,料箱搬运机器人30用于将待分拣的物料箱60由货架10搬运至输送组件,在这一过程中其取出的货物放置在物料箱60中,同时料箱搬运机器人30可以接收输送组件送出的货物分拣后的物料箱60,货物接收装置可以设置于分拣装置背离货架10的一端,即分拣区域位于仓储区域和打包出库区域之间,货物接收装置用于接收拣选组件从物料箱60中取出的货物,其接收及转移货物的过程可以通过不同方式来实现。
需要说明的是,本申请提供的物流分拣***中,料箱搬运机器人30可以往来与货架10与分拣装置之间的公共区域,并完成货物的取送任务,而料箱搬运机器人30可以直接与分拣装置对接,将待分拣的物料箱60直接运送至分拣装置,同时接受从分拣装置上传递出的物料箱60,并进入下一个作业任务,分拣装置可以持续进行货物分拣任务,从而整体提高了物流分拣***的配送出库效率,分拣后的物料箱60中既可能存在剩余货物,也可能是没有剩余货物的空物料箱60,本实施例对此不做限定,下面将对本申请的物流分拣***的各个工作区域的结构进行详细的说明。
对于仓储区域,间隔排列的货架10之间可以具有巷道,巷道沿货架10 的长度方向延伸,每个货架10可以具有多列库位,每列的库位沿货架10的高度方向排布,料箱搬运机器人30可以在巷道中移动,并按其分配到的工作任务从特定库位中取出货物。
作为一种可选地实施方式,多排货架10可以平行设置,且多排货架10可以形成立体仓库,即货架10的每列库位向上延伸,尽可能的利用上部空间,以提高空间利用率,料箱搬运机器人30可以对货架10上不同高度库位中的货物进行取放。
可选地,货架10上的每个库位可以对应一个物料箱60,货物可以放置于物料箱60中,料箱搬运机器人30可以对物料箱60进行整体取放。
可选地,料箱搬运机器人30可以包括移动底座,移动底座上可以设置有升降机构,升降机构可以沿其高度方向移动,而移动到不同高度可以对应货架10上不同高度的库位,升降机构上可以设置有可伸缩的机器臂,机械臂的末端可以设置有夹持结构。在料箱搬运机器人30的工作过程中,可以先进入指定的巷道中并移动至对应的库位列,升降机构移动至对应高度的库位,其后机械臂可以伸出,将物料箱60夹持并托出。
在另一种料箱搬运机器人30的取放货物的方式中,料箱搬运机器人30可以与货架10进行对接并沿货架10的高度方向进行攀爬,而到达相应高度的库位后对物料箱60进行取放,其后再沿货架10高度方向向下移动并返回地面。
本申请实施例的物流分拣***对料箱搬运机器人30的具体结构及工作方式不做限定,实际可以根据应用场景和空间大小进行选择。
需要说明的是,货架10上的多个库位既可以是固定库位也可以是动态库位,也可以是固定库位和动态库位的组合,当采用动态库位时,相应的库位可以根据是否存放有货物或物料箱60来确认并调整库位的空间大小,并且可以根据实际物流***运作过程中需要存储的物料箱60或货物的大小,选择合适空间的库位,并对在料箱搬运机器人30取放后对库位空间进行重新界定。货架10库位的具体大小和变化方式可以根据实际应用场景和工作流程进行选择设定,本申请实施例对此不做具体限定。
对于分拣区域,在分拣区域可以设置有分拣装置,分拣装置需要与料箱搬运机器人30的工作任务进行配合,对搬运机器人送入的物料箱60中的货 物进行分拣,同时分拣传送效率需要与搬运机器人的任务规划相配合,避免出现物料箱60对接卡死的情况,而分拣装置中包括有输送组件和拣选组件,分别对物料箱60进行传送以及对物料箱60中的货物进行分拣,下面将对两者的结构和配合方式进行详细说明。
作为一种可选地实施方式,输送组件可以包括第一输送线21,第一输送线21具有入口211和出口212,料箱搬运机器人30与入口211对接可以将待分拣的物料箱60放置到第一输送线21上,而入口211和出口212分别位于第一输送线21的两端,从而物料箱60可以从第一输送线21的一端进入输送组件,并由输送组件的另一端离开,搬运机器人相应的可以与出口212对接将货物分拣完后的物料箱60取回。
物料箱60在第一输送线21上可以沿第一输送线21的长度方向移动,第一输送线21的延伸结构可以根据实际场地空间大小,以及货架10、公共区域等其他布局需求进行设计,具体地,第一输送线21的形状可以为直线型、环形、U形、W形等,物料箱60在第一输送线21上单向移动,均可以由入口211到达出口212,本申请实施例对第一输送线21的具体形状和结构不做具体限定。
可选地,为了保证空间规划合理性,便于料箱搬运机器人30对物料箱60进行取放,第一输送线21的入口211和出口212可以位于第一输送线21的同一侧,此时,第一输送线21可以采用环形、U形等形状,料箱搬运机器人30从入口211放入物料箱60,并从出口212接收物料箱60,从而料箱搬运机器人30可以在第一输送线21的同一侧接放物料箱60,减短料箱搬运机器人30的移动路径,同时在分配料箱搬运机器人30的工作任务时可以降低其路径规划难度。
在实际的应用场景中,为了提高物料分拣效率,可以有多个物流分拣线进行分拣,即第一输送线21可以为多个,且多个第一输送线21可以分成至少两个输送线组,每个输送线组包括至少两个第一输送线21,相应的,拣选组件可以为多个,每个输送线组对应一个拣选组件,从而一个拣选组件可以对多条第一输送线21进行分拣。
图2为本申请实施例提供的物流分拣***中第一输送线组的结构示意图,如图2所示,输送线组可以包括第一输送线组20a,拣选组件可以包括分拣机 器人23和人工分拣台24,分拣机器人23和人工分拣台24可以位于第一输送线21的不同侧,从而可以通过分拣机器人23和人工的配合同时进行货物分拣,提高货物分拣的效率。
分拣工作人员可以在人工分拣台24对物料箱60中的货物进行分拣,而每条第一输送线21都可以由分拣机器人23和人工进行配合,或者可以设置有多个分拣机器人23,其中,由于物料箱60在第一输送线21上沿单行传送,分拣机器人23和人工分拣台24可以与第一输送线21的不同传送段对应设置。
需要说明的是,由于货物的分拣需要一定的时间,物料箱60在第一输送线21上可以以一个恒定速度进行运行,在物料箱60移动过程中,分拣机器人23和人工进行货物分拣;也可以是物料箱60移动相应的分拣位时,第一输送线21停止传送,分拣完成后,第一输送线21再继续传送物料箱60,而物料箱60的传送过程可以具有较快的移动速度,本申请实施例对物料箱60在第一输送线21上的实际拣选流程不做具体限定。
此外,在第一输送线组20a中,第一输送线21可以间隔设置,分拣机器人23可以设置于两个相邻的第一输送线21之间,从而分拣机器人23可以对两个第一输送线21上的物料箱60中货物分别进行分拣,从而充分利用分拣机器人23的工作效率。
示例性地,分拣机器人23可以为机械臂,机械臂的工作半径大于相邻两个第一输送线21之间间距的一半,从而使得机械臂的工作范围可以同时覆盖其两侧的第一输送线21,机械臂对应的分拣位可以设置在机械臂工作范围内的任意一个或多个位置,机械臂的末端可以设置有识别单元和夹持单元,识别单元可以对物料箱60中的货物进行识别,从而判断该货物所属的订单或订单集,以及可以判断该货物是否需要直接打包出库,夹持单元可以将货物从物料箱60中夹出。本申请实施例对分拣机器人23的具体结构以及取货方式不做具体限定。
图3为本申请实施例提供的物流分拣***中第二输送线组的结构示意图,如图3所示,除了第一输送线组20a外,在本申请实施例中,输送线组还可以包括第二输送线组20b,而拣选组件可以包括至少两个人工分拣台24,人工分拣台24与第一输送线21一一对应设置,从而对不同第一输送线21上物料箱60中的货物分别进行分拣,且第二输送线组中的任意两条输送线的输送 方向可以相同,也可以相反,在此不做限定。
第二输送线组20b和第一输送线组20a的区别在于,第一输送线组20a有拣选机器人完成拣选工作,或者由拣选机器人和人工配合完成拣选工作,而第二输送线组20b可以通过设置多个人工分拣台24,对第一输送线21上的物料箱60进行分拣。
需要说明的是,本申请实施例中可以同时设置有第一输送线组20a和第二输送线组20b,并根据不同货物类型和出库任务要求分别进行拣选工作,从而提高整个物流分拣***的工作流程的柔性,在工作任务发生临时变化或者部分设备故障时,可以保证物流分拣工作持续进行。
上述的第一输送线21在传输物料箱60过程中,物料箱60沿第一输送线21的延伸方向单向移动,料箱搬运机器人30在第一输送线21的两端分别放入和接收物料箱60,本申请实施例中,输送组件还可以包括第二输送线22,第二输送线22与第一输送线21具有不同的结构和物料箱60传送方式,从而可以使用不同场地规划的需求,下面将对第二输送线22的具体结构详细说明。
图4为本申请实施例提供的物流分拣***中第二输送线的结构示意图,图5为本申请实施例提供的物流分拣***中第二输送线第二端的结构示意图,如图4和图5所示,第二输送线22可以包括上层输送线221和下层输送线222,上层输送线221和下层输送线222沿相同方向延伸且上下重叠设置,且上层输送线221和下层输送线222两者中的一者传送待分拣的物料箱60,另一者传送货物分拣后的物料箱60,从而可以减少第二输送线22所占用的空间,提高空间利用率,物料箱60在其中一者上完成分拣作业后可以换向至另一者返回。
具体地,上层输送线221和下层输送线222均水平设置,待分拣的物料箱60可以在其中一层上完成分拣,而货物分拣后的物料箱60可以由另一层返回等待接收的料箱搬运机器人30,上层输送线221与下层输送线222之间具有一定的间隔,从而为物料箱60在下层输送线222上的移动提供容纳空间。
可选地,物料箱60在上层输送线221和下层输送线222上沿相反方向移动,从而物料箱60可以在第二输送线22上沿一个方向进行货物拣选,而拣选完成后的物料箱60可以沿相反方向返回,且在第二输送线22长度方向上间隔设置有多个拣货组件,从而对物料箱60内的货物持续进行分拣作业。
需要说明的是,上层输送线221可以设置为传送待分拣的物料箱60,相应的,下层输送线222可以设置为传送货物分拣后的物料箱60;或者,下层输送线222可以设置为传送待分拣的物料箱60,相应的,上层输送线221可以设置为传送货物分拣后的物料箱60。下面将以前者为例进行说明。
作为一种可选地实施方式,第二输送线22的第一端同时设置有上层输送线221的入货口和下层输送线222的出货口,第二输送线22的第二端同时设置有上层输送线221的出货口和下层输送线222的入货口,料箱搬运机器人30与第二输送线22的第一端对接,从而料箱搬运机器人30可以在上层输送线221的入货口放入待分拣的物料箱60,物料箱60沿上层输送线221移动并在这一过程中进行货物分拣,其后分拣完的物料箱60由上层输送线221的出货口进入下层输送线222的入货口,并沿下层输送线222移动,最后物料箱60沿下层输送线222返回第二输送线22的第一端,并从下层输送线222的出货口被料箱搬运机器人30接收,而料箱搬运机器人30可以在相同的位置接放物料箱60。
可选地,上层输送线221包括主输送段2211和至少一个分拣输送段2212,分拣输送段2212的两端分别与主输送段2211延伸方向的不同位置连接,分拣输送段2212用于在主输送段2211的一侧形成分拣位,拣选组件可以与分拣位相对设置,在待分拣的物料箱60经过上层输送线221时,可以根据多个分拣位的分拣速度,和/或,主输送段2211与至少一个分拣输送段2212两者之间的输送速度,确定物料箱60对应的分拣位,到达相应分拣位后可以先由主输送段2211进入分拣输送段2212上完成货物分拣,其后再回到主输送段2211上。
为了实现物料箱60从上层输送线221至下层输送线222的转换,第二输送线22的第二端可以设置有对接结构,对接结构用于将位于上层输送线221的物料箱60自动转运至下层输送线222,从而物料箱60可以在上层输送线221进行货物分拣,其后物料箱60可以通过对接结构在第二输送线22的第二端转移至下层输送线222,并由下层输送线222返回。对接结构可以有多种实现方式,下面将分别进行举例说明。
作为其中一种可选地实施方式,对接结构可以包括升降机构,升降机构包括升降平台,升降平台可沿第二输送线22的高度方向移动,且在移动行程 的两端分别与上层输送线221和下层输送线222对接,物料箱60在第二输送线22的第二端可以转移至升降平台上。
具体地,升降平台与上层输送线221对接时,分拣后的物料箱60可以从上层输送线221的出货段移动至升降平台上,其后,升降平台可以向下移动至与下层输送线222对接,从而可以将物料箱60由上层输送线221转移至下层输送线222。
可选地,升降机构还可以包括齿轮、链条和电机,升降平台可以通过链条进行带动进行升降,齿轮与链条啮合,且电机可以驱动齿轮转动,通过控制电机的正反转可以实现链条的往复移动,从而实现升降平台的上下移动。
作为另一种可选地实施方式,对接结构可以包括坡度转向机构223,坡度转向机构223包括承载件2231,承载件2231可以为平板件,承载件2231用于承接物料箱60,承载件2231可相对于第二输送线22的第二端转动,以将物料箱60由上层输送线221转移至下层输送线222。
具体地,坡度转向机构223还可以包括安装柱2232,承载件2231的第一端与安装柱2232转动连接,承载件2231的第二端为自由端,在转动行程的两端,承载件2231的第二端可以分别与上层输送线221和下层输送线222对接,当物料箱60移动至承载件2231上时,承载件2231可以由上层输送线221的端部向下层输送线222转动,从而实现物料箱60的转移。
可选地,安装柱2232与承载件2231连接位置的高度位于上层输送线221与下层输送线222之间,即高于下层输送线222的高度且低于上层输送线221的高度,如此设置,当承载件2231的第二端与上层输送线221对接时,可以形成由承载件2231第二端向第一端倾斜的坡度,则物料箱60可以沿坡度滑移至承载件2231上;相应的,当承载件2231的第二端与下层输送线222对接时,可以形成由承载件2231第一端向第二端倾斜的坡度,物料箱60可以沿坡度由承载件2231滑移至下层输送线222上。
此外,在承载件2231的第一端还可以设置有挡板,当物料箱60滑移至承载件2231上时,挡板可以对物料箱60进行限位。
可选地,坡度转向机构223还可以包括驱动单元,驱动单元可以为电机,承载件2231的第一端可以与驱动单元的输出端连接,且承载件2231可以在驱动单元的驱动下转动,而承载件2231的转动行程可以通过上下两个分别设 置的行程开关进行控制,即在承载件2231转动至与上层输送线221对接时会触碰到一个行程开关从而停止转动并维持对接状态,而转动至与下层输送线222对接时会触碰到另一个行程开关从而停止转动并维持对接状态。当然,行程开关还可以是非接触式的光电传感器,本实施例对此不做具体限定。
在承载件2231上还可以设置料箱检测传感器,以判断承载件2231上是否有物料箱60,从而判断承载件2231是否需要在与上层输送线221和下层输送线222的对接状态之间切换,其中,料箱检测传感器可以为压力传感器,通过检测物料箱60的负重以判断物料箱60是否移动至承载件2231上或者是否从承载件2231上滑出;或者,料箱检测传感器可以为触点开关或光电开关等位置传感器,通过检测物料箱60的位置来判断承载件2231上是否有物料箱60。
在完成货物的分拣后,需要对分拣后的货物进行打包出库,或者当一个订单包含多个货物,亦或是一个订单集包含多个订单时,需要对货物进行分类和临时存放,因此本申请提供的物流分拣***通过货物接收装置实现上述功能,下面将对此进行说明。
作为一种可选地实施方式,货物接收装置可以包括至少一个货物输送线40,货物输送线40与输送组件相对设置,货物输送线40的出货口与包装平台70对接,从而分拣后的货物可以沿货物输送线40移动至包装平台70直接打包出库。
或者,本实施例提供的物流分拣***还可以包括货物分类盒50,货物分类盒50可以有多个,且依次排列,货物分类盒50可以包括多个容纳腔,容纳腔用于存放属于一个订单或一个订单集的货物。货物接收装置还可以包括货物搬运机器人41,货物搬运机器人41用于将货物运送至容纳腔内,从而将同一订单的货物放置在同一容纳腔中,其后集中出库。
作为一种可选地实施方式,拣选组件的一侧可以设置有等待位,等待位用于货物搬运机器人41等待接收货物。在实际进行拣选任务时,货物搬运机器人41根据订单要求,可能需要一次运送多个货物,而多个货物需要从不同的物料箱60中拣选取出,因此货物搬运机器人41可以在等待位等待相应的货物拣选,而不对其他货物拣选和运送任务产生干涉,提高了整体的物流效率。
示例性地,货物搬运机器人41可以为翻斗机器人,翻斗机器人包括本体和设置在本体顶部的收纳盒,收纳盒可以相对于本体翻转从而将收纳盒中的货物倒出,翻斗机器人可以在输送组件的一侧接收货物,其后移动至相应分类盒位置,将货物翻入容纳腔中。
需要说明的是,本实施例中的料箱搬运机器人30和货物搬运机器人41均可以为无轨机器人,且可以根据控制中心的统一调度和路径规划进行配送任务,本申请对料箱搬运机器人30和货物搬运机器人41的具体移动方式、调度方式以及路径规划方法均不做具体限定。
图6为本申请实施例提供的物流分拣***中料箱搬运机器人的结构示意图,示例性地,料箱搬运机器人30的移动底座上可以设置有沿高度方向间隔设置的多层货板,每层货板均可放置物料箱60,从而料箱搬运机器人30可同时运输多个物料箱60,提高料箱搬运机器人30单次工作的效率。
作为一种可选地实施方式,本申请提供的物流分拣***中,不同的分拣装置可以采用上述不同结构及工作方式的输送组件与拣选组件的组合,且根据实际的应用场景,可以对具体地拣选装置的排布结构,以及包括的输送组件和拣选组件的数量进行选择,提高物流分拣的效率,同时可以适应不同应用场景的需求。
本实施例提供的物流分拣***包括货架、分拣装置、料箱转运装置和货物接收装置,货架可以为多个,多个货架间隔排列形成仓储区域,分拣装置为多个,且多个分拣装置在仓储区域的边缘外侧间隔分布,分拣装置包括输送组件和拣选组件,输送组件用于传送物料箱,拣选组件设置于输送组件的侧方,拣选组件用于对输送组件上物料箱中的货物进行分拣,料箱转运装置包括料箱搬运机器人,料箱搬运机器人用于将待分拣的物料箱由货架搬运至输送组件,并接收输送组件送出的货物分拣后的物料箱,货物接收装置设置于分拣装置背离货架的一端,货物接收装置用于接收拣选组件从物料箱中取出的货物,从而将货物按订单进行分类或者直接出库,分拣装置可以持续进行货物分拣任务,整体提高物流分拣***的配送出库效率。
最后应说明的是:以上各实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述各实施例对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改, 或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请实施例技术方案的范围。
Claims (19)
- 一种物流分拣***,其特征在于,包括:货架,所述货架为多个,多个所述货架间隔排列形成仓储区域;分拣装置,所述分拣装置为多个,且多个所述分拣装置在所述仓储区域的边缘外侧间隔分布,所述分拣装置包括输送组件和拣选组件,所述输送组件用于传送物料箱,所述拣选组件设置于所述输送组件的侧方,所述拣选组件用于对所述输送组件上所述物料箱中的货物进行分拣;料箱转运装置,所述料箱转运装置包括料箱搬运机器人,所述料箱搬运机器人用于将待分拣的所述物料箱由所述货架搬运至所述输送组件,并接收所述输送组件送出的货物分拣后的所述物料箱;货物接收装置,所述货物接收装置设置于所述分拣装置背离所述货架的一端,所述货物接收装置用于接收所述拣选组件从所述物料箱中取出的货物。
- 根据权利要求1所述的物流分拣***,其特征在于,所述输送组件包括第一输送线,所述第一输送线具有入口和出口,所述入口和所述出口分别位于所述第一输送线的两端。
- 根据权利要求2所述的物流分拣***,其特征在于,所述入口和所述出口位于所述第一输送线的同一侧,所述料箱搬运机器人从所述入口放入所述物料箱,并从所述出口接收所述物料箱。
- 根据权利要求3所述的物流分拣***,其特征在于,所述第一输送线为多个,且多个所述第一输送线分成至少两个输送线组,每个所述输送线组包括至少两个第一输送线;所述拣选组件为多个,每个输送线组对应一个拣选组件。
- 根据权利要求4所述的物流分拣***,其特征在于,所述至少两个输送线组包括第一输送线组,所述拣选组件包括分拣机器人和人工分拣台,所述分拣机器人和所述人工分拣台位于所述第一输送线的不同侧。
- 根据权利要求5所述的物流分拣***,其特征在于,所述第一输送线间隔设置,所述分拣机器人位于两个相邻的所述第一输送线之间。
- 根据权利要求6所述的物流分拣***,其特征在于,所述分拣机器人为机械臂,所述机械臂的工作半径大于相邻两个所述第一输送线之间间距的一半。
- 根据权利要求4所述的物流分拣***,其特征在于,所述至少两个输送线组包括第二输送线组,所述拣选组件包括至少两个人工分拣台,所述人工分拣台与所述第一输送线一一对应设置。
- 根据权利要求1所述的物流分拣***,其特征在于,所述输送组件包括第二输送线,所述第二输送线包括上层输送线和下层输送线,所述上层输送线和所述下层输送线沿相同方向延伸且上下重叠设置,且两者中的一者传送待分拣的所述物料箱,另一者传送货物分拣后的所述物料箱。
- 根据权利要求9所述的物流分拣***,其特征在于,所述物料箱在所述上层输送线和所述下层输送线上沿相反方向移动。
- 根据权利要求10所述的物流分拣***,其特征在于,所述第二输送线的第一端同时设置有所述上层输送线的入货口和所述下层输送线的出货口,所述第二输送线的第二端同时设置有所述上层输送线的出货口和所述下层输送线的入货口,所述料箱搬运机器人与所述第二输送线的第一端对接。
- 根据权利要求11所述的物流分拣***,其特征在于,所述上层输送线包括主输送段和至少一个分拣输送段,所述分拣输送段的两端分别与所述主输送段延伸方向的不同位置连接,所述分拣输送段用于在所述主输送段的一侧形成分拣位。
- 根据权利要求11所述的物流分拣***,其特征在于,所述第二输送线的第二端设置有对接结构,所述对接结构用于将位于所述上层输送线的所述物料箱转运至所述下层输送线。
- 根据权利要求13所述的物流分拣***,其特征在于,所述对接结构包括升降机构,所述升降机构包括升降平台,所述升降平台可沿所述第二输送线的高度方向移动,且在移动行程的两端分别与所述上层输送线和所述下层输送线对接。
- 根据权利要求13所述的物流分拣***,其特征在于,所述对接结构包括坡度转向机构,所述坡度转向机构包括承载件,所述承载件用于承接所述物料箱,所述承载件可相对于所述第二输送线的第二端转动,以将所述物料箱由所述上层输送线转移至所述下层输送线。
- 根据权利要求15所述的物流分拣***,其特征在于,所述坡度转向机构还包括安装柱和驱动单元,所述承载件的第一端与所述安装柱转动连接, 并在所述驱动单元的驱动下转动,所述承载件的第二端在转动行程的两端分别与所述上层输送线和所述下层输送线对接。
- 根据权利要求1-16任一项所述的物流分拣***,其特征在于,所述货物接收装置包括至少一个货物输送线,所述货物输送线的出货口与包装平台对接。
- 根据权利要求1-16任一项所述的物流分拣***,其特征在于,还包括货物分类盒,所述货物分类盒包括多个容纳腔,所述货物接收装置包括货物搬运机器人,所述货物搬运机器人用于将货物运送至所述容纳腔内。
- 根据权利要求18所述的物流分拣***,其特征在于,所述拣选组件的一侧设置有等待位,所述等待位用于所述货物搬运机器人等待接收货物。
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