Sorting apparatus and warehousing system

Abstract

The present disclosure relates to a sorting device and a warehouse system, which comprises a rack, a movable base, a delivery assembly and a case taking and returning assembly. The movable base is movably arranged on the rack and is controlled to move relative to the rack by a driving mechanism. The delivery assembly is arranged on the movable base and is configured to receive goods at a receiving position and deliver the goods into a container on a shelf at a delivery position. The case taking and returning assembly is arranged on the movable base and is configured to pull the container on the shelf into the delivery assembly at a carrying position or push the container on the delivery assembly to a designated position. The sorting device of the present disclosure has the functions of delivering goods and taking and returning containers, can arrange the containers on the shelf by using the sorting gap, expands the application range of the sorting device, reduces the number of automatic devices involved in the warehouse system, and reduces the manufacturing cost and control cost.

Description

Technical Field

[0001] This disclosure relates to the field of warehousing and logistics technology, and in particular to a sorting device and a warehousing system. Background Technology

[0002] With the rapid development of technology, the level of automation in the logistics field has made leaps and bounds. The sorting and handling of goods that were originally done manually should be replaced by corresponding automated equipment.

[0003] Taking sorting equipment as an example, after receiving the goods, the sorting equipment delivers the goods to the corresponding containers on the shelf. When the containers on the shelf are full or the sorting order is completed, the container handling equipment takes the containers off the shelf and moves them to the transfer location for temporary storage or directly moves them to the subsequent workstation, where they are checked, packaged, labeled, and sent out.

[0004] Clearly, in current warehousing systems, each type of automated equipment can only complete one task. In practice, multiple robots need to cooperate and coordinate with each other to complete the sorting task. Warehousing systems suffer from complex composition and high coordination difficulty. Summary of the Invention

[0005] This disclosure provides a sorting device and a warehousing system to address the technical problems existing in the prior art.

[0006] Firstly, the sorting equipment disclosed herein includes: frame; A movable base is movably mounted on the frame and configured to move relative to the frame; A delivery component, disposed on the movable base, is configured to receive goods at the receiving position and deliver the goods to a container on the shelf at the delivery position; A pick-up and return box assembly is disposed on the movable base and configured to pull containers on the shelf onto the delivery assembly located in the bearing position, or to push containers on the delivery assembly into a designated position.

[0007] In one embodiment, the retrieval box assembly includes: Two telescopic arms are respectively located on both sides of the delivery component and are configured to extend or retract relative to the movable base; A front detent is provided on at least one of the telescopic arms and is configured to pull containers on the shelf onto the delivery assembly as the telescopic arms retract toward the movable base; A rear detent is disposed on at least one of the telescopic arms and configured to push the container on the delivery assembly into a designated position as the telescopic arm extends from the movable base.

[0008] In one embodiment, the retrieval box assembly includes: Two telescopic arm assemblies are respectively disposed on the left and right side plates of the movable base, and the telescopic arm assembly includes: The first telescopic arm is mounted on the movable base in a manner that allows it to extend and retract horizontally. The second telescopic arm is mounted on the first telescopic arm in a manner that allows it to extend and retract in the horizontal direction; The telescopic drive mechanism is configured to drive the first telescopic arm to extend and retract relative to the movable base, and to cause the second telescopic arm to extend and retract synchronously relative to the first telescopic arm. The lifting lever is configured to rotate relative to the second telescopic arm to extend from the inside of the second telescopic arm and rise with the movable base to lift the container.

[0009] In one embodiment, the delivery component includes a conveying mechanism.

[0010] In one embodiment, the delivery component includes: The flap is rotatably mounted on the movable base and configured to rotate between a carrying position and a delivery position; When in the carrying position, the flap is used to carry goods or containers; When located at the delivery position, the flap is tilted at a preset angle relative to the bearing position so that the goods slide off due to their own weight.

[0011] In one embodiment, the movable base is configured to move relative to the frame in both horizontal and vertical directions.

[0012] Secondly, the warehousing system disclosed herein includes: Shelf docking area; The main shelf is located in the shelf docking area and is configured as a storage container; The sorting equipment is located in the shelf docking area and is the sorting equipment described in any of the embodiments.

[0013] In one embodiment, the sorting equipment is configured to swap containers at different storage locations on the main shelf.

[0014] In one embodiment, the warehousing system further includes: Transit racks are located in the rack docking area; The sorting equipment is configured to move containers from the main shelf to the transfer shelf; A shelving handling robot is configured to move the transit shelving to a designated location.

[0015] In one embodiment, the main shelf has a receiving area, and the transit shelf is embedded within the receiving area.

[0016] In one embodiment, the main shelf includes vertically staggered storage units and temporary storage units, with the storage units located above the temporary storage units; The sorting equipment is also configured to move the containers in the storage location to the temporary storage location for temporary storage; The warehousing system also includes: A container handling robot is configured to move containers away from the temporary storage location.

[0017] One of the beneficial effects of the warehousing system disclosed herein is that the sorting equipment of this disclosure has the functions of delivering goods and retrieving and returning containers. It can utilize the gaps between sorting goods to organize containers on the shelves, thus expanding the scope of application of the sorting equipment. It can reduce the number of automated equipment involved in the warehousing system and reduce manufacturing and control costs. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0019] Figure 1 This is a schematic diagram of the structure of the sorting device disclosed herein when the telescopic arm is in the retracted position in one embodiment; Figure 2 This is a schematic diagram of the structure of the sorting device disclosed herein in one embodiment when the telescopic arm is in the extended position; Figure 3 and Figure 4 These are two perspective views of a single telescopic arm assembly of the retrieval box assembly in one embodiment. Figures 5 to 7 They are Figure 3 Front view, rear view, and side view of a single telescopic arm assembly; Figure 8 and Figure 9 These are schematic diagrams of the sorting device in one embodiment, showing the telescopic arm in both extended and retracted states. Figure 10 This is a schematic diagram of the structure of the warehousing system disclosed in this embodiment 1; Figure 11 This is a schematic diagram of the structure of the container handling robot disclosed in this embodiment; Figure 12 This is a schematic diagram of the structure of the warehousing system disclosed in this embodiment 2; Figure 13 This is a schematic diagram of the structure of the warehousing system disclosed in this embodiment three.

[0020] Figures 1 to 13 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows: 1. Sorting Equipment: 10. Frame, 100. Horizontal Slide Rail, 101. Vertical Slide Rail, 11. Movable Base, 12. Delivery Component, 13. Pickup and Return Box Component, 130. First Telescopic Arm, 1301. Telescopic Motor, 1302. Active Synchronous Belt Pulley, 1303. First Driven Synchronous Belt Pulley, 1304. First Synchronous Belt, 1305. First Linear Guide Rail, 1306. First Slider, 1307. Second Driven Synchronous Belt Pulley, 1308. Second Synchronous Belt, 131. Second Telescopic Arm, 1311. Third Driven Synchronous Belt Pulley, 1312. Third Synchronous Belt, 1313. Second Linear Guide Rail, 1314. Second Slider, 1320. Lifting Motor, 1321. Lifting Rod, 133. Front Detachment Finger, 134. Rear Detachment Finger; 2 Main rack, 20 support frame, 200 left support frame, 201 right support frame, 202 dividing support frame, 21 shelf, 22 holding area, 3 container, 4 container handling robot, 40 walking mechanism, 41 lifting frame, 42 carrying tray, 5 transfer rack, 6 rack handling robot. Detailed Implementation

[0021] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0022] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0023] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0024] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0025] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0026] As described in the background section, existing sorting equipment only has the function of delivering goods. If the shelves are to be sorted, other relatively independent automated equipment needs to be configured to complete the task.

[0027] To this end, this disclosure provides a sorting device including a frame, a movable base, a delivery component, and a pick-up / return box assembly. The movable base is movably mounted on the frame and controlled by a drive mechanism to move relative to the frame; the delivery component is mounted on the movable base and configured to receive goods at a receiving position and deliver the goods to a container on a shelf at a delivery position; the pick-up / return box assembly is mounted on the movable base and configured to pull a container from the shelf onto the delivery component at a carrying position, or to push a container from the delivery component into a designated position.

[0028] After receiving goods, the delivery component of this sorting equipment moves with the movable base relative to the gantry from the receiving point to the location of the corresponding container on the shelf, and then delivers the goods into the corresponding container. Furthermore, this sorting setup allows for the retrieval and return of containers from the shelf during breaks in sorting operations, facilitating shelf organization.

[0029] For example, sorting equipment can pre-move order containers that correspond to several sorting orders that need to be processed sequentially and are stored on different storage levels on the same shelf to the same storage level or adjacent storage levels. In this way, when sorting the sorting order task, the delivery component can quickly complete the delivery task of multiple goods with minimal movement.

[0030] For example, sorting equipment can move idle containers on the same shelf to storage locations on the same or adjacent shelves, so that delivery components can quickly complete delivery tasks.

[0031] For example, sorting equipment can use pick-up and return box components to pre-select and move several order containers belonging to the same customer or the same downstream workstation to the same or adjacent storage locations on the shelf, so that manual or automated equipment in the downstream processing flow can quickly move these containers off the shelf.

[0032] For example, after the delivery component of the sorting equipment completes the delivery of goods, if it finds that the delivered order container is full, the sorting equipment can use the pick-up and return component to move the order container from the current storage location to a dedicated temporary storage location on the same shelf, so that manual or automated equipment in the downstream processing flow can quickly move these containers off the shelf, or move the order container from the current storage location on the shelf to a dedicated shelf that stores full order containers.

[0033] For example, shelves can be installed on both sides of the sorting equipment. The sorting equipment can use the box pick-and-place mechanism to place empty containers on one shelf, while full order containers or order containers with delivery space can be placed on another shelf.

[0034] Clearly, the sorting equipment disclosed herein has the functions of delivering goods and retrieving containers. It can utilize the gaps between sorting goods to organize containers on the shelves, thus expanding the scope of application of the sorting equipment. It can reduce the number of automated devices involved in the warehousing system and reduce manufacturing and control costs.

[0035] To facilitate understanding, the following will be combined with... Figures 1 to 9 The specific structure and working principle of the sorting equipment disclosed herein will be described in detail using several embodiments as examples.

[0036] See Figure 1 and Figure 2 In this embodiment, the sorting equipment includes a frame 10, which includes a horizontal slide rail 100 and a vertical slide rail 101. The vertical slide rail 101 is disposed on the horizontal slide rail 100 and configured to slide along the horizontal slide rail 100. That is, the horizontal slide rail 100 is fixedly disposed on the working surface of the sorting area of ​​the warehousing system, and the vertical slide rail 101 moves along the horizontal slide rail 100 in the X direction.

[0037] The movable base 11 is movably disposed on the rack 10 and configured to move relative to the rack 10 to move from its current position to the container corresponding to the goods on the shelf.

[0038] In detail, the movable base 11 is connected to the vertical slide rail 101 via a lifting mechanism, and can rise or fall along the vertical slide rail 101 under the driving action of the lifting mechanism, that is, the movable base 11 moves along the vertical slide rail 101 in the Y direction. The movable base 11 may include a base plate and a left side plate and a right side plate disposed on the base plate.

[0039] The lifting mechanism may also include a motor and a power transmission mechanism. The function of the power transmission mechanism is to convert the rotation of the motor into linear motion, such as a gear and rack transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, etc.

[0040] In detail, when the lifting mechanism adopts a gear and rack transmission mechanism, the rack extends vertically and is fixedly connected to the vertical slide rail 101, and the gear meshing with the rack is rotatably mounted on the loading mechanism.

[0041] After the motor is started, its drive gear drives the loading mechanism to rise and fall along the extension direction of the rack.

[0042] When the lifting mechanism adopts a belt drive mechanism, its two drive wheels are vertically spaced and rotatably mounted on the vertical slide rail 101, and its drive belt is tensioned on the two drive wheels. The loading mechanism is fixed on the drive belt.

[0043] After the motor is started, it drives one of the transmission wheels to rotate, which in turn causes the transmission belt to lift and lower the loading mechanism.

[0044] When the lifting mechanism adopts a chain drive mechanism, its two sprockets are vertically spaced and rotatably mounted on the vertical slide rail 101, and its chain is tensioned on the two sprockets. The loading mechanism is fixed on the chain.

[0045] After the motor is started, it drives one of the sprockets to rotate, which in turn causes the chain to lift and lower the load-bearing mechanism.

[0046] See also Figure 1 The active base 11 is provided with a delivery component 12, which is configured to receive goods at the receiving position and deliver the goods to a container on the shelf at the delivery position.

[0047] In detail, the delivery component 12 is a conveying mechanism. The conveying mechanism includes a driving roller, at least one driven roller, and an annular belt. The driving roller and at least one driven roller are parallel and rotatably mounted on the base. The annular belt is tensioned and fitted between the driving roller and the driven roller. A conveying drive element is connected to the driving roller to drive the driving roller to rotate relative to the support. The annular belt also rotates with the driving roller under friction, which in turn drives the driven roller to rotate. Changing the rotation direction of the conveying drive element changes the rotation direction of the conveyor belt. In this embodiment, the conveying drive element is a motor.

[0048] When the delivery component 12 is in the receiving and transporting condition, the ring belt of the conveyor mechanism is stationary. When the delivery component 12 reaches the container corresponding to the goods, the conveyor drive element is activated, which drives the conveyor belt to rotate and deliver the goods on it into the container.

[0049] In one embodiment, the delivery component can also use a flap to deliver goods. The flap is rotatably mounted on the movable base 11. When the sorting equipment receives goods, the flap is parallel to the working surface of the horizontal slide rail 100. When the sorting equipment reaches the container corresponding to the goods, the flap rotates at a preset angle relative to the movable base 11 so that the goods on it fall into the container under their own weight.

[0050] See also Figure 1 The active base 11 is also provided with a pick-up and return box assembly 13, which is configured to pull containers on the shelf onto the delivery assembly 12 located at the bearing position, or to push containers on the delivery assembly 12 into a designated position.

[0051] In detail, the pick-up and return box assembly 13 includes two telescopic arm assemblies, which are telescopically mounted on the left and right side plates of the movable base 11, respectively, and are located on the left and right sides of the delivery assembly 12.

[0052] Combination Figure 3 and Figure 4Each telescopic boom assembly consists of a first telescopic boom 130 and a second telescopic boom 131. For a better understanding of the specific structure of the telescopic boom assembly, please refer to [the relevant documentation / reference]. Figures 5 to 7 , Figures 5 to 7 These are the front view, rear view, and side view of a single telescopic arm component.

[0053] The first telescopic arm 130 is telescopically mounted on the movable base 11 via a linear guide mechanism. Specifically, the first linear guide rail 1305 of the linear guide mechanism is fixed to the movable base 11 and extends horizontally. The first slider 1306 is fixed with the first telescopic arm 130 and slides in cooperation with the first linear guide rail 1305. Under the action of the telescopic drive mechanism, the first telescopic arm 130 extends and retracts horizontally relative to the movable base 11 along the first linear guide rail 1304 to retrieve containers from the shelf or place containers on the shelf.

[0054] The telescopic drive mechanism includes a telescopic motor 1301 and a synchronous belt drive mechanism driven by the telescopic motor 1301. The synchronous belt drive mechanism includes a driving synchronous pulley 1302 and a first driven synchronous pulley 1303 rotatably mounted on the movable base 11, and a first synchronous belt 1304 tensioned by these two pulleys. The outer surface of the first synchronous belt 1304 has a plurality of teeth along its length, and the first telescopic arm 130 also has a plurality of teeth on the opposite side of the outer surface of the first synchronous belt. The teeth of the first synchronous belt 1304 and the first telescopic arm 130 mesh with each other. When the telescopic motor 1301 is started, the first synchronous belt 1304 rotates, thereby pushing the first telescopic arm 130 to extend and retract horizontally relative to the movable base 11.

[0055] The second telescopic arm 131 is also telescopically mounted on the first telescopic arm 130 via a linear guide mechanism. Specifically, the second linear guide 1313 of the linear guide mechanism is fixed on the first telescopic arm 130 and extends in the horizontal direction. The second slider 1314 is fixed on the second telescopic arm 131 and slides in cooperation with the second linear guide 1313.

[0056] The first telescopic arm 130 is rotatably provided with a second driven synchronous pulley 1307 and a third driven synchronous pulley 1311. One end of the second synchronous belt 1308 and the third synchronous belt 1312 are fixedly connected to the movable base 11, and the other end of both are fixedly connected to the second telescopic arm 131. The second synchronous belt 1308 is tensioned by the second driven synchronous pulley 1307, and the third synchronous belt 1312 is tensioned by the third driven synchronous pulley 1311. After being tensioned, the openings of the second synchronous belt 1308 and the third synchronous belt 1312 are arranged facing each other.

[0057] When the telescopic motor 1301 is started, the first synchronous belt 1304 pushes the first telescopic arm 130 to extend from the side of the movable base 11. At the same time, the second synchronous belt 1308 pulls the second telescopic arm 131 to extend from the side of the first telescopic arm 130. After reaching the limit extension position or the extension position preset by the user, the telescopic motor 1301 is controlled to stop.

[0058] When the telescopic motor 1301 is started to rotate in the reverse direction, the first synchronous belt 1304 pushes the first telescopic arm 130 to retract toward the movable base 11. At the same time, the third synchronous belt 1312 pulls the second telescopic arm 131 toward the first telescopic arm 130 to retract until the limit retraction position or the user-preset retraction position is reached, and then the telescopic motor 1301 is controlled to stop.

[0059] See also Figure 3 and Figure 4 The third telescopic arm 132 is also equipped with a lifting rod motor 1320 and a lifting rod 1321 fixed to the output shaft end of the lifting rod motor 1320. The lifting rod 1321 is driven by the lifting rod motor 1320 to rotate until it extends from the inside of the third telescopic arm 132 to abut against the bottom of the flange of the container and rises with the movable base 11 to lift the container, or rotates to lower the container.

[0060] Based on the above-described structure of the pick-up and return box assembly, the process of the sorting equipment picking up and placing containers is as follows: S1. Upon receiving the instruction to move the container, the vertical slide rail 101 moves along its horizontal slide rail 100 to the horizontal position coordinates of the target container on the shelf, and the movable base 11 is raised and lowered along the vertical slide rail 101 to the vertical position coordinates of the target container. S2. Start the telescopic motor 1301. The first synchronous belt 1304 drives the first telescopic arm 130 to extend from the side of the movable base 11. At the same time, the second synchronous belt 1308 drives the second telescopic arm 131 to extend from the side of the first telescopic arm 130 to the side of the container above the target container. S3. Start the lifting rod motor 1320, and the two lifting rods 1321 on the two telescopic arm assemblies rotate to extend from the inside of their respective second telescopic arms 131 to reach or abut against the lower end face of the container flange.

[0061] S4. Start the telescopic motor 1301 to rotate in the opposite direction. The two telescopic arm assemblies carry the target container. The first synchronous belt 1304 of each of them drives the first telescopic arm 130 to retract to the side of the movable base 11. At the same time, the third synchronous belt 1312 drives the second telescopic arm 131 to retract to the side of the first telescopic arm 130. That is, the target container is located on the delivery assembly 12.

[0062] S7. Then execute step S1 to reach the designated location for placing the container, and then use the retrieval box component 13 to place the container on the delivery component 12 into the designated location, which can be another storage location on the shelf.

[0063] In one embodiment, see Figure 8 and Figure 9 The pick-up and return box assembly 13 includes two telescopic arms, which are telescopically mounted on the left and right sides of the movable base 11 and are located on the left and right sides of the delivery assembly 12, respectively.

[0064] The two telescopic arms are equipped with a front derailleur 133 and a rear derailleur 134. The front derailleur 133 is rotatably mounted at the front end of the telescopic arm and is driven by a derailleur motor to rotate relative to the telescopic arm to extend into the inside of the telescopic arm or to rotate to the outside of the telescopic arm. The rear derailleur 134 is fixed at the rear of the telescopic arm. It should be noted that the directional terms "inner" and "outer" used in this article are defined based on the space formed between the two telescopic arms; the space located between the two telescopic arms is "inner," and the space located outside the space formed by the two telescopic arms is "outer."

[0065] When the container retrieval assembly removes the container from the shelf, the two telescopic arms extend relative to the delivery assembly toward the sides of the container inserted on the shelf. Then, the toggle motor drives the front toggle 133 to rotate inward toward the telescopic arms until it abuts against the rear end of the container. The two telescopic arms then retract in the opposite direction relative to the delivery assembly to pull the container onto the delivery assembly.

[0066] When the container retrieval assembly places the container back on the shelf, the two telescopic arms extend relative to the delivery assembly toward the shelf to the rear dial 134 to push the container to the designated position on the shelf, and then retract the telescopic arms back onto the delivery assembly for the next container retrieval.

[0067] In addition to the sorting equipment mentioned above, this disclosure also provides a warehousing system. The warehousing system of this disclosure includes a rack docking area, a main rack, and sorting equipment. The main rack is located in the rack docking area and is configured as a storage container. The sorting equipment is also located in the rack docking area. The sorting equipment is specifically the sorting equipment described above. Its specific structure and working principle have been described in detail above. Those skilled in the art can fully implement it based on the above description, and it will not be described again here.

[0068] After receiving goods, the sorting equipment in this warehousing system carries the goods to the corresponding container on the shelf, and then delivers the goods into the container to complete the sorting task. During breaks in sorting operations, the equipment can also move containers from the shelf to designated locations, such as swapping containers between two different storage locations on the shelf, or moving containers to other shelves outside the main shelf.

[0069] Clearly, this warehousing system can not only complete the task of sorting goods, but also organize shelves using sorting equipment, which can reduce the number of automated equipment involved in the warehousing system and reduce manufacturing and control costs.

[0070] For ease of understanding, please refer to the following: Figures 10 to 13 The working principle of the warehousing system will be explained in detail with reference to three embodiments.

[0071] Example 1 See Figure 10 A warehousing system includes a racking area, which is an area artificially designated within the warehousing system's work area for storing racks. The racking area can be located on the ground of the work area or on a platform erected above the ground.

[0072] The main shelf 2 includes a support 20 and multiple shelves 21 arranged vertically at intervals on the support. Containers 3 are placed on the shelves 21, and each shelf 21 has multiple storage positions, each of which can hold one container 3.

[0073] The sorting equipment 1 is also set up in the shelf docking area. Its delivery component can receive goods delivered by staff or automated equipment at the designated docking position. The vertical slide rail moves horizontally along the horizontal slide rail until it reaches the horizontal coordinate position of the container corresponding to the goods. Then the movable base rises or falls vertically along the vertical slide rail until it reaches the vertical coordinate position of the container corresponding to the goods. That is, it has reached the container. The delivery component can then deliver the goods on it to the container.

[0074] In addition, sorting equipment 1 can also perform sorting tasks between sorting tasks, that is, transfer a container on the main shelf from its current storage location to an available designated storage location.

[0075] In this embodiment, the main shelf includes a storage position and a temporary storage position, with the storage position located above the temporary storage position. The temporary storage position is formed by a comb mechanism fixedly mounted on the support. The comb mechanism includes multiple comb teeth arranged at intervals in sequence, with at least two adjacent comb teeth supporting one container.

[0076] Sorting equipment 1 is configured to move containers from storage locations on the main shelf to temporary storage locations.

[0077] The warehousing system also includes a container handling robot 4, which is configured to move containers from temporary storage locations to designated locations, which can be subsequent workstations or container transfer stations.

[0078] The container handling robot 4 is configured to travel under the comb mechanism and through the gap between two adjacent comb teeth of the comb mechanism, lift the container on the comb member and move the container away; or, the container handling robot 4 is configured to carry the container into the gap between two adjacent comb teeth, place the container on the comb member and then drive out.

[0079] Thus, when a container on the main shelf 2 is full or sorted, the sorting equipment 1 can first move it from the storage location to the temporary storage location, and then the container handling robot 5 can move the container from the temporary storage location to the designated location.

[0080] See Figure 11 The container handling robot 4 includes a walking mechanism 40, a lifting frame 41, and a carrying plate 41. The lifting frame 41 is fixed on the walking mechanism 40, and a carrying plate 42 is provided at its top. The carrying plate 42 is configured to hold containers.

[0081] The container handling robot 4 is configured to drive the lifting frame 41 to raise the carrier plate 42 to pass through the gap between the two comb teeth and lift the container, and then drive the walking mechanism 40 to walk until the container is moved away from the shelf and reaches the workstation.

[0082] Among them, the walking mechanism 40 can be an AGV trolley.

[0083] The lifting frame 41 can be the piston rod of a pneumatic or hydraulic cylinder, with its cylinder body fixed on the traveling mechanism 40. The bearing plate 42 is fixed on the free end of the piston rod. As hydraulic oil or gas enters and exits its respective cylinder, the piston rod drives the bearing plate 42 to rise and fall to support the container.

[0084] The lifting frame 41 can also be a telescopic linkage mechanism that is supported by a combination of several hinged rods.

[0085] Example 2 See Figure 12 The difference between Embodiment 2 and Embodiment 1 is that a transfer rack 5 is added, and the container handling robot is replaced with a rack handling robot 6. The transfer rack 5 is also docked in the rack docking area. The sorting equipment 1 is configured to move the containers on the main rack to the transfer rack, and the rack handling robot 6 is configured to move the transfer rack 5 from the rack docking area to a designated location. This designated location can be for subsequent work or a rack transfer station.

[0086] The structure of the transfer rack 5 is basically similar to that of the main rack, including a support frame and shelves arranged vertically at intervals on the support frame, with each shelf being constructed as at least one container.

[0087] It should be noted that the specific structure of the shelf handling robot 6 is basically similar to that of the container handling robot, except that the size and weight of the items to be handled are different, and the volume and load-bearing capacity can be adjusted accordingly.

[0088] In other words, the shelving handling robot 6 travels to the bottom of the transfer shelf 5, raises its carrying plate to lift the transfer shelf 5 through the shelf, then carries the transfer shelf 5 away from the shelf docking area to the designated position, and then lowers the carrying plate to make the transfer shelf land smoothly in the shelf docking area.

[0089] Example 3 Compared with Example 2, see Figure 13 In Example 3, a storage area 20 is reserved on the main shelf 2, and the transit shelf 5 is embedded in the storage area 20 of the main shelf 2. With this arrangement, the shelf parking area of ​​the storage system is arranged reasonably and neatly.

[0090] In detail, the support 20 of the main rack 2 includes a left support 200, a right support 201, and a partition support 202 located between the left support 200 and the right support 201. The left support 200 and the right support 201 are fixedly connected by a shelf 21, and the left support 200 and the partition support 202 are also fixedly connected by a shelf 21. A reserved container area 22 is formed between the partition support 202 and the right support 201 to accommodate the transit rack 5.

[0091] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A sorting device, characterized in that, include: frame; A movable base is movably mounted on the frame and configured to move relative to the frame; A delivery component, the delivery component comprising: a flap, rotatably disposed on the movable base and configured to rotate between a carrying position and a delivery position; When in the carrying position, the flap is used to carry goods or containers; when in the delivery position, the flap is tilted at a preset angle relative to the carrying position so that the goods slide off due to their own weight, and is configured to receive goods at the receiving position and deliver the goods to containers on the shelf at the delivery position. A pick-up and return box assembly is disposed on the movable base and configured to pull containers on the shelf into the flap located in the bearing position, or to push containers on the flap into a designated position.

2. The sorting equipment according to claim 1, characterized in that, The retrieval box assembly includes: Two telescopic arms are respectively located on both sides of the delivery component and are configured to extend or retract relative to the movable base; A front detent is provided on at least one of the telescopic arms and is configured to pull containers on the shelf onto the delivery assembly as the telescopic arms retract toward the movable base; A rear detent is disposed on at least one of the telescopic arms and configured to push the container on the delivery assembly into a designated position as the telescopic arm extends from the movable base.

3. The sorting equipment according to claim 1, characterized in that, The retrieval box assembly includes: Two telescopic arm assemblies are respectively disposed on the left and right side plates of the movable base, and the telescopic arm assembly includes: The first telescopic arm is mounted on the movable base in a manner that allows it to extend and retract horizontally. The second telescopic arm is mounted on the first telescopic arm in a manner that allows it to extend and retract in the horizontal direction; The telescopic drive mechanism is configured to drive the first telescopic arm to extend and retract relative to the movable base, and to cause the second telescopic arm to extend and retract synchronously relative to the first telescopic arm. The lifting lever is configured to rotate relative to the second telescopic arm to extend from the inside of the second telescopic arm and rise with the movable base to lift the container.

4. The sorting equipment according to any one of claims 1 to 3, characterized in that, The movable base is configured to move relative to the frame in both horizontal and vertical directions.

5. A warehousing system, characterized in that, include: Shelf docking area; The main shelf is located in the shelf docking area and is configured as a storage container; The sorting equipment is installed in the shelf docking area and is the sorting equipment according to any one of claims 1 to 4.

6. The warehousing system according to claim 5, characterized in that, The sorting equipment is configured to swap containers at different storage locations on the main shelf.

7. The warehousing system according to claim 5, characterized in that, The warehousing system also includes: Transit racks are located in the rack docking area; The sorting equipment is configured to move containers from the main shelf to the transfer shelf; A shelving handling robot is configured to move the transit shelving to a designated location.

8. The warehousing system according to claim 7, characterized in that, The main rack has a storage area, and the transit rack is embedded in the storage area.

9. The warehousing system according to claim 5, characterized in that, The main shelving includes vertically staggered storage units and temporary storage units, with the storage units located above the temporary storage units; The sorting equipment is also configured to move the containers in the storage location to the temporary storage location for temporary storage; The warehousing system also includes: A container handling robot is configured to move containers away from the temporary storage location.

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