A variable height track structure and layered connection track structure for a sorting machine

Abstract

The present invention provides a variable height track structure and a layered connection track structure for a sorting machine; it includes a variable height support track and a variable height auxiliary track. The two ends of the variable height support track have a height difference. The present invention uses the variable height auxiliary track to provide support for the auxiliary wheels rotatably connected to the hinged support beam of the frame, and constructs a parametric equation of the variable height auxiliary track about the shape of the variable height support track, which can make the hinged support beam keep the posture unchanged when the sorting trolley passes through the inclined variable height track structure, avoiding the problem that the sorting trolley tilts when going up and down the slope and cannot stably transport the goods; the present invention enables the sorting trolley to still support the goods horizontally on the slope, further increasing the maximum inclination angle of the variable height track structure; under the condition of increasing the same height, the climbing distance is significantly reduced, and the track length and floor space of the layered connection track structure of the sorting machine are reduced, which helps to reduce equipment costs and further increase the number of grids under the same area.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics sorting, and in particular relates to a variable height track structure of a sorting machine. Background Art

[0002] Compared with a single-layer sorting machine, a multi-layer sorting machine with multiple layers of tracks connected into a large circulating track can effectively utilize vertical space, thereby significantly increasing the number of grids to improve the cargo sorting capability of the sorting machine in complex scenarios; for example, a patent application with publication number CN112499145 A provides a linear cross-belt sorting machine; it connects multiple layers of tracks into a large three-dimensional circulating track structure, and the sorting trolley can pass through any track in one cycle; however, the sorting trolley of such a multi-layer sorting machine will tilt when going uphill or downhill in such a three-dimensional circulating track structure, thereby bringing the risk of cargo falling.

[0003] In addition, CN112499145A uses spiral tracks to connect linear tracks at different heights. The spiral track is a three-dimensional structure, and its production process is complex, with extremely high requirements for production equipment and technology, and it is difficult to assemble on site, which significantly increases the cost of the multi-layer sorting machine. Summary of the invention

[0004] The object of the present invention is to provide a height-variable track structure for a sorting machine.

[0005] In the first aspect, the present invention provides a variable height track structure for a sorting machine, which includes a variable height support track and a variable height auxiliary track. The two ends of the variable height support track have a height difference. The sorting trolley corresponding to the variable height track structure of the sorting machine includes a frame, running wheels matching the variable height support track, a hinged support beam, and auxiliary wheels matching the variable height auxiliary track. The hinged support beam is rotatably connected to the frame; the auxiliary wheels are installed on the hinged support beam.

[0006] The trajectory of the center point of the walking wheel passing through the heightened support track is used as the lifting trajectory. The starting point of the lifting trajectory is used as the coordinate origin, the vertical upward direction is the positive direction of the ordinate, and the horizontal projection of the direction of travel of the walking wheel in the lifting track is the positive direction of the x-axis to construct a plane rectangular coordinate system;

[0007] The trajectory of the center point of the auxiliary wheel in the variable height auxiliary track satisfies the following parametric equation:

[0008]

[0009] y P x A = L 3 sin [ β+a x A ] +f( x B )- L 5

[0010] in, is the coordinate of the center point of the auxiliary wheel; , is the horizontal coordinate of the center point of the front and rear wheels of the sorting trolley; L1 is the center distance between the front and rear wheels. β is the angle between the rotation center of the hinged beam and the line connecting the center point of the front wheel to the center point of the rear wheel. It is the angle between the line connecting the center points of the front and rear running wheels and the horizontal plane. L4 and L5 are the horizontal distance and vertical distance between the center point of the auxiliary wheel and the rotation center of the hinged beam in the initial state. is the functional relationship corresponding to the lifting trajectory.

[0011] Preferably, in the parameter equation of the center point trajectory of the auxiliary wheel, , The following relations are satisfied:

[0012] L 1 2 = [f x A -f( x B )] 2 + ( x A - x B ) 2

[0013] Preferably, in the parameter equation of the center point trajectory of the auxiliary wheel, the angle The expression is as follows:

[0014] a x A = f x A -f( x B ) L 1 2 - [f x A -f( x B )] 2

[0015] Preferably, the projection of the variable height support track on the horizontal plane is a straight line.

[0016] Preferably, the variable height support track comprises a first arc track segment, a straight inclined track segment and a second arc track segment connected in sequence from bottom to top. Along the direction approaching the straight inclined track segment, the inclination angles of the first arc track segment and the second arc track segment both gradually increase from 0 to θ; θ is the inclination angle of the straight inclined track segment.

[0017] Preferably, the first arc-shaped rail segment and the second arc-shaped rail segment are both in arc shape.

[0018] Preferably, the functional expression of the lifting trajectory is According to the segmented form of the variable height support track, it is expressed as a segmented function as follows:

[0019]

[0020] , , are the function expressions of the first arc segment, the inclined straight line segment and the second arc segment respectively. , , They are respectively the horizontal coordinate of the connection point between the first arc segment and the inclined straight line segment, the horizontal coordinate of the connection point between the inclined straight line segment and the second arc segment, and the horizontal coordinate of the tail end of the second arc segment.

[0021] The variable height auxiliary track is divided into seven functionally different track sections connected in sequence, corresponding to the seven stages of the sorting trolley passing through the variable height support track as follows:

[0022] Phase 1: ; The center point of the front running wheel is in the first arc segment , and the center point of the rear running wheel does not enter the first arc segment In this stage, , ; It is the X-axis coordinate of the center point of the front running wheel when the center point of the rear running wheel reaches the starting point of the first arc segment.

[0023] Phase 2: ; The center points of the front and rear wheels are both in the first arc segment During this phase, , ;

[0024] Phase 3: ; The center point of the front running wheel is on the inclined straight line segment , and the center point of the rear running wheel is in the first arc segment In this stage, , ; It is the X-axis coordinate of the center point of the front running wheel when the center point of the rear running wheel reaches the starting point of the inclined straight line segment.

[0025] Phase 4: ; The center points of the front and rear wheels are on the inclined straight line segment . ; In this stage, , ;

[0026] Phase 5: ; The center point of the front running wheel is in the second arc segment , and the center point of the rear wheel is on the inclined straight line segment In this stage, , ; It is the X-axis coordinate of the center point of the front running wheel when the center point of the rear running wheel reaches the starting point of the second arc segment.

[0027] Phase 6: ; The center points of the front and rear wheels are both in the second arc segment .

[0028] Stage 7: ; The center point of the front running wheel is out of the second arc segment , and the center point of the rear running wheel is in the second arc segment During this phase, , ; It is the difference between the end height and the starting height of the lifting trajectory. It is the X-axis coordinate of the center point of the front running wheel when the center point of the rear running wheel reaches the end point of the second arc segment.

[0029] Preferably, the inclination angle θ of the straight inclined rail segment is 5° to 15°.

[0030] In a second aspect, the present invention provides a hierarchical connection track structure for a sorting machine, which includes one or two end horizontal turning track structures, two aforementioned sorting machine heightening track structures, and a main body horizontal turning track structure. The two ends of the main body horizontal turning track structure are respectively connected to one end of the two sorting machine heightening track structures; the other ends of the two sorting machine heightening track structures are connected to the two horizontal sorting track structures on the sorting machine by direct connection or through the end horizontal turning track structure.

[0031] Preferably, the end horizontal turning track structure and the main body horizontal turning track structure are both arc-shaped; the projections of the two end horizontal turning track structures on the same horizontal plane overlap at the outer ends and are away from each other at the inner ends. The angle between the projections of the two sorting machine height-changing track structures on the horizontal plane is 10° to 45°.

[0032] When two end horizontal turning track structures are provided, the center angles φ1 and φ2 of the two end horizontal turning track structures and the center angle φ3 of the main horizontal turning track structure satisfy the following relationship: φ3-φ1-φ2=180°.

[0033] When an end horizontal turning track structure is provided, the center angle φ1 of the end horizontal turning track structure and the center angle φ3 of the main horizontal turning track structure satisfy the following relationship: φ3-φ1=180°.

[0034] The present invention has the following beneficial effects:

[0035] 1. The present invention uses a variable height auxiliary track to provide support for the auxiliary wheel rotatably connected to the hinged support beam of the frame, and constructs a parameter equation of the variable height auxiliary track about the shape of the variable height support track, so that when the sorting trolley passes through the inclined variable height track structure, the hinged support beam always maintains an unchanged posture, thereby avoiding the problem that the sorting trolley is tilted when going uphill or downhill and cannot stably transport goods;

[0036] 2. The present invention enables the sorting trolley to still support the goods horizontally on the slope, thereby further increasing the maximum inclination angle of the variable height track structure; under the condition of increasing the same height, the climbing distance is significantly reduced, and the track length and floor space of the layered connection track structure of the sorting machine are reduced, which helps to reduce equipment costs and further increase the number of grids under the same area.

[0037] 3. The present invention decouples the layered connection track structure of the sorting machine into a two-dimensional curved horizontal turning track structure and an inclined track structure. Compared with the existing three-dimensional track segment structures such as spiral track segments, the production difficulty and production cost of the multi-layer circulating track segment structure are significantly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the track structure of Example 1 of the present invention;

[0039] Figure 2 This is a schematic diagram of the structure of a sorting trolley adapted for embodiment 1 of the present invention;

[0040] Figure 3 This is a schematic diagram of the first stage of the sorting trolley passing through the heightened support track in Embodiment 1 of the present invention;

[0041] Figure 4 It is a schematic diagram of the third stage of the sorting trolley passing through the height-changing support track in Embodiment 1 of the present invention;

[0042] Figure 5 This is a schematic diagram of the fifth stage of the sorting trolley passing through the height-changing support track in Embodiment 1 of the present invention;

[0043] Figure 6 This is a schematic diagram of the seventh stage of the sorting trolley passing through the height-changing support track in Embodiment 1 of the present invention;

[0044] Figure 7 This is a schematic diagram of the track structure of Example 2 of the present invention;

[0045] Figure numerals: 1. variable height support rail; 1-1. first arc-shaped rail section; 1-2. straight inclined rail section; 1-3. second arc-shaped rail section; 2. variable height auxiliary rail; 3. sorting trolley; 3-1. support; 3-2. hinged support beam; 3-3. auxiliary wheel; 3-4. walking wheel; 4. end horizontal steering rail structure; 5. main body horizontal steering rail structure. DETAILED DESCRIPTION

[0046] The present invention will be further described below in conjunction with the accompanying drawings.

[0047] Example 1

[0048] A sorting machine height-variable track structure is used to cooperate with a sorting trolley 3 with an inclined stabilizing component.

[0049] like Figure 2 As shown, the tilting and stabilizing assembly is installed between the frame of the sorting trolley 3 and the cargo carrying and output structure. The tilting and stabilizing assembly includes a support 3-1, a hinged support beam 3-2 and an auxiliary wheel 3-3. The bottom end of the support 3-1 is fixed to the top front end of the frame of the sorting trolley 3; one end of the hinged support beam 3-2 is rotatably connected to the top of the support 3-1. Auxiliary wheels 3-3 are rotatably connected to both sides of the other end of the hinged support beam 3-2. The auxiliary wheels 3-3 are supported on the variable height auxiliary rail 2; the cargo carrying and output structure is installed on the hinged support beam 3-2. Traveling wheels 3-4 and guide wheels are installed on the frame of the sorting trolley 3. The traveling wheels 3-4 and the guide wheels cooperate with the variable height support rail 1, so that the variable height support rail 1 provides stable support and guidance for the sorting trolley 3. The tray structure of the sorting trolley has nothing to do with the present invention, so Figure 2 Not shown.

[0050] like Figure 1 As shown, a variable height track structure of a sorting machine includes a variable height support track 1 and a variable height auxiliary track 2 located above the variable height support track 1. The variable height support track 1 includes a first arc track segment 1-1, a straight inclined track segment 1-2, and a second arc track segment 1-3 which are sequentially connected from bottom to top. Along the direction close to the straight inclined track segment 1-2, the inclination angles of the first arc track segment 1-1 and the second arc track segment 1-3 (i.e., the angle between the tangent and the horizontal plane) gradually increase from 0 to θ; θ is the inclination angle of the straight inclined track segment 1-2, and the value is any value between 5° and 25° (for example, 10°); the larger the inclination angle, the smaller the length of the straight inclined track segment required for climbing height, and the smaller the footprint of the variable height track structure of the sorting machine; this embodiment allows the sorting trolley to climb at a large angle of 25° without causing the problem of goods tilting and rolling. The permissible range of the up and down flipping of the ball joint bearing connecting the sorting trolley should be greater than 2θ, so that the sorting trolley can smoothly pass through the connection point between the sorting machine's elevated track structure and the horizontal track.

[0051] In this embodiment, the distance between the two ends of the first arc-shaped rail segment 1 - 1 and the distance between the two ends of the second arc-shaped rail segment 1 - 3 are both greater than the center distance between the front and rear running wheels 3 - 4 of the sorting trolley 3 .

[0052] When the sorting trolley 3 passes through the variable height support track 1, the track of the center point of the running wheels 3-4 is called the lifting track. The shape of the variable height support track 1 determines the shape of the lifting track. The lifting track is a known curve, which is divided into three segments, namely, the first arc segment, the inclined straight line segment and the second arc segment connected in sequence.

[0053] With the starting point of the lifting track as the coordinate origin, the vertical upward direction as the positive direction of the y-axis, and the horizontal projection direction of the travel direction of the walking wheel 3-4 in the lifting track as the positive direction of the x-axis, a plane rectangular coordinate system is constructed; in the plane rectangular coordinate system, the key points on the sorting trolley 33 are marked, the center point of the front walking wheel 3-4 is marked as point A; the center point of the rear walking wheel 3-4 is marked as point B; the rotation center point of the hinged beam 3-2 is point O; the center point of the auxiliary wheel 3-3 is marked as point P.

[0054] In the plane rectangular coordinate system, the functional expression of the lifting trajectory is ; Since the lifting trajectory is divided into three segments; therefore, the function It can be expressed as a piecewise function as follows:

[0055]

[0056] in, The coordinates of the center point of the front running wheels 3-4 are the coordinates of any point on the lifting trajectory; , , They are respectively the X-axis coordinate of the connection point between the first arc segment and the inclined straight line segment, the X-axis coordinate of the connection point between the inclined straight line segment and the second arc segment, and the X-axis coordinate of the tail end of the second arc segment. , , are the function expressions of the first arc segment, the inclined straight line segment and the second arc segment respectively.

[0057] For the transition track that guides the sorting trolley 3 uphill (increases its height upward), the ordinate (i.e., the Y-axis coordinate) of any point on the lifting track is greater than or equal to 0; for the transition track that guides the sorting trolley 3 downhill (lowers its height downward), the ordinate (i.e., the Y-axis coordinate) of any point on the lifting track is less than or equal to 0.

[0058] In order to ensure that the cargo carrying output structure of the sorting trolley 3 maintains a horizontal posture, the variable height auxiliary track 2 is divided into seven track sections connected in sequence. The seven track sections of the variable height auxiliary track 2 correspond to the seven stages of the sorting trolley 3 passing through the variable height support track 1.

[0059] The sorting trolley 3 passes through seven stages of changing the height of the support track 1, as follows:

[0060] Phase 1: Figure 3 As shown, point A is in the first arc segment , and point B does not enter the first arc segment .

[0061] Stage 2: Point A and Point B are both in the first arc segment .

[0062] The third stage: Figure 4 As shown, point A is on the inclined straight line segment , and point B is in the first arc segment .

[0063] Stage 4: Points A and B are on an inclined straight line segment .

[0064] Stage 5: Figure 5 As shown, point A is in the second arc segment , and point B is on the inclined straight line segment .

[0065] Stage 6: Point A and Point B are both in the second arc segment .

[0066] Stage 7: Figure 6 As shown, point A leaves the second arc segment , and point B is in the second arc segment .

[0067] In the above seven stages, the hinged beam 3 - 2 should maintain an unchanged posture, thereby the ideal trajectory of the auxiliary wheel 3 - 3 can be calculated; and then the shape of the variable height auxiliary track 2 can be obtained according to the ideal trajectory.

[0068] The ideal trajectory of the center point of training wheel 3-3 is determined for each of the seven stages as follows:

[0069] In the first stage, , is the X-axis coordinate of point A when point B reaches the starting point of the first arc segment; and the X-axis coordinate of point B The following relations are satisfied:

[0070] L 1 2 = [f 1 ( x A )] 2 + ( x A - x B ) 2

[0071] Where L1 is the distance between point A and point B.

[0072] As point A moves, the X-axis coordinate of point B can be solved according to this equation as follows:

[0073] x B = x A - L 1 2 - [f 1 ( x A )] 2

[0074] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0075] a 1 x A = arctan f 1 x A x A - x B =arctan( f 1 x A L 1 2 - [f 1 ( x A )] 2 )

[0076] Then, in the first stage, we obtain the coordinates of point O ( , ) is as follows:

[0077]

[0078]

[0079] Wherein, L3 is the distance between point B and point O; β is the angle between line AB and line OB.

[0080] According to the above formula, it can be clearly found that the coordinates of point O are only affected by The influence of; Under the condition that the posture of line OP remains unchanged and only translation occurs, it can be obtained that: the center point of auxiliary wheel 3-3 is at any point P ( , )about The parametric equations are as follows:

[0081] x p x A = x A - L 1 cos [ a 1 x A ]+ L 3 cos[ β+ a 1 x A ]- L 4 y P x A = L 3 sin [ β+ a 1 x A ] - L 5

[0082] Among them, L4 is the horizontal coordinate offset value of point O relative to point P in the initial state (that is, the X-axis component of the vector from point P to point O, corresponding to the horizontal distance); L5 is the vertical coordinate offset value of point O relative to point P in the initial state (that is, the Y-axis component of the vector from point P to point O, corresponding to the vertical distance).

[0083] In the second stage, , the X-axis coordinate of point A and the X-axis coordinate of point B The following relations are satisfied:

[0084] L 1 2 = [f 1 x A - f 1 ( x B )] 2 + ( x A - x B ) 2

[0085] Known About The function of About function, then the above equation only has , x B Two variables; therefore, the second stage can be constructed according to the above formula and x B The solution function G1; if it is known , then we can obtain by solving the function The value of B, that is, the X-axis coordinate as follows:

[0086]

[0087] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0088] a 2 ( x A )= arctan f 1 x A - f 1 ( G 1 ( x A )) L 1 2 - [f 1 x A - f 1 ( G 1 ( x A ))] 2

[0089] Then we can get the coordinates of point O ( , ) expression:

[0090]

[0091]

[0092] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal track of the second track section of the variable height support track 1 ( , )about The parametric equations are as follows:

[0093] x p x A = x A - L 1 cos [ a 2 ( x A )]+ L 3 cos[ β+ a 2 x A ]- L 4 y P x A = L 3 sin β+ a 2 x A + f 1 ( G 1 ( x A )) - L 5

[0094] In the third stage, : is the X-axis coordinate of point A when point B reaches the starting point of the inclined straight line segment; and the X-axis coordinate of point B The following relations are satisfied:

[0095] L 1 2 = [f 2 x A - f 1 ( x B )] 2 + ( x A - x B ) 2

[0096] Similarly, as point A moves, the X-axis coordinate of point B can be solved according to this equation: as follows:

[0097]

[0098] in, It is the solution function between the horizontal coordinates of point A and point B in the third stage.

[0099] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0100] a 3 ( x A )= arctan f 2 x A - f 1 ( G 2 ( x A )) L 1 2 - [f 2 x A - f 1 ( G 2 x A )] 2

[0101] Then we can get the coordinates of point O ( , ) expression:

[0102]

[0103]

[0104] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal trajectory of the third track section of the variable height support track 1 ( , )about The parametric equations are as follows:

[0105] x p x A = x A - L 1 cos [ a 3 ( x A )]+ L 3 cos[ β+ a 3 x A ]- L 4 y P x A = L 3 sin [ β+ a 3 x A ] + f 1 ( G 2 x A )- L 5

[0106] In the fourth stage, ; X-axis coordinate of point A and the X-axis coordinate of point B The following relations are satisfied:

[0107] If the slope of the inclined straight line segment is known to be k, then the angle between the line connecting point A and point B and the horizontal plane is a constant value, and its expression is as follows:

[0108]

[0109] As point A moves, the X-axis coordinate of point B can be solved according to this equation as follows:

[0110]

[0111] Then we can get the coordinates of point O ( , ) expression:

[0112]

[0113]

[0114] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal track of the fourth track segment of the variable height support track 1 ( , )about The parametric equations are as follows:

[0115]

[0116] In the fifth stage, , is the X-axis coordinate of point A when point B reaches the starting point of the second arc segment; and the X-axis coordinate of point B The following relations are satisfied:

[0117] L 1 2 = [f 3 x A - f 2 ( x B )] 2 + ( x A - x B ) 2

[0118] Similarly, as point A moves, the X-axis coordinate of point B can be solved according to this equation: as follows:

[0119]

[0120] in, It is the solution function between the horizontal coordinates of point A and point B in the fifth stage.

[0121] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0122] a 5 x A = arctan f 3 x A - f 2 ( G 3 ( x A )) L 1 2 - [f 3 x A - f 2 ( G 3 ( x A ))] 2

[0123] Then we can get the coordinates of point O ( , ) expression:

[0124]

[0125]

[0126] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal track of the fifth track segment of the variable height support track 1 ( , )about The parametric equations are as follows:

[0127] x p x A = x A - L 1 cos [ a 5 ( x A )]+ L 3 cos[ β+ a 5 x A ]- L 4 y P x A = L 3 sin [ β+ a 5 x A ] + f 2 ( G 3 ( x A ))- L 5

[0128] In the sixth stage, ; X-axis coordinate of point A and the X-axis coordinate of point B The following relations are satisfied:

[0129] L 1 2 = [f 3 x A - f 3 ( x B )] 2 + ( x A - x B ) 2 ;

[0130] Similarly, as point A moves, the X-axis coordinate of point B can be solved according to this equation: as follows:

[0131]

[0132] in, It is the solution function between the horizontal coordinates of point A and point B in the sixth stage.

[0133] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0134] a 6 x A = arctan f 3 x A - f 3 ( G 4 ( x A )) L 1 2 - [f 3 x A - f 3 ( G 4 ( x A ))] 2

[0135] Then we can get the coordinates of point O ( , ) expression:

[0136]

[0137]

[0138] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal track of the sixth track segment of the variable height support track 1 ( , )about The parametric equations are as follows:

[0139] x p x A = x A - L 1 cos [ a 6 ( x A )]+ L 3 cos[ β+ a 6 x A ]- L 4 y P x A = L 3 sin [ β+ a 6 x A ] + f 3 ( G 4 ( x A ))- L 5

[0140] In the seventh stage, , is the X-axis coordinate of point A when point B reaches the end point of the second arc segment; and the X-axis coordinate of point B The following relations are satisfied:

[0141] L 1 2 = [H- f 3 ( x B )] 2 + ( x A - x B ) 2 ;

[0142] Similarly, as point A moves, the X-axis coordinate of point B can be solved according to this equation: as follows:

[0143]

[0144] in, It is the solution function between the horizontal coordinates of point A and point B in the seventh stage.

[0145] From this we can get: the angle between the line connecting point A and point B and the horizontal plane The expression is as follows:

[0146] a 7 x A = arctan H- f 3 ( G 5 ( x A )) L 1 2 - [f 3 x A - f 3 ( G 5 ( x A ))] 2

[0147] Then we can get the coordinates of point O ( , ) expression:

[0148]

[0149]

[0150] It can be obtained that the center point of the auxiliary wheel 3-3 is at any point P on the ideal track of the fourth track segment of the variable height support track 1 ( , )about The parametric equations are as follows:

[0151] x p x A = x A - L 1 cos [ a 7 ( x A )]+ L 3 cos[ β+ a 7 x A ]- L 4 y P x A = L 3 sin [ β+ a 7 x A ] + f 3 ( G 5 ( x A ))- L 5

[0152] In summary, the parametric equation for point P can be expressed based on the moving trajectory of point A as follows:

[0153] x p x A = x A - L 1 cos a 1 x A + L 3 cos β+ a 1 x A - L 4 , x A ∈[0, X 1 ) x A - L 1 cos a 2 x A + L 3 cos β+ a 2 x A - L 4 , x A ∈[ X 1 , X 2 ) x A - L 1 cos a 3 x A + L 3 cos β+ a 3 x A - L 4 , x A ∈[ X 2 , X 3 ) x A - L 1 cos a 4 ( x A ) + L 3 cos β+ a 4 x A - L 4 , x A ∈[ X 3 , X 4 ) x A - L 1 cos a 5 x A + L 3 cos β+ a 5 x A - L 4 , x A ∈[ X 4 , X 5 ) x A - L 1 cos a 6 x A + L 3 cos β+ a 6 x A - L 4 , x A ∈[ X 5 , X 6 ) x A - L 1 cos [ a 7 ( x A )]+ L 3 cos[ β+ a 7 x A ]- L 4 , x A ∈ X 6 , X 7

[0154] y P x A = L 3 sin [ β+ a 1 x A ] - L 5 , x A ∈[0, X 1 ) L 3 sin [ β+ a 2 x A ] + f 1 ( G 1 ( x A ))- L 5 , x A ∈[ X 1 , X 2 ) L 3 sin [ β+ a 3 x A ] + f 1 ( G 2 ( x A ))- L 5 , x A ∈[ X 2 , X 3 ) L 3 sin β+ a 4 ( x A ) + f 2 ( x A - L 1 cos ( a 4 ( x A )))- L 5 , x A ∈[ X 3 , X 4 ) L 3 sin [ β+ a 5 x A ] + f 2 ( G 3 ( x A ))- L 5 , x A ∈[ X 4 , X 5 ) L 3 sin [ β+ a 6 x A ] + f 3 ( G 4 ( x A ))- L 5 , x A ∈[ X 5 , X 6 ) L 3 sin [ β+ a 7 x A ] + f 3 ( G 5 ( x A ))- L 5 , x A ∈ X 6 , X 7

[0155] The ideal trajectory of the center point of the auxiliary wheel 3 - 3 can be obtained according to the parameter equation of point P, and the shape of the variable height auxiliary track 2 and its relative position with the variable height support track 1 can be obtained based on the ideal trajectory.

[0156] From the above calculation, it can be obtained that if the transition track is an uphill track, then to Always greater than or equal to 0; if the transition track is a downhill track, then to Always less than or equal to 0.

[0157] In this embodiment, the variable height auxiliary track 2 is allowed to have a certain error, as long as the up and down swing angle of the goods on the sorting trolley relative to the initial position is less than 2°.

[0158] Example 2

[0159] like Figure 7 As shown, a hierarchical connection track structure of a sorting machine is used to connect two tracks arranged at intervals in the upper and lower parts, so that the sorting trolley 3 can complete a 180° turn and height change, and the sorting trolley 3 can switch between two horizontal sorting track structures of different heights on the same vertical line, thereby realizing the circulation operation of the sorting machine in the multi-layer track. Sorting grids can be set on both sides of the horizontal sorting tracks of different heights, so as to improve the sorting.

[0160] The hierarchical connection track structure of the sorting machine includes two end horizontal turning track structures 4, two sorting machine height-changing track structures and a main body horizontal turning track structure 5. The two sorting machine height-changing track structures are respectively connected between the inner ends of the two end horizontal turning track structures 4 and the two ends of the main body horizontal turning track structure 5. The end horizontal turning track structure 4 is used for transition connection between the horizontal sorting track and the main body horizontal turning track structure 5. The main body horizontal turning track structure 5 is used for transition connection between the two main body horizontal turning track structures 5.

[0161] The end horizontal turning track structure 4 and the main body horizontal turning track structure 5 are both in arc shape; the projections of the two end horizontal turning track structures 4 on the same horizontal plane overlap at the outer ends and are separated from each other at the inner ends. As a result, the projections of the two sorting machine heightening track structures on the horizontal plane are separated from each other in the direction close to the main body horizontal turning track structure 5, forming an eight-shaped arrangement, which is convenient for increasing the radius of the main body horizontal turning track structure 5 and ensuring that the sorting trolley 3 can smoothly pass through the main body horizontal turning track structure 5. The angle between the projections of the two sorting machine heightening track structures on the horizontal plane is 10° to 30°.

[0162] The central angles φ1 and φ2 of the two end horizontal turning track structures 4 and the central angle φ3 of the main horizontal turning track structure 5 satisfy the following relationship: φ3-φ1-φ2=180°; ensure that the connection points between the sorting machine height-changing track structure and the end horizontal turning track structure 4 and the main horizontal turning track structure 5 are tangent.

[0163] In some embodiments, all horizontal track structures on the sorting machine are also provided with support tracks that cooperate with the running wheels 3-4, and auxiliary tracks that cooperate with the auxiliary wheels 3-3. On the horizontal track structure, the distance between the auxiliary track and the support track is kept constant, so that the cargo carrying output structure of the sorting trolley 3 can maintain a horizontal posture. All horizontal track structures on the sorting machine include horizontal sorting tracks as the track body, and the end horizontal turning track structure 4 and the main body horizontal turning track structure 5 in the hierarchical connection track structure of the sorting machine.

[0164] In some embodiments, all horizontal track structures of the sorting machine are also provided with support tracks that cooperate with the running wheels 3-4 and auxiliary tracks that cooperate with the auxiliary wheels 3-3. On the horizontal track structure, the distance between the auxiliary track and the support track is kept constant, so that the cargo carrying output structure of the sorting trolley 3 can be kept in a horizontal posture.

[0165] In some embodiments, all horizontal track structures of the sorting machine are only provided with support tracks that cooperate with the running wheels 3-4, and no auxiliary tracks that cooperate with the auxiliary wheels 3-3 are provided. The cargo carrying and outputting structure of the sorting trolley 3 is kept in a horizontal posture on the horizontal track structure by using the limiting structure on the sorting trolley 3 (for example, a spring structure is used to keep the relative posture between the frame and the cargo carrying and outputting structure stable).

[0166] The projection of the hierarchical connection track structure of the sorting machine provided in this embodiment on the horizontal plane is a symmetrical structure, and occupies a small space.

[0167] During operation, the sorting trolley 3 from one of the horizontal sorting track structures of the sorting machine enters the layered connection track structure of the sorting machine, and after completing the height increase or decrease and 180° horizontal turn in the layered connection track structure of the sorting machine, enters another layer of the horizontal sorting track structure of the sorting machine. When the sorting trolley 3 is on the inclined variable height track structure, the frame tilts (going uphill or downhill), and the cargo carrying output structure always maintains a horizontal posture.

[0168] Example 3

[0169] A layered connection track structure for a sorting machine, the difference between this embodiment and embodiment 2 is that it only includes one end horizontal turning track structure 4.

[0170] The first sorting machine height-changing track structure and the corresponding horizontal sorting track structure on the sorting machine are connected by an end horizontal turning track structure 4;

[0171] The second sorting machine height-changing track structure is directly connected to the corresponding horizontal sorting track structure on the sorting machine.

[0172] The projection of the second sorting machine height-changing track structure on the horizontal plane is parallel to the corresponding horizontal sorting track structure on the sorting machine.

[0173] The projection of the hierarchical connection track structure of the sorting machine provided in this embodiment on the horizontal plane is an asymmetric structure, which can reduce the use of a section of the end horizontal turning track structure 4 to reduce the cost.

Claims

1. A sorting machine height-changing track structure, characterized in that: It comprises a variable height support track (1) and a variable height auxiliary track (2); the two ends of the variable height support track (1) have a height difference; a sorting trolley corresponding to the variable height track structure of the sorting machine comprises a frame, a running wheel matched with the variable height support track (1), a hinged support beam (3-2), and an auxiliary wheel (3-3) matched with the variable height auxiliary track (2); the hinged support beam (3-2) is rotatably connected to the frame; and the auxiliary wheel (3-3) is mounted on the hinged support beam (3-2); The trajectory of the center point of the running wheel (3-4) passing through the variable height support track (1) is used as the lifting trajectory; the starting point of the lifting trajectory is used as the coordinate origin, the vertical upward direction is the positive direction of the ordinate, and the horizontal projection of the direction of travel of the running wheel (3-4) in the lifting track is used as the positive direction of the x-axis to construct a plane rectangular coordinate system; The trajectory of the center point of the auxiliary wheel (3-3) in the variable height auxiliary track (2) satisfies the following parameter equation: ； ； in, is the coordinate of the center point of the auxiliary wheel (3-3); , is the horizontal coordinate of the center points of the front and rear running wheels of the sorting trolley (3); L1 is the center distance between the front running wheel and the rear running wheel; β is the angle between the rotation center of the hinged beam (3-2) and the line connecting the center point of the front running wheel to the center point of the rear running wheel; is the angle between the line connecting the center points of the front and rear running wheels and the horizontal plane; L4 and L5 are respectively the horizontal distance and vertical distance between the center point of the auxiliary wheel (3-3) and the rotation center of the hinged support beam (3-2) in the initial state; is the functional relationship corresponding to the lifting trajectory; In the parametric equation of the center point trajectory of the auxiliary wheel (3-3), , The following relations are satisfied: 。 2. A sorting machine height-changing track structure according to claim 1, characterized in that: In the parametric equation of the center point trajectory of the auxiliary wheel (3-3), the angle The expression is as follows: 。 3. A sorting machine height-changing track structure according to claim 1, characterized in that: The projection of the variable height support track (1) on the horizontal plane is a straight line.

4. A sorting machine height-changing track structure according to claim 1, characterized in that: The variable height support track (1) comprises a first arcuate track segment (1-1), a straight inclined track segment (1-2) and a second arcuate track segment (1-3) which are sequentially connected from bottom to top; along a direction approaching the straight inclined track segment (1-2), the inclination angles of the first arcuate track segment (1-1) and the second arcuate track segment (1-3) both gradually increase from 0 to θ; θ is the inclination angle of the straight inclined track segment (1-2).

5. A sorting machine height-changing track structure according to claim 4, characterized in that: The first arc-shaped rail segment (1-1) and the second arc-shaped rail segment (1-3) are both in the shape of circular arcs.

6. A sorting machine height-changing track structure according to claim 4, characterized in that: The functional expression of the lifting trajectory is According to the piecewise form of the variable height support track (1), it is expressed as a piecewise function as follows: ； in, , , are function expressions for the first arc segment, the inclined straight line segment, and the second arc segment respectively; , , They are respectively the horizontal coordinate of the connection point between the first arc segment and the inclined straight line segment, the horizontal coordinate of the connection point between the inclined straight line segment and the second arc segment, and the horizontal coordinate of the tail end of the second arc segment; the variable height auxiliary track (2) is divided into seven track segments with different functions connected in sequence.

7. A sorting machine height-changing track structure according to claim 4, characterized in that: The inclination angle θ of the straight inclined track segment (1-2) is 5° to 25°.

8. A hierarchical connection track structure for a sorting machine, characterized in that: It comprises one or two end horizontal turning track structures (4), two sorting machine height-changing track structures as claimed in claim 1 and a main body horizontal turning track structure (5); two ends of the main body horizontal turning track structure (5) are respectively connected to one end of the two sorting machine height-changing track structures; the other ends of the two sorting machine height-changing track structures are connected to the two horizontal sorting track structures on the sorting machine by direct connection or through the end horizontal turning track structure (4).

9. A hierarchical connection track structure for a sorting machine according to claim 8, characterized in that: The end horizontal turning track structure (4) and the main body horizontal turning track structure (5) are both in the shape of an arc; the projections of the two end horizontal turning track structures (4) on the same horizontal plane have outer ends overlapping and inner ends away from each other; the angle between the projections of the two sorting machine height-changing track structures on the horizontal plane is 10° to 45°; When two end horizontal turning track structures (4) are provided, the center angles φ1 and φ2 of the two end horizontal turning track structures (4) and the center angle φ3 of the main body horizontal turning track structure (5) satisfy the following relationship: φ3-φ1-φ2=180°; When an end horizontal turning track structure (4) is provided, the center angle φ1 of the end horizontal turning track structure (4) and the center angle φ3 of the main body horizontal turning track structure (5) satisfy the following relationship: φ3-φ1=180°.

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