Conductive mechanism and intelligent three-dimensional sorting system and method

Abstract

The invention relates to the technical field of conductive mechanisms, in particular to a conductive mechanism and an intelligent three-dimensional sorting system and method. The electric conduction mechanism is installed on the three-dimensional sorting robot, the three-dimensional sorting robot comprises a vertical moving device, two sets of transverse moving devices arranged in parallel and a turnover device, and the electric conduction mechanism is arranged in a hollow rod of the transverse moving devices; the conductive mechanism comprises a wire arranged on the hollow rod through an insulating strip and a power supply electrode fixedly arranged on the sliding block, the wire is connected with an external power source, and the power supply electrode makes contact with the wire. The structure of the hollow rod is fully utilized, the conductive mechanism is additionally arranged on the basis of the hollow rod, and in the sorting process of the three-dimensional sorting robot, reliable power obtaining can be achieved, and the risks of wire winding and breakage can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of conductive mechanisms, and in particular to a conductive mechanism, an intelligent three-dimensional sorting system, and an intelligent three-dimensional sorting method. Background Art

[0002] The use of three-dimensional sorting robots for sorting goods is gradually being promoted and applied. In the prior art, the three-dimensional sorting robots are driven by synchronous pulleys, and the unloading device completes the sorting on the sorting operation surface.

[0003] The power supply of the existing three-dimensional sorting robot is that a synchronous pulley drives a conductive device and conducts electricity with the help of a soft wire when moving.

[0004] However, in large sorting yards, when three-dimensional sorting robots drag wires over long distances, there are risks of wire entanglement or breakage due to excessive stress during rapid travel. Therefore, providing a simple and reliable conductive structure is a must. Summary of the Invention

[0005] In response to the above requirements, the present invention provides a conductive mechanism, an intelligent three-dimensional sorting system and an intelligent three-dimensional sorting method.

[0006] The technical solution of the present invention is: A conductive mechanism of an intelligent three-dimensional sorting system, the intelligent three-dimensional sorting system comprising: There are multiple movable shelves, each of which is equipped with multiple baskets for unloading goods; Freight robots, which are provided in multiple numbers and can travel on the sorting platform, can transport the received goods to the designated sorting area for sorting; The induction device is installed at the cargo entrance of the sorting platform and can identify and induct the cargo; A three-dimensional sorting robot that can take over the goods unloaded by the freight robot and unload the goods into the preset baskets on the movable shelves; The three-dimensional sorting robot includes a vertical moving device, two sets of parallel horizontal moving devices and a turning device, wherein: The lateral movement device includes a hollow rod and a slider movably arranged on the hollow rod. The conductive mechanism is arranged inside the hollow rod. The conductive mechanism includes a wire arranged on the hollow rod through an insulating strip and a power supply electrode fixedly arranged on the slider. The wire is connected to an external power supply, and the power supply electrode is in contact with the wire.

[0007] In one embodiment, the two wires are arranged parallel to each other, the two power supply electrodes are in contact with the two wires respectively, and the two wires are respectively connected to the positive and negative poles of an external power supply.

[0008] In one embodiment, the conductive wire and the hollow rod are electrically connected to two power supply electrodes of the electrical device, respectively, and the conductive wire and the hollow rod are electrically connected to an external power source, respectively.

[0009] In one embodiment, the insulating strip has a cross-section in the shape of a mountain, hook-shaped strips are provided on both sides of the insulating strip, and hook grooves for matching with the hook-shaped strips are provided in the hollow rod.

[0010] According to the present invention, there is also provided an intelligent three-dimensional sorting system, comprising: There are multiple movable shelves, each of which is equipped with multiple baskets for unloading goods; Freight robots, which are provided in multiple numbers and can travel on the sorting platform, can transport the received goods to the designated sorting area for sorting; A freight robot positioning device, which can position the freight robot; The induction device is installed at the cargo entrance of the sorting platform and can identify and induct the cargo; A three-dimensional sorting robot that can take over the goods unloaded by the freight robot and unload the goods into the preset baskets on the movable shelves; A server, which is wirelessly connected to the controller of the freight robot and is wired or wirelessly connected to the controller and induction device of the three-dimensional sorting robot; The three-dimensional sorting robot includes a vertical moving device, two sets of parallel horizontal moving devices and a flipping device, wherein: the horizontal moving device includes: A hollow rod is fixed to the ground via a bracket, the hollow rod is horizontally installed and provided with an open end, and grooves are provided on two outer sides of the hollow rod; The slider is provided with a protrusion and two slide rails. The protrusion can be embedded in the open end of the hollow rod, and the slide rails can only move back and forth along the groove; A conductive mechanism is disposed in the hollow rod, comprising a wire disposed on the hollow rod through an insulating strip and a power supply electrode fixedly disposed on the slider, the wire being connected to an external power supply, and the power supply electrode being in contact with the wire; The structure of the vertical moving device is the same as that of the horizontal moving device, and the hollow rod of the vertical moving device is vertically arranged, and both ends of the hollow rod of the vertical moving device are respectively fixed to the sliders of the two sets of horizontal moving devices.

[0011] In one embodiment, the flipping device comprises: a conveying frame fixed to a slider of the vertical moving device; First reducer; A flip motor, whose housing is fixed to the housing of the first reducer, and whose rotating shaft is fixed to the input shaft of the first reducer, and the flip motor is electrically connected to the controller of the three-dimensional sorting robot; a flip bracket fixed to the output shaft of the first reducer; A tilting plate, which is fixed to the tilting bracket and can be used to load or unload goods; A second reducer, the housing of which is fixed to the conveying frame; a swing motor, whose housing is fixed to the housing of the second reducer, whose rotating shaft is fixed to the input shaft of the second reducer, and the swing motor is electrically connected to the controller of the three-dimensional sorting robot; A swing rod, one end of which is fixed to the output shaft of the second reducer and the other end of which is fixed to the housing of the first reducer; The swing motor rotates to drive the flip plate loaded with goods to swing from the outside of the movable shelf to the top of the predetermined cargo basket, and the flip motor rotates to unload the goods into the cargo basket; The overturning plate can unload the goods onto any one of the movable shelves on both sides.

[0012] In one embodiment, each of the sorting areas is provided with two detection devices, and correspondingly, each movable shelf is provided with two identification devices. When the two detection devices are aligned with the two identification devices respectively, the movable shelf completes accurate positioning.

[0013] In one embodiment, the identification device is a QR code or a barcode, and the detection device is a camera; or, the identification device is an RFID electronic tag, and the detection device is a card reader.

[0014] According to the present invention, there is also provided an intelligent three-dimensional sorting method, using an intelligent three-dimensional sorting system, comprising the following steps: S1. Select a movable shelf, wherein the movable shelf has at least one or more empty baskets without goods, and move the movable shelf to any empty sorting area to wait for sorting; S2. The detection device fixed on the sorting area reads the identification device of the movable shelf on the sorting area; S3. The server starts scheduling based on the information of the idle baskets, sorted items and items to be sorted on the active shelves obtained by the identification device; S4. When the cargo sorted by the freight robot needs to be unloaded into an empty cargo basket, the freight robot transports the cargo to the sorting area; S5. The three-dimensional sorting robot on the sorting area takes over the cargo unloaded by the freight robot and unloads the cargo into the preset cargo basket; S6. When the free baskets on the movable shelf are filled with the scheduled goods, the movable shelf can be moved to the packing area for packing.

[0015] According to the present invention, at least one of the multiple baskets of the movable shelf in step S1 is an idle basket without goods, which means that: the movable shelf has not been loaded with goods; or the movable shelf has been unloaded and is ready for sorting again; or the movable shelf has been loaded with goods before, but was interrupted when it was not full of goods, so that the sorting area and the three-dimensional sorting robot need to be replaced to continue sorting.

[0016] Compared with the prior art, the present invention has the following advantages.

[0017] Existing three-dimensional sorting robots, while dragging wires over long distances, can face wire entanglement or breakage due to excessive stress during rapid travel. The present invention incorporates a conductive device that fully utilizes the hollow rod structure. This addition of a conductive mechanism ensures reliable power supply and reduces the risk of wire entanglement and breakage during the sorting process. Furthermore, directly securing the wires to the hollow rod via insulating strips offers easy installation, reliable electrical performance, convenient inspection, and virtually no maintenance.

[0018] Furthermore, with the cooperation of freight robots, the loading and sorting can be circulated, the number of exits is large, the sorting efficiency is high, the sorting platform can be set up in single layer or multi-layer, and the sorting quantity is large; the movable shelves can store a lot of goods, the space utilization rate is high, the movable shelves can be moved, which is very flexible and the site utilization rate is high.

[0019] In summary, the present invention has the beneficial effects of compact structure, large sorting capacity, full space utilization and high sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be described below with reference to the accompanying drawings.

[0021] Figure 1 This is a schematic diagram of the conductive mechanism of the present invention being arranged on a three-dimensional sorting robot; Figure 2 is a schematic cross-sectional view of the conductive mechanism of the present invention; Figure 3 It is a schematic structural diagram of the insulating strip and the conductor of the present invention; Figure 4 Schematic diagram of the three-dimensional structure of the conductive mechanism of the present invention; Figure 5 Schematic diagram of the top view of the intelligent three-dimensional sorting system of the present invention; Figure 6 、 Figure 7 It is a structural schematic diagram of the turning device of the present invention; Figure 8 It is a schematic diagram of the structure inside the hollow rod of the vertical moving device and the horizontal moving device of the present invention.

[0022] The reference numerals in the figures are as follows: 1. Freight robot; 2. Movable shelf; 3. Identification device; 4. Detection device; 5. Three-dimensional sorting robot; 7. Conductive mechanism; 11. Sorting platform; 21. Cargo basket; 22. Crossbar; 42. Horizontal moving device; 43. Vertical moving device; 421, servo motor; 422, hollow rod; 4221, groove; 4222, open end; 423, synchronous belt; 424, first synchronous pulley; 425, slider; 4251, slide rail; 4252, bump; 60. Turning plate; 61. Conveyor frame; 62. Turning motor; 63. Turning bracket; 64. First speed reducer; 65. Swinging rod; 66. Second speed reducer; 67. Swinging motor; 71. First concave cavity; 711. Hook groove; 72. Insulating strip; 721. Hook strip; 73. Wire; 74. Second concave cavity; 75. Extended end; 76. Power supply electrode; 77. Accommodating cavity; 78. Guide wall.

[0023] In this application, all drawings are schematic drawings, which are only used to illustrate the principles of the present invention and are not drawn to scale. DETAILED DESCRIPTION

[0024] The present invention will be described below with reference to the accompanying drawings.

[0025] It should be noted that the directional terms "up", "down", "left", "right", etc. in the text are all with reference to the corresponding drawings. They are not used to limit the absolute positions of the components involved, but may vary according to specific circumstances.

[0026] The present invention will now be further described with reference to the accompanying drawings.

[0027] Example 1: like Figure 1 As shown, the three-dimensional sorting robot 5 includes a vertical moving device 43, a lateral moving device 42, and a flipping device. Two sets of lateral moving devices 42 are arranged parallel to each other, one on the upper and one on the lower sides. The vertical moving device 43 is movably mounted on the lateral moving device 42, that is, it can move horizontally along the lateral moving device 42. The flipping device is movably mounted on the vertical moving device 43, that is, it can move vertically along the vertical moving device 43.

[0028] The lateral moving device 42 mainly includes a hollow rod 422 , a conductive mechanism 7 and a slider 425 .

[0029] The hollow rod 422 is horizontally arranged and fixedly mounted on the ground. Figure 8 As shown, an open end 4222 is provided on one side of the hollow rod 422 along its length, and grooves 4221 are provided on both outer sides of the open end 4222 along its length. A slider 425 is movably provided on the hollow rod 422, and the slider 425 movably cooperates with the open end 4222 and the groove 4221, and the open end 4222 and the groove 4221 serve as guides for the slider 425.

[0030] The conductive mechanism 7 can solve the problem of wire entanglement or wire breakage caused by dragging the wires when the vertical moving device 43 of the three-dimensional sorting robot 5 moves a long distance along the horizontal moving device 42.

[0031] like Figures 2 to 4 As shown, the conductive mechanism 7 is disposed within the hollow rod 422 of the transverse movement device 42 and primarily comprises an insulating strip 72 and a conductive wire 73. A first cavity 71 is disposed at the lower portion of the hollow rod 422. The first cavity 71 extends along the length of the hollow rod 422 and is located at a position where the edge of the hollow rod 422 can avoid the protrusion 4252. The insulating strip 72 is embedded within the first cavity 71 and extends along the length of the hollow rod 422. A second cavity 74 is disposed at the lower end of the insulating strip 72 along the length of the hollow rod 422. The conductive wire 73 is embedded within the second cavity 74, with at least a portion of the circumferential side surface of the conductive wire 73 extending outward from the second cavity 74 to form an extended end 75. A power supply electrode 76 is disposed on the side of the slide rail 4251 proximal to the conductive wire 73. The power supply electrode 76 contacts the extended end 75 of the conductive wire 73. The power supply electrode 76 serves as the power supply electrode for the electrical device. The conductive wire 73 is electrically connected to an external power source. It should be noted that the “electrical equipment” herein refers to any one or more of the servo motor 421 , the flip motor 62 , and the swing motor 67 (these electrical equipment will be described later).

[0032] Under this setting, the wire 73 is fixed at the lower end of the hollow rod 422 through the insulating strip 72 along the length direction of the hollow rod 422. During the movement of the slide rail 4251 along the length direction of the hollow rod 422, the power supply electrode 76 can always maintain contact with the protruding end 75 of the wire 73, so that the external power supply can always power the electrical equipment.

[0033] According to the present invention, the conductive mechanism 7 has two specific power supply embodiments.

[0034] In one embodiment of the power supply mechanism 7, two sets of hollow rods 422, insulating strips 72, and wires 73 are provided. The two hollow rods 422 are arranged in parallel. The extended ends 75 of the two wires 73 are electrically connected to two power supply electrodes 76, respectively. The two wires 73 are electrically connected to the positive and negative poles of an external power source, respectively. Current flows from the positive pole of the external power source, passes through the wire 73 and the power supply electrode 76, flows through the power-consuming device, and then returns to the negative pole of the external power source through the other power supply electrode 76 and the wire 73. The advantage of this embodiment is that the two sets of structures are identical, making management easier, and the two wires 73 form a current loop.

[0035] In one embodiment of the power supply of the conductive mechanism 7, the hollow rod 422 and the extended end 75 of the wire 73 can be connected to two power supply electrodes 76 of the power-consuming device, respectively. The hollow rod 422 and the wire 73 are respectively electrically connected to the positive and negative poles of the external power source. In other words, the hollow rod 422 acts as a wire. This embodiment uses the hollow rod 422 as one of the conductors, which is more cost-effective.

[0036] In a specific embodiment, the insulating strip 72 is elastic, and the wire 73 can be clamped when it is inserted into the second cavity 74 of the insulating strip 72 .

[0037] Preferably, the second cavity 74 of the insulating strip 72 is shaped as an arc cavity with an excessive diameter, and the conductor 73 is a round conductor embedded in the arc cavity. This structure can use ready-made round conductors, which is more convenient.

[0038] Preferably, the second cavity 74 of the insulating strip 72 is rectangular, and the wire 73 is inverted T-shaped. The inverted T-shaped wire 73 is more convenient to insert into the rectangular cavity of the second cavity 74, and the electrical contact area of ​​the inverted T-shaped wire 73 is larger, and the material is more economical. The structure is omitted in the figure.

[0039] As a preference, Figure 2 and Figure 3 As shown, the insulating strip 72 has a chevron-shaped cross-section, with hooks 721 on either side. Accordingly, a hook groove 711 is provided within the first cavity 71 of the hollow rod 422. When the insulating strip 72 is inserted into the first cavity 71 of the hollow rod 422, the hooks 721 engage with the hook grooves 711 of the first cavity 71. This chevron-shaped structure increases the elasticity of the hooks 721, and the central column of the chevron-shaped structure provides excellent compressive strength.

[0040] In a specific embodiment, a receiving cavity 77 is provided at the lower portion of the hollow rod 422 for accommodating the protrusion 4252 and the power supply electrode 76. Guide walls 78 are provided at both ends of the receiving cavity 77, and the slide rails 4251 on both sides of the slider 425 slide in conjunction with the guide walls 78.

[0041] This embodiment fully utilizes the structure of hollow rod 422 and adds conductive mechanism 7 to it, ensuring reliable power supply and reducing the risk of wire entanglement and breakage during the sorting process of the three-dimensional sorting robot 5. Furthermore, directly securing wire 73 to hollow rod 422 via insulating strip 72 facilitates installation, provides reliable electrical performance, facilitates inspection, and is essentially maintenance-free.

[0042] In a specific embodiment, the lateral moving device 42 further includes a first synchronous pulley 424 , a second synchronous pulley, a synchronous belt 423 and a servo motor 421 .

[0043] A first synchronous pulley 424 and a second synchronous pulley are rotatably disposed at either end of the hollow rod 422. A synchronous belt 423 connects the first synchronous pulley 424 and the second synchronous pulley. The housing of the servo motor 421 is fixedly connected to the hollow rod 422. The rotating shaft of the servo motor 421 is fixedly connected to the central axis of the first synchronous pulley 424 or the central axis of the second synchronous pulley. The servo motor 421 is electrically connected to the controller of the three-dimensional sorting robot 5.

[0044] In a specific embodiment, a protrusion 4252 and two slide rails 4251 are provided on the slider 425 . The protrusion 4252 can be embedded in the open end 4222 of the hollow rod 422 and fixed to the synchronous belt 423 . The slide rails 4251 can only move back and forth along the groove 4221 .

[0045] The structure of the vertical moving device 43 is the same as that of the horizontal moving device 42. The difference is that the hollow rod 422 of the vertical moving device 43 is vertically arranged, and the two ends of the hollow rod 422 of the vertical moving device 43 are fixedly connected to the sliders 425 of the two sets of horizontal moving devices 42 respectively.

[0046] In this embodiment, if Figure 6 and Figure 7 As shown, the flipping device mainly includes a conveying frame 61, a first reducer 64, a flip motor 62, a flip bracket 63, a flip plate 60, a second reducer 66, a swing motor 67 and a swing rod 65.

[0047] The conveying frame 61 is fixedly connected to the slider 425 of the vertical moving device 43. The housing of the flip motor 62 is fixedly connected to the housing of the first reducer 64, the rotating shaft of the flip motor 62 is fixedly connected to the input shaft of the first reducer 64, and the flip motor 62 is electrically connected to the controller of the three-dimensional sorting robot 5. The flip bracket 63 is fixedly connected to the output shaft of the first reducer 64. In this embodiment, in order to improve stability, two flip brackets 63 are symmetrically provided. The flip disk 60 is fixed to the flip bracket 63, and the flip disk 60 can be used to load or unload goods. The housing of the second reducer 66 is fixedly connected to the conveying frame 61. The housing of the swing motor 67 is fixedly connected to the housing of the second reducer 66, the rotating shaft of the swing motor 67 is fixedly connected to the input shaft of the second reducer 66, and the swing motor 67 is electrically connected to the controller of the three-dimensional sorting robot 5. One end of the swing lever 65 is fixedly connected to the output shaft of the second reducer 66, and the other end of the swing lever 65 is fixedly connected to the housing of the first reducer 64. In this embodiment, the two swing levers 65 are located on the top and bottom surfaces of the housing of the first reducer 64, respectively, to enhance stability. The rotation of the swing motor 67 drives the tilting plate 60, which contains goods, to swing from outside the movable shelf 2 to above the designated cargo basket 21 (the structure of the movable shelf 2 and cargo basket 21 will be described below). The rotation of the tilting motor 62 causes the tilting plate 60 to flip, thereby unloading the goods into the cargo basket 21.

[0048] In one embodiment provided by the present invention, a conductive mechanism for powering the servo motor 421 on the vertical movement device 43 is provided on the hollow rod 422 of the horizontal movement device 42. A conductive mechanism for powering the flip motor 62 and the swing motor 67 is provided inside the hollow rod 422 of the vertical movement device 43.

[0049] The three-dimensional sorting robot 5 employs an open-loop control scheme. Software controls the servo motor 421 in the vertical movement device 43, precisely moving the flipping device to a designated level. Software controls the servo motor 421 in the horizontal movement device 42, precisely moving the flipping device to a designated column. Due to the large size of the cargo baskets 21, the flipping device can precisely locate the designated basket 21 for unloading and sorting. Similarly, the flipping device can precisely move to the edge of the sorting platform 11 (the structure of the sorting platform 11 will be described below) to receive cargo unloaded by the freight robot 1. This control scheme reduces hardware costs, eliminating the need for a sensor for each cargo basket 21.

[0050] Example 2: like Figure 5 As shown, the intelligent three-dimensional sorting system mainly includes a freight robot 1, a movable shelf 2, an induction device, a three-dimensional sorting robot 5, a detection device 4 and a server.

[0051] Multiple movable shelves 2 are provided, each equipped with multiple baskets 21 for loading and unloading goods. In this embodiment, the baskets 21 are arranged in multiple layers, with multiple baskets per layer, arranged in a regular matrix. The movable shelves 2 can be moved to any available sorting area. In this embodiment, multiple movable shelves 2 are arranged in parallel. In practice, multiple movable shelves 2 can also be arranged around the sorting platform 11 to further improve site utilization.

[0052] In order to facilitate the retrieval of goods, each layer of the movable shelf 2 is provided with two parallel cross bars 22, and the cargo basket 21 is provided with two corresponding flanges. The two flanges of the cargo basket 21 can be pressed on the two cross bars 22, so that the cargo basket 21 can be supported by the cross bars 22.

[0053] Multiple freight robots 1 are provided, each capable of traveling on the sorting platform 11. They transport cargo received from the cargo entrance and exit to designated sorting areas. Freight robots 1 typically utilize self-guided carts, which circulate along the sorting platform 11 to transport cargo. The cargo entrance and exit are typically located at the edge of the sorting platform 11. During sorting, the freight robots 1 simply rotate a flap to unload cargo. The sorting platform 11 is typically of a certain height and can be multi-tiered, with freight robots 1 positioned on each level.

[0054] A freight robot positioning device is provided on the sorting platform 11, which can locate the freight robot 1. Specifically, the freight robot positioning device can use a wireless positioning system for positioning, or a QR code, barcode, etc. can be attached to the sorting platform 11, and a camera is installed on the freight robot 1 to collect the location information of the QR code or barcode.

[0055] The induction device can be fixed at the cargo entrance and exit of the sorting platform 11, or it can be manually held to identify and induct the cargo. The induction device can optionally be a scanning device that can identify the cargo. The cargo is usually affixed with a QR code or barcode, and the scanning device is a QR code or barcode scanner. Generally speaking, the cargo is manually delivered to the scanning device for scanning and then placed on the freight robot 1 at the cargo entrance and exit. The sorting platform 11 can be provided with a cargo entrance at all locations except the exit. The induction device can also be a robotic arm that can transport the cargo to the freight robot 1. The server can obtain specific information about the cargo transported by the robotic arm, such as knowing that the cargo is a toothbrush.

[0056] The three-dimensional sorting robot 5 can receive the goods unloaded by the freight robot 1 and unload the goods into the preset cargo basket 21 of the movable shelf 2. Obviously, the three-dimensional sorting robot 5 is set along the edge of the sorting platform 11. The specific structure of the three-dimensional sorting robot 5 can be referred to in Example 1.

[0057] An identification device 3 is fixed to the movable shelf 2. A detection device 4 is fixed to the floor of the sorting area or to an inactive fixture of the three-dimensional sorting robot 5. The detection device 4 can collect information from the identification device 3 and also detect spatial orientation. In this embodiment, the identification device 3 is a QR code or barcode, and the detection device 4 is a camera accordingly. Alternatively, the identification device 3 is a wireless RFID tag, and the detection device 4 is a wireless card reader accordingly.

[0058] The movable shelves 2 are movable. Specifically, they can be moved manually or by a transport robot. To accurately position the movable shelves 2, each sorting area is equipped with two detection devices 4. Accordingly, each movable shelf 2 is equipped with two identification devices 3. When the two detection devices 4 are aligned with the two identification devices 3, the movable shelf 2 is accurately positioned. The two pairs of identification devices 3 and detection devices 4 of the present invention can both locate and read information about the movable shelves 2, serving two purposes.

[0059] The server is connected to the controller of the freight robot 1 wirelessly, and is connected to the controller, the detection device 4 and the introduction device of the three-dimensional sorting robot 5 via wired or wireless connections.

[0060] In order to improve the sorting efficiency and increase the utilization rate of the three-dimensional sorting robot 5 , the turning plate 60 of the three-dimensional sorting robot 5 can unload the goods on any one of the movable shelves 2 on both sides of the three-dimensional sorting robot 5 .

[0061] Example 3: An intelligent three-dimensional sorting method includes the above-mentioned intelligent three-dimensional sorting system. The sorting method of the intelligent three-dimensional sorting system includes the following steps: S1. Select a movable rack 2, which has at least one empty basket 21. Move the movable rack 2 to any empty sorting area to await sorting. There are three common scenarios: first, the movable rack 2 has never been loaded; second, the movable rack 2 has been unloaded and is ready for sorting again; and third, the movable rack 2 has been loaded but was interrupted before being fully loaded, necessitating a change of sorting area and the three-dimensional sorting robot 5 to continue sorting. The reason for the interruption could be a malfunction of the three-dimensional sorting robot 5 or the need to relocate the sorting area. S2. The detection device 4 fixed on the sorting area reads the identification device 3 of the movable shelf 2 on the sorting area; S3. The server starts scheduling based on the information of the idle baskets 21, sorted items, and items to be sorted obtained by the identification device 3 on the movable shelf 2. For example, it was originally planned that the No. 1 three-dimensional sorting robot 5 would complete the storage of three items in the No. 1, No. 2, and No. 3 baskets 21, respectively, on the No. 1 movable shelf 2. However, the sorting operation of the No. 1 three-dimensional sorting robot 5 had to be interrupted due to a malfunction, and the No. 3 basket 21 had not yet stored the last item. At this time, one remedial solution is to manually transport the No. 1 movable shelf 2 to the idle No. 10 sorting area. The server obtains this information through the No. 10 detection device 4. If the server obtains that a freight robot has installed the third item, the third item is transported to the No. 10 sorting area where the No. 10 three-dimensional sorting robot 5 is located, and the No. 10 three-dimensional sorting robot 5 unloads the item into the No. 3 basket 21. The second remedial solution is to have an adjacent three-dimensional sorting robot, for example, the No. 2 three-dimensional sorting robot 5, unload the item into the No. 3 basket 21 of the No. 1 movable shelf 2. S4. When the cargo sorted by the freight robot needs to be unloaded in the idle cargo basket 21, the freight robot transports the cargo to a location close to the sorting area; S5. The three-dimensional sorting robot on the sorting area takes over the cargo unloading by the freight robot and unloads the cargo into the preset cargo basket 21; S6. When the idle basket 21 on the movable shelf 2 is filled with the predetermined goods, the movable shelf 2 can be moved to another packaging area for packaging. Obviously, the sorting addresses in other areas are also equipped with detection devices 4. After reading the identification device 3, the information of each basket 21 can be obtained through the server.

Claims

1. A conductive mechanism for an intelligent three-dimensional sorting system, characterized in that: The intelligent three-dimensional sorting system includes: A plurality of movable shelves (2) are provided, and each movable shelf (2) is provided with a plurality of cargo baskets (21) for unloading goods; Freight robots (1), which are provided in plurality and can travel on a sorting platform (11), and the freight robots (1) can transport the received goods to a designated sorting area for sorting; An induction device, which is arranged at the cargo entrance of the sorting platform (11) and can identify and induct the cargo; A three-dimensional sorting robot (5) capable of receiving goods unloaded by the freight robot (1) and unloading the goods into a preset cargo basket (21) on the movable shelf (2); The three-dimensional sorting robot (5) includes a vertical moving device (43), two sets of parallel horizontal moving devices (42) and a turning device, wherein: The transverse movement device (42) includes a hollow rod (422) and a slider (425) movably arranged on the hollow rod (422). The conductive mechanism is arranged in the hollow rod (422). The conductive mechanism includes a wire (73) arranged on the hollow rod (422) through an insulating strip (72) and a power supply electrode (76) fixedly arranged on the slider (425). The wire (73) is connected to an external power supply, and the power supply electrode (76) is in contact with the wire (73).

2. The conductive mechanism according to claim 1, wherein: The two wires (73) are arranged parallel to each other, the two power supply electrodes (76) are in contact with the two wires (73) respectively, and the two wires (73) are connected to the positive and negative electrodes of an external power supply respectively.

3. The conductive mechanism according to claim 1, wherein: The wire (73) and the hollow rod (422) are respectively electrically connected to two power supply electrodes of the electrical equipment, and the wire (73) and the hollow rod (422) are respectively electrically connected to an external power supply.

4. The conductive mechanism according to claim 1, wherein: The insulating strip (72) has a mountain-shaped cross section, hook-shaped strips (721) are provided on both sides of the insulating strip (72), and a hook groove (711) adapted to fit the hook-shaped strip (721) is provided in the hollow rod (422).

5. An intelligent three-dimensional sorting system, characterized by: include: A plurality of movable shelves (2) are provided, and each movable shelf (2) is provided with a plurality of cargo baskets (21) for unloading goods; Freight robots (1), which are provided in plurality and can travel on a sorting platform (11), and the freight robots (1) can transport the received goods to a designated sorting area for sorting; A freight robot positioning device capable of positioning the freight robot (1); An induction device, which is arranged at the cargo entrance of the sorting platform (11) and can identify and induct the cargo; A three-dimensional sorting robot (5) capable of receiving goods unloaded by the freight robot (1) and unloading the goods into a preset cargo basket (21) on the movable shelf (2); A server, which is connected to the controller of the freight robot (1) via wireless, and is connected to the controller and the induction device of the three-dimensional sorting robot (5) via wired or wireless connection; The three-dimensional sorting robot (5) comprises a vertical moving device (43), two sets of parallel horizontal moving devices (42) and a flipping device, wherein the horizontal moving device (42) comprises: A hollow rod (422) is fixed to the ground via a bracket. The hollow rod (422) is installed horizontally and is provided with an open end (4222). Two outer side surfaces of the hollow rod (422) are provided with grooves (4221); The slider (425) is provided with a protrusion (4252) and two slide rails (4251), wherein the protrusion (4252) can be embedded in the open end (4222) of the hollow rod (422), and the slide rails (4251) can only move back and forth along the groove (4221); a conductive mechanism (7), the conductive mechanism (7) being arranged in the hollow rod (422), the conductive mechanism comprising a wire (73) arranged on the hollow rod (422) via an insulating strip (72) and a power supply electrode (76) fixedly arranged on the slider (425), the wire (73) being connected to an external power supply, and the power supply electrode (76) being in contact with the wire (73); The structure of the vertical moving device (43) is the same as that of the horizontal moving device (42), and the hollow rod (422) of the vertical moving device (43) is vertically arranged, and the two ends of the hollow rod (422) of the vertical moving device (43) are respectively fixed to the sliders (425) of the two sets of horizontal moving devices (42).

6. The intelligent three-dimensional sorting system according to claim 5 is characterized in that: The turning device comprises: A conveying frame (61) fixed to a slider (425) of a vertical moving device (43); First reducer (64); A flip motor (62), whose housing is fixed to the housing of the first reducer (64), and whose rotating shaft is fixed to the input shaft of the first reducer (64), and the flip motor (62) is electrically connected to the controller of the three-dimensional sorting robot (5); a flip bracket (63) fixed to the output shaft of the first reducer (64); A turning plate (60) is fixed to the turning bracket (63), and the turning plate (60) can be used to load or unload goods; A second speed reducer (66), the housing of which is fixed to the conveying frame (61); A swing motor (67), whose housing is fixed to the housing of the second reducer (66) and whose rotating shaft is fixed to the input shaft of the second reducer (66), and the swing motor (67) is electrically connected to the controller of the three-dimensional sorting robot (5); A swing rod (65), one end of which is fixed to the output shaft of the second reducer (66) and the other end of which is fixed to the housing of the first reducer (64); The swing motor (67) rotates to drive the turning plate (60) loaded with goods to swing from the outside of the movable shelf (2) to above the predetermined cargo basket (21), and the turning motor (62) rotates to unload the goods into the cargo basket (21); The turnover plate (60) can unload the goods onto any one of the movable shelves (2) on both sides.

7. The intelligent three-dimensional sorting system according to claim 5 is characterized in that: Each of the sorting areas is provided with two detection devices (4), and each movable shelf (2) is provided with two identification devices (3). When the two detection devices (4) are respectively aligned with the two identification devices (3), the movable shelf (2) completes accurate positioning.

8. The intelligent three-dimensional sorting system according to claim 7 is characterized in that: The identification device (3) is a QR code or a bar code, and the detection device (4) is a camera; or, the identification device (3) is an RFID electronic tag, and the detection device (4) is a card reader.

9. An intelligent three-dimensional sorting method, using the intelligent three-dimensional sorting system according to any one of claims 5 to 8, characterized in that: The steps include: S1. Select a movable shelf (2), wherein the movable shelf (2) has at least one or more baskets (21) that are idle baskets (21) without goods, and move the movable shelf (2) to any idle sorting area to wait for sorting; S2. Reading the identification device (3) of the movable shelf (2) on the sorting area through the detection device (4) fixed on the sorting area; S3. The server starts scheduling based on the information of the free baskets (21), sorted items and items to be sorted on the movable shelf (2) obtained by the identification device (3); S4. When the cargo sorted by the freight robot (1) needs to be unloaded into an empty cargo basket (21), the freight robot (1) transports the cargo to the sorting area; S5. The three-dimensional sorting robot (5) on the sorting area receives the goods unloaded by the freight robot (1) and unloads the goods into a preset cargo basket (21); S6. When the free baskets (21) on the movable shelf (2) are filled with the predetermined goods, the movable shelf (2) can be moved to the packing area for packing.

10. The intelligent three-dimensional sorting method according to claim 9, characterized in that In the S1, at least one of the multiple baskets (21) of the movable shelf (2) is an idle basket (21) without any goods, which means that: the movable shelf (2) has not been loaded with goods; or the movable shelf (2) has been unloaded and is ready for sorting again; or the movable shelf (2) has been loaded with goods before, but was interrupted when it was not fully loaded, so that the sorting area and the three-dimensional sorting robot (5) need to be replaced to continue sorting.

Images