WO2019206024A1

WO2019206024A1 - Seeding-type automatic sorting system and seeding method therefor

Info

Publication number: WO2019206024A1
Application number: PCT/CN2019/083314
Authority: WO
Inventors: 柳智; 周南松; 李林
Original assignee: 上海托华机器人有限公司
Priority date: 2018-04-28
Filing date: 2019-04-18
Publication date: 2019-10-31

Abstract

Disclosed are a seeding-type automatic sorting system and a seeding method therefor. The seeding-type automatic sorting system comprises: an automatic shelf-sorting system, comprising: the shelf body (1), wherein several goods locations (1a), which are arranged in a matrix, are provided in the shelf body (1); a sorting platform (2, 11) further arranged at a side of the goods locations (1a), wherein turnover devices (1b) are arranged at the shelf body (1); a moving device (5); and a goods storage structure (16). After a turnover device (1b) corresponding to the goods (10) to be sorted in the goods locations (1a) turns over, the goods (10) to be sorted fall onto the sorting platform (2, 11) under the gravity of the goods themselves, and the sorting platform (2, 11) delivers the goods (10) to be sorted into the goods storage structure (16). According to the seeding-type automatic sorting system, goods fall onto the sorting platform by means of the gravity of the goods themselves for sorting, and different goods are stacked in different regions, thereby improving the sorting efficiency of the goods.

Description

Seeding automatic sorting system and seeding method thereof

Technical field

The invention relates to the field of intelligent warehouse automation, in particular to a seeding automatic sorting system and a seeding method thereof.

The present application claims priority to the following three Chinese patent applications, the contents of which are incorporated herein.

The application number is 201810404910.4, the invention name is an automatic sorting shelf and automatic sorting AGV, the application date is 2018.4.28, and the publication date is 2018.8.24;

The application number is 201910268191.2, and the invention name is an efficient automatic sorting rack and its sorting system. The application date is 2019.4.3.

The application number is 201810402309.1, and the invention name is a seeding automatic sorting system. The application date is 2018.4.28, and the publication date is 2018.8.28.

Background technique

With the rapid development of intelligent warehousing systems and increasingly fierce market competition, intelligent sorting is an important part of intelligent warehousing and logistics. Cargo sorting is a common scene in logistics. Intelligent sorting has become an indispensable part of smart warehousing. Link.

In the prior art, the positions on the shelves for temporarily storing goods are horizontally set, the goods are not moved on the shelves, and the sorting and transportation are carried out by manual picking or mechanical picking, and the goods are stacked together to cause the goods. Confusion, which in turn leads to lower sorting efficiency.

Summary of the invention

The object of the present invention is to provide a seeding type automatic sorting system and a seeding method thereof, which can be sorted by the gravity falling of the sorting platform of the goods, and stacked in different goods to improve the sorting efficiency of the goods.

The technical solution provided by the present invention is as follows:

A seeding automatic sorting system comprises: an automatic sorting racking system, the automatic sorting racking system comprising: a shelf body; on a vertical plane, the shelf body is provided with a plurality of cargo spaces arranged in a matrix, and a plurality of The storage position is inclined; a sorting platform is further disposed on a side of the lower height of the cargo space, and a rotating device corresponding to the lower end of the cargo space is provided with a turning device; The shelf body is disposed on the mobile device; the cargo storage structure is configured to receive the goods sorted by the sorting platform; after the turning device corresponding to the goods to be sorted in the cargo space is turned over, the waiting The sorted goods are dropped onto the sorting platform by their own weight, and the sorting platform delivers the goods to be sorted into the goods storage structure.

In the above structure, since the cargo space in the shelf body is inclined with respect to the horizontal plane, when the cargo is placed in the cargo space, the cargo slides down along the inclined direction of the cargo space, and finally is blocked by the turning device, thereby staying. In the cargo space, the same goods are stacked in each cargo space, so as to avoid mixing of different kinds of goods, and because the goods can slide by their own gravity in the cargo space, when the goods in the cargo space need to be passed through the sorting platform When sorting, the turning device no longer blocks the goods, so that the goods naturally fall into the sorting platform, saving the time for the sorting platform to take the goods out of the cargo space, improving the sorting efficiency, and the goods to be sorted fall into the sorting platform. It is then placed in the cargo storage structure by the sorting platform.

Preferably, the inverting device comprises: a first linear motion actuator, the first linear motion actuator is disposed on the shelf body, and the free end of the push rod of the first linear motion actuator a first toggle pin, the first toggle pin reciprocates in a height direction of the shelf body under the driving of the first linear motion actuator; a main flap pivotally connected to the shelf body; a first ear plate is disposed on both sides of the main flap in a direction perpendicular to the movement direction of the cargo, the first ear plate is perpendicular to the main flap, and the first ear plate is provided with a first arc a long hole, the first curved long hole includes an arc segment; the shelf body is provided with a vertical long hole corresponding to the first curved long hole, and the long axis direction of the vertical long hole is parallel to The shelf body is disposed in a height direction, and the first toggle pin shaft sequentially passes through the first curved elongated hole and the vertical elongated hole.

In the above structure, the inverting device controls whether the goods at the corresponding cargo space are dropped onto the sorting platform for sorting, wherein when the goods are required to fall into the sorting platform, that is, when the turning device is in an unlocked state, the goods are in their own gravity. The effect is to shift the shipping position and drop it on the sorting platform. When the turning device is in a self-locking state, the cargo is blocked by the main flap and is located in the cargo space.

Preferably, the first curved elongated hole protrudes away from the shelf body.

Preferably, when the turning device is in a self-locking state, the following formula is satisfied: α>arccotμ _s ; wherein α is a frictional force F acting on the first toggle pin and a cargo acts on the first dial The complementary angle of the angle between the thrusts N of the moving shaft, arccot represents the inverse cotangent function; μ _s is the static friction coefficient when the cargo acts on the first toggle pin.

In the above structure, by limiting the force of the first toggle pin when the turning device is in the self-locking state, the structural stability and the reliability of the turning device in the self-locking state are ensured, and the goods are effectively ensured at this time. There will be a fall from the position.

Preferably, the first curved elongated hole further comprises a straight segment, the straight segment and the curved segment together form the first curved elongated hole and the straight segment is located away from the shelf body of the curved segment One end, and the straight line segment of the first curved elongated hole is parallel to the vertical long hole or the angle between the straight line segment of the first curved long hole and the vertical long hole is smaller than (90°-arccotμ _s ).

In the above structure, the straight line segment of the first curved long hole is arranged in parallel with the vertical long hole or is set at an acute angle, thereby improving the stress of the first toggle pin and improving the service life and the yield of the main flap.

Preferably, the sorting platform comprises at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform and the fixed sorting platform structure Similarly, the mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body.

In the above structure, by setting at least one fixed sorting platform and at least one mobile sorting platform, different sorting platforms perform sorting work of goods in different orders, and the goods in the shelf body fall into the sorting platform corresponding to the place, Then, the sorting platform sorts and delivers to the cargo storage structure for storing the goods for storage and waits for delivery. As can be seen from the previous description, the structure can realize simultaneous sorting of multiple orders, thereby greatly improving the efficiency of sorting goods. .

Preferably, the fixed sorting platform comprises: a support plate; a platform plate disposed on the support plate, the platform plate is provided with a sliding hole, the sliding hole is a long hole, and the long axis of the sliding hole The direction is perpendicular to the moving direction of the cargo; the dial block and the rodless cylinder are fixedly connected to the lower end surface of the platform plate, and the dial block is connected to the slider of the rodless cylinder through the connecting plate The dial block is located on an upper side of the platform plate, and the connecting plate passes through the sliding hole, and the dial block moves in a long axis direction of the sliding hole under the driving of the rodless cylinder.

Preferably, the fixed sorting platform further comprises: a side turning device, the side turning device is located on two sides of the platform plate along a moving direction of the cargo, the side turning device comprises: a side flap, a setting a card on the support plate and a second linear motion actuator; a second ear plate is disposed at two ends of the side plate, and a second curved hole is disposed on the second ear plate, The second curved long hole protrudes toward the platform plate, the second ear plate is axially connected to the card board, and the card plate is horizontally long corresponding to the position of the second curved long hole a hole, the long axis direction of the horizontal long hole is parallel to the horizontal plane, the second linear motion actuator is coupled to the card, and the free end of the push rod of the second linear motion actuator is provided with a second toggle pin a shaft, the second toggle pin sequentially passes through the second curved elongated hole and the horizontal long hole, and the second toggle pin is driven by the second linear motion actuator to be long in the horizontal long hole Reciprocating in the axial direction.

In the above structure, the goods dropped on the platform board are dialed into the cargo storage structure for storing the goods by the dial block, wherein the side turning device is used to prevent the goods from falling from the side of the platform board, when dialing is required When the block is sorted, the side flaps of the side turning device are turned down so that the goods can be removed by the dial. Assuming that the goods need to be sorted to the right side of the fixed sorting platform, the side turning device on the right side of the platform plate is turned down, and then the dial block is moved toward the right side to remove the goods on the platform plate from the right side of the platform plate. If the sorting is to the left, the principle is the same. The mobile sorting platform has the same structure as the fixed sorting platform, so the sorting principle is also the same.

Preferably, the lifting mechanism comprises: two lifting frames disposed on the shelf body, the lifting frame extending along a height direction of the shelf body, and two lifting frames are arranged perpendicular to a moving direction of the cargo And a guide rail is disposed on each of the two opposite sides of the shelf body, and the rail extends along a height direction of the shelf body, and two pieces are arranged on the mobile sorting platform. a sliding block, the sliding block is slidably coupled to the rail on the corresponding side; a first synchronous wheel disposed at a lower end of the lifting frame and a second synchronous wheel disposed at an upper end of the lifting frame, the first synchronous wheel and the first The two synchronous wheels are connected by a timing belt drive, the timing belt is fixedly connected with the moving sorting platform; a driving motor, a power output shaft of the driving motor is fixedly connected with a driving wheel; a driven wheel that meshes with the driving wheel and a synchronous shaft, the driven wheel is fixedly connected to the synchronous shaft, and two ends of the synchronous shaft are respectively fixedly connected to the first synchronous wheel on the corresponding side.

Preferably, the inverting device comprises: a main flap, the main flap is disposed on a lower side of the cargo space, and the main flap is rotated on the shelf body by a first spring hinge a pushing member and a pushing motor for driving the pushing member to drive the main flap to flip; when the pushing member actuates the main flap, the main flap is turned toward a side close to the sorting platform Causing the cargo of the cargo space to slide down onto the sorting platform by its own gravity; when the pusher does not act on the main flap, the main flap is at the first spring Under the force of the hinge, the goods blocking the cargo space are slipped.

In the above structure, the cargo position is tilted so that the cargo can slide under its own gravity without power, and when the turning device no longer blocks the cargo, the cargo will automatically slide down to the sorting platform, and when the cargo is stored, the main flip The board can also block the goods from slipping during the waiting for sorting; when the main flap is pushed open, the main flap is turned toward the side of the sorting platform, and the main flap can pass after the goods are slid out from the position. The restoring force of the first spring hinge is self-returning and does not require additional power to drive, so that the entire automatic sorting rack has low energy consumption and low cost.

Preferably, the seeding automatic sorting system further includes: a lifting mechanism, the lifting mechanism includes a lifting motor and a first rail, the first rail extends along a height direction of the shelf body, and the first rail a rack extending along a height direction of the shelf body is disposed, the lifting motor is disposed on the sorting platform, and the power output end of the lifting motor is fixedly provided with a lifting gear, and the lifting gear and the lifting gear The rack is engaged, and the lifting motor drives the sorting platform to reciprocate along the extending direction of the first rail.

Preferably, the sorting platform comprises: a first direction slide table, an electric push rod, a dial plate, a platform plate and a side flap disposed on the platform plate; along a sliding direction of the cargo on the cargo space The two ends of the platform plate are hinged with a side flap by a second spring hinge, so that the side flap rotates in a direction away from the side of the cargo under the thrust of the cargo on the platform plate. The lifting motor is mounted on the platform plate; the first direction sliding table is disposed on an end surface of the platform plate away from the ground, and the electric pushing rod is fixedly disposed on the slider of the first direction sliding table, The first direction sliding table drives the electric push rod to reciprocate in a first direction; the dial plate is disposed at a free end of the moving portion of the electric push rod, and the dial plate faces the electric push rod One side of the moving portion extends, the paddle plate reciprocates in a second direction under the driving of the electric push rod; the first direction is a sliding direction perpendicular to the cargo on the cargo position, the first The second direction is the sliding side of the cargo on the cargo space. .

In the above structure, when the sorting platform performs the sorting operation, the main flap of the turning device corresponding to the position of the goods to be sorted is turned toward the sorting platform, and the electric push rod drives the dial to peel off the goods from the cargo position. On the sorting platform, the electric push rod is then driven by the first direction slide to push the cargo off one side of the platform plate.

Preferably, the sorting platform comprises: a rotating plate and a rotary driving motor for driving the rotating plate, wherein the rotating driving motor is disposed on the rotating plate, and the power output shaft of the rotary driving motor is fixedly disposed a first rotating gear; the rotating plate is fixedly connected to the lifting motor, and the rotating plate is fixedly provided with a second rotating gear corresponding to the first rotating gear, and the second rotating gear is meshed with the first rotating gear, Rotating the driving motor to drive the first rotating gear to rotate, the first rotating gear driving the second rotating gear to rotate, and the rotating plate is driven by the second rotating gear to rotate around the second rotating gear The central axis rotates.

In the above structure, by the rotation of the rotating plate, the goods falling on the rotating plate can be slid down by the action of their own gravity into the cargo storage structure for storing the goods.

Preferably, the sorting platform further comprises a side flap, wherein both ends of the rotating plate are hinged with a side flap by a second spring hinge along a sliding direction of the cargo on the cargo space, so that the The side flap is rotated in a direction away from the side of the cargo by the thrust of the cargo on the rotating plate, and the lifting motor is mounted on the rotating plate.

Preferably, the seeding automatic sorting system further comprises: a rotating platform, the shelf body is disposed on the rotating platform, the rotating platform is disposed on the moving device by a rotating mechanism; the rotating mechanism is rotating a motor, the rotating electric machine is disposed on the moving device, and a free end of the power output shaft of the rotating electrical machine is fixedly connected to an end surface of the rotating platform away from the shelf body, and the rotating platform is driven relative to the moving device Rotate.

In the above structure, the rotating platform drives the shelf body to rotate, so that the sorting platform can sort at different angles on the horizontal plane, and the sorted goods are thrown to different angles.

Preferably, the mobile device is a belt drive, an AGV trolley or an RGV trolley.

Preferably, the cargo storage structure is at least one planar tunnel.

The use of flat tunnels to store goods can make the most of the space below the ground.

Preferably, the cargo storage structure is at least one cargo container, the cargo container including a support frame and at least one sorted goods frame disposed on the support frame, the opening of the sorted goods frame being disposed upward.

By setting up a number of cargo containers for storing goods, the sorting work of a large number of goods is completed in a single transport journey, and the sorting efficiency is improved.

Preferably, the seeding automatic sorting system further comprises: a submersible AGV for jacking up and carrying the support frame of the cargo container.

The submersible AGV is capable of transporting the cargo containers on which the sorted goods are placed, transporting the cargo containers to a suitable location, or transporting them directly to the delivery personnel to further improve sorting efficiency.

Preferably, the sorting platform comprises at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform and the fixed sorting platform structure Similarly, the mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body; the sorting goods frame on the support frame The number is equal to the sum of the number of the fixed sorting platform and the mobile sorting platform, and all of the sorted goods frames are fixed on the support frame along the vertical direction.

In the above structure, the sorted goods frame is the same as the sum of the fixed sorting platform and the mobile sorting platform, so that each sorting platform can correspondingly deliver the sorted goods into the corresponding sorted goods frame, further improving Sorting efficiency.

Preferably, the seeding automatic sorting system further comprises: a supplementary shelf, which is used in conjunction with the automatic sorting racking system for replenishing the automatic sorting racking system.

Preferably, when the mobile device is an RGV trolley, a plurality of the cargo containers are respectively disposed on both sides of a track for the RGV trolley to travel, and the supplementary shelf is located at a side of the track.

In the above structure, since the sorting platform can transfer the goods to the left or to the right, the cargo containers are arranged on both sides of the track, so that when the fixed sorting platform and the mobile sorting platform are sorted, There is a cargo container on the left and right sides of the fixed sorting platform and the mobile sorting platform, so that the same sorting platform can perform the sorting work of two orders in sequence.

Preferably, along the forward direction of the mobile device, a rear end of the mobile device is provided with a first traction plate disposed horizontally and a traction column vertically disposed on the traction plate, and a front end of the mobile device is provided a horizontally disposed second traction plate, the second traction plate being provided with a traction hole through which the traction column passes.

In the above structure, the plurality of moving devices can be integrally connected by the cooperation of the traction column and the traction hole, so that only the front mobile device can be driven and driven, thereby saving energy.

Preferably, the cargo storage structure is a plurality of sorting slides arranged in parallel, and the sorting slides are inclined.

Preferably, the seeding automatic sorting system further comprises: a communication mechanism and a host computer; the communication mechanism is respectively connected with the sorting platform and the turning device; and the upper computer is respectively connected with the communication device and the mobile device. .

The upper computer is used to control the mobile device and the automatic sorting and shelving system to realize automatic and intelligent sorting, which greatly reduces the labor cost of the sorting link.

Preferably, the sorting platform comprises at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform and the fixed sorting platform structure Similarly, the mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body; the communication mechanism is connected with the lifting mechanism. .

In the above structure, the upper computer can control the lifting mechanism to drive the mobile sorting platform to move in the height direction of the shelf body through the communication mechanism.

A seeding method, applying a seeding automatic sorting system, further comprising: a communication mechanism and a host computer, wherein the communication mechanism is respectively connected with a sorting platform and a turning device, wherein the upper computer and the communication device and the mobile device respectively The communication connection includes the following steps: the upper computer sends the picking task information to the mobile device and the communication mechanism, and the picking task information includes placement location information and sorting destination information of each cargo on the shelf body The mobile device proceeds to the sorting destination according to the path planned by the upper computer, wherein the upper computer obtains a planned path of the mobile device according to the sorting destination information; Placing the location information will require the sorted goods to be delivered after the mobile device arrives at the sorting destination.

In the above method, the unified management is performed by the upper computer, and the picking task information sent by the upper computer is automatically sorted by the seeding automatic sorting system, and the sorting efficiency is high.

Preferably, during the traveling to the sorting destination, the communication device controls the turning device to flip according to the placing position information so that the goods corresponding to the sorting destination are dropped onto the sorting platform; When the mobile device arrives at the sorting destination, the communication mechanism controls the sorting platform to deliver the goods located thereon according to the sorting destination information.

Preferably, after the sorting platform delivers the goods located thereon, the communication mechanism sends the sorting completion information to the upper computer; the mobile device and the communication mechanism receive the control sent by the upper computer After the control instruction is received by the upper computer, the sorting completion information is generated according to the sorting completion information, and the control command includes continuing the sorting instruction or stopping the sorting instruction, and the continuing sorting The instruction includes next picking task information, the stop sorting instruction includes standby destination information; the mobile device, the sorting platform, after the mobile device and the communication mechanism receive the continuous sorting instruction Performing sorting according to the next picking task information; after the mobile device and the communication mechanism receive the stop sorting instruction, the mobile device, the sorting platform stops sorting and according to the The standby destination information is moved to the standby destination.

The seeding automatic sorting system and the seeding method thereof provided by the invention can bring the following beneficial effects:

The sowing type automatic sorting system moves the goods in the cargo space downwards according to the inclined position. When the goods in the cargo space need to be sorted through the sorting platform, the turning device is turned over. The goods are no longer blocked, so that the goods naturally fall into the sorting platform, saving the time for the sorting platform to take the goods out of the goods, and improving the sorting efficiency. The upper computer and the communication mechanism are used to realize automatic control, which saves the labor cost input in the sorting process.

DRAWINGS

The above-described characteristics, technical features, advantages and implementations of the seeding automatic sorting system and its seeding method will be further described below in a clear and understandable manner with reference to the accompanying drawings.

1 is a schematic structural view of a first embodiment of an automatic sorting racking system;

Figure 2 is a partial enlarged view of the turning device of Figure 1;

Figure 3 is a schematic view of the turning device of Figure 1 in a self-locking state;

Figure 4 is a schematic view of the turning device of Figure 1 in an unlocked state;

Figure 5 is a schematic structural view of the side turning device in a self-locking state;

Figure 6 is a schematic structural view of the side turning device in an unlocked state;

7 is a schematic structural view of a second embodiment of an automatic sorting racking system;

Figure 8 is a schematic structural view of a third embodiment of the automatic sorting racking system;

9 is a schematic structural view of a fourth embodiment of an automatic sorting racking system;

Figure 10 is a schematic structural view of a fifth embodiment of the automatic sorting racking system;

11 is a schematic structural view of a sixth embodiment of an automatic sorting racking system;

12 is a schematic structural view of a seventh embodiment of an automatic sorting racking system;

Figure 13 is a schematic structural view of the rotating plate of Figure 12;

Figure 14 is a schematic structural view of an eighth embodiment of the automatic sorting racking system;

Figure 15 is a schematic view showing the structure of the electric push rod and the dial in Figure 14;

Figure 16 is a schematic structural view of a first embodiment of a seeding automatic sorting system;

Figure 17 is a schematic structural view of a second embodiment of the seeding automatic sorting system;

Figure 18 is a schematic structural view of a third embodiment of the seeding automatic sorting system;

Figure 19 is a schematic structural view of a fourth embodiment of the seeding automatic sorting system;

Figure 20 is a schematic view showing the structure of a fifth embodiment of the seeding type automatic sorting system.

Description of the reference numerals:

1 is the shelf body, 1a is the cargo position, 1b is the turning device,

1b-1 is the main flap, 1b-2 is the rotating shaft, 1b-3 is the first toggle pin, 1b-4 is the first ear plate, 1b-5 is the first curved long hole, and 1b-6 is the vertical Straight long hole, 1b-7 is a straight line segment, 1b-8 is an arc segment, and 1b-9 is a push motor.

1c is a baffle, 1d-roller, 2 is a fixed sorting platform,

2a is the platform board, 2b is the support board, 2c is the end plate, 2d is the dial block, 2e is the side flap, 2f is the side turning device, 2f-1 is the second ear plate, 2f-2 is the card board, 2f- 3 is the second toggle pin shaft, 2f-4 is the second curved long hole, 2f-5 is the horizontal long hole, 2g is the conveying device, 2h-anti-collision bracket,

3 is the lifting mechanism, 3a is the lifting frame, 3b is the driving motor, 3c is the driven wheel, 3d is the synchronous shaft, 3e is the fixed plate, 3f is the first synchronous wheel, 3g is the synchronous belt, 3h is the guide rail, 3i is the first The guide rail, 3j is the lifting motor, 3k is the second rail, 3l is the rack, and 3m is the lifting gear.

4 is a rotating platform, 5 is a mobile device, 5a is a first traction plate, 5b is a traction column, 6 is a track, 7 is a first direction sliding table, 8 is an electric push rod, 9 is a rotating plate, 10 is a cargo, 11 For mobile sorting platform, 12 is the tank chain, 13 is the communication mechanism, 14 is the rotary drive motor, 14a - the second rotating gear, 15 is the dial, 16 - cargo storage structure, 16a - plane tunnel, 16b - sorting goods Frame, 16c-support frame, 16d-sorting channel, 16e-sorting slide, 17-top machine, 18-supplement shelf, 19-sneak-in AGV.

detailed description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without obtaining creative labor, and obtain Other embodiments.

In order to succinctly the drawings, only the parts related to the present invention are schematically shown in the drawings, and they do not represent the actual structure of the product.

[Example 1]

As shown in FIG. 1, Embodiment 1 discloses a specific embodiment of a seeding automatic sorting system, comprising: an automatic sorting racking system, which comprises a rack body 1 on which a shelf body 1 is disposed. A plurality of cargo spaces 1a arranged in a matrix, the same cargo 10 can be stored in the same cargo space 1a, and several cargo spaces 1a are inclined. A sorting platform is also provided on the lower side of the cargo space 1a, the sorting platform is used to sort the goods 10 dropped thereon, and the goods 10 are sorted to a position for storing the goods 10. And the reversing device 1b is disposed at the shelf body 1 corresponding to the lower end of the cargo space 1a, and the reversing device 1b can control whether the cargo 10 slides from the cargo space 1a onto the sorting platform.

Since the cargo space 1a is slanted, the cargo 10 slides in the oblique direction of the cargo space 1a and is finally blocked by the turning device 1b. When the cargo 10 needs to be slid down to the sorting platform, the turning device 1b corresponding to the position of the cargo space 1a no longer blocks the cargo 10, so that the cargo 10 naturally falls onto the sorting platform, and the sorting platform saves the cargo 10 from the cargo space 1a. The time taken out inside, which in turn improves the sorting efficiency.

The embodiment further includes a mobile device 5 and a cargo storage structure 16 for storing the cargo 10, wherein the mobile device 5 is an AGV trolley, the shelf body 1 is mounted on the AGV trolley, and the AGV trolley is an automatic guided trolley. The cargo storage structure 16 is configured to receive the goods sorted by the sorting platform. After the turning device 1b corresponding to the goods 10 to be sorted in the cargo space is turned over, the goods 10 to be sorted are dropped by the gravity of the self. On the sorting platform, the sorting platform delivers the goods 10 to be sorted to the cargo storage structure 16.

In other embodiments, the mobile device 5 may also be an RGV trolley, the RGV trolley is a rail-guided trolley, and the track 6 is not limited to the dual-track, or the mobile device 5 may also be driven by a belt transmission, which will not be described herein.

[Example 2]

As shown in FIG. 1 to FIG. 6 and FIG. 16 , the embodiment 1 discloses a specific embodiment of a seeding automatic sorting system, which comprises an automatic sorting and racking system, which comprises: a shelf body 1 and a fixed sorting platform 2 And a mobile sorting platform 11 located below the fixed sorting platform 2.

Specifically, as shown in FIG. 1 , the fixed sorting platform 2 is fixedly connected to the shelf body 1 , the mobile sorting platform 11 has the same structure as the fixed sorting platform 2 , and the mobile sorting platform 11 is connected to the shelf body by the lifting mechanism 3 . In the upper part, the lifting mechanism 3 drives the corresponding moving sorting platform 11 to move in the height direction of the shelf body 1.

As shown in FIG. 1 and FIG. 2, the shelf body 1 is provided with a plurality of rotating rollers 1d, and the plurality of rotating rollers 1d separate 18 shelf positions 1a from the shelf body 1, specifically, on the vertical surface, the shelf body There are 18 cargo spaces 1a arranged in a matrix, 18 cargo spaces 1a are inclined, 18 cargo spaces 1a are arranged in 6 rows and 3 columns, and a baffle 1c is arranged between adjacent cargo spaces 1a of the same height. The baffle 1c is fixedly connected to the shelf body 1 by bolts. The baffle 1c avoids the mixing of the cargo 10 in the adjacent cargo space 1a, and the shelf body 1 corresponding to the lower height end of each cargo space 1a is provided. The inverting device 1b, that is, in the present embodiment, has 18 inverting devices 1b on the shelf body 1.

Specifically, as shown in FIG. 2 to FIG. 4, the inverting device 1b includes: a first linear motion actuator (not shown) and a main flap 1b-1 pivotally connected to the shelf body 1, that is, the main flip The plate 1b-1 is rotatably coupled to the shelf body 1 via a rotating shaft 1b-2. The first linear motion actuator is disposed on the shelf body 1, and the free end of the push rod of the first linear motion actuator is provided with a first toggle pin 1b-3, the axis of the first toggle pin 1b-3 The first toggle pin 1b-3 reciprocates in the height direction of the shelf body 1 under the driving of the first linear motion actuator perpendicular to the axial direction of the push rod of the first linear motion actuator. The first linear motion actuator of this embodiment is a cylinder, a hydraulic cylinder or an electric cylinder.

In a direction perpendicular to the movement of the cargo 10, a first ear plate 1b-4 is disposed on both sides of the main flap 1b-1, and the first ear plate 1b-4 is disposed on the main flap 1b-1 away from the cargo space 1a. On the end surface, the first ear plate 1b-4 is disposed perpendicular to the main flap 1b-1, and the first ear plate 1b-4 is provided with a first curved long hole 1b-5, and the first curved long hole 1b-5 The first arcuate elongated hole 1b-5 includes an arcuate segment 1b-8, that is, the curved segment 1b-8 protrudes away from the shelf body 1 in a direction away from the shelf body 1. The shelf body 1 is provided with a vertical long hole 1b-6 corresponding to the first curved long hole 1b-5, and the long axis direction of the vertical long hole 1b-6 is parallel to the height direction of the shelf body 1, the first toggle pin The shaft 1b-3 sequentially passes through the first curved elongated hole 1b-5 and the vertically elongated hole 1b-6.

As shown in Fig. 3, when the turning device 1b is in the self-locking state, the cargo 10 is blocked by the main flap 1b-1 and is located in the corresponding cargo position 1a.

In order to ensure that the main flap 1b-1 does not fall down at this time, causing the cargo 10 to fall from the cargo space 1a, the following formula is satisfied: α>arccotμ _s .

Where α is the complementary angle between the frictional force F acting on the first toggle pin 1b-3 and the thrust N acting on the first toggle pin 1b-3 of the cargo 10, and arccot indicates the opposite Cotangent function

μ _s is the coefficient of static friction when the cargo 10 acts on the first toggle pin 1b-3.

As shown in FIG. 3, the first curved elongated hole 1b-5 further includes a straight segment 1b-7, which together with the curved segment 1b-8 of the first curved elongated hole 1b-5 constitutes the first The arcuate long hole 1b-5 and the straight line segment 1b-7 are located at one end of the curved segment 1b-8 away from the shelf body 1, and the straight segment 1b-7 of the first curved elongated hole 1b-5 and the vertical elongated hole 1b -6 straight segments parallel or angle of 1b-7 and 1b-6 vertically long hole is smaller than (90 ° -arccotμ _s).

As shown in FIG. 4, when the turning device 1b is in the unlocked state, the cargo 10 is dropped on the corresponding sorting platform by its own gravity-moving down position 1a.

When the main flap 1b-1 needs to be turned down, the first linear motion actuator drives the first toggle pin 1b-3 to move downward, thereby causing the main flap 1b-1 to flip downward.

As shown in FIG. 1, the fixed sorting platform 2 comprises: two support plates 2b, a platform plate 2a disposed on the two support plates 2b, a dial block 2d and a rodless cylinder (not shown), the platform plate 2a is inclined and the height of the platform plate 2a away from the end of the shelf body 1 is lower than the end of the platform plate 2a near the shelf body 1, and the support plate 2b extends away from the end of the shelf body 1 to form an abutting portion, and the two supporting plates 2b The end portion 2c is provided together with the end plate 2c. When the cargo 10 is dropped onto the platform plate 2a, it will slide down in the oblique direction of the platform plate 2a until it is blocked by the end plate 2c.

The platform plate 2a is provided with a sliding hole which is a long hole whose longitudinal direction is perpendicular to the moving direction of the cargo 10 in the cargo space 1a. The rodless cylinder is fixedly connected to the lower end surface of the platform plate 2a, and the dial 2d is connected to the slider of the rodless cylinder through the connecting plate, and the dial 2d is located on the upper side of the platform plate 2a, and the connecting plate passes through the sliding hole. The dial 2d is moved in the longitudinal direction of the sliding hole by the rodless cylinder. In this embodiment, the dial block 2d is a rectangular parallelepiped, and the one end of the dial block 2d adjacent to the shelf body 1 is provided with two inclined surfaces, and the two inclined surfaces make the dial block 2d close to the end of the shelf body 1 to form a sharp portion, and the inclined surface can be used for the cargo. 10 acts as a guide so that the cargo 10 can smoothly slide down to the end plate 2c. In other embodiments, the cross-sectional shape of the dial 2d may also be other shapes, such as an ellipse, a circle, a triangle, etc., when the cross-sectional shape of the dial 2d is a triangle, the sharp portion of the dial 2d needs to face The shelf body 1 is set and will not be described here.

As shown in FIG. 1 , FIG. 5 to FIG. 6 , along the moving direction of the cargo 10 in the cargo space 1 a , a side turning device 2 f is provided on each side of the platform plate 2 a , and the side turning device 2 f includes: a side flap 2 e a card board 2f-2 disposed on the support plate 2b and a second linear motion actuator. The card board 2f-2 is affixed or fixedly disposed on the support board 2b, and the second side board is disposed at two ends of the side flap board 2e. 2f-1, the second ear plate 2f-1 is disposed on the end surface of the side flap 2e away from the platform plate 2a, and the second ear plate 2f-1 is provided with a second curved long hole 2f-4, the second curved length The long axis of the hole 2f-4 is curved, the second curved long hole 2f-4 protrudes toward the platform plate 2a, and the second ear plate 2f-1 is axially connected to the card 2f-2, and the card 2f -2 corresponding to the position of the second curved long hole 2f-4 is provided with a horizontal long hole 2f-5, the long axis direction of the horizontal long hole 2f-5 is parallel to the horizontal plane, and the second linear motion actuator is connected to the card board 2f-2, and the free end of the push rod of the second linear motion actuator is provided with a second toggle pin 2f-3, the axis of the second toggle pin 2f-3 being perpendicular to the push of the second linear motion actuator The axis of the rod, the second toggle pin 2f-3 Passing through the second curved long hole 2f-4 and the horizontal long hole 2f-5, the second toggle pin 2f-3 is driven by the second linear motion actuator along the long axis direction of the horizontal long hole 2f-5 Reciprocating motion. In this embodiment, the second linear motion actuator is a cylinder, and may also be a hydraulic cylinder or an electric cylinder, which will not be described herein.

In other specific embodiments, the second curved elongated hole 2f-4 may also be composed of the curved segment 1b-8 and the straight segment 1b-7, wherein the curved segment 1b of the second curved elongated hole 2f-4 -8 is disposed at one end of the straight section 1b-7 of the second curved elongated hole 2f-4 away from the platform plate 2a, and the straight section 1b-7 of the second curved elongated hole 2f-4 is parallel to the horizontal long hole 2f-5 Or the angle between the straight line segment 1b-7 and the horizontal long hole 2f-5 is less than (90°-arccotμ _y ), and μ _y is the static friction coefficient when the cargo 10 acts on the second toggle pin 2f-3.

As shown in Fig. 1, the lifting mechanism 3 includes: two lifting frames 3a provided on the shelf body 1, a first synchronous wheel 3f disposed at a lower end of the lifting frame 3a, and a second synchronous wheel disposed at an upper end of the lifting frame 3a. With the drive motor 3b. Each of the lifting frames 3a is provided with a first synchronous wheel 3f and a second synchronous wheel. Each lifting mechanism 3 has two first synchronous wheels 3f and two second synchronous wheels, which are located in the same lifting. The first synchronizing wheel 3f and the second synchronizing wheel of the frame 3a are drivingly connected via a timing belt 3g, and the timing belt 3g is fixedly coupled to the support plate 2b of the moving sorting platform 11.

As shown in FIG. 1, the lifting frame 3a extends along the height direction of the shelf body 1, and two lifting frames 3a are disposed at both ends of the shelf body 1 in a direction perpendicular to the direction of movement of the cargo 10 in the cargo space 1a, and two Each of the opposite sides of the lifting frame 3a is provided with a guiding rail 3h. The guiding rail 3h extends along the height direction of the shelf body 1. The moving sorting platform 11 is provided with two sliding blocks, and the sliding block is fixedly disposed on the supporting plate 2b on the corresponding side. Specifically, the sliding block on the left side is fixedly connected to the support plate 2b on the left side, and the sliding block on the right side is fixedly connected to the support plate 2b on the right side, and the sliding block is slidably connected to the guide rail 3h on the corresponding side.

The lifting mechanism 3 further includes: a driving wheel and a driven wheel 3c that are meshed with each other, and a synchronous shaft 3d. The driving wheel is fixedly disposed on the power output shaft of the driving motor 3b, and the driven wheel 3c is fixedly coupled to the synchronous shaft 3d, and the two of the synchronous shaft 3d The end is respectively fixedly connected with the first synchronous wheel 3f on the corresponding side. When the power output shaft of the driving motor 3b rotates, the driving wheel drives the driven wheel 3c to rotate, the driven wheel 3c drives the synchronous shaft 3d to rotate, and the synchronous shaft 3d drives the two. The first synchronizing wheel 3f is rotated, thereby realizing the adjustment of the moving sorting platform 11 in the height direction of the shelf body 1.

When sorting is performed in this embodiment, the goods 10 of the first order are successively dropped onto the platform plate 2a of the fixed sorting platform 2, and the side flap 2e of the corresponding side of the platform plate 2a is turned downward, and the block 2d will be the goods. 10 is pushed to one side of the downwardly turned side flap 2e, and finally the cargo 10 is sorted from the fixed sorting platform 2 to a position for storing the cargo 10. The goods 10 of the second order are also dropped onto the platform plate 2a of the moving sorting platform 11, the side flaps 2e of the corresponding side of the platform plate 2a are turned downward, and the dial 2d pushes the goods 10 to the side that is turned downward. On one side of the flap 2e, the last cargo 10 is sorted from the fixed sorting platform 2 to a position for storing the cargo 10. The working process and principle of the mobile sorting platform 11 are the same as those of the fixed sorting platform 2. As can be seen from the above description, the seeding automatic sorting system of the present embodiment can perform the sorting work of a plurality of orders at the same time, thereby greatly improving the sorting efficiency.

In other specific embodiments, the number of the fixed sorting platform 2 and the mobile sorting platform 11 is not limited to this example, and may be provided in plurality, so that each mobile sorting platform 11 has a corresponding lifting mechanism 3 It is only necessary to adjust the position in the height direction of the shelf body 1; the number of the cargo spaces 1a is not limited to this example, and may be other numbers, which will not be described herein.

In order to improve the aesthetic appearance of the shelf body 1, a wiring groove is provided on the shelf body 1 between adjacent cargo spaces 1a at the same height, and the wiring groove extends along the moving direction of the cargo 10, and the first straight position at the corresponding position The line of the line motion actuator and the line of the second linear motion actuator are located in the wiring groove, the opening of the wiring groove faces, and the shutter 1c is positioned above the wiring groove. Of course, it is also possible to open a wiring hole in the shelf body 1 between adjacent cargo spaces 1a on the same height, and the wiring hole extends through the shelf body 1 along the moving direction of the cargo 10, and the first straight line at the corresponding position The line of the motion actuator and the line of the second linear motion actuator are located in the wiring groove.

The embodiment further includes a mobile device 5 and a cargo storage structure 16, wherein the shelf body 1 is mounted on the mobile device 5 such that the mobile sorting platform 11 is located between the fixed sorting platform 2 and the mobile device 5, in this embodiment, The self-moving trolley is an AGV trolley, and the AGV trolley is an automatic guided trolley.

As shown in FIG. 16, in the present embodiment, the cargo storage structure 16 is two plane tunnels 16a, and the plane tunnel 16a is a groove that is recessed toward the ground, and the sorted goods 10 are distributed to the corresponding by the sorting platform. In the plane tunnel 16a, the number of the plane tunnels 16a is not limited to this example, and may be one, three or even more, and is set according to actual conditions without limitation.

In other embodiments, as shown in FIG. 18, the cargo storage structure 16 can also be a plurality of cargo containers, each of which includes a support frame 16c and two sorting goods boxes 16b disposed on the support frame 16c. The opening of the picking box 16b is set upward. The two sorting goods frames 16b are fixed to the support frame 16c in the vertical direction. The sorting platform can sort the goods 10 of different orders into the sorting goods cabinets at different heights, so as to avoid the chaos of the goods 10 and the efficiency of sorting the goods 10 is reduced.

The plurality of cargo containers are arranged in two rows, and a sorting passage 16d through which the supply rack body 1 passes is formed between the two rows of cargo containers. When the rack body 1 is sorted, the rack body 1 moves to a proper position of the sorting passage 16d. The fixed sorting platform 2 and the mobile sorting platform 11 are used to sequentially sort the sorted goods 10 into the target cargo container.

In order to achieve angular rotation of the shelf body 1 on the moving device 5, the shelf body 1 is disposed on the rotating platform 4, and the lifting frame 3a is also fixedly disposed on the rotating platform 4, and the rotating platform 4 is disposed on the moving device 5 by a rotating mechanism. The rotating mechanism is a rotating electric machine. The rotating electric machine is disposed on the moving device 5. The free end of the power output shaft of the rotating electric machine is fixedly connected to the end surface of the rotating platform 4 away from the shelf body 1 to drive the rotating platform 4 to rotate relative to the moving device 5.

In order to make the synchronous shaft 3d more stable during the rotation process, as shown in FIG. 1, the lifting mechanism 3 further includes two fixing plates 3e which are vertically fixedly disposed on the rotating platform 4, and each fixing plate 3e passes through The bearing is rotatably connected to the synchronous shaft 3d. Specifically, the synchronous shaft 3d is fixedly coupled to the inner ring of the bearing, and the fixed plate 3e is fixedly coupled to the outer ring of the bearing.

In this embodiment, in order to implement unified automatic sorting, the communication mechanism 13 and the upper computer 17 are further included.

Specifically, the communication mechanism 13 and the rodless cylinder of the sorting platform, all the second linear motion actuators at the sorting platform, all the first linear motion actuators of the turning device 1b, the driving motor 3b of the lifting mechanism 3, The rotary motor communication connection, specifically, the communication mechanism 13 controls the rodless cylinder to dial the cargo 10 falling on the platform plate 2a to the left or to the right, and the communication mechanism 13 controls the second linear motion actuator to realize the flip of the side flap 2e The communication mechanism 13 controls the first linear motion actuator to reverse the main flap 1b-1, and the communication mechanism 13 controls the lifting mechanism 3 to move the mobile sorting platform 11 in the height direction of the shelf body 1. The communication mechanism 13 controls the rotary electric machine to effect the rotation of the shelf body 1.

The upper computer 17 is communicably connected to the communication mechanism 13 and the mobile device 5, and the upper computer 17 is used to control the operation of the communication mechanism 13 and the movement of the mobile device 5. Unified control of the entire sorting process to automate the sorting process.

As shown in FIG. 19, in order to realize the replenishment of the cargo space 1a in the shelf body 1, a supplementary shelf 18 may be provided, and the complementary shelf 18 is communicably connected with the upper computer 17, and is controlled by the upper computer 17 to automatically supplement the shelf 18. Specifically, when the shelf body 1 is moved to the replenishing shelf 18, the rotating platform 4 of the shelf body 1 is first rotated by 90°, so that the higher height end of the cargo space 1a of the shelf body 1 is aligned with the replenishment of the complementary shelf 18. At the end, when the shelf body 1 is replenished, the shelf body 1 is rotated 90° by the rotating platform 4 to return to the original position, so that the fixed sorting platform 2 and the two sides of the mobile sorting platform 11 are respectively aligned on both sides. Cargo container.

In other embodiments, the mobile device 5 may also be an RGV trolley, and the RGV trolley is a rail-guided trolley. The track 6 is not limited to the dual-track. At this time, as shown in FIG. 19, the cargo containers are respectively arranged for the RGV trolley to travel. On both sides of the track 6, the supplementary shelf 18 is located on the side of the track 6; or the moving device 5 can also be driven by a belt drive, which will not be described herein.

[Example 3]

As shown in FIG. 7, Embodiment 3 also discloses a specific embodiment of a seeding automatic sorting system. Embodiment 3 has substantially the same structure as Embodiment 2. The difference between Embodiment 3 and Embodiment 2 is that The structure of the fixed sorting platform 2 and the mobile sorting platform 11 of the embodiment 3 is different from that of the second embodiment. Although the structure of the fixed sorting platform 2 and the mobile sorting platform 11 is still the same, the fixed sorting platform 2 and The side turning device 2f is no longer provided on both sides of the moving sorting platform 11.

As shown in FIG. 7, the fixed sorting platform 2 of the embodiment 3 includes two supporting plates 2b and a conveying device 2g disposed on the two supporting plates 2b. The conveying device 2g in the embodiment is a belt conveying device 2g, a belt The conveying device 2g is connected to an external communication mechanism 13 for controlling the forward or reverse conveyance of the belt and the conveying speed of the belt. The belt of the belt conveying device 2g is inclined, and the height of the belt away from the one end of the shelf body 1 is lower than the end of the belt near the shelf body 1, and the support plate 2b extends away from the end of the shelf body 1 to form an abutting portion, two supports An end plate 2c is commonly provided on the abutting portion of the plate 2b. When the cargo 10 is dropped onto the belt, it will slide down in the oblique direction of the belt and be blocked by the end plate 2c. The sorting of the goods 10 dropped on the belt is achieved by the conveying direction of the belt.

[Embodiment 4]

As shown in FIG. 17, Embodiment 4 discloses another embodiment of the seeding automatic sorting system. Embodiment 4 has substantially the same structure as Embodiment 2. The difference between Embodiment 4 and Embodiment 2 is that The cargo storage structure 16 of the embodiment 4 is two cargo containers, each of which includes a support frame 16c and a sorting product frame 16b provided on the support frame 16c, and the opening of the sorted goods frame 16b is disposed upward. The sorted goods 10 are placed in the sorted goods frame 16b.

In order to realize the automatic handling of the cargo container, a submersible AGV 19 is provided, which is communicatively connected with the upper computer 17, and the submersible AGV19 trolley is used for lifting and carrying the support frame 16c of the cargo container.

[Embodiment 5]

As shown in FIG. 8 and FIG. 9, Embodiment 5 discloses a specific embodiment of a seeding automatic sorting system. Based on the seeding automatic sorting system disclosed in Embodiments 2 to 3, the embodiment 5 is Along the advancing direction of the mobile device 5, the rear end of the mobile device 5 is provided with a horizontally disposed first traction plate 5a and a traction column 5b vertically disposed on the traction plate, and a horizontally disposed second traction is provided from the front end of the mobile trolley The plate has a traction hole through which the traction column 5b passes. When the plurality of mobile devices 5 are connected together, only the frontmost mobile device 5 is required to drive the walk.

Meanwhile, as shown in FIG. 8, in order to prevent the front and rear shelf bodies 1 from colliding, the end plate 2c is provided with an anti-collision bracket 2h which is L-shaped, one of which is respectively associated with the end plate 2c and the support plate 2b is fixedly connected, and the other end is used to abut the rear shelf body 1.

[Embodiment 6]

As shown in FIG. 10, Embodiment 6 discloses a specific embodiment of a seeding type automatic sorting system. The seeding type automatic sorting system of Embodiment 6 is basically the same as that of Embodiment 2, except that the embodiment is The mobile device 5 of 6 uses an RGV trolley, and the track 6 of the RGV trolley is placed in the air.

[Embodiment 7]

As shown in FIG. 14 and FIG. 15, Embodiment 7 discloses a specific implementation of a seeding automatic sorting system, including an automatic sorting racking system, which specifically includes: a shelf body 1 on a vertical plane, a shelf body 1 is provided with a plurality of cargo spaces 1a arranged in a matrix, and the same cargo 10 can be stored in the same cargo space 1a, and several cargo spaces 1a are inclined. A sorting platform is also provided on the lower side of the cargo space 1a, the sorting platform is used to sort the goods 10 dropped thereon, and the goods 10 are sorted to the goods for storing the goods 10 In the container, and the lower end of the storage space 1a corresponding to the lower end of the shelf body 1 is provided with a turning device 1b (not shown in the turning device 1b in Fig. 14), the turning device 1b can control whether the cargo 10 is from the cargo position 1a The slide down onto the sorting platform.

The sorting platform reciprocates in the height direction of the shelf body 1 by the lifting mechanism 3. As shown in FIG. 11, the lifting mechanism 3 includes a lifting motor 3j, a first rail 3i and a second rail 3k, and the second rail 3k is two. The second rails 3k are respectively disposed at two ends of the side of the shelf body 1 near the sorting platform, and the first rails 3i and the second rails 3k are both extended along the height direction of the rack body 1, and the first rails 3i are provided along the first rails 3i. The rack 31 is extended in the height direction of the shelf body 1, and the lifting motor 3j is disposed on the sorting platform. The power output end of the lifting motor 3j is fixedly provided with a lifting gear 3m, the lifting gear 3m is meshed with the rack 3l, and the lifting motor 3j is driven. The sorting platform reciprocates along the extending direction of the first guide rail 3i. At the same time, the sorting platform is provided with a second slider matched with the second rail 3k at a position corresponding to the second rail 3k, the second slider is located in the second rail 3k, and can be driven by the lifting motor 3j, and second The slider reciprocates in the extending direction of the second rail 3k3k.

As shown in FIG. 14 and FIG. 15, the sorting platform includes a first direction slide table 7, an electric push rod 8, a dial plate 15, a horizontally disposed platform plate 2a, and a side flap 2e disposed on the platform plate 2a.

Along the sliding direction of the cargo 10 on the cargo space 1a, both ends of the platform plate 2a are hinged (not shown) by a second spring hinge with a side flap 2e such that the side flap 2e is on the deck plate 2a. The thrust of the cargo 10 is rotated in a direction away from the side of the cargo 10, and the lift motor 3j is mounted on the deck plate 2a.

The first direction slide table 7 is disposed on the end surface of the platform plate 2a away from the ground, the electric push rod 8 is fixedly disposed on the slider of the first direction slide table 7, and the first direction slide table 7 drives the electric push rod 8 in the first side. Reciprocate upwards. The dial 15 is disposed at a free end of the moving portion of the electric push rod 8, the dial 15 extends toward one side of the moving portion of the electric push rod 8, and the dial 15 reciprocates in the second direction by the electric push rod 8. . Specifically, the first direction is perpendicular to the sliding direction of the cargo 10 on the cargo space 1a, and the second direction is the sliding direction of the cargo 10 on the cargo space 1a.

As shown in FIG. 11, the inverting device 1b includes a main flap 1b-1, a pushing member and a pushing motor 1b-9 for driving the main flap 1b-1 to be turned over, wherein the main flap 1b-1 is disposed in the cargo. The lower side of the height of the position 1a, and the main flap 1b-1 is rotatably disposed on the shelf body 1 by the first spring hinge, and the first spring hinge provides a flap 1b-1 to be turned away from the sorting platform. force.

When the pushing member actuates the main flap 1b-1, the main flap 1b-1 is turned toward the side close to the sorting platform, so that the cargo 10 of the cargo position 1a slides down onto the sorting platform by its own gravity.

When the pusher does not act on the main flap 1b-1, the main flap 1b-1 blocks the cargo 10 of the cargo position 1a from slipping under the force of the first spring hinge.

Specifically, when the shelf body 1 is disposed in multiple layers and the number of the cargo spaces 1a is the same, the number of the pushing members is equal to the number of the cargo spaces 1a of each layer, and the pushing members are arranged in one-to-one correspondence with the pushing motors 1b-9 in the sorting. On the lower end surface of the platform, the pushing member may be a push rod. When the main flap 1b-1 needs to be turned toward the sorting platform, the pushing motor 1b-9 pushes the pushing member toward the lower end portion of the main flap 1b-1 until it is pushed. The piece pushes the lower end portion of the main flap 1b-1 toward the inside of the shelf body 1, thereby inverting the main flap 1b-1 toward the sorting platform, and pushing the motor 1b when it is necessary to block the cargo 10 from slipping off the cargo position 1a -9 The pusher is retracted so that the pusher is no longer applied to the lower end of the main flap 1b-1, and the main flap 1b-1 is reset by the action of the first spring hinge.

Of course, the pushing members can also be arranged one by one at the bottom of the cargo space 1a, so that it can adapt to the scene when the shelf body 1 is set to multiple layers, but the number of the storage spaces 1a of each floor is different or the size of the cargo space 1a is different. In this case, the pushing member is a pulling wire, and the two ends of the pulling wire are respectively connected to the lower end portions of the pushing motor 1b-9 and the main flap 1b-1, and when the main flap 1b-1 needs to be turned toward the sorting platform, the motor is pushed. 1b-9 applies a force to the lower end portion of the main flap 1b-1 in a direction away from the sorting platform by the pulling wire, thereby pulling the lower end portion of the main flap 1b-1 in a direction away from the sorting platform, so that the main flap 1b -1 is turned toward the sorting platform. If the main flap 1b-1 is required to be reset, the push motor 1b-9 will no longer pull the pull wire, and will not be described here.

The shelf body 1 can be designed as an open type to facilitate the replenishment of the cargo body 10 from the shelf body 1 away from the sorting platform side. When necessary, the shelf body 1 can be used to enter and exit the side wall of the cargo 10 to be closed. To prevent the cargo 10 from falling. The shelf body 1 is compact and space-saving, and can also reduce the production cost of the shelf body 1.

In order to facilitate wiring and aesthetics, the side of the shelf body 1 may be provided with a tank chain 12 wiring groove.

In practical applications, the first spring hinge can also be replaced with other components, such as torsion springs, door closers and the like. The inclined position 1a can be set at an angle of 30° to 45°; in order to facilitate the slipping of the cargo 10, the cargo position 1a can be set as an unpowered roller formed by a plurality of rollers 1d, so that when the cargo 10 slips down The sliding friction becomes rolling friction, which reduces the frictional force when the cargo 10 slides down; if the force that can satisfy the slippage of the cargo 10 is greater than the friction between the cargo 10 and the cargo space 1a, the cargo position 1a can also be set to A smoother plane. In order to better receive the goods 10 which are slid down from the cargo space 1a, the platform plate 2a may also be provided as a roller table formed by a plurality of rotating rollers 1d, and the rotating roller 1d is disposed in the same direction as the cargo space 1a.

When the shelf body 1 is arranged in multiple layers, only one sorting platform needs to be set to reach different layers through the lifting mechanism 3, and several sorting platforms may be provided, and each sorting platform corresponds to corresponding layers, such as the shelf body 1 There are 12 floors and three sorting platforms are set up. One of the sorting platforms corresponds to 1 to 4 layers of the shelf body 1, and the other two sorting platforms correspond to 5 to 8 layers and 9 to 12 layers respectively. Therefore, it is not necessary to set up a sorting platform correspondingly for each layer of the cargo space 1a.

The embodiment further includes a mobile device 5 and a cargo storage structure 16. The shelf body 1 is mounted on the mobile device 5. In this embodiment, the mobile device 5 is an AGV trolley, and the AGV trolley is an automatic guided trolley. In other specific embodiments, The mobile device 5 can also be an RGV trolley, and the RGV trolley is a rail-guided trolley. The rail 6 is not limited to the double rail, or the belt transmission device is used to drive the shelf body 1 to move, and details are not described herein.

As shown in FIG. 20, the cargo storage structure 16 is a plurality of sorting slides 16e arranged in parallel, and a sorting passage 16d through which the supply rack body 1 passes is formed between all the sorting slides 16e, and the sorting slide 16e is opposed to The horizontal plane is slanted such that the cargo 10 placed into the sorting chute 16e by the sorting platform will slip according to its own weight.

Alternatively, the sorting chute 16e is inclined at an end close to the sorting passage 16d, and the remaining portion is horizontally disposed.

In order to realize automatic sorting, the embodiment further includes a communication mechanism 13 and a host computer 17, and the communication mechanism 13 respectively drives the motor 1b-9 of the turning device 1b, the lifting motor 3j of the lifting mechanism 3, and the first direction of the sorting platform. The slide table 7 is communicatively coupled to the electric push rod 8, and the upper unit 17 is communicatively coupled to the communication unit 13 and the mobile unit 5, respectively.

[Embodiment 8]

As shown in FIG. 12 and FIG. 13, Embodiment 8 also discloses a specific embodiment of a seeding automatic sorting system. Embodiment 8 is basically the same as Embodiment 7, and Embodiment 8 is different from Embodiment 7. The sorting platform of the embodiment 8 specifically includes: a rotary plate 9 and a rotary drive motor 14 that drives the rotation of the rotary plate 9. The rotary drive motor 14 is disposed on the rotary plate 9, and the power output shaft of the rotary drive motor 14 is fixedly disposed. There is a first rotating gear. As shown in FIG. 13, the rotating plate 9 is fixedly coupled to the lifting motor 3j, and the rotating plate 9 is adjusted along the height direction of the shelf body 1 by the lifting motor 3j, and the rotating plate 9 is fixed to the first rotating gear. The second rotating gear 14a, the second rotating gear 14a meshes with the first rotating gear, the rotary driving motor 14 drives the first rotating gear to rotate, the first rotating gear drives the second rotating gear 14a to rotate, and the rotating plate 9 is in the second rotating gear 14a. The rotation is performed about the central axis of the second rotating gear 14a.

The rotary drive motor 14 is connected to a communication mechanism 13 for controlling the tilting of the rotary plate 9 to the left or to the right. The lifting motor 3j is connected to the communication mechanism 13 for controlling the position of the sorting platform in the height direction of the shelf body 1.

As shown in Fig. 12, the sorting platform further includes a side flap 2e, and both ends of the rotary plate 9 are hinged with a side flap 2e by a second spring hinge along the sliding direction of the cargo 10 on the cargo space 1a, so that The side flap 2e is rotated in the direction away from the side of the cargo 10 by the thrust of the cargo 10 on the rotary plate 9, and the lift motor 3j is mounted on the rotary plate 9. In practical applications, the second spring hinge can also be replaced with other components, such as torsion springs, door closers and the like.

In order to achieve rotation of the shelf body 1 relative to the mobile device 5, the present embodiment further includes a rotating platform 4 on which the shelf body 1 is disposed, the rotating platform 4 being disposed on the mobile device 5 by a rotating mechanism. The rotating mechanism is a rotating electric machine, and the rotating electric machine is disposed on the moving device 5. The free end of the power output shaft of the rotating electric machine is fixedly connected to the end surface of the rotating platform 4 away from the shelf body 1 to drive the rotating platform 4 to rotate relative to the mobile device 5, that is, The shelf body 1 is driven to rotate about the axis of the power output shaft of the rotating electrical machine.

In practical applications, the rotating plate 9 may be provided as a roller path formed by a plurality of rotating rollers 1d to form rolling friction between the cargo 10 and the rotating plate 9 to reduce the frictional force during transportation, and the rotating direction of the rotating roller 1d is directed toward the conveying direction. .

[Embodiment 9]

As shown in FIG. 11, Embodiment 8 also discloses a specific embodiment of a seeding automatic sorting system. Embodiment 9 has substantially the same structure as Embodiment 7, except that the sorting platform of Embodiment 9 Without the dial 15, the cargo 10 is sorted into the corresponding sorting slide 16e by the electric push rod 8 only by the first direction slide 7.

[Embodiment 10]

As shown in FIG. 1 to FIG. 20, Embodiment 10 discloses a seeding method, and the seeding type automatic sorting system of Embodiments 1 to 9 further includes: a communication mechanism 13 and a host computer 17, and the communication mechanism 13 respectively The sorting platform and the inverting device 1b are communicatively connected, and the upper computer 17 is communicably connected to the communication mechanism 13 and the mobile device 5, respectively.

Specific steps are as follows:

The host computer 17 transmits the picking task information to the mobile device 5 and the communication mechanism 13, and the picking task information includes the placement position information and the sorting destination information of each of the goods 10 on the shelf body 1.

The mobile device 5 travels to the sorting destination according to the route planned by the host computer 17, wherein the host computer 17 obtains the planned route of the mobile device 5 according to the sorting destination information, that is, the mobile device 5 travels according to the planned route obtained by the upper computer 17. , move to the sorting destination where the goods 10 need to be placed.

The communication unit 13 delivers the corresponding goods 10 after the mobile device 5 arrives at the sorting destination based on the placement position information. In the actual process, during the travel to the sorting destination, the communication device 13 controls the inverting device 1b to flip according to the placement position information so that the goods 10 corresponding to the sorting destination are dropped onto the sorting platform, when the mobile device 5 is Upon reaching the sorting destination, the communication mechanism 13 controls the sorting platform to deliver the goods 10 located thereon to the goods storage structure 16 at the sorting destination according to the sorting destination information, and complete the sorting and placing process of the goods 10 .

Wherein, when the seeding type automatic sorting system of the refinement scheme based on the embodiment 2, the embodiment 6 or the embodiment 5 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the mobile sorting platform 11 at The movement of the shelf body 1 in the height direction controls whether the turning device 1b blocks the cargo 10, and controls the rodless cylinder to drive the dial block 2d to release the cargo 10 on the platform plate 2a from the required side of the platform plate 2a, for example, when goods are required When the 10 is dropped from the left side of the sorting platform, the dial 2d pushes the goods 10 to the left. When the goods 10 are required to fall from the right side of the sorting platform, the dial 2d pushes the goods 10 to the right. The communication mechanism 13 needs to control whether the side flap 2e blocks the cargo 10, and the communication mechanism 13 controls the rotation of the shelf body 1 by the rotary motor. The host computer 17 is used to control the operation of the communication mechanism 13 and the travel path of the mobile device 5.

When the seeding type automatic sorting system of the refinement scheme based on the embodiment 3 or the embodiment 5 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the moving sorting platform 11 in the height direction of the shelf body 1. The upper movement controls whether the turning device 1b blocks the cargo 10, controls the forward or reverse conveyance of the belt conveying device 2g, and the conveying speed of the belt so that the cargo 10 can be correctly delivered. The communication mechanism 13 controls the rotation of the shelf body 1 by a rotary electric machine. The host computer 17 is used to control the operation of the communication mechanism 13 and the travel path of the mobile device 5.

When the seeding automatic sorting system of the embodiment 4 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the movement of the moving sorting platform 11 in the height direction of the shelf body 1, and control whether the turning device 1b blocks the cargo 10, and controls The rodless cylinder drives the dial 2d to release the cargo 10 on the deck 2a from the required side of the deck 2a. For example, when the cargo 10 is required to fall from the left side of the sorting platform, the dial 2d turns the cargo 10 to the left. Push. When the goods 10 are required to fall from the right side of the sorting platform, the dial 2d pushes the goods 10 to the right. The communication mechanism 13 needs to control whether the side flap 2e blocks the cargo 10, and the communication mechanism 13 controls the rotation of the shelf body 1 by the rotary motor. The host computer 17 is used to control the operation of the communication mechanism 13, the travel path of the mobile device 5, and the travel path of the submerged AGV 19.

When the seeding automatic sorting system of the embodiment 7 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the movement of the sorting platform in the height direction of the shelf body 1, and control whether the turning device 1b blocks the cargo 10, and controls the first The directional slide 7 drives the electric push rod 8 to release the cargo 10 on the platform plate 2a from the required side of the platform plate 2a. For example, when the cargo 10 is required to fall from the left side of the sorting platform, the electric pusher 8 will carry the goods. 10 push to the left. When the cargo 10 is required to fall from the right side of the sorting platform, the electric pusher 8 pushes the cargo 10 to the right. The electric push rod 8 drives the dial 15 to take out the required goods 10 from the position 1a, and the upper machine 17 is used to control the operation of the communication mechanism 13 and the traveling path of the mobile device 5.

When the seeding automatic sorting system of the embodiment 8 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the movement of the sorting platform in the height direction of the shelf body 1, and control whether the turning device 1b blocks the cargo 10, and controls the rotating plate. The tilt direction of 9. When the cargo 10 is required to fall from the right side of the sorting platform, the height of the right side of the rotating plate 9 is lowered, and the cargo 10 is slid down by its own gravity, and the left side is dropped. The communication mechanism 13 controls the rotary electric machine to adjust the angle of the shelf body 1 on the horizontal plane, and the upper computer 17 is used to control the operation of the communication mechanism 13 and the travel path of the mobile device 5.

When the seeding automatic sorting system of the embodiment 9 is used, the communication mechanism 13 needs to control the lifting mechanism 3 to drive the movement of the sorting platform in the height direction of the shelf body 1, and control whether the turning device 1b blocks the cargo 10, and controls the first The directional slide 7 drives the electric push rod 8 to release the cargo 10 on the platform plate 2a from the required side of the platform plate 2a. For example, when the cargo 10 is required to fall from the left side of the sorting platform, the electric pusher 8 will carry the goods. 10 push to the left. When the cargo 10 is required to fall from the right side of the sorting platform, the electric pusher 8 pushes the cargo 10 to the right. The host computer 17 is used to control the operation of the communication mechanism 13 and the travel path of the mobile device 5.

According to the description of a seeding method in the present embodiment, the seeding automatic sorting system can realize sorting automation when the corresponding seeding method is adopted, and the degree of intelligence is high.

[Embodiment 11]

As shown in FIG. 1 to FIG. 20, the embodiment 11 is a refinement scheme based on a seeding method disclosed in the tenth embodiment, and the seeding method of the eleventh embodiment is after the delivery of the goods 10 on the sorting platform. Including steps:

After the sorting platform delivers the goods 10 located thereon, the communication mechanism 13 sends the sorting completion information to the upper computer 17, and the mobile device 5 and the communication mechanism 13 receive the control command sent by the upper computer 17. After receiving the sorting completion information by the upper computer 17, the control command is generated according to the sorting completion information and the control command includes continuing the sorting instruction or stopping the sorting instruction. Specifically, the continuing sorting instruction includes the next picking task information. The stop sorting instruction includes standby destination information.

After the mobile device 5 and the communication mechanism 13 receive the continuation of the sorting instruction, the mobile device 5 and the sorting platform continue to sort according to the picking task information, that is, the mobile device 5 needs to perform the next picking task information according to the next time. The goods are sorted and placed.

After the mobile device 5 and the communication mechanism 13 receive the stop sorting instruction, the mobile device 5 and the sorting platform stop sorting and move to the standby destination according to the standby destination information, and the standby destination may be any position, such as in situ. Stand by, or point to another location and move past.

It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can also make several improvements and retouchings without departing from the principles of the present invention. It should be considered as the scope of protection of the present invention.

Claims

A seeding automatic sorting system, comprising:

An automatic sorting racking system, comprising: a shelf body; on a vertical plane, the shelf body is provided with a plurality of cargo spaces arranged in a matrix, and the plurality of cargo spaces are inclined; a lower level side is further provided with a sorting platform, and a lower height end of the cargo space corresponds to a shelf body provided with a turning device; and a moving device, the shelf body is disposed on the mobile device ;

a cargo storage structure for receiving goods sorted by the sorting platform;

After the turning device corresponding to the goods to be sorted in the cargo space is turned over, the goods to be sorted are dropped on the sorting platform by the gravity of the cargo, and the sorting platform will sort the goods to be sorted. The goods are delivered to the cargo storage structure.
The seeding automatic sorting system according to claim 1, wherein:

The turning device comprises:

a first linear motion actuator, the first linear motion actuator is disposed on the shelf body, and the free end of the push rod of the first linear motion actuator is provided with a first toggle pin The first toggle pin reciprocates in the height direction of the shelf body under the driving of the first linear motion actuator;

a main flap pivotally connected to the shelf body;

a first ear plate is disposed on both sides of the main flap in a direction perpendicular to the movement direction of the cargo, the first ear plate is perpendicular to the main flap, and the first ear plate is provided with a first arc a long hole, the first curved long hole comprising an arc segment;

The shelf body is provided with a vertical long hole corresponding to the first curved long hole, and the long axis direction of the vertical long hole is parallel to the height direction of the shelf body, and the first toggle pin is sequentially worn. Passing the first curved long hole and the vertical long hole.
The seeding automatic sorting system according to claim 2, wherein:

The first curved elongated hole protrudes away from the shelf body.
The seeding automatic sorting system according to claim 2, wherein:

When the turning device is in a self-locking state, the following formula is satisfied:

α>arccotμ s ;

Where α is the complementary angle between the frictional force F acting on the first toggle pin and the thrust N acting on the first toggle pin, and arccot represents an inverse cotangent function;

μ s is the coefficient of static friction when the cargo acts on the first toggle pin.
The seeding automatic sorting system according to claim 4, wherein:

The first curved elongated hole further includes a straight line segment, the straight line segment and the curved segment together constitute the first curved long hole and the straight line segment is located at an end of the curved segment away from the shelf body, and angle of straight line segments of the first arc-shaped elongated hole and the elongated hole parallel to the vertical or arc-shaped elongated hole of said first straight segment and the vertically long hole is smaller than (90 ° -arccotμ s).
The seeding automatic sorting system according to claim 1, wherein:

The sorting platform includes at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform has the same structure as the fixed sorting platform. The mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body.
The seeding automatic sorting system according to claim 6, wherein:

The fixed sorting platform includes:

Support plate

a platform plate disposed on the support plate, the platform plate is provided with a sliding hole, the sliding hole is a long hole, and a longitudinal direction of the sliding hole is perpendicular to a moving direction of the cargo;

a dial block and a rodless cylinder fixedly connected to a lower end surface of the platform plate, wherein the dial block is connected to a slider of the rodless cylinder through a connecting plate, wherein the dial block is located at the On the upper side of the platform plate, the connecting plate passes through the sliding hole, and the dial block moves in the long axis direction of the sliding hole under the driving of the rodless cylinder.
The seeding automatic sorting system according to claim 7, wherein:

The fixed sorting platform further includes:

a side turning device, the side turning device is located on both sides of the platform plate along a moving direction of the cargo, the side turning device comprising: a side flap, a card plate disposed on the support plate, and a second Linear motion actuator;

a second ear plate is disposed at two ends of the side flap, and a second curved long hole is disposed on the second ear plate, and the second curved long hole protrudes toward a direction near the platform plate, The second ear plate is axially connected to the card board, and the card plate is provided with a horizontal long hole at a position corresponding to the second curved long hole, and the long axis direction of the horizontal long hole is parallel to the horizontal plane, the first a second linear motion actuator is coupled to the card plate, a free end of the push rod of the second linear motion actuator is provided with a second toggle pin, and the second toggle pin sequentially passes through the second The arcuate long hole and the horizontal long hole are reciprocated in the long axis direction of the horizontal long hole by the second linear motion actuator.
The seeding automatic sorting system according to claim 7, wherein:

The lifting mechanism includes:

Two lifting frames disposed on the shelf body, the lifting frames extending along a height direction of the shelf body, and two lifting frames are disposed at two ends of the shelf body in a direction perpendicular to a moving direction of the cargo. And a guide rail is disposed on each of the opposite surfaces of the lifting frame, the rail extends along a height direction of the shelf body, and two sliding blocks are disposed on the moving sorting platform, and the sliding block is slidably connected In the guide rail on the corresponding side;

a first synchronous wheel disposed at a lower end of the crane and a second synchronous wheel disposed at an upper end of the crane, the first synchronous wheel and the second synchronous wheel being coupled by a timing belt, the timing belt and the Mobile sorting platform fixed connection;

Driving a motor, the power output shaft of the driving motor is fixedly connected with a driving wheel;

a driven wheel that meshes with the driving wheel and a synchronous shaft that is fixedly coupled to the synchronous shaft, and two ends of the synchronous shaft are respectively fixedly coupled to the first synchronous wheel on the corresponding side.
The seeding automatic sorting system according to claim 1, wherein:

The turning device comprises:

a main flap, the main flap is disposed on a lower side of the cargo space, and the main flap is rotatably disposed on the shelf body by a first spring hinge;

a pushing member and a pushing motor for driving the pushing member to drive the main flap to reverse;

When the pushing member actuates the main flap, the main flap is turned toward a side close to the sorting platform, so that the cargo of the cargo position slides down to the sorting platform by its own gravity on;

When the pusher does not act on the main flap, the main flap blocks the cargo of the cargo position from slipping under the force of the first spring hinge.
The seeding automatic sorting system according to claim 10, further comprising:

a lifting mechanism, the lifting mechanism includes a lifting motor and a first rail, the first rail extends along a height direction of the shelf body, and the first rail is provided along a height direction of the shelf body a rack motor, the lifting motor is disposed on the sorting platform, a power output end of the lifting motor is fixedly provided with a lifting gear, the lifting gear meshes with the rack, and the lifting motor drives the branch The picking platform reciprocates along the extending direction of the first rail.
The seeding automatic sorting system according to claim 11, wherein:

The sorting platform includes: a first direction slide table, an electric push rod, a dial plate, a platform plate, and a side flap disposed on the platform plate;

Along the sliding direction of the cargo on the cargo space, both ends of the platform plate are hinged with a side flap by a second spring hinge, so that the side flap is under the thrust of the cargo on the platform plate. Rotating in a direction away from one side of the cargo, the lift motor is mounted on the platform plate;

The first direction sliding table is disposed on an end surface of the platform plate away from the ground, the electric push rod is fixedly disposed on a slider of the first direction sliding table, and the first direction sliding table drives the electric device The push rod reciprocates in the first direction;

The dial is disposed at a free end of the moving portion of the electric push rod, the dial extends toward a side of the moving portion of the electric push rod, and the dial is driven by the electric push rod Reciprocating in the second direction;

The first direction is a sliding direction perpendicular to the cargo on the cargo space, and the second direction is a sliding direction of the cargo on the cargo space.
The seeding automatic sorting system according to claim 11, wherein:

The sorting platform includes: a rotating plate and a rotary driving motor for driving the rotating plate, wherein the rotating driving motor is disposed on the rotating plate, and the first output is fixed on the power output shaft of the rotating driving motor gear;

The rotating plate is fixedly connected to the lifting motor, and the rotating plate is fixedly provided with a second rotating gear corresponding to the first rotating gear, and the second rotating gear is meshed with the first rotating gear, and the rotating driving motor drives the The first rotating gear rotates, the first rotating gear drives the second rotating gear to rotate, and the rotating plate rotates around the central axis of the second rotating gear by the second rotating gear.
The seeding automatic sorting system according to claim 13, wherein:

The sorting platform further includes a side flap, and both ends of the rotating plate are hinged with a side flap by a second spring hinge along a sliding direction of the cargo on the cargo space, so that the side flap The lifting motor is mounted on the rotating plate under the action of the thrust of the cargo on the rotating plate in a direction away from the side of the cargo.
The seeding automatic sorting system according to claim 1, further comprising:

a rotating platform, the shelf body is disposed on the rotating platform, and the rotating platform is disposed on the mobile device by a rotating mechanism;

The rotating mechanism is a rotating electric machine, and the rotating electric machine is disposed on the moving device, and a free end of the power output shaft of the rotating electric machine is fixedly connected to an end surface of the rotating platform away from the shelf body, and the rotating platform is driven Rotating relative to the mobile device.
The seeding automatic sorting system according to claim 1, wherein:

The mobile device is a belt drive, an AGV trolley or an RGV trolley.
The seeding automatic sorting system according to claim 1, wherein:

The cargo storage structure is at least one planar tunnel.
The seeding automatic sorting system according to claim 1, wherein:

The cargo storage structure is at least one cargo container, the cargo container including a support frame and at least one sorted goods frame disposed on the support frame, the opening of the sorted goods frame being disposed upward.
The seeding automatic sorting system according to claim 18, further comprising:

Submersible AGV, which is used to lift and carry the support frame of the cargo container.
The seeding automatic sorting system according to claim 18, wherein:

The sorting platform includes at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform has the same structure as the fixed sorting platform. The mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body;

The number of sorted goods boxes on the support frame is equal to the sum of the number of the fixed sorting platforms and the mobile sorting platform, and all the sorted goods boxes are fixed on the support frame along the vertical direction .
The seeding automatic sorting system according to claim 20, further comprising:

Complementing the shelf, the supplemental shelf is used in conjunction with the automated sorting shelving system for replenishing the automated sorting racking system.
The seeding automatic sorting system according to claim 21, wherein:

When the mobile device is an RGV trolley, a plurality of the cargo containers are respectively disposed on both sides of a track for the RGV trolley to travel, and the supplementary shelf is located at a side of the rail.
The seeding automatic sorting system according to claim 1, wherein:

A first traction plate disposed horizontally and a traction column vertically disposed on the traction plate are disposed at a rear end of the moving device, and a front end of the mobile device is horizontally disposed a second traction plate, the second traction plate is provided with a traction hole through which the traction column passes.
The seeding automatic sorting system according to claim 1, wherein:

The cargo storage structure is a plurality of sorting slides arranged in parallel, and the sorting slides are inclined.
The seeding automatic sorting system according to claim 1, further comprising:

Communication agency and host computer;

The communication mechanism is respectively connected with the sorting platform and the turning device;

The upper computer is in communication with the communication mechanism and the mobile device.
The seeding automatic sorting system according to claim 25, wherein:

The sorting platform includes at least one fixed sorting platform and at least one mobile sorting platform, the fixed sorting platform is fixedly connected to the shelf body; the mobile sorting platform has the same structure as the fixed sorting platform. The mobile sorting platform is connected to the shelf body by a lifting mechanism, and the lifting mechanism drives the corresponding mobile sorting platform to move in the height direction of the shelf body;

The communication mechanism is communicatively coupled to the lifting mechanism.
A seeding method, applying the seeding automatic sorting system of claim 1, further comprising:

a communication mechanism and a host computer, wherein the communication mechanism is respectively connected with the sorting platform and the turning device,

The upper computer is respectively connected to the communication mechanism and the mobile device, and is characterized in that the method includes the following steps:

The upper computer sends the picking task information to the mobile device and the communication mechanism, and the picking task information includes placement location information and sorting destination information of each cargo on the shelf body;

The mobile device travels to the sorting destination according to the path planned by the upper computer, wherein the upper computer obtains a planned path of the mobile device according to the sorting destination information;

The communication mechanism delivers the goods to be sorted according to the placement position information after the mobile device arrives at the sorting destination, and delivers the corresponding goods.
The seeding method according to claim 27, wherein:

The mobile device controls the turning device to reverse according to the placement position information during the traveling to the sorting destination, so that the goods corresponding to the sorting destination are dropped onto the sorting platform;

When the mobile device arrives at the sorting destination, the communication mechanism controls the sorting platform to deliver the goods located thereon according to the sorting destination information.
A method of seeding according to claim 28, wherein:

After the sorting platform delivers the goods located thereon, the communication mechanism sends the sorting completion information to the upper computer;

The mobile device and the communication mechanism receive a control command sent by the upper computer;

After the control instruction is received by the upper computer, the sorting completion information is generated according to the sorting completion information, and the control instruction includes continuing the sorting instruction or stopping the sorting instruction, and the continuing sorting instruction includes The next picking task information, the stop sorting instruction includes standby destination information;

After the mobile device and the communication mechanism receive the continuous sorting instruction, the mobile device and the sorting platform continue to perform sorting according to the next picking task information;

After the mobile device and the communication mechanism receive the stop sorting instruction, the mobile device, the sorting platform stops sorting and moves to the standby destination according to the standby destination information.