Sorting robot and sorting method

The present invention relates to a sorting robot and a sorting method. The sorting method is applicable to the foregoing sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and a sorting mechanism carrying the specific goods to be sorted corresponds to the specific sorting position. The sorting method includes: S130: the sorting mechanism receiving goods to be sorted; S140: the sorting mechanism being raised or lowered to a height corresponding to the sorting position under drive of a lifting mechanism; and S160: the sorting mechanism performing an action to deliver the goods to be sorted that is placed on the sorting mechanism to the corresponding sorting position.

TECHNICAL FIELD

The present invention relates to the technical field of intelligent warehousing and logistics, and in particular, to a sorting robot and a sorting method.

BACKGROUND

The rapid development of warehousing logistics has brought more and more convenience to people's lives. As a key link in the warehousing logistics process, the sorting of goods, to a large extent, determines the overall efficiency of warehousing logistics. At present, the sorting of goods is mainly completed manually or by simple mechanical equipment. The disadvantages of manual sorting are high labor intensity and high labor cost, while the simple mechanical equipment, which is basically special equipment, can only disperse goods in specific areas, with low efficiency, occupation of large space, and poor adaptability to different working conditions. The main goods sorting methods at present seriously restrict the overall efficiency of the warehousing logistics process.

SUMMARY

Based on this, it is necessary to provide a sorting robot and a sorting method with low cost, high efficiency, and strong universality to solve the problems of high cost, low efficiency, and poor universality in the existing goods sorting methods.

A sorting robot, including:a chassis, capable of moving on ground;a vertical framework, fixedly disposed on the chassis, and disposed along a vertical direction;a lifting mechanism, capable of rising or falling along a vertical direction relative to the vertical framework;a sorting mechanism, disposed movably along the vertical direction on the vertical framework, where the sorting mechanism is connected to the lifting mechanism, the sorting mechanism can be raised or lowered along the vertical direction under drive of the lifting mechanism, the sorting mechanism is synchronously raised or lowered with goods to be sorted, and the sorting mechanism can deliver the goods to be sorted to a corresponding sorting position; anda control center, respectively electrically connected to the chassis, the lifting mechanism, and the sorting mechanism, where the control center is configured to control the chassis, the lifting mechanism, and the sorting mechanism to individually or jointly perform an action.

A sorting method, applicable to the sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and the sorting mechanism carrying the specific goods to be sorted corresponds to the specific sorting position, the sorting method including:S30: the sorting mechanism receiving the goods to be sorted;S40: the sorting mechanism being raised or lowered to a height corresponding to the sorting position under drive of the lifting mechanism; andS60: the sorting mechanism performing an action to deliver the goods to be sorted that is placed on the sorting mechanism to the corresponding sorting position.

According to the foregoing sorting robot and sorting method, the coordination among the chassis, the lifting mechanism, and the sorting mechanism realizes automation of goods sorting, reduces cost of the goods sorting, and greatly improves efficiency of the goods sorting. In addition, the sorting mechanism is moved to different heights under the drive of the lifting mechanism, so as to put the goods to be sorted into the sorting positions of different heights, which has strong universality and reduces the area occupied by the sorting position.

A sorting robot, including:a chassis, capable of moving on ground;a vertical framework, disposed on the chassis, and disposed along a vertical direction;a lifting mechanism, capable of rising or falling along the vertical direction with respect to the vertical framework;a sorting mechanism, including a plurality of sorting components, where the plurality of sorting components are disposed on the vertical framework at intervals along the vertical direction, the plurality of soiling components are connected to the lifting mechanism, and can be synchronously raised or lowered along the vertical direction under drive of the lifting mechanism, and each of the sorting components can be synchronously raised or lowered while carrying goods to be sorted, and can deliver the goods to be sorted to a corresponding sorting position; anda control center, electrically connected to each of the chassis, the lifting mechanism and the sorting mechanism, and configured to control the lifting mechanism and the sorting mechanism to perform actions independently or jointly.

A sorting method, applicable to the sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and the sorting component carrying the specific goods to be sorted corresponds to the specific sorting position, the sorting method including:S10: the plurality of sorting components respectively receiving goods to be sorted;S30: a designated sorting component being raised or lowered to a height corresponding to the sorting position under drive of the lifting mechanism; andS50: the designated sorting component performing an action to deliver the goods to be sorted that is placed on the sorting component to the corresponding sorting position.

According to the foregoing sorting robot and sorting method, the coordination among the lifting mechanism and the sorting mechanism realizes automation of goods sorting, reduces cost of the goods sorting, and greatly improves efficiency of the goods sorting. In addition, the sorting mechanism is moved to different heights under drive of the lifting mechanism, so that the goods to be sorted can be delivered to the sorting positions having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions.

A sorting robot, including:a chassis, capable of moving on ground;a vertical framework, fixedly disposed on the chassis, and disposed along a vertical direction;a circulating lifting mechanism, the circulating lifting mechanism is configured on the vertical frame;a sorting mechanism, the sorting mechanism includes a sorting support and a sorting action platform, the sorting support is movably configured on the vertical frame, the sorting support is connected with the circulating lifting mechanism, and the sorting Driven by the circulating lifting mechanism, the bracket can be cyclically raised or lowered along the set circulation path; the sorting action platform is configured on the sorting bracket, and the sorting action platform is used to carry the goods to be sorted. When the sorting action platform performs the action, the goods to be sorted are delivered to the corresponding sorting position;a control center, electrically connected to each of the chassis, the circulating lifting mechanism, and the sorting mechanism, and used to control the chassis, the circulating lifting mechanism, and the sorting mechanism to perform actions individually or jointly.

A sorting method, applicable to the sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and the sorting action platform carrying the specific goods to be sorted corresponds to the specific sorting position, the sorting method including:S10: the sorting action platform receiving the goods to be sorted;S30: the sorting action platform being raised or lowered to a height corresponding to the sorting position under drive of the circulating lifting mechanism; andS50: the sorting action platform performing an action to deliver the goods to be sorted that is placed on the sorting action platform to a corresponding sorting position.

According to the foregoing sorting robot and sorting method, the coordination among the circulating lifting mechanism and the sorting mechanism realizes automation of goods sorting, reduces cost of the goods sorting, and greatly improves efficiency of the goods sorting. In addition, the sorting mechanism is moved to different heights under drive of the circulating lifting mechanism, so that the goods to be sorted can be delivered to the sorting positions having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions.

DETAILED DESCRIPTION

To make the objectives, technical solutions, and advantages of the present invention clearer and more comprehensible, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain the present invention but are not intended to limit the present invention.

It should be noted that, when a component is referred to as “being fixed to” another component, the component may be directly on the another component, or there may be an intermediate component. When a component is considered to be “connected to” another component, the component may be directly connected to the another component, or an intervening component may also be present. In contrast, when a component is referred to as being “directly on” or “directly connected to” another component, there is no intervening component. In contrast, when a component is referred to as being “directly” connected to another component, there is no intervening component. The terms “vertical”, “horizontal”, “left”, and “right” and similar expressions used in this specification are merely used for the purpose of description.

In the description of the present invention, orientation or position relationships indicated by the terms such as “length”, “width”, “thickness”, “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inner”, and “outer” are based on orientation or position relationships shown in the accompanying drawings, and are used only for ease and brevity of illustration and description of the present invention, rather than indicating or implying that the mentioned apparatus or component needs to have a particular orientation or needs to be constructed and operated in a particular orientation. Therefore, such terms should not be construed as limiting of the present invention.

As shown inFIG.1andFIG.2, an embodiment of the present invention provides a sorting robot110. The sorting robot110includes a vertical framework1100, a lifting mechanism1200, and a sorting mechanism1300. The vertical framework1100is disposed along a vertical direction. The lifting mechanism1200can rise or falls along the vertical direction relative to the vertical framework1100. The sorting mechanism1300is disposed movably along the vertical direction on the vertical framework1100. The sorting mechanism1300is connected to the lifting mechanism1200. The sorting mechanism1300can be raised or lowered along the vertical direction under drive of the lifting mechanism1200. The sorting mechanism1300drives goods to be sorted to be synchronously raised or lowered, and the sorting mechanism1300can deliver the goods to be sorted to a corresponding sorting position1810. According to the foregoing sorting machine, coordination between the lifting mechanism1200and the sorting mechanism1300realizes automation of goods sorting, thereby reducing cost of the goods sorting, and greatly improving efficiency of the goods sorting at the same time. In addition, the sorting mechanism1300is moved to different heights under the drive of the lifting mechanism1200, so as to be capable of putting the goods to be sorted into the sorting positions1810of different heights, which has strong universality and reduces the area occupied by the sorting position1810. The sorting mechanism1300that can be raised or lowered is also more suitable for actual working conditions in which the sorting robot110receives goods, and the sorting mechanism1300can be raised or lowered to a suitable receiving height so as to quickly complete receiving the goods.

The sorting mechanism1300is an action execution terminal of the sorting robot110provided by the present invention, and a function of the sorting mechanism1300is to deliver the goods to be sorted to the corresponding sorting position1810. Optionally, the sorting mechanism1300is a manipulator, a push rod capable of acting, a plane with a conveying function or the like. As shown inFIG.2toFIG.4, in a possible implementation, the sorting mechanism1300includes a sorting bracket1310and a sorting action platform1320. The sorting bracket1310is disposed movably along the vertical direction on the vertical framework1100. The sorting bracket1310is connected to the lifting mechanism1200. The sorting bracket1310can be raised or lowered along the vertical direction under the drive of the lifting mechanism1200. The sorting action platform1320is disposed on the sorting bracket1310, the sorting action platform1320can carry the goods to be sorted, and the sorting action platform1320delivers the goods to be sorted to the corresponding sorting position1810when performing an action. Structure manners of the sorting bracket1310and the sorting action platform1320are convenient for carrying the goods to be sorted, and the sorting action platform1320has strong adaptability to goods in different sizes or different weights, which can ensure safe sorting of volatile and fragile goods at the same time.

Optionally, when the sorting action platform1320performs a sorting action, a platform surface action of the sorting action platform1320or any other action mechanism delivers the goods to be sorted to the corresponding sorting position1810. In an embodiment of the present invention, as shown inFIG.3, the sorting action platform1320includes a sorting action frame1321, a sorting belt1322, and a sorting drive component. The sorting action frame1321is disposed on the sorting bracket1310, the sorting drive component is disposed on the sorting action frame1321, the sorting belt1322is disposed rotatably on the sorting action frame1321, and the sorting belt1322is in transmission connection with the sorting drive component. The sorting belt1322is configured to carry the goods to be sorted. The sorting belt1322delivers the goods to be sorted to the corresponding sorting position1810when rotating under drive of the sorting drive component. A supporting surface for the goods to be sorted is formed on an upper surface of a rotating sorting belt1322, and a sorting action performed by the sorting action platform1320is rotation of the sorting belt1322. By adopting the sorting action frame1321, the sorting belt1322, and the sorting drive component, the sorting action platform1320does not need to occupy extra action space when performing the sorting action, and the sorting belt1322has advantages such as stable performance, low cost, and easy replacement. In some others embodiment of the present invention, goods placed on the sorting action platform1320may be pushed to the sorting position1810by an elastic mechanism, or pushed to the sorting position1810by a cam mechanism; or the platform surface of the sorting action platform1320is formed by a plurality of rotatable rollers. The present invention does not limit a specific structural form of the sorting action platform1320.

A function of the sorting drive component is to drive the sorting belt1322to perform rotation of a set process, so as to deliver the goods to be sorted thereon to the corresponding sorting position1810, thereby completing the sorting action for the goods. In a possible implementation, the sorting drive component includes a sorting motor and two sorting action shafts. The two sorting shafts are disposed at intervals on the sorting action frame1321. The sorting belt1322is sleeved on the two sorting shafts. At least one of the sorting shafts is in transmission connection with the sorting motor, and the sorting motor can rotate forward or reverse. The combination manner between the motor and the sorting shaft has advantages such as high transmission efficiency, easy control, mature technology, and low cost. Further, an output shaft of the motor is directly connected to the sorting shaft or in transmission connection with the sorting shaft through a gear structure. In an embodiment of the present invention, the motor is a stepper motor. In another possible implementation, the sorting drive component is in a form of combination of an air motor and a rotating shaft or a driving form of a hydraulic motor and a rotating shaft, as long as the sorting belt1322can be driven to rotate.

The sorting action platform1320can deliver the goods to be sorted to the sorting position1810located at its own delivery end. In an embodiment of the present invention, as shown inFIG.3toFIG.4, the sorting action platform1320is disposed rotatably on the sorting bracket1310, and the sorting action platform1320can rotate relative to the sorting bracket1310in a horizontal plane. Specifically, the sorting action frame1321is disposed rotatably on the sorting bracket1310, and the sorting belt1322and the sorting drive component synchronously rotate with the sorting bracket1310. When the sorting position1810is not directly located at a delivery end of the sorting action platform1320, the sorting action platform1320can adjust the delivery end to face the sorting position1810by its own rotation, thereby avoiding overall rotation of the sorting robot110, and greatly improving sorting efficiency of the sorting robot110. In addition, the sorting action platform1320can, when receiving goods, enhance adaptability to receiving conditions by its own rotation, which greatly improves receiving efficiency of the sorting robot110.

In a possible implementation, as shown inFIG.3toFIG.4, the sorting mechanism1300further includes a rotation drive component1330, the rotation drive component1330is disposed on the sorting bracket1310, and the rotation drive component1330is in transmission connection with the sorting action frame1321of the sorting action platform1320. The sorting action platform1320can integrally rotate relative to the sorting bracket1310in a horizontal plane under drive of the rotation drive component1330. In a specific embodiment of the present invention, the rotation drive component1330includes a rotation gear1331disposed on a bottom of the sorting action frame1321and a rotation motor1332fixedly installed on the sorting bracket1310. An output shaft of the rotation motor1332is in transmission connection with the rotation gear1331, thereby driving the sorting action platform1320to rotate. In an embodiment of the present invention, the sorting robot110further includes a storing mechanism1600, the storing mechanism1600is disposed on the vertical framework1100, and the storing mechanism1600is configured to store the goods to be sorted. The storing mechanism1600conveys the goods to be sorted to the sorting mechanism1300when performing an action, or the sorting mechanism1300can convey the goods to the storing mechanism1600. The storing mechanism1600can temporarily store the goods to be sorted, which improves ability of the sorting robot110to carry goods.

When the goods to be sorted stored in the storing mechanism1600need to be delivered, the storing mechanism1600first conveys the goods to be sorted to the sorting action platform1320of the sorting mechanism1300, and then the sorting action platform1320performs a delivery action. Further, the storing mechanism1600includes a plurality of storing components1610, and the plurality of storing components1610are disposed at intervals on the vertical framework1100along the vertical direction. The storing component1610conveys the goods to be sorted to the sorting mechanism1300when performing an action, and the sorting mechanism1300can deliver the goods to be sorted to the corresponding sorting position1810, or the sorting mechanism1300can convey the goods to the corresponding storing component1610. The plurality of storing components1610further increase a quantity of the goods to be sorted carried by the sorting robot110provided by this embodiment at a time, which significantly improves the sorting efficiency of the sorting robot110.

Optionally, the storing component1610is a manipulator, a push rod capable of acting, a plane with a conveying function or the like. In a possible implementation, as shown inFIG.1,FIG.2, andFIG.5, the storing component1610includes a storing bracket1611and a storing action platform1612. The storing bracket1611is fixedly disposed on the vertical framework1100, the storing action platform1612is disposed on the storing bracket1611, the storing action platform1612can store the goods to be sorted, and the storing action platform1612conveys the goods to be sorted to the sorting mechanism1300when performing an action. Structure manners of the storing bracket1611and the storing action platform1612are convenient for carrying the goods to be sorted, and the storing action platform1612has strong adaptability to goods in different sizes or different weights, which can ensure safe storing for volatile and fragile goods at the same time.

Optionally, when the storing action platform1612performs a convey action, a platform surface action of the storing action platform1612or any other action mechanism conveys the goods to be sorted to the sorting mechanism1300. In an embodiment of the present invention, the storing action platform1612includes a storing belt and a storing drive component. The storing drive component is disposed on the storing bracket1611. The storing belt is disposed rotatably on the storing bracket1611. The storing belt is in transmission connection with the storing drive component. The storing belt is configured to carry goods to be stored. The storing belt conveys the goods to be stored to the sorting mechanism1300when rotating under the drive of the storing drive component. A supporting surface for the goods to be sorted is formed on an upper surface of the rotating storing belt, and convey action performed by the storing action platform1612is rotation of the storing belt. By using a manner of the storing belt and the storing drive component, the storing action platform1612does not need to occupy extra action space when performing the convey action, and the storing belt has advantages such as stable performance, low cost, and easy replacement. In some other embodiments of the present invention, goods placed on the storing action platform1612may be pushed to the sorting mechanism1300by an elastic mechanism, or pushed to the sorting mechanism1300by a cam mechanism; or the platform surface of the storing action platform1612is formed by a plurality of rotatable rollers. The present invention does not limit the specific structural form of the storing action platform1612.

A function of the storing drive component is to drive the storing belt to perform rotation of a set process, so as to deliver the goods to be sorted thereon to the sorting mechanism1300. In a possible implementation, the storing drive component includes a storing motor and two storing shafts. The two storing shafts are disposed at intervals on the storing bracket1611. The storing belt is sleeved on the two storing shafts. At least one of the storing shafts is in transmission connection with the storing motor, and the storing motor can rotate forward or reverse. Combination of a motor and a storing shaft has advantages such as high transmission efficiency, easy control, mature technology, and low cost. Further, an output shaft of the motor is directly connected to the storing shaft or is in transmission connection with the storing shaft through a gear structure. In an embodiment of the present invention, the motor is a stepper motor. In another possible implementation, the storing drive component is in a form of combination of an air motor and a rotating shaft or a driving form of a hydraulic motor and a rotating shaft, as long as the storing belt can be driven to rotate.

Further, a photographing component is further installed on the sorting mechanism1300. The photographing component is configured to obtain image information of goods or the sorting position1810, so as to determine a height of the sorting action platform1320relative to the sorting position1810, or determine a height of the sorting action platform1320relative to the storing action platform1612. In this embodiment, the image information is a two-dimensional code affixed to the goods to be sorted or the sorting position1810.

In an embodiment of the present invention, as shown inFIG.9, the sorting robot110includes two sets of vertical frameworks1100and two sets of storing mechanisms1600. The two sets of vertical frameworks1100are spaced apart from each other. The two sets of storing mechanisms1600are respectively disposed on opposite sides of the two sets of vertical frameworks1100. The sorting mechanism1300is disposed movably between the two sets of vertical frameworks1100. The sorting mechanism1300can be raised or lowered along the vertical direction under the drive of the lifting mechanism1200. The two sets of storing mechanisms1600further increase a quantity of the goods to be sorted carried by the sorting robot110provided in this embodiment at a time, which can significantly improve the sorting efficiency of the sorting robot110. Further, the sorting robot110includes two sets of lifting mechanisms1200. Each set of lifting mechanisms1200is separately disposed on a set of vertical frameworks1100. The two sets of lifting mechanisms1200are respectively connected to two ends of the sorting mechanism1300near the vertical frameworks1100. The sorting mechanism1300can be raised or lowered along the vertical direction under the drive of the two sets of lifting mechanisms1200. The two sets of lifting mechanisms1200improve lifting stability of the sorting mechanism1300.

A function of the lifting mechanism1200is to drive the sorting mechanism1300in the foregoing embodiments to be raised or lowered along the vertical direction. In an embodiment of the present invention, as shown inFIG.6toFIG.7, the lifting mechanism1200includes a power supply1210and a transmission component1220. The power supply1210and the transmission component1220are respectively disposed on the vertical framework1100. The power supply1210is in transmission connection with an input side of the transmission component1220. An output side of the transmission component1220is in transmission connection with the sorting mechanism1300. The power supply1210and the transmission component1220are respectively disposed on the vertical framework1100, and the transmission connection between the power supply1210and the transmission component1220facilitates mounting or removal of the lifting mechanism1200on the vertical framework1100. Optionally, the power supply1210outputs power in a form of rotation, linear motion, or any other form of motion, and the transmission component1220in transmission connection with the power supply1210finally outputs motion along the vertical direction. In a possible implementation, the power supply1210includes a drive motor. The drive motor is in transmission connection with the input side of the transmission component1220. The power supply1210in the form of a motor operates more stably. Further, the drive motor can rotate forward or reverse, which is convenient for controlling a rising and falling process of the lifting mechanism1200.

In a possible implementation, as shown inFIG.6toFIG.7, the transmission component1220includes a hauling rope1221and at least two runners1222. The at least two runners1222are disposed rotatably on the vertical framework1100. The at least two runners1222are disposed at intervals on the vertical framework1100along the vertical direction. At least one runner1222is in transmission connection with the power supply1210. The hauling rope1221is sleeved on the at least two runners1222, and the hauling rope1221is fixedly connected to the sorting mechanism1300. At least one runner1222drives the hauling rope1221to move by meshing or friction when rotating, thereby driving the sorting mechanism1300to be raised or lowered along the vertical direction. The transmission component1220in a form of the hauling rope1221and the runner1222has advantages such as simple structure, stable performance, low cost, and easy replacement while realizing rising and falling. In this embodiment, the sorting bracket1310is fixedly connected to the hauling rope1221.

In a specific embodiment of the present invention, as shown inFIG.6, the hauling rope1221is annular, and the sorting bracket1310is fixedly installed on the hauling rope1221. The two runners1222are disposed at intervals on the vertical framework1100along the vertical direction, and the hauling rope1221is sleeved on the two runners1222disposed along the vertical direction. Any of the runners1222drives the hauling rope1221to rotate in a vertical plane by friction or meshing when rotating, thereby driving the sorting mechanism1300to be raised or lowered in the vertical plane. The runner1222is a V-belt wheel, and the hauling rope1221is a V-belt. The V-belt wheel drives the V-belt to move by friction when rotating. According to an actual situation, the runner1222may further be a sprocket. Correspondingly, the hauling rope1221may be a chain. The sprocket drives the chain to move by meshing when rotating. An output shaft of the drive motor is in transmission connection with one or more V-belt wheels, and the drive motor drives the runner1222and the hauling rope1221to rotate.

Specifically, in the foregoing embodiment, as shown inFIG.6, the lifting mechanism1200includes two sets of transmission components1220. The two sets of transmission components1220are respectively installed on the vertical framework1100along the vertical direction, and output sides of the two sets of transmission components1220are respectively fixedly connected to two ends of the sorting bracket1310. The transmission component1220further includes a transmission shaft1230. An output end of the drive motor is in transmission connection with the middle part of the transmission shaft1230, and two ends of the transmission shaft1230are respectively connected to input ends of the two sets of transmission components1220, thereby realizing driving the two sets of transmission components1220to be synchronously raised or lowered by one power supply1210, and enhancing lifting stability of the lifting mechanism1200. Further, the lifting mechanism1200includes a plurality of power supplies1210and a plurality of sets of transmission components1220. Each set of transmission components1220is driven by a separate power supply1210, and an output side of each set of transmission components1220is respectively in transmission connection with the sorting mechanism1300.

In an embodiment of the present invention, as shown inFIG.7, the sorting robot110further includes a guide mechanism1400. The guide mechanism1400is disposed on the vertical framework1100, the guide mechanism1400is connected to the sorting mechanism1300, and the guide mechanism1400is configured to keep the sorting mechanism1300being smoothly raised or lowered along the vertical direction. Specifically, the guide mechanism1400includes a guide rail1410and a guide component1420. The guide rail1410is fixedly disposed on the vertical framework1100along the vertical direction, the guide component1420is fixedly connected to the sorting mechanism1300, and the guide component1420keeps in contact with the guide rail1410as the sorting mechanism1300is raised or lowered along the vertical direction. Optionally, contact between the guide component1420and the guide rail1410is rolling contact, sliding contact, or other kinds of contact. Further, the guide component1420includes a guide wheel set1421and a guide connecting rack1422. The guide wheel set1421is disposed rotatably on the guide connecting rack1422, and the guide connecting rack1422is fixedly connected to the sorting mechanism1300. The guide wheel set1421keeps in rolling contact with the guide rail1410as the sorting mechanism1300is raised or lowered along the vertical direction.

In an embodiment of the present invention, as shown inFIG.7andFIG.9, the guide mechanism1400includes a plurality of guide rails1410and a plurality of sets of guide components1420. The plurality of guide rails1410are matched with the plurality of sets of guide components1420one by one. The plurality of guide rails1410are respectively fixedly configured on the vertical framework1100along the vertical direction. Each set of guide components1420is respectively fixedly connected to the sorting mechanism1300. Each set of guide components1420respectively keeps in contact with a corresponding guide rail1410as the sorting mechanism1300is raised or lowered along the vertical direction. The plurality of guide rails1410and the plurality of sets of guide components1420further ensure that the sorting mechanism1300is smoothly raised or lowered along the vertical direction. It is to be understood that the vertical framework1100in the present invention may be a closed framework structure, or an open framework structure extending along a vertical direction as a whole. In a possible implementation, the vertical framework1100has two uprights disposed in parallel along the vertical direction, and guide rails1410are respectively installed on the two uprights. The guide rail1410is formed by group welding of sheet material and section bar.

As shown inFIG.1,FIG.8, andFIG.9, the sorting robot110further includes a movable chassis1500, and the vertical framework1100is disposed on the chassis1500. The movable chassis1500may drive the sorting robot110to move, which greatly improves adaptability of the sorting robot110in this embodiment to actual working conditions. Specifically, the chassis1500includes a plate frame1510, a marching drive component, and a plurality of rotating wheels1520. The vertical framework1100is disposed on an upper part of the plate frame1510, the plurality of rotating wheels1520are disposed on a bottom of the plate frame1510, and the marching drive component is disposed on the plate frame1510. At least one rotating wheel1520is in transmission connection with the marching drive component. Further, at least two rotating wheels1520are respectively in transmission connection with the marching drive component, and the at least two rotating wheels1520respectively in transmission connection with the marching drive component are distributed on two sides of the plate frame1510along a marching direction, thereby realizing a steering function of the chassis1500. The marching drive component includes at least two wheel drive motors, and the at least two rotating wheels1520distributed on the two sides of the plate frame1510along the marching direction are respectively driven by separate wheel drive motors. The at least two rotating wheels1520distributed on the two sides of the plate frame1510along the marching direction are respectively driven by the separate wheel drive motors, which may simplify a transmission structure on the chassis1500.

In a specific embodiment, a driving wheel and a driven wheel are installed on the chassis1500. The driving wheel and the driven wheel may respectively rotate relative to the chassis1500. The driving wheel and the driven wheel jointly support the chassis1500. The driving wheel is driven by a wheel drive motor to make the chassis1500to move. By configuring the movable chassis1500, the sorting robot110may deliver goods among a plurality of goods shelves180. The number of the driving wheels is two, and the two driving wheels are symmetrically distributed. Correspondingly, the number of the wheel drive motors is two. The two driving wheels are respectively driven by the two wheel drive motors, which may enable rotation speed of the two driving wheels to be different, so as to realize steering of the chassis1500. The number of the driven wheels is four, and the four driven wheels are distributed in a rectangular shape. The driven wheel may be a universal wheel or any other wheel structures with a steering function. According to an actual situation, the number of the driven wheels is not limited to four, but may further be six, three, or the like.

In this embodiment, a guide apparatus (not shown) is further installed on the chassis1500, and the guide apparatus is a camera, which is configured to identify a graphic code attached to the ground, so that the chassis1500can march along a preset path. The graphic code may be a two-dimensional code, a barcode, or some customized identification codes. In some other embodiments, the guide apparatus is a laser guide apparatus, configured to guide the chassis1500to march along a laser beam; or the guide apparatus is a short-wave receiving apparatus, which receives a preset short-wave signal to guide the chassis1500to march along a preset path. It should be noted that, in some other embodiments, the chassis1500may be omitted. The vertical framework1100is directly fixedly installed on the ground or other platforms, and is only configured to carry goods on the shelving unit180around the vertical framework1100.

In an embodiment of the present invention, the sorting robot110further includes a control center. The control center is respectively electrically connected to the chassis1500, the lifting mechanism1200, the storing mechanism1600, and the sorting mechanism1300. The control center is configured to control the chassis1500, the lifting mechanism1200, the storing mechanism1600, and the sorting mechanism1300to individually or jointly perform an action, thereby ensuring sorting efficiency of the sorting robot110.

As shown inFIG.8, in an embodiment of the present invention, a plurality of storing components1610are disposed in a plurality of columns on the vertical framework1100, and the sorting mechanism1300may simultaneously correspond to a plurality of storing components1610at a same height when being raised or lowered. The sorting mechanism1300can flip around an axis in a horizontal direction at a set angle. The sorting mechanism1300can deliver the goods to be sorted to a corresponding sorting position1810when flipping around a horizontal axis1340at the set angle. The plurality of storing components1610are disposed in a plurality of columns on the vertical framework1100, which greatly increases the quantity of goods stored by the sorting robot110at a time, and improves the sorting efficiency of the sorting robot110as a whole.

An embodiment of the present invention further provides a sorting system. As shown inFIG.1,FIG.8, andFIG.9, the sorting system includes the shelving unit180and the sorting robot110described in the foregoing embodiments. The sorting robot110is configured to deliver the goods to be sorted to the corresponding sorting position1810on the shelving unit180. The sorting system provided in this embodiment has the same advantages as the sorting robot110in the foregoing embodiments. In a possible implementation, an open container is placed on the shelving unit180, and one container is one sorting position1810. Further, the shelving unit180has at least two sorting positions1810of different heights. The sorting mechanism1300can be raised or lowered to a height of a corresponding sorting position1810under the drive of the lifting mechanism1200. The sorting mechanism1300can deliver the goods to be sorted to the corresponding sorting position1810.

As shown inFIG.1,FIG.8, andFIG.9, an embodiment of the present invention provides a sorting robot110. The sorting robot110includes the chassis1500, the vertical framework1100, the lifting mechanism1200, the sorting mechanism1300, and the control center. The chassis1500can move on ground. The vertical framework1100is fixedly disposed on the chassis1500, and the vertical framework1100is disposed along the vertical direction. The lifting mechanism1200can rise or fall along the vertical direction relative to the vertical framework1100. The sorting mechanism1300is disposed movably along the vertical direction on the vertical framework1100. The sorting mechanism1300is connected to the lifting mechanism1200. The sorting mechanism1300can be raised or lowered along the vertical direction under drive of the lifting mechanism1200. The sorting mechanism1300drives goods to be sorted to be synchronously raised or lowered, and the sorting mechanism1300can deliver the goods to be sorted to a corresponding sorting position1810. The control center is respectively electrically connected to the chassis1500, the lifting mechanism1200, and the sorting mechanism1300. The control center is configured to control the chassis1500, the lifting mechanism1200, and the sorting mechanism1300to individually or jointly perform an action. According to the foregoing sorting robot110, coordination among the chassis1500, the lifting mechanism1200, and the sorting mechanism1300realizes automation of goods sorting, reduces cost of the goods sorting, and greatly improves efficiency of the goods sorting. In addition, the sorting mechanism1300is moved to different heights under the drive of the lifting mechanism1200, so as to put the goods to be sorted into the sorting positions1810of different heights, which has strong universality and reduces the area occupied by the sorting position1810.

An embodiment of the present invention further provides a sorting method, which is applicable to the sorting robot described in the foregoing solutions. The sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and the sorting mechanism carrying the specific goods to be sorted corresponds to the specific sorting position, as shown inFIG.10, the sorting method includes:S130: the sorting mechanism receiving the goods to be sorted;S140: the sorting mechanism being raised or lowered to a height corresponding to the sorting position under drive of the lifting mechanism; andS160: the sorting mechanism performing an action to deliver the goods to be sorted that is placed on the sorting mechanism to the corresponding sorting position.

According to the foregoing sorting method, the coordination among the chassis, the lifting mechanism, and the sorting mechanism realizes automation of goods sorting, reduces cost of the goods sorting, and greatly improves efficiency of the goods sorting. In addition, the sorting mechanism is moved to different heights under the drive of the lifting mechanism, so as to put the goods to be sorted into the sorting positions of different heights, which has strong universality and reduces the area occupied by the sorting position.

In a possible implementation, each part of the sorting robot performs actions in a coordinated manner under the control of the control center, and the control center of the sorting robot keeps a communication connection with an external server. The sorting robot can identify information of the goods to be sorted, and the sorting robot can obtain information of the sorting position corresponding to each of the goods to be sorted. The sorting robot coordinates and controls various parts according to the obtained information, to efficiently complete the sorting of goods. According to the sorting robot and the sorting method provided in the foregoing embodiments, the sorting mechanism performs a delivery action only after the information of the goods to be sorted carried by the sorting mechanism corresponds to the information of the sorting position.

In an embodiment of the present invention, in order to further improve the sorting efficiency of the sorting robot, the sorting robot further includes a storing mechanism. The storing mechanism is disposed on the vertical framework, the storing mechanism is configured to store the goods to be sorted, and the storing mechanism conveys the goods to be sorted to the sorting mechanism when performing an action, or the sorting mechanism can convey the goods to the storing mechanism. As shown inFIG.11, before the step S130, the sorting method further includes step S110: the storing mechanism receiving the goods to be sorted; and in the step S130, the storing mechanism performs an action to convey the goods to be sorted to the sorting mechanism. The storing mechanism that can store the goods to be sorted increases a quantity of the goods to be sorted carried by the sorting robot and the sorting method in this embodiment at a time, reduces delivery time of a single one of goods to be sorted, and improves the sorting efficiency of the sorting robot.

Further, the storing mechanism includes a plurality of storing components, the plurality of storing components being disposed at intervals on the vertical framework along the vertical direction, a plurality of sorting positions being disposed at intervals along the vertical direction, the storing component conveying the goods to be sorted to the sorting mechanism when performing an action, and the sorting mechanism being capable of delivering the goods to be sorted to the corresponding sorting position, or the sorting mechanism being capable of conveying the goods to a corresponding storing component. As shown inFIG.12, in the step S110, the plurality of storing components respectively receive the goods to be sorted; in the step S130, a particular storing component conveys the goods to be sorted to the sorting mechanism; and after the step S160, the sorting method further includes step S170: the sorting robot repeating the steps S130to S160until all goods to be sorted that need to be delivered to the sorting positions in a column have been delivered. A plurality of storing components increase the quantity of the goods to be sorted carried by the sorting robot and the sorting method in this embodiment at a time, reduce the delivery time of single piece of goods to be sorted, and improve the sorting efficiency of the sorting robot.

According to the foregoing sorting method, the sorting robot preferentially delivers the goods to be sorted to a column of sorting positions. When a plurality of sorting positions in this column correspond to a plurality of goods to be sorted carried by the sorting robot, the sorting mechanism successively receives the goods to be sorted from a corresponding storing component and then delivers the goods to be sorted to a corresponding storing position. In an actual working condition, one sorting position may correspond to only one piece of the goods to be sorted, or one sorting position may correspond to a plurality of goods to be sorted. The sorting mechanism of the sorting robot performs a delivery action according to the corresponding information of the sorting position and the goods to be sorted. A process of the sorting mechanism delivering the goods to be sorted is accompanied by the rising or falling of the sorting mechanism. It is to be understood that when information to be sorted carried by the sorting mechanism does not correspond to the information of the sorting position, even if a height of the sorting mechanism corresponds to the sorting position, the sorting mechanism does not perform the delivery action.

In an embodiment of the present invention, the actual working condition is that a plurality of columns of the sorting positions are sequentially disposed along a horizontal direction. The plurality of columns of the sorting positions are sequentially disposed along a horizontal direction. As shown inFIG.12, after the step S170, the sorting method further includes step S180: the sorting mechanism being moved to another delivery position under drive of the chassis, and the sorting robot repeating the step S170. The sorting robot provided in this embodiment preferentially completes delivering goods to be delivered to one column of sorting positions, and then the chassis drives the sorting mechanism to other delivery positions for delivering to other columns of sorting positions. The sorting method provided in this embodiment effectively ensures that the sorting robot delivers the goods to be sorted column by column, thereby avoiding time waste caused by the sorting robot repeatedly going back and forth to the same delivery position.

In the foregoing embodiment, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot may move to an adjacent column of sorting positions, or may move to a spaced column of sorting positions according to an actual working condition. In a possible implementation, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot preferentially is moved to the adjacent column of sorting positions. Further, as shown inFIG.12, after the step S180, the sorting method further includes step S190: the sorting robot repeating the steps S170and S180until all goods to be sorted carried by the storing component have been delivered; the sorting robot waiting for a next instruction. The sorting method provided in this embodiment effectively ensures that each piece of the goods to be sorted is delivered in a case that the sorting efficiency is improved.

In an embodiment of the present invention, a plurality of storing components are disposed in a plurality of columns on the vertical framework, the sorting mechanism can simultaneously correspond to the plurality of storing components of a same height when being raised or lowered, and the sorting mechanism can flip around an axis in the horizontal direction at a set angle. In the step S160, the sorting mechanism flips at the set angle to deliver the goods to be sorted placed on the sorting mechanism to the corresponding sorting position. A plurality of storing components are disposed in a plurality of columns on the vertical framework, which greatly increases the quantity of goods stored by the sorting robot at a time, and improves the sorting efficiency of the sorting robot as a whole.

In an actual working condition, due to needs of actual warehousing, a sorting mechanism located at a same delivery position often needs to deliver the goods to be sorted in different directions. If the robot integrally adjusts an orientation to suit the delivery direction of each sorting position, it will greatly reduce the efficiency of the sorting robot in delivering the goods to be sorted. In an embodiment of the present invention, the sorting mechanism includes a sorting bracket and a sorting action platform, the sorting bracket being disposed movably along the vertical direction on the vertical framework, the sorting bracket being connected to the lifting mechanism, the sorting bracket being capable of being raised or lowered along the vertical direction under the drive of the lifting mechanism, the sorting action platform being disposed rotatably on the sorting bracket, the sorting action platform being capable of rotating in a horizontal plane relative to the sorting bracket, the sorting action platform being capable of carrying the goods to be sorted, and the sorting action platform delivering the goods to be sorted to the corresponding sorting position when performing an action, or the sorting action platform being capable of conveying the goods to the storing mechanism; and as shown inFIG.13, before the step S160, the sorting method further includes step S150: the sorting action platform rotating in the horizontal plane relative to the sorting bracket until a delivery end of the sorting action platform faces the corresponding sorting position.

The sorting action platform disposed rotatably on the sorting bracket obviously enhances the adaptability of this embodiment to actual working conditions. When the current delivery end of the sorting action platform does not directly face the delivery direction of the corresponding sorting position, only the sorting action platform drives the goods to be sorted to move, which improves the delivery efficiency of the sorting robot.

The sorting mechanism needs to receive the goods to be sorted from the corresponding storing component. In an actual working condition, the sorting mechanism and the corresponding storing component are located at a same height or different heights. Further, as shown inFIG.14, the step S130in the foregoing embodiments includes:S1301: the sorting mechanism being raised or lowered to a height of a corresponding storing component under the drive of the lifting mechanism; andS1303: the storing component performing an action to convey the goods to be sorted to the sorting mechanism.

When the sorting mechanism and the corresponding storing component are located at a same height, the corresponding storing component performs an action to convey the goods to be sorted to the sorting mechanism, which effectively protects the goods to be sorted and prevents the goods to be sorted from being broken or messed.

In an actual working condition, when the sorting mechanism is raised or lowered to a height corresponding to the sorting position, a direction in which the sorting mechanism receives the goods corresponds to or does not correspond to a direction in which the storing mechanism delivers the goods. When the direction in which the sorting mechanism receives the goods does not correspond to the direction in which the storing mechanism delivers the goods, the sorting mechanism needs to adjust its orientation to be suitable for receiving the goods to be sorted. In an embodiment of the present invention, the sorting mechanism includes a sorting bracket and a sorting action platform, the sorting bracket being disposed movably along the vertical direction on the vertical framework, the sorting bracket being connected to the lifting mechanism, the sorting bracket being capable of being raised or lowered along the vertical direction under the drive of the lifting mechanism, the sorting action platform being disposed rotatably on the sorting bracket, the sorting action platform being capable of rotating in a horizontal plane relative to the sorting bracket, the sorting action platform being capable of carrying the goods to be sorted, and the sorting action platform delivering the goods to be sorted to the corresponding sorting position when performing an action, or the sorting mechanism being capable of conveying the goods to the storing component; and as shown inFIG.14, after the step S1301, the sorting method further includes step S1302: the sorting action platform rotating in the horizontal plane relative to the sorting bracket until a receiving end of the sorting action platform faces the storing component.

The sorting action platform disposed rotatably on the sorting bracket realizes automation of the process of conveying the goods to be sorted from the storing component to the sorting mechanism, and improves the adaptability of the sorting robot in this embodiment to the actual working conditions. It is to be understood that, the sorting action platform may be rotated within a range of 360° or within a range of 180°, or within a range of 90° relative to the sorting bracket.

In an actual working condition, when a receiving position for receiving the goods is different from a delivery position for delivering the goods, the sorting robot needs to go back and forth between the receiving position for receiving the goods and the delivery position for delivering the goods. In an embodiment of the present invention, as shown inFIG.13, before the step S130, the sorting method further includes step S120: the sorting robot being moved to a delivery position corresponding to the sorting position. Specifically, as shown inFIG.15, the step S120includes:S1201: the sorting robot receiving a delivery instruction including delivery position information; andS1202: the chassis driving the sorting robot to move to the delivery position corresponding to the sorting position according to the delivery position information.

Further, the step S1202includes:S12021: the chassis driving the sorting robot to move to a sorting side of the shelving unit; andS12023: the chassis driving the sorting robot to move along a horizontal extension direction of the shelving unit until the sorting action platform moves to the delivery position corresponding to the sorting position.

Specifically, after the step S12021, the sorting method further includes step S12022: the chassis driving the sorting robot to move until the sorting action platform approaches a sorting area of the shelving unit.

In an actual working condition, when a receiving position for receiving the goods is different from a delivery position for delivering the goods, the sorting robot needs to go back and forth between the receiving position for receiving the goods and the delivery position for delivering the goods. In an embodiment of the present invention, as shown inFIG.16, the step S110includes:S1101: the sorting robot receiving a receiving instruction including receiving position information;S1102: the chassis driving the sorting robot to move to a corresponding receiving position according to the receiving position information; andS1103: the storing component receiving the goods to be sorted.

Optionally, the storing component of the sorting robot directly receives the goods to be sorted conveyed by an operator or other apparatuses, or the storing component receives the goods to be sorted through the sorting mechanism. In an embodiment of the present invention, the storing mechanism receives the goods to be sorted conveyed by the sorting mechanism, and the sorting mechanism has a receiving height when receiving the goods, and as shown inFIG.17, the step S1103includes:S11031: the sorting mechanism being raised or lowered to the receiving height under the drive of the lifting mechanism;S11032: the sorting mechanism receiving the goods to be sorted;S11033: the sorting mechanism carrying the goods being raised or lowered to the height corresponding to the storing component;S11035: the sorting mechanism performing an action to convey the carried goods to the corresponding storing component; andS11036: repeating the steps S11031and S11035until there are goods respectively stored on all the storing components, or the sorting mechanism is empty.

The sorting mechanism conveys the goods to be sorted to the storing component, so that the operator or other apparatuses only need to convey the goods to be sorted to the sorting mechanism, and the sorting mechanism that can be raised or lowered to the receiving height can receive the goods at different heights, which improves the efficiency of the sorting robot in receiving the goods to be sorted, and in addition, enhances the adaptability of the sorting robot in this embodiment to actual working conditions.

In an actual working condition, when the sorting robot receives the goods to be sorted, the receiving direction of the sorting mechanism corresponds or does not correspond to a direction in which the sorting mechanism delivers the goods to be sorted to the storing component. Further, when the receiving direction of the sorting mechanism does not correspond to the direction in which the sorting mechanism delivers the goods to be sorted to the storing component, the sorting mechanism includes the sorting bracket and the sorting action platform. The sorting bracket is movably configured on the vertical framework along the vertical direction, the sorting bracket is connected to the lifting mechanism, and the sorting bracket can be raised or lowered along the vertical direction under the drive of the lifting mechanism. The sorting action platform is rotatably configured on the sorting bracket. The sorting action platform can rotate in a horizontal plane relative to the sorting bracket, the sorting action platform can carry the goods to be sorted, and the sorting action platform delivers the goods to be sorted to the corresponding sorting position when performing an action, or the sorting mechanism can convey the goods to the storing component. As shown inFIG.17, after the step S11033, the sorting method further includes step S11034: the sorting action platform rotating in the horizontal plane relative to the sorting bracket until a goods exit end of the sorting action platform faces the corresponding storing component. The sorting mechanism rotates to an angle at which its delivery end faces the corresponding storing component according to an actual working condition, which ensures smooth progress of the sorting robot receiving the goods.

As shown inFIG.18andFIG.19, an embodiment of the present invention provides a sorting robot210. The sorting robot210includes a vertical framework2100, a circulating lifting mechanism2200, and a sorting mechanism2300. The vertical framework2100is disposed along the vertical direction, and the circulating lifting mechanism2200is disposed on the vertical framework2100. The sorting mechanism2300is connected to the circulating lifting mechanism2200. The sorting mechanism2300can be raised or lowered cyclically along a set circulation path under drive of the circulating lifting mechanism2200. The goods to be sorted are raised or lowered cyclically in a synchronous manner under drive of the sorting mechanism2300. The sorting mechanism2300can deliver the goods to be sorted to a corresponding sorting position2810. The sorting robot210and a sorting system, and the circulating lifting mechanism2200and the sorting mechanism2300work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and greatly improving the efficiency of goods sorting. In addition, the sorting mechanism2300is moved to different heights under drive of the circulating lifting mechanism2200, so that the goods to be sorted can be delivered to the sorting positions2810having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions2810. The sorting mechanism2300that can be raised or lowered is also more suitable for actual working conditions in which the sorting robot210receives goods, and the sorting mechanism2300can be raised or lowered to a suitable receiving height so as to quickly complete receiving the goods.

The sorting mechanism2300is an action execution terminal of the sorting robot210provided by the present invention, and a function of the sorting mechanism2300is to deliver the goods to be sorted to the corresponding sorting position2810. Optionally, the sorting mechanism2300is a manipulator2330, a movable push rod, a plane having a conveying function, or the like. In a possible implementation, as shown inFIG.19, the sorting mechanism2300includes a sorting bracket2310and a sorting action platform2320. The sorting bracket2310is disposed movably on the vertical framework2100. The sorting bracket2310is connected to the circulating lifting mechanism2200. The sorting bracket2310can be raised or lowered cyclically along a set circulation path under drive of the circulating lifting mechanism2200. The sorting action platform2320is disposed on the sorting bracket2310. The sorting action platform2320is used to carry the goods to be sorted. The sorting action platform2320performs an action to deliver the goods to the corresponding sorting positions2810. Structure manners of the sorting bracket2310and the sorting action platform2320are convenient for carrying the goods to be sorted, and the sorting action platform2320has strong adaptability to goods in different sizes or different weights, which can ensure safe sorting of volatile and fragile goods at the same time.

Optionally, when the sorting action platform2320performs a sorting action, a platform surface action of the sorting action platform2320or any other action mechanism delivers the goods to be sorted to the corresponding sorting position2810. In an embodiment of the present invention, the sorting action platform2320includes a sorting belt and a sorting drive component. The sorting drive component is disposed on the sorting bracket2310. The sorting belt is disposed rotatably on the sorting bracket2310. The sorting belt is in transmission connection with the sorting drive component. The sorting belt is used to carry the goods to be sorted. The sorting belt delivers the goods to be sorted to the corresponding sorting positions2810when the sorting belt rotates under drive of the sorting drive component. An upper surface of the sorting belt which rotates forms a support surface for the goods to be sorted, and the sorting action performed by the sorting action platform2320is the rotation of the sorting belt. By adopting the method of sorting belt and sorting drive component, the sorting action platform2320does not need to occupy extra action space when performing the sorting action, and the sorting belt has the advantages of stable performance, low cost, and easy replacement. In some other embodiments of the present invention, goods placed on the sorting action platform2320may be pushed to the sorting position2810by an elastic mechanism, or pushed to the sorting position2810by a cam mechanism; or the platform surface of the sorting action platform2320is formed by a plurality of rotatable rollers. The present invention does not limit a specific structural form of the sorting action platform2320.

The function of the sorting drive component is to drive the sorting belt to perform the rotation, for which a rotating stroke has been set, to deliver the goods to be sorted thereon to the corresponding sorting positions2810, thereby completing the sorting action of the goods. In a possible implementation, the sorting drive component includes a sorting motor and two sorting shafts. The two sorting shafts are spaced apart on the sorting bracket2310. The sorting belt is sheathed on the two sorting shafts. At least one sorting shaft is in transmission connection with the sorting motor. The sorting motor can rotate forward or reverse. The combination manner between the motor and the sorting shaft has advantages such as high transmission efficiency, easy control, mature technology, and low cost. Further, an output shaft of the motor is directly connected to the sorting shaft or in transmission connection with the sorting shaft through a gear structure. In an embodiment of the present invention, the motor is a stepper motor. In another possible implementation, the sorting drive component is available in the form of pneumatic motor-shaft fits or hydraulic motor-shaft drives, as long as they are capable of driving the sorting belt to rotate.

The sorting action platform2320can deliver the goods to be sorted to the sorting position2810located at its own delivery end. In an embodiment of the present invention, a platform surface of the sorting action platform2320is disposed rotatably on the sorting bracket2310, and the sorting action platform2320can rotate with respect to the sorting bracket2310in a horizontal plane. When the sorting position2810is not directly located at a delivery end of the sorting action platform2320, the sorting action platform2320can adjust the delivery end to face the sorting position2810by its own rotation, thereby avoiding overall rotation of the sorting robot210, and greatly improving sorting efficiency of the sorting robot210. In addition, the sorting action platform2320can, when receiving goods, enhance adaptability to receiving conditions by its own rotation, which greatly improves receiving efficiency of the sorting robot210. In a possible implementation, the sorting mechanism2300further includes a rotation drive component. The rotation drive component is disposed on the sorting bracket2310. The rotation drive component is in transmission connection with the sorting action platform2320. The sorting action platform2320can rotate with respect to the sorting bracket2310in a horizontal plane under drive of the rotation drive component. In a specific embodiment of the present invention, the rotation drive component includes a rotation inner gear disposed on the sorting action platform2320and a rotation motor fixedly mounted to the sorting bracket2310. An output shaft of the rotation motor is in transmission connection with the rotation inner gear, thereby driving the rotation of the sorting action platform2320.

The sorting mechanism2300and the circulating lifting mechanism2200work in coordination with each other, thereby greatly improving the sorting efficiency of the sorting robot210provided in the present invention. In an embodiment of the present invention, as shown inFIG.18, the sorting mechanism2300includes a plurality of sorting brackets2310and sorting action platforms2320, and the plurality of sorting brackets2310and sorting action platforms2320are evenly distributed along a set circulation path. The plurality of sorting brackets2310and sorting action platforms2320allow the sorting robot210provided in this embodiment to carry a plurality of goods to be sorted at a time, which can significantly improve the sorting efficiency of the sorting robot210. It may be understood that, the plurality of sorting brackets2310and sorting action platforms2320can perform the action of goods sorting one by one or simultaneously, which further improves the adaptability of the sorting robot210provided in this embodiment to actual working conditions.

In a possible implementation, the plurality of sorting action platforms2320rise and fall cyclically in a track of a complete loop or a semi-closed loop. In a specific embodiment of the present invention, as shown inFIG.18, the plurality of sorting action platforms2320rise and fall cyclically in a track of a closed loop in a vertical plane. The number of sorting action platforms2320on each circulation path is nine, and the nine sorting action platforms2320are evenly distributed along the circulation path. When three sorting action platforms2320are raised or lowered cyclically to a vertical stage simultaneously, the three sorting action platforms2320can perform the sorting action simultaneously or individually. In other embodiments, the number of sorting action platforms2320may also be eight or other numbers designed according to actual working conditions.

It may be understood that, when an operator directly places the goods to be sorted onto the sorting mechanism2300of the sorting robot210, the operator does not need to board a ladder or other auxiliary platform, thus reducing the risk factor of the operator directly placing the goods to be sorted onto the sorting robot210, and effectively saving the time taken by the operator to place the goods to be sorted. In addition, compared with linear rising or falling, at the same height, the sorting robot210provided in this embodiment can basically be configured with twice the number of sorting action platforms2320, so that the sorting robot210can load more goods to be sorted.

The sorting mechanism2300in the form of the sorting action platform2320can accommodate most types of goods. In an embodiment of the present invention, as shown inFIG.23, the sorting mechanism2300further includes the manipulator2330, which is disposed on the vertical framework2100. The manipulator2330can deliver the goods to be sorted on the sorting action platform2320to the corresponding sorting position2810, or the manipulator2330can put the goods onto the sorting action platform2320. The manipulator2330can smoothly deliver the fragile, irregularly-shaped, or large-sized goods to be sorted to the corresponding sorting positions2810. The manipulator2330and the sorting action platform2320work in coordination with each other, thereby further increasing the adaptability of the sorting robot210provided in this embodiment to the goods to be sorted. In a possible implementation, a plurality of manipulators2330acting independently are disposed in different directions of the vertical framework2100, thereby improving the sorting efficiency of the sorting robot210. Specifically, two opposite ends of the vertical framework2100are respectively provided with one manipulator2330. Further, the manipulator2330is slidably disposed on the vertical framework2100along the vertical direction. The manipulator2330slidably disposed along the vertical direction can take the goods from the sorting action platforms2320of different heights, and can put the picked-up goods to the sorting positions2810having the corresponding heights, thereby avoiding all the sorting action platforms2320rising or falling cyclically along the circulation path and further improving the sorting efficiency of the sorting robot210provided in this embodiment.

Further, the sorting mechanism2300is also provided with a shooting component. The shooting component is used to obtain image information of the goods to be sorted or the sorting position2810to determine the height of the sorting action platform2320with respect to the sorting position2810. In this embodiment, the image information is a QR code attached to the goods to be sorted or the sorting position.

The function of the circulating lifting mechanism2200is to drive the sorting mechanism2300in each embodiment described above to rise or fall along the set circulation path. As shown inFIG.18andFIG.20toFIG.21, in an embodiment of the present invention, the circulating lifting mechanism2200includes a circulating power supply210and a circulating transmission component2220. The circulating power supply210and the circulating transmission component2220are disposed on the vertical framework2100. The circulating power supply210is in transmission connection with the input side of the circulating transmission component2220, and the output side of the circulating transmission component2220is in transmission connection with the sorting mechanism2300. The circulating power supply210and the circulating transmission component2220are disposed on the vertical framework2100, and the circulating power supply210and the circulating transmission component2220are in transmission connection with each other, thereby facilitating the disassembly and assembly of the circulating lifting mechanism2200on the vertical framework2100. Optionally, the output power of the circulating power supply210is in the form of rotation, linear motion, or any other form of motion, and the circulating transmission component2220being in transmission connection with the circulating power supply210finally outputs a motion along the circulation path. In a possible implementation, the circulating power supply210includes a circulating driving motor, which is in transmission connection with the input side of the circulating transmission component2220, and the circulating lifting mechanism2200is powered by at least one circulating driving motor. The circulating power supply210in the form of a motor operates more stably. Further, the circulating driving motor is a stepper motor with forward and/or reverse rotation, which facilitates the control of the rising and falling process of the circulating lifting mechanism2200.

In a possible implementation, as shown inFIG.20, the circulating transmission component2220includes a circulating hauling rope2221and at least two circulating runners2222. The at least two circulating runners2222are disposed rotatably on the vertical framework2100, and at least one circulating runner2222is in transmission connection with the circulating power supply210. The circulating hauling rope2221is sheathed on the at least two circulating runners2222. The circulating hauling rope2221is fixedly connected to the sorting mechanism2300along its own circulation path. At least one circulating runner2222rotates to drive the circulating hauling rope2221to move cyclically by means of meshing or friction, thereby driving the sorting mechanism2300to rise or fall cyclically along the set circulation path. The circulating transmission component2220in the form of the circulating hauling rope2221and the circulating runner2222has the advantages of simple structure, stable performance, low cost, and easy replacement while realizing the rising and falling cyclically. In this embodiment, the sorting bracket2310is fixedly connected to the circulating hauling rope2221along a direction of the circulation path.

In a specific embodiment of the present invention, as shown inFIG.20, the circulating hauling rope2221is annular, the sorting mechanism2300is disposed on the circulating hauling rope2221, and a plurality of runners are jointly sheathed on the circulating hauling rope2221. Any one of the runners rotates to drive the hauling rope to move cyclically by means of friction or meshing, thereby driving the sorting mechanism2300in each embodiment described above to rise or fall cyclically in a vertical plane. Specifically, the number of the circulating runners2222is four, and the four runners are distributed in a rectangular shape. According to the actual situation, the number of the circulating runners2222may also be six, eight, or the like. The circulating runner2222is a sprocket, and the circulating hauling rope2221is a chain. The circulating sprocket rotates to drive the circulating chain to move cyclically by means of meshing. According to the actual situation, the circulating runner2222can also be a V-belt pulley. Accordingly, the circulating hauling rope2221can be a V-belt. The V-belt pulley rotates to drive the V-belt to move cyclically through friction. An output shaft of the circulating driving motor is in transmission connection with one or more circulating runners2222, and the circulating runners2222and the circulating hauling rope2221rotate under drive of the circulating driving motor.

In a possible implementation, as shown inFIG.20andFIG.21, the circulating transmission component2220further includes a sprocket wheel mechanism2230. The circulating driving motor and the sprocket wheel mechanism2230are both mounted to the vertical framework2100. The sprocket wheel mechanism2230is connected to the circulating driving motor and one circulating runner2222. The circulating driving motor drives one circulating runner2222to rotate through the sprocket wheel mechanism2230. According to the actual situation, the sprocket wheel mechanism2230can also be replaced with a turbine worm mechanism, a gear mechanism, or the like, and in addition, the sprocket wheel mechanism2230can be omitted. It can be understood that, in this embodiment, the circulating lifting mechanism2200is only powered by the circulating driving motor to drive the plurality of sorting mechanisms2300to rise or fall cyclically in a synchronous manner. In some other embodiments, the circulating power supply210includes a plurality of circulating driving motors, and each circulating driving motor provides power to drive a corresponding sorting mechanism2300to rise or fall cyclically. The circulating driving motor can rotate forwardly or reversely. Therefore, the circulating lifting mechanism2200is used to drive the sorting mechanism2300to rise and fall cyclically in a forward or reverse manner.

The vertical framework2100mainly plays the role of supporting and forming a circulation path in the sorting robot210. In an embodiment of the present invention, as shown inFIG.18andFIG.22, the vertical framework2100includes an outer framework2110and an inner framework2120, the inner framework2120is fixedly disposed in the outer framework2110, and the inner framework2120is spaced apart from the outer framework2110. The circulating lifting mechanism2200is disposed on the inner framework2120. The sorting mechanism2300is disposed movably between the inner framework2120and the outer framework2110. The outer framework2110and the inner framework2120are substantially annular in the vertical plane. The inner framework2120and the outer framework2110are separated from each other to form a circulation path of the sorting mechanism2300therebetween. Further, the vertical framework2100further includes a bend suspension2130, which is fixedly connected to the outer framework2110and the inner framework2120respectively. The bend suspension2130has a bending portion, and the bending portion avoids the circulation path of the sorting mechanism2300.

In an embodiment of the present invention, as shown inFIG.20toFIG.22, the sorting robot210further includes a circulating guide mechanism2400. The circulating guide mechanism2400is disposed on the vertical framework2100. The circulating guide mechanism2400is connected to the sorting mechanism2300. When the sorting mechanism2300is raised or lowered cyclically along the set circulation path under drive of the circulating lifting mechanism2200, the circulating guide mechanism2400can prevent the sorting mechanism2300from turning over. Specifically, the circulating guide mechanism2400is disposed between the inner framework2120and the outer framework2110, and a plurality of the circulating guide mechanisms2400are disposed along the circulation path. The circulating guide mechanism2400is fixedly connected to the circulating hauling rope2221along the direction of the circulation path, and the sorting bracket2310is fixedly connected to the circulating guide mechanism2400along the direction of the circulation path, so that the circulating hauling rope2221and the circulating guide mechanism2400cooperate to drive the sorting bracket2310and the sorting action platform2320to translate cyclically along the circulation path, thereby preventing the goods on the sorting action platform2320from falling off when the sorting mechanism2300performs a complete cycle of rising and falling.

In a possible implementation, as shown inFIG.21andFIG.22, the circulating guide mechanism2400includes a guide rail2410and a guide component2420. The guide rail2410is fixedly disposed on the vertical framework2100, and the guide rail2410extends along the circulation path of the sorting mechanism2300. The guide component2420is disposed movably on the vertical framework2100, and the guide component2420is fixedly connected to the sorting mechanism2300. During the rising and falling process of the sorting mechanism2300along the circulation path, the guide component2420comes into contact with the guide rail2410, and the guide component2420translates along the circulation path of the sorting mechanism2300. Specifically, the guide rail2410includes a translational rail2411and a path rail2412. The translational rail2411and the path rail2412are fixedly disposed on the vertical framework2100. The translational rail2411and the path rail2412extend along the circulation path of the sorting mechanism2300. The guide component2420includes a translational wheel set2421and a path wheel set2422. The translational wheel set2421is fixedly connected to the sorting mechanism2300, and the path wheel set2422is rotatably connected to the sorting mechanism2300. During the rising and falling process of the sorting mechanism2300along the circulation path, the translational wheel set2421is in rolling contact with the translational rail2411, and the path wheel set2422is in rolling contact with the path rail2412.

Further, as shown inFIG.19andFIG.22, the translational rail2411is formed by welding of plates and profiles. The translational rail2411includes a plurality of sub-rails that are independent of each other. Each sub-rail is similar to the track formed when the sorting mechanism2300rises and falls cyclically. Under the combined action of all the sub-rails and the circulating hauling rope2221, the translational wheel set2421does not rotate around its own rotating shaft during the cyclic rising and falling process, thereby ensuring that the sorting mechanism2300remains level throughout the cyclic rising and falling process. Specifically, the translational wheel set2421includes a guide portion24211and a connecting axial portion24212. The path wheel set2422is mounted to the circulating hauling rope2221, the path wheel set2422is sheathed between two ends of the connecting axial portion24212, and the path wheel set2422can rotate with respect to the connecting axial portion24212around the connecting axial portion24212. One end of the connecting axial portion24212is connected to the guide portion24211, and the other end of the connecting axial portion24212is connected to the sorting bracket2310.

The guide portion24211is provided with guide wheels, and the number of the guide wheels is multiple. A plurality of the guide wheels are distributed in the vertical plane and surround the guide portion24211. Each guide wheel can only contact one corresponding sub-rail. During the vertical rising or falling of the guide portion24211, at least two guide wheels are in contact with the corresponding sub-rails at any time, and different guide wheels are in contact with the corresponding sub-rails at different times. The sub-rail is used as a travel rail of the guide wheel. Under the combined action of the sub-rail and the circulating hauling rope2221, a travel track of the guide wheel is limited, thereby limiting a travel track of the guide portion24211, and ensuring that an angle of the guide portion24211remains unchanged during the cyclic rising and falling process.

It is worth noting that, the path wheel set2422can rotate around a connecting rotation shaft with respect to the guide portion24211, so that the guide portion24211still has a degree of freedom of rotation with respect to the circulating hauling rope2221, and the guide rail2410is also cooperatively used, thereby further limiting the guide portion24211. Accordingly, it is ensured that, no matter what kind of circulating lifting mechanism2200is used, the sorting action platform2320remains level during the cyclic rising and falling process. The number of the circulating guide mechanisms2400may be multiple. A plurality of the circulating guide mechanisms2400are adapted to one sorting mechanism2300.

In an embodiment of the present invention, as shown inFIG.18,FIG.20andFIG.23, the sorting robot210further includes a movable chassis2500, and the outer framework2110of the vertical framework2100is disposed on the chassis2500. The movable chassis2500may drive the sorting robot210to move, which greatly improves adaptability of the sorting robot210in this embodiment to actual working conditions. Specifically, the chassis2500includes a plate frame2510, a marching drive component, and a plurality of rotating wheels2520. The vertical framework2100is disposed on an upper part of the plate frame2510, the plurality of rotating wheels2520are disposed on a bottom of the plate frame2510, and the marching drive component is disposed on the plate frame2510. At least one rotating wheel2520is in transmission connection with the marching drive component. Further, at least two rotating wheels2520are respectively in transmission connection with the marching drive component, and the at least two rotating wheels2520respectively in transmission connection with the marching drive component are distributed on two sides of the plate frame2510along a marching direction, thereby realizing a steering function of the chassis2500. The marching drive component includes at least two wheel drive motors, and the at least two rotating wheels2520distributed on the two sides of the plate frame2510along the marching direction are respectively driven by separate wheel drive motors. The at least two rotating wheels2520distributed on the two sides of the plate frame2510along the marching direction are respectively driven by the separate wheel drive motors, which may simplify a transmission structure on the chassis2500.

In a specific embodiment, a driving wheel and a driven wheel are installed on the chassis2500. The driving wheel and the driven wheel may respectively rotate relative to the chassis2500. The driving wheel and the driven wheel jointly support the chassis2500. The driving wheel is driven by a wheel drive motor to make the chassis2500to move. By configuring the movable chassis2500, the sorting robot210may deliver goods among a plurality of goods shelves280. The number of the driving wheels is two, and the two driving wheels are symmetrically distributed. Correspondingly, the number of the wheel drive motors is two. The two driving wheels are respectively driven by the two wheel drive motors, which may enable rotation speed of the two driving wheels to be different, so as to realize steering of the chassis2500. The number of the driven wheels is four, and the four driven wheels are distributed in a rectangular shape. The driven wheel may be a universal wheel or any other wheel structures with a steering function. According to an actual situation, the number of the driven wheels is not limited to four, but may further be six, three, or the like.

In this embodiment, a guide apparatus (not shown) is further installed on the chassis2500, and the guide apparatus is a camera, which is configured to identify a graphic code attached to the ground, so that the chassis2500can march along a preset path. The graphic code may be a two-dimensional code, a barcode, or some customized identification codes. In some other embodiments, the guide apparatus is a laser guide apparatus, configured to guide the chassis2500to march along a laser beam; or the guide apparatus is a short-wave receiving apparatus, which receives a preset short-wave signal to guide the chassis2500to march along a preset path. It should be noted that, in some other embodiments, the chassis2500may be omitted. The vertical framework2100is directly fixedly installed on the ground or other platforms, and is only configured to carry goods on the shelving unit280around the vertical framework1100.

In an embodiment of the present invention, the sorting robot210further includes a control center. The control center is electrically connected to the chassis2500, the circulating lifting mechanism2200, and the sorting mechanism2300, respectively. The control center is used to control the circulating lifting mechanism2200and the sorting mechanism2300to perform actions independently or jointly, thereby ensuring the sorting efficiency of the sorting robot210.

In an embodiment of the present invention, as shown inFIG.23, the sorting robot210includes at least two sets of sorting mechanisms2300. The at least two sets of sorting mechanisms2300are evenly distributed along an outer periphery of the vertical framework2100, and the at least two sets of sorting mechanisms2300are driven by the circulating lifting mechanism2200respectively. Specifically, the sorting robot includes two sets of sorting mechanisms2300, and the two sets of sorting mechanisms2300are respectively distributed on both sides of the vertical framework2100. At least two sets of sorting mechanisms2300can perform the sorting action individually or simultaneously, which greatly improves the sorting efficiency of the sorting robot210. Further, the sorting robot210includes at least two sets of circulating lifting mechanisms2200, the number of the circulating lifting mechanisms2200is the same as that of the sorting mechanisms2300, and each set of sorting mechanisms2300is driven by a separate circulating lifting mechanism2200, which realizes that each set of sorting mechanisms2300individually performs the sorting action. In a possible implementation, the sorting robot210includes at least two vertical frameworks2100. The at least two vertical frameworks2100are fixedly connected, and each set of circulating lifting mechanisms2200and the sorting mechanism2300independently driven by the circulating lifting mechanism2200are disposed on one vertical framework2100, which is convenient for the assembly between the circulating lifting mechanism2200, the sorting mechanism2300, and the vertical framework2100, and is also beneficial to form a modular sorting robot210.

An embodiment of the present invention further provides a sorting system. As shown inFIG.18andFIG.23, the sorting system includes the shelving unit280and the sorting robot210described in the foregoing embodiments. The sorting robot210is configured to deliver the goods to be sorted to the corresponding sorting position2810on the shelving unit280. The sorting system provided in this embodiment has the same advantages as the sorting robot210in the foregoing embodiments. In a possible implementation, an open container is placed on the shelving unit280, and one container is one sorting position2810. Further, the shelving unit280has at least two sorting positions2810with different heights. The sorting mechanism2300can be raised or lowered to a height corresponding to the sorting position2810under drive of the circulating lifting mechanism2200, and the sorting mechanism2300can deliver the goods to be sorted to the corresponding sort position2810.

As shown inFIG.18andFIG.19, an embodiment of the present invention provides a sorting robot210, the sorting robot210including the chassis2500, the vertical framework2100, the circulating lifting mechanism2200, the sorting mechanism2300, and the control center. The chassis2500can move on ground. The vertical framework2100is fixedly disposed on the chassis2500, and the vertical framework2100is disposed along the vertical direction. The circulating lifting mechanism2200is disposed on the vertical framework2100. The sorting mechanism2300includes the sorting bracket2310and the sorting action platform2320. The sorting bracket2310is disposed movably on the vertical framework2100. The sorting bracket2310is connected to the circulating lifting mechanism2200. The sorting bracket2310can be raised or lowered cyclically along a set circulation path under drive of the circulating lifting mechanism2200. The sorting action platform2320is disposed on the sorting bracket2310. The sorting action platform2320is used to carry the goods to be sorted. The sorting action platform2320performs an action to deliver the goods to the corresponding sorting positions2810. The control center is electrically connected to the chassis2500, the circulating lifting mechanism2200, and the sorting mechanism2300, respectively. The control center is used to control the chassis2500, the circulating lifting mechanism2200, and the sorting mechanism2300to perform actions individually or jointly.

The sorting robot210, the circulating lifting mechanism2200, and the sorting mechanism2300work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and also greatly improving the efficiency of goods sorting. In addition, the sorting mechanism2300is moved to different heights under drive of the circulating lifting mechanism2200, so that the goods to be sorted can be delivered to the sorting positions2810having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions2810.

As shown inFIG.24, an embodiment of the present invention provides a sorting method applicable to the sorting robot, where the sorting robot is used to deliver particular goods to be sorted to a particular sorting position, and the sorting action platform carrying the particular goods to be sorted corresponds to the particular sorting position, the sorting method including:S210: the sorting action platform receiving the goods to be sorted;S230: the sorting action platform being raised or lowered to a height corresponding to the sorting position under drive of the circulating lifting mechanism; andS250: the sorting action platform performing an action to deliver the goods to be sorted that is placed on the sorting action platform to a corresponding sorting position.

In the above sorting method, the circulating lifting mechanism and the sorting mechanism work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and also greatly improving the efficiency of goods sorting. In addition, the sorting mechanism is moved to different heights under drive of the circulating lifting mechanism, so that the goods to be sorted can be delivered to the sorting positions having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions.

In a possible implementation, each part of the sorting robot performs actions in a coordinated manner under the control of the control center, and the control center of the sorting robot keeps a communication connection with an external server. The sorting robot can identify information of the goods to be sorted, and the sorting robot can obtain information of the sorting position corresponding to each of the goods to be sorted. The sorting robot coordinates and controls various parts according to the obtained information, to efficiently complete the sorting of goods. In the sorting robot and sorting method provided in the above embodiments, the sorting action platform performs the delivery action only when information of the goods to be sorted carried by the sorting action platform corresponds to information of the sorting position.

In an embodiment of the present invention, in order to further improve the sorting efficiency of the sorting robot, the sorting mechanism includes a plurality of the sorting brackets and the sorting action platforms, the plurality of sorting brackets and sorting action platforms are distributed along the set circulation path, and a plurality of the sorting positions are disposed at intervals along the vertical direction. As shown inFIG.24, after the step S250, the sorting method further includes step S260: each of the sorting action platforms delivering goods to the sorting positions in this column respectively executing the steps S230and S250, until each sorting action platform delivering goods to the sorting positions in this column completes the goods delivery. The sorting robot provided in this embodiment can carry a plurality of goods to be sorted at a time. The plurality of sorting brackets and sorting action platforms first deliver the goods to be sorted to a column of sorting positions under drive of the circulating lifting mechanism, which gives full play to the advantage that the sorting action platform can be raised or lowered, and effectively improves the overall sorting efficiency of the sorting robot.

Optionally, during the rising and falling of the plurality of sorting action platforms, only one of the sorting action platforms is raised or lowered to the corresponding sorting position height, or the plurality of sorting action platforms are simultaneously raised or lowered to the corresponding sorting position heights. In an implementation of the present invention, in the step S230, the plurality of sorting action platforms are simultaneously raised or lowered to the corresponding sorting positions under drive of the circulating lifting mechanism; in the step S250, the plurality of sorting action platforms perform actions simultaneously to deliver the goods to be sorted to the corresponding sorting positions, respectively. The plurality of sorting action platforms simultaneously perform actions, which effectively eliminates a waiting time caused by sequential execution of delivery actions between the plurality of sorting action platforms, and effectively improves the overall sorting efficiency of the sorting robot.

It may be understood that, a height difference between a plurality of the sorting positions having different heights is the same as or different from a height difference between the plurality of sorting action platforms. When a height difference between a plurality of the sorting positions is the same as a height difference between the plurality of sorting action platforms, the plurality of sorting action platforms can be simultaneously raised or lowered to the corresponding sorting positions under drive of the circulating lifting mechanism. When a height difference between a plurality of the sorting positions is different from a height difference between the plurality of sorting action platforms, the height difference between the plurality of sorting action platforms can be adjusted until the height difference is adapted to a height difference between the corresponding sorting positions, and then the plurality of sorting action platforms perform actions simultaneously to deliver the goods to be sorted to the corresponding sorting positions.

It may be understood that, in the foregoing embodiments, the plurality of sorting action platforms can respectively correspond to different sorting positions at the same time in height, but the sorting action platform will execute the delivery action only when the information of the goods to be sorted carried by the sorting action platform corresponds to the information of the sorting position. Therefore, in actual working conditions, there will be the following working conditions: the plurality of sorting action platforms respectively correspond to different soiling positions at the same time in height, but only the information of the goods to be sorted carried by one group of sorting action platforms corresponds to the information of the sorting position. Under the work condition described above, only this group of sorting action platforms can perform the delivery action.

In an embodiment of the present invention, both sides of the circulation path of the plurality of sorting action platforms are respectively provided with a plurality of the sorting positions disposed at intervals along the vertical direction, and the sorting action platforms on both sides are simultaneously lifted to the corresponding sorting positions. In the step S250, the sorting action platforms on both sides perform actions simultaneously to deliver the goods to be sorted to the corresponding sorting positions, respectively. The sorting method provided in this embodiment allows the sorting robot to simultaneously deliver the goods to be sorted to the sorting positions on both sides of the circulation path, which not only improves the adaptability of the sorting method to actual working conditions, but also effectively improves the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, the actual working condition is that a plurality of columns of the sorting positions are sequentially disposed along a horizontal direction. As shown inFIG.25, after the step S260, the sorting method further includes step S270: the sorting action platform being moved to other delivery positions under drive of the chassis, and the sorting action platform repeating the step S260. The sorting robot provided in this embodiment preferentially completes the goods delivery to be delivered to one column of sorting positions, and then the sorting action platform is moved to other delivery positions under drive of the chassis to deliver the goods to other columns of sorting positions. The sorting method provided in this embodiment effectively ensures that the sorting robot delivers the goods to be sorted column by column, thereby avoiding time waste caused by the sorting robot repeatedly going back and forth to the same delivery position.

In the foregoing embodiment, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot may move to an adjacent column of sorting positions, or may move to a spaced column of sorting positions according to an actual working condition. In a possible implementation, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot preferentially is moved to the adjacent column of sorting positions. Further, as shown inFIG.25, after the step S270, the sorting method further includes step S280: the sorting robot repeating the steps S260and S270, until all the sorting action platforms respectively complete the goods delivery to the corresponding sorting positions; and the sorting robot waiting for a next instruction. The sorting method provided in this embodiment effectively ensures that each piece of the goods to be sorted is delivered in a case that the sorting efficiency is improved.

In an embodiment of the present invention, as shown inFIG.23, the sorting robot includes at least two sets of sorting mechanisms, the at least two sets of sorting mechanisms are disposed on the vertical framework, shipping directions of the sorting action platforms in the at least two sets of sorting mechanisms are the same, the at least two sets of sorting mechanisms are respectively raised or lowered under drive of the circulating lifting mechanism, and a spacing between neighboring ones of the at least two sets of sorting mechanisms along a horizontal arrangement direction of the sorting positions is an integer multiple of a spacing between neighboring ones of the plurality of sorting positions along a horizontal direction; and each set of sorting mechanism simultaneously and independently executes the step S260. A plurality of sorting mechanisms disposed on the vertical framework can double the number of the goods to be sorted carried by the sorting robot, which significantly improves the overall sorting efficiency of the sorting robot. On the premise of the same amount of sorting tasks, the travel of the sorting robot between receiving and delivering goods is effectively saved. It may be understood that, the sorting method provided in this embodiment can also simultaneously deliver the goods to be sorted to the sorting positions on both sides of the circulation path.

Further, as shown inFIG.23, the sorting robot includes at least two sets of circulating lifting mechanisms, the number of the circulating lifting mechanisms is the same as the number of the sorting mechanisms, and each set of sorting mechanism is driven by a separate circulating lifting mechanism; and each set of sorting mechanism simultaneously and independently executes the step S260under drive of the separate circulating lifting mechanism. Each set of sorting mechanism is driven by a separate circulating lifting mechanism, which minimizes a waiting time caused by sequential execution of delivery actions between a plurality of sorting mechanisms, and effectively improves the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, in order to further improve the adaptability of the sorting robot and the sorting method to actual working conditions, and improve the sorting efficiency of the sorting robot and the sorting method, the sorting action platform is disposed rotatably on the sorting bracket, and the sorting action platform can rotate in a horizontal plane with respect to the sorting bracket; As shown inFIG.26, after the step S230, the sorting method further includes step S240: the sorting action platform rotating in a horizontal plane with respect to the sorting bracket, until a goods exit end of the sorting action platform is directed toward the corresponding sorting position. The sorting method provided in this embodiment solves the situation that an initial delivery end of the sorting action platform does not correspond to the sorting position. In addition, the sorting method provided in this embodiment can allow the sorting action platform to deliver goods to sorting positions in different directions at one delivery position.

In an actual working condition, sorting robots need to deliver fragile, large-sized, or irregularly-shaped goods. As shown inFIG.23andFIG.10, in an embodiment of the present invention, the sorting mechanism further includes a manipulator, the manipulator is disposed on the vertical framework, the manipulator is able to deliver the goods to be sorted on the sorting action platform to the corresponding sorting positions, or the manipulator is able to put the goods onto the sorting action platform; and the sorting method includes step D250which is an alternative of the step S250: the manipulator delivering the goods to be sorted on the sorting action platform to the corresponding sorting positions. The manipulator and the sorting action platform work in coordination with each other, thereby improving the adaptability of the sorting method provided in this embodiment to actual working conditions. It may be understood that, when the sorting robot receives the goods to be sorted, the manipulator can also put the goods onto the sorting action platform.

Further, as shown inFIG.28, the manipulator is slidably disposed on the vertical framework along the vertical direction; and the step D250includes:D2501: the manipulator being raised or lowered to a height corresponding to the sorting position;D2502: the manipulator picking up the goods to be sorted on the corresponding sorting action platform;D2503: the manipulator delivering the goods to be sorted to the corresponding sorting positions.

The manipulator slidably disposed along the vertical direction can take goods of different heights, and can also deliver the taken goods to sorting positions of different heights, or convey the taken goods onto the sorting action platforms of different heights.

In an actual working condition, when a receiving position for receiving the goods is different from a delivery position for delivering the goods, the sorting robot needs to go back and forth between the receiving position for receiving the goods and the delivery position for delivering the goods. As shown inFIG.29, in an embodiment of the present invention, the step S210includes:S2101: the sorting robot receiving a receiving instruction including receiving position information;S2102: the chassis driving the sorting robot to move to a corresponding receiving position according to the receiving position information; andS2104: the sorting action platform carrying the goods to be sorted which are conveyed onto the sorting action platform.

Further, the sorting action platform has a receiving height when receiving the goods, and after the step S2102, the method further includes step S2103: the sorting action platform being raised or lowered to the receiving height under drive of the circulating lifting mechanism. It may be understood that, when a receiving end of the sorting action platform is inconsistent with an incoming direction, the sorting action platform rotates until the receiving end of the sorting action platform is consistent with the incoming direction.

In an embodiment of the present invention, as shown inFIG.30, before the step S230, the sorting method further includes S220: the sorting action platform being moved to a delivery position corresponding to the sorting position. Specifically, as shown inFIG.31, the step S220includes:S2201: the sorting robot receiving a delivery instruction including delivery position information; andS2202: the sorting action platform is moved to the corresponding delivery position according to the delivery position information under drive of the chassis.

Further, the step S2202includes:S22021: the chassis driving the sorting robot to move to a sorting side of the shelving unit; andS22023: the chassis driving the sorting robot to move along a horizontal extension direction of the shelving unit until the sorting action platform moves to the delivery position corresponding to the sorting position.

Specifically, after the step S22021, the sorting method further includes step S22022: the chassis driving the sorting robot to move until the sorting action platform approaches a sorting area of the shelving unit.

As shown inFIG.32andFIG.33, an embodiment of the present invention provides a sorting robot310. The sorting robot310includes a vertical framework3100, a lifting mechanism3200, and a sorting mechanism3300. The vertical framework3100is disposed along a vertical direction. The lifting mechanism3200is capable of rising or falling along the vertical direction with respect to the vertical framework3100. The sorting mechanism3300is disposed movably along the vertical direction on the vertical framework3100. The sorting mechanism3300is connected to the lifting mechanism3200. The sorting mechanism3300can be raised or lowered along the vertical direction under drive of the lifting mechanism3200. The sorting mechanism3300drives goods to be sorted to be synchronously raised or lowered, and the sorting mechanism3300can deliver the goods to be sorted to a corresponding sorting position3810. The sorting robot310, the lifting mechanism3200, and the sorting mechanism3300work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and greatly improving the efficiency of goods sorting. In addition, the sorting mechanism3300is moved to different heights under drive of the lifting mechanism3200, so that the goods to be sorted can be delivered to the sorting positions3810having different heights, which leads to strong universality and a reduction in the occupation of the sorting position3810.

The sorting mechanism3300is an action execution terminal of the sorting robot310provided by the present invention, and a function of the sorting mechanism2300is to deliver the goods to be sorted to the corresponding sorting position3810. The number and arrangement of execution terminals that the sorting robot310can use to deliver the goods to be sorted can directly affect the overall sorting efficiency of the sorting robot310. As shown inFIG.32andFIG.33, in an embodiment of the present invention, the sorting mechanism3300includes a plurality of sorting components3310. The plurality of sorting components3310are disposed on the vertical framework3100at intervals along the vertical direction. The plurality of sorting components3310are connected to the lifting mechanism3200, and can be synchronously raised or lowered along the vertical direction under drive of the lifting mechanism3200. Each of the sorting components3310can respectively drive the goods to be sorted to synchronously rise or fall, and can deliver the goods to be sorted to the corresponding sorting position3810. The plurality of sorting components3310allow the sorting robot310provided in this embodiment to carry a plurality of goods to be sorted at a time, which can significantly improve the sorting efficiency of the sorting robot310. It may be understood that, the plurality of sorting components3310can perform actions of goods delivery one by one or deliver the goods simultaneously, which further improves the adaptability of the sorting robot310provided in this embodiment to actual working conditions.

It may be understood that, when the operator directly places the goods to be sorted on the sorting component3310of the sorting robot310, the sorting component3310can be raised or lowered to a suitable height, and the operator does not need to board a ladder or other auxiliary platform. Therefore, the risk factor of the operator directly placing the goods to be sorted on the sorting robot310is reduced, and the time for the operator to place the goods to be sorted is effectively saved.

Optionally, the sorting mechanism3300is a manipulator, a push rod capable of acting, a plane with a conveying function or the like. In a possible implementation, as shown inFIG.33, the sorting component3310includes a sorting bracket3311and a sorting action platform3312. The sorting bracket3311is disposed movably on the vertical framework3100. The sorting bracket3311is connected to the lifting mechanism3200, and can be raised or lowered along the vertical direction under drive of the lifting mechanism3200. The sorting action platform3312is disposed on the sorting bracket3311, and can carry the goods to be sorted. The sorting action platform3312delivers the goods to be sorted to the corresponding sorting position3810when performing an action. Structure manners of the sorting bracket3311and the sorting action platform3312are convenient for carrying the goods to be sorted, and the sorting action platform3312has strong adaptability to goods in different sizes or different weights, which can ensure safe sorting of volatile and fragile goods at the same time.

Optionally, when the sorting action platform3312performs a sorting action, a platform surface action of the sorting action platform3312or any other action mechanism delivers the goods to be sorted to the corresponding sorting position3810. In an embodiment of the present invention, the sorting action platform3312includes a sorting belt and a sorting drive component. The sorting drive component is disposed on the sorting bracket3311. The sorting belt is disposed rotatably on the sorting bracket3311. The sorting belt is in transmission connection with the sorting drive component. The sorting belt is used to carry the goods to be sorted. The sorting belt delivers the goods to be sorted to the corresponding sorting positions3810when the sorting belt rotates under drive of the sorting drive component. An upper surface of the rotating sorting belt forms a support surface for the goods to be sorted, and the delivery action performed by the sorting action platform3312is the rotation of the sorting belt. By adopting the method of sorting belt and sorting drive component, the sorting action platform3312does not need to occupy extra action space when performing the sorting action, and the sorting belt has the advantages of stable performance, low cost, and easy replacement. In some other embodiments of the present invention, goods placed on the sorting action platform3312may be pushed to the sorting position3810by an elastic mechanism, or pushed to the sorting position3810by a cam mechanism; or the platform surface of the sorting action platform3312is formed by a plurality of rotatable rollers. The present invention does not limit a specific structural form of the sorting action platform3312.

The function of the sorting drive component is to drive the sorting belt to perform the rotation of the set stroke, to deliver the goods to be sorted thereon to the corresponding sorting position3810, thereby completing the delivery action of the goods. In a possible implementation, the sorting drive component includes a sorting motor and two sorting shafts. The two sorting shafts are spaced apart on the sorting bracket3311. The sorting belt is sheathed on the two sorting shafts. At least one sorting shaft is in transmission connection with the sorting motor. The sorting motor can rotate forward or reverse. The combination manner between the motor and the sorting shaft has advantages such as high transmission efficiency, easy control, mature technology, and low cost. Further, an output shaft of the motor is directly connected to the sorting shaft or in transmission connection with the sorting shaft through a gear structure. In an embodiment of the present invention, the motor is a stepper motor. In another possible implementation, the sorting drive component is available in the form of pneumatic motor-shaft fits or hydraulic motor-shaft drives, as long as they are capable of driving the sorting belt to rotate.

Further, the sorting mechanism3300is further equipped with a photographing component. The photographing component is configured to obtain image information of the goods or the sorting position3810, to judge the height of the sorting action platform3312with respect to the sorting position3810. In this embodiment, the image information is a two-dimensional code affixed to the goods to be sorted or the sorting position3810.

In an embodiment of the present invention, as shown inFIG.33, the sorting action platform3312has a first sorting position33121and a second sorting position33122along a direction for delivering goods by the sorting belt. The first sorting position33121and the second sorting position33122are configured to carry the goods to be sorted. When the sorting belt rotates, the goods to be sorted at the first sorting position33121and the goods to be sorted at the second sorting position33122are sequentially delivered to the corresponding sorting positions3810. The first sorting position33121and the second sorting position33122on the sorting action platform3312allow one sorting action platform3312to simultaneously carry two goods to be sorted, which multiplies the number of goods to be sorted carried by the sorting robot310. It may be understood that, the goods to be sorted at the first sorting position33121and the goods to be sorted at the second sorting position33122need to be delivered to different sorting positions3810or to the same sorting position3810. In other embodiments, when the sorting belt rotates, the goods to be sorted at the second sorting position33122and the goods to be sorted at the first sorting position33121are sequentially delivered to the corresponding sorting positions3810.

In another embodiment of the present invention, two sorting components3310are disposed at each vertical height where the sorting component3310is installed on the vertical framework3100, and delivery directions of the two sorting components3310located at the same vertical height are opposite. The disposal of two sorting components3310at each vertical height where the sorting component3310is installed on the vertical framework3100also implements the multiplication of the number of goods to be sorted carried by the sorting robot310. In addition, delivery directions of the two sorting components3310at the same height are opposite. When there are sorting positions3810in the delivery directions of the two sorting components3310at the same vertical height, the two sorting components3310at the same height can simultaneously and respectively perform the sorting action, which increases the number of goods to be sorted carried by the sorting robot310, and further improves the delivery efficiency of the sorting robot310.

Optionally, the plurality of sorting components3310installed on the vertical framework3100can be respectively raised or lowered independently or synchronously, which may be designed according to actual working conditions. In an embodiment of the present invention, as shown inFIG.33andFIG.34, the lifting mechanism3200includes a lifting frame3240disposed movably along the vertical direction on the vertical framework3100. The plurality of sorting components3310are fixedly disposed on the lifting frame3240along the vertical direction, and the lifting mechanism3200drives, by the lifting frame3240, the plurality of sorting components3310to synchronously rise or fall along the vertical direction. It can be understood that the lifting frame3240is a closed framework or any structure in which the sorting components3310can be fixedly installed along the vertical direction, and the present invention does not limit the specific structure of the lifting frame3240. In a possible implementation, the lifting frame3240is a rectangular framework, and the plurality of sorting components3310are respectively fixedly installed on the lifting frame3240along the vertical direction. Using the lifting frame3240to implement the synchronous rising or falling of the plurality of sorting components3310effectively ensures the mechanical strength of the sorting robot310, and the plurality of sorting components3310and the lifting frame3240can be made into modules, which effectively improves the efficiency of assembly, disassembly, and maintenance of the sorting robot310. It should be understood that after the plurality of sorting components3310and the lifting frame3240are made into modules, there is high interchangeability between modules.

A function of the lifting mechanism3200is to drive the sorting mechanism3300in the foregoing embodiments to be raised or lowered along the vertical direction. In an embodiment of the present invention, as shown inFIG.32andFIG.34, the lifting mechanism3200further includes a power supply3210and a transmission component3220. The power supply3210and the transmission component3220are respectively disposed on the vertical framework3100. The power supply3210is in transmission connection with an input side of the transmission component3220, and an output side of the transmission component3220is connected to the lifting frame3240. The power supply3210and the transmission component3220are respectively disposed on the vertical framework3100, and the transmission connection between the power supply3210and the transmission component3220facilitates mounting or removal of the lifting mechanism3200on the vertical framework3100. Optionally, the power supply3210outputs power in a form of rotation, linear motion, or any other form of motion, and the transmission component3220in transmission connection with the power supply3210finally outputs motion along the vertical direction. In a possible implementation, the power supply3210includes a drive motor. The drive motor is in transmission connection with the input side of the transmission component3220. The power supply3210in the form of a motor operates more stably. Further, the drive motor can rotate forward or reverse, which is convenient for controlling a rising and falling process of the lifting mechanism3200.

In a possible implementation, as shown inFIG.32toFIG.34, the transmission component3220includes a hauling rope3221and at least two runners3222. The at least two runners3222are disposed rotatably on the vertical framework3100, and are arranged on the vertical framework3100at intervals along the vertical direction. At least one runner3222is in transmission connection with the power supply3210. The hauling rope3221is sheathed on the at least two runners3222, and is fixedly connected to the lifting frame3240. When at least one runner3222rotates, it drives the hauling rope3221to move in a manner of meshing or friction, and then drives the lifting frame3240to rise or fall along the vertical direction. The transmission component3220in a form of the hauling rope3221and the runner3222has advantages such as simple structure, stable performance, low cost, and easy replacement while realizing rising and falling. In this embodiment, the sorting bracket3311is fixedly connected to the hauling rope3221.

In a specific embodiment of the present invention, as shown inFIG.32toFIG.34, the hauling rope3221is annular, and the sorting bracket3311is fixedly installed on the hauling rope3221. The two runners3222are disposed at intervals on the vertical framework3100along the vertical direction, and the hauling rope3221is sleeved on the two runners3222disposed along the vertical direction. Any of the runners3222drives the hauling rope3221to rotate in a vertical plane by friction or meshing when rotating, thereby driving the sorting mechanism3300to be raised or lowered in the vertical plane. The runner3222is a V-belt wheel, and the hauling rope3221is a V-belt. The V-belt wheel drives the V-belt to move by friction when rotating. According to an actual situation, the runner3222may further be a sprocket. Correspondingly, the hauling rope3221may be a chain. The sprocket drives the chain to move by meshing when rotating. An output shaft of the drive motor is in transmission connection with one or more V-belt wheels, and the drive motor drives the runner3222and the hauling rope3221to rotate.

The lifting frame3240in a form of a rectangular framework drives the plurality of sorting components3310to rise or fall along the vertical direction in a vertical plane. Further, the lifting mechanism3200includes a plurality of transmission components3220. Input sides of the plurality of transmission components3220are respectively in transmission connection with the power supply3210, and output sides of the plurality of transmission components3220are respectively connected to different positions of the lifting frame3240. In a specific embodiment, as shown inFIG.34, the lifting mechanism3200includes two transmission components3220, the lifting frame3240has two lifting columns extending in the vertical direction, and the two lifting columns serve as two opposite sides of the rectangular framework in the vertical direction. The input sides of the two transmission components3220are respectively in transmission connection with the power supply3210, and the output sides of the plurality of transmission components3220are respectively fixedly connected to the two lifting columns of the lifting frame3240. In a possible implementation, the transmission component3220further includes a transmission shaft3230. An output end of the drive motor is in transmission connection with the middle part of the transmission shaft3230, and two ends of the transmission shaft3230are respectively connected to the runners3222of the two transmission components3220, so that the synchronous rising or falling of the two transmission components3220driven by the one power supply3210is implemented, and the lifting stability of the lifting mechanism3200is increased. In other embodiments, the number of transmission components3220may alternatively be three or the like.

In an embodiment of the present invention, as shown inFIG.34andFIG.35, the sorting robot310further includes a guide mechanism3400. The guide mechanism3400is disposed between the vertical framework3100and the lifting frame3240, and is configured to keep the lifting frame3240to rise or fall along the vertical direction. Specifically, the guide mechanism3400includes a guide rail3410and a guide component3420. The guide rail3410is fixedly disposed on the vertical framework3100in the vertical direction, the guide component3420is fixedly connected to the lifting frame3240, and the guide component3420keeps in contact with the guide rail3410during the rising or falling of the lifting frame3240along the vertical direction. Optionally, contact between the guide component3420and the guide rail3410is rolling contact, sliding contact, or other kinds of contact. Further, the guide component3420includes a guide slider, and the guide slider is fixedly connected to the lifting frame3240. During the rising or falling of the lifting frame3240along the vertical direction, the guide slider keeps in sliding contact with the guide rail3410.

In an embodiment of the present invention, as shown inFIG.34andFIG.35, the guide mechanism3400includes a plurality of guide rails3410and a plurality of guide components3420. The plurality of guide rails3410cooperate with the plurality of guide components3420one by one. The plurality of guide rails3410are respectively fixedly disposed on the vertical framework3100along the vertical direction. Each of the guide components3420are fixedly connected to the lifting frame3240, and each guide component3420respectively keeps in contact with the corresponding guide rail3410during the rising or falling of the lifting frame3240along the vertical direction. The plurality of guide rails3410and the plurality of guide components3420further ensure the smooth rising and falling of the lift frame3240along the vertical direction. In a possible implementation, the vertical framework3100has two uprights disposed in parallel along the vertical direction, and guide rails3410are respectively installed on the two uprights. The guide rail3410is formed by group welding of sheet material and section bar.

In the foregoing embodiments, as shown inFIG.32, the sorting robot310further includes a movable chassis3500, and the vertical framework3100is disposed on the chassis3500. The movable chassis3500may drive the sorting robot310to move, which greatly improves adaptability of the sorting robot310in this embodiment to actual working conditions. Specifically, the chassis3500includes a plate frame3510, a marching drive component, and a plurality of rotating wheels3520. The vertical framework3100is disposed on an upper part of the plate frame3510, the plurality of rotating wheels3520are disposed on a bottom of the plate frame3510, and the marching drive component is disposed on the plate frame3510. At least one rotating wheel3520is in transmission connection with the marching drive component. Further, at least two rotating wheels3520are respectively in transmission connection with the marching drive component, and the at least two rotating wheels3520respectively in transmission connection with the marching drive component are distributed on two sides of the plate frame3510along a marching direction, thereby realizing a steering function of the chassis3500. The marching drive component includes at least two wheel drive motors, and the at least two rotating wheels3520distributed on the two sides of the plate frame3510along the marching direction are respectively driven by separate wheel drive motors. The at least two rotating wheels3520distributed on the two sides of the plate frame3510along the marching direction are respectively driven by the separate wheel drive motors, which may simplify a transmission structure on the chassis3500.

In a specific embodiment, a driving wheel and a driven wheel are installed on the chassis3500. The driving wheel and the driven wheel may respectively rotate relative to the chassis3500. The driving wheel and the driven wheel jointly support the chassis3500. The driving wheel is driven by a wheel drive motor to make the chassis3500to move. By configuring the movable chassis3500, the sorting robot310may deliver goods among a plurality of goods shelves380. The number of the driving wheels is two, and the two driving wheels are symmetrically distributed. Correspondingly, the number of the wheel drive motors is two. The two driving wheels are respectively driven by the two wheel drive motors, which may enable rotation speed of the two driving wheels to be different, so as to realize steering of the chassis3500. The number of the driven wheels is four, and the four driven wheels are distributed in a rectangular shape. The driven wheel may be a universal wheel or any other wheel structures with a steering function. According to an actual situation, the number of the driven wheels is not limited to four, but may further be six, three, or the like.

In this embodiment, a guide apparatus (not shown) is further installed on the chassis3500, and the guide apparatus is a camera, which is configured to identify a graphic code attached to the ground, so that the chassis3500can march along a preset path. The graphic code may be a two-dimensional code, a barcode, or some customized identification codes. In some other embodiments, the guide apparatus is a laser guide apparatus, configured to guide the chassis3500to march along a laser beam; or the guide apparatus is a short-wave receiving apparatus, which receives a preset short-wave signal to guide the chassis3500to march along a preset path. It should be noted that, in some other embodiments, the chassis3500may be omitted. The vertical framework3100is directly fixedly installed on the ground or other platforms, and is only configured to carry goods on the shelving unit380around the vertical framework1100.

In an embodiment of the present invention, as shown inFIG.32andFIG.35, the vertical framework3100is disposed rotatably around the axis in the vertical direction on the chassis3500to allow the plurality of sorting components3310to simultaneously rotate in a horizontal plane, which improves the adaptability of the sorting robot310to actual working conditions. Especially in a case that there are two sorting components3310with opposite delivery directions at the same height, when the sorting components3310on one side complete the delivery, the vertical framework3100drives all the sorting components3310to rotate by 1380° in the horizontal plane, and the sorting components3310on the other side starts to deliver the goods to be sorted. In addition, the vertical framework3100disposed rotatably on the chassis3500can be automatically adjusted to the delivery direction of the sorting mechanism3300to face the sorting position3810, which improves the adaptability of the sorting robot310to actual working conditions and the efficiency of sorting goods.

In a possible implementation, as shown inFIG.32andFIG.35, the sorting robot310further includes a rotating mechanism3600. The rotating mechanism3600includes a ring gear3610, a rotating track3620, a rotating block3630, and a rotating motor3640. The ring gear3610and the rotating track3620are fixedly disposed on the top of the chassis3500. The rotating block3630is disposed at the bottom of the vertical framework3100, and is slidably matched with the rotating track3620. The rotating motor3640is fixedly disposed at the bottom of the vertical framework3100, and an output end thereof is meshed with the ring gear3610. When rotating, the rotating mechanism3640drives the vertical framework3100to rotate with respect to the chassis3500around the axis in the vertical direction. In other embodiments, alternatively, the rotating motor3640may be fixedly installed on the chassis3500, and the ring gear3610may be fixedly installed at the bottom of the vertical framework3100. This embodiment does not limit the specific manner for the vertical framework3100to implement the rotation with respect to the chassis3500.

In an embodiment of the present invention, the sorting robot310further includes a control center. The control center is electrically connected to each of the lifting mechanism3200and the sorting mechanism3300. The control center is configured to control the lifting mechanism3200and the sorting mechanism3300to perform actions independently or jointly, thereby ensuring the sorting efficiency of the sorting robot310. In a possible implementation, the control center controls the coordinated action of the chassis3500, the lifting mechanism3200, and the sorting mechanism3300.

In an embodiment of the present invention, as shown inFIG.36, the sorting robot310includes two sorting mechanisms3300provided in the foregoing embodiments. The two sorting mechanisms3300are respectively disposed on two sides of the vertical framework3100, and are connected to the lifting mechanism3200. The two sorting mechanisms3300can be raised or lowered along the vertical direction under drive of the lifting mechanism3200. At least two sets of sorting mechanisms3300can perform the sorting action individually or simultaneously, which greatly improves the sorting efficiency of the sorting robot310. Further, the sorting robot310includes two lifting mechanisms3200. The two lifting mechanisms3200can be respectively raised or lowered with respect to the vertical framework3100along the vertical direction. The two lifting mechanisms3200are respectively located on two sides of the vertical framework3100, and are respectively raised or lowered along the vertical direction under drive of a separate lifting mechanism3200, so that each sorting mechanism3300can perform the sorting action independently. In a possible implementation, the sorting robot310further includes two vertical frames3100. The two vertical frames3100are fixedly disposed on the chassis3500. Each lifting mechanism3200and the sorting mechanism3300independently driven thereby are disposed on one vertical framework3100, which is convenient for the assembly of the lifting mechanism3200, the sorting mechanism3300, and the vertical framework3100, and is conducive to form a modular sorting robot310.

As shown inFIG.32andFIG.36, an embodiment of the present invention further provides a sorting system. The sorting system includes a shelving unit380and the sorting robot310described in the foregoing embodiments. The sorting robot310is configured to deliver the goods to be sorted to the corresponding sort position3810on the shelving unit380. The sorting system provided in this embodiment has the same advantages as the sorting robot310in the foregoing embodiments. In a possible implementation, an open container is placed on the shelving unit380, and one container is one sorting position3810. Further, the shelving unit380has at least two sorting positions3810of different heights. The sorting mechanism3300can be raised or lowered to a height of a corresponding sorting position3810under the drive of the lifting mechanism3200. The sorting mechanism3300can deliver the goods to be sorted to the corresponding sorting position3810.

As shown inFIG.32andFIG.33, an embodiment of the present invention provides a sorting robot310. The sorting robot310includes the chassis3500, the vertical framework3100, the lifting mechanism3200, the sorting mechanism3300, and the control center. The chassis3500is capable of moving on the ground. The vertical framework3100is disposed on the chassis3500, and is disposed along the vertical direction. The lifting mechanism3200is capable of rising or falling along the vertical direction with respect to the vertical framework3100. The sorting mechanism3300includes a plurality of sorting components3310. The plurality of sorting components3310are disposed on the vertical framework3100at intervals along the vertical direction. The plurality of sorting components3310are respectively connected to the lifting mechanism3200, and can be synchronously raised or lowered along the vertical direction under drive of the lifting mechanism3200. Each of the sorting components3310can be synchronously raised or lowered while carrying the goods to be sorted, and can deliver the goods to be sorted to the corresponding sorting position3810. The control center is electrically connected to each of the chassis3500, the lifting mechanism3200, and the sorting mechanism3300, and is configured to control the lifting mechanism3200and the sorting mechanism3300to perform actions individually or jointly.

The sorting robot310, the lifting mechanism3200, and the sorting mechanism3300work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and greatly improving the efficiency of goods sorting. In addition, the sorting mechanism3300is moved to different heights under drive of the lifting mechanism3200, so that the goods to be sorted can be delivered to the sorting positions3810having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions3810.

As shown inFIG.37, an embodiment of the present invention provides a sorting method, which is applicable to the sorting robot, where the sorting robot is configured to deliver specific goods to be sorted to a specific sorting position, and the sorting component carrying the specific goods to be sorted corresponds to the specific sorting position. The sorting method includes:S310: the plurality of sorting components respectively receiving goods to be sorted;S330: a designated sorting component being raised or lowered to a height corresponding to the sorting position under drive of the lifting mechanism; andS350: the designated sorting component performing an action to deliver the goods to be sorted that is placed on the sorting component to the corresponding sorting position.

In the foregoing sorting method, the lifting mechanism and the sorting mechanism work in coordination with each other, thereby realizing the automation of goods sorting, reducing the cost of goods sorting, and greatly improving the efficiency of goods sorting. In addition, the sorting mechanism is moved to different heights under drive of the lifting mechanism, so that the goods to be sorted can be delivered to the sorting positions having different heights, which leads to strong universality and a reduction in the occupation of the sorting positions.

In a possible implementation, each part of the sorting robot performs actions in a coordinated manner under the control of the control center, and the control center of the sorting robot keeps a communication connection with an external server. The sorting robot can identify information of the goods to be sorted, and the sorting robot can obtain information of the sorting position corresponding to each of the goods to be sorted. The sorting robot coordinates and controls various parts according to the obtained information, to efficiently complete the sorting of goods. In the sorting robot and sorting method provided in the foregoing embodiments, the sorting component performs the delivery action only when the information of the goods to be sorted carried by the sorting component corresponds to the information of the sorting position.

In an embodiment of the present invention, as shown inFIG.38, the plurality of sorting positions are disposed at intervals along the vertical direction; and after the step S350, the sorting method further includes step S360: each of the sorting components delivering goods to the sorting positions in this column respectively executing the steps S330and S350until each of the sorting components delivering goods to the sorting positions in this column has completed the goods delivery. The sorting robot provided in this embodiment can carry a plurality of goods to be sorted at a time. The lifting mechanism drives the plurality of sorting components to first deliver the goods to be sorted to a column of sorting positions, which gives full play to the advantages of the sorting mechanism being able to rise or fall, and effectively improves the overall sorting efficiency of the sorting robot.

Optionally, during the synchronous rising or falling of the plurality of sorting components, only one sorting component is raised or lowered to the corresponding sorting position height, or the plurality of sorting components are simultaneously raised or lowered to the corresponding sorting position heights. In an implementation of the present invention, as shown inFIG.39, in the step S330, the plurality of sorting components are simultaneously raised or lowered to the corresponding sorting positions under drive of the lifting mechanism; and in the step S350, the plurality of sorting components simultaneously perform actions, to respectively deliver the goods to be sorted to the corresponding sorting positions. The step of simultaneously performing actions by the plurality of sorting components effectively eliminates a waiting time caused by performing delivery actions sequentially among the plurality of sorting components, and effectively improves the overall sorting efficiency of the sorting robot.

It may be understood that, the height difference between the plurality of sorting positions with different heights is the same as or different from the height difference between the plurality of sorting components. When the height difference between the plurality of sorting positions is the same as the height difference between the plurality of sorting components, the plurality of sorting components can be simultaneously lifted to the corresponding sorting positions under drive of the circulating lifting mechanism. When the height difference between the plurality of sorting positions is different from the height difference between the plurality of sorting components, the height difference between the plurality of sorting components may be adjusted until being adapted to the height difference between the corresponding sorting positions, and then the plurality of sorting components simultaneously perform actions to respectively deliver the goods to be sorted to the corresponding sorting positions.

It may be understood that, in the foregoing embodiments, the plurality of sorting components can simultaneously correspond to different sorting positions in height respectively, but the sorting components perform the delivery action only after the information of the goods to be sorted carried by the sorting components correspond to the information of the sorting position. Therefore, in actual working conditions, there will be the following working conditions: the plurality of sorting components simultaneously correspond to different sorting positions in height respectively, but the information of the goods to be sorted carried by only one sorting component corresponds to the information of the sorting position. In the working condition, only this sorting component performs the delivery action.

In an embodiment of the present invention, the sorting components each includes two opposite delivery directions, and two ends of the plurality of sorting components in the delivery direction are respectively provided with a plurality of sorting positions disposed at intervals along the vertical direction; in the step S330, the plurality of sorting components are simultaneously raised or lowered to the corresponding sorting positions on the corresponding side; and in the step S350, the plurality of sorting components simultaneously perform actions, to deliver the goods to be sorted to the corresponding sorting positions on the corresponding side. The sorting method provided in this embodiment allows the sorting robot to simultaneously deliver the goods to be sorted to the sorting positions at two ends in the delivery direction, which not only improves the adaptability of the sorting method to actual working conditions, but also effectively improves the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, two sorting components are disposed at each vertical height where the sorting component is installed on the vertical framework, and delivery directions of the two sorting components located at the same vertical height are opposite; the two sides of the plurality of sorting components in the delivery direction are respectively provided with a plurality of sorting positions disposed at intervals along the vertical direction; in the step S330, the plurality of sorting components are simultaneously raised or lowered to the corresponding sorting positions on the corresponding side; and in the step S350, the plurality of sorting components simultaneously perform actions, to deliver the goods to be sorted to the corresponding sorting positions on the corresponding side. The sorting method provided in this embodiment allows the sorting robot to simultaneously deliver the goods to be sorted to the sorting positions on two sides in the delivery direction, which not only improves the adaptability of the sorting method to actual working conditions, but also effectively improves the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, as shown inFIG.40, in order to further improve the adaptability of the sorting robot and the sorting method to actual working conditions and improve the sorting efficiency of the sorting robot and the sorting method, the vertical framework is disposed rotatably around an axis in the vertical direction on the chassis, two sorting components are disposed at each vertical height where the sorting component is installed on the vertical frame, delivery ends of the plurality of sorting components disposed in a same column are oriented in a same direction, and delivery ends of the sorting components in two columns are oriented oppositely; in the step S330, the plurality of sorting components of which the delivery ends face the plurality of sorting positions are simultaneously raised or lowered to the corresponding sorting positions; in the step S350, the plurality of sorting components of which the delivery ends face the plurality of sorting positions simultaneously perform actions, to deliver the goods to be sorted to the corresponding sorting positions; and after the step S360, the sorting method further includes step S365: the vertical framework rotating around the axis in the vertical direction until the delivery ends of the sorting components in another column face the plurality of sorting positions, and the sorting robot repeating the step S360until each of the sorting components delivering goods to the sorting positions in this column has completed the goods delivery. The sorting method and the sorting robot in this embodiment allow carrying of more goods to be sorted, and ensure orderly delivery of goods by the sorting robot by using a way of delivering one side first and then the other side, thereby improving the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, the sorting component includes a first sorting position and a second sorting position along a direction in which the sorting component delivers goods, the first sorting position and the second sorting position are respectively configured to carry goods to be sorted, and when the sorting component delivers goods to be sorted at the first sorting position to the corresponding sorting position, the goods to be sorted originally located at the second sorting position move to the first sorting position; in the step S330, the sorting component is raised or lowered to a height of the sorting position corresponding to the goods to be sorted at the first sorting position; and in the step S350, the sorting component delivers the goods to be sorted that is placed at the first sorting position to the corresponding sorting position. The sorting method and the sorting robot in this embodiment can not only carry more goods to be sorted, but when the goods to be sorted at the first sorting position are delivered, the goods to be sorted originally located in the second sorting position move to the first sorting position, and no additional structure is required to convey the goods to be sorted originally located at the second sorting position to the first sorting position, and there is no need for the time for waiting the goods to be sorted originally located in the second sorting position to move to the first sorting position as well, thereby improving the overall sorting efficiency of the sorting robot.

In an embodiment of the present invention, in the actual working condition, the plurality of columns of sorting positions are disposed in sequence along the horizontal direction. As shown inFIG.41, after the step S350, the sorting method further includes step S360: the sorting component being moved to other delivery positions under drive of the chassis, and the sorting component repeating the step S360. The sorting robot provided in this embodiment preferentially completes the delivery of the goods to be delivered to a column of sorting positions, and then the chassis drives the sorting component to other delivery positions to deliver the goods to other columns of sorting positions. The sorting method provided in this embodiment effectively ensures that the sorting robot delivers the goods to be sorted column by column, thereby avoiding time waste caused by the sorting robot repeatedly going back and forth to the same delivery position.

in the foregoing embodiments, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot may move to an adjacent column of sorting positions, or may move to a spaced column of sorting positions according to an actual working condition. In a possible implementation, after the sorting robot completes delivering to a column of sorting positions from one delivery position, the sorting robot preferentially is moved to the adjacent column of sorting positions. Further, as shown inFIG.41, after the step S370, the sorting method further includes step S380: the sorting robot repeating the steps S360and S370until all the sorting components have completed the goods delivery to the corresponding sorting positions respectively; and the sorting robot waiting for a next instruction. The sorting method provided in this embodiment effectively ensures that each piece of the goods to be sorted is delivered in a case that the sorting efficiency is improved.

In an embodiment of the present invention, the sorting robot includes two sorting mechanisms, the two sorting mechanisms are respectively disposed on two sides of the vertical framework, and are respectively configured to be raised or lowered under drive of the lifting mechanism, and a spacing between the two sorting mechanisms along a horizontal arrangement direction of the sorting position is an integer multiple of a spacing between neighboring ones of the plurality of columns of the sorting positions along the horizontal direction; and each of the sorting mechanisms simultaneously and independently executes the step S360. The two sorting mechanisms disposed on the vertical framework can multiply the number of goods to be sorted carried by the sorting robot, which significantly improves the overall sorting efficiency of the sorting robot. On the premise of the same amount of sorting tasks, the travel of the sorting robot between receiving and delivering goods is effectively saved. It may be understood that, the sorting method provided in this embodiment can also simultaneously deliver the goods to be sorted to the sorting positions on two sides in the delivery direction of the sorting component.

In an actual working condition, when a receiving position for receiving the goods is different from a delivery position for delivering the goods, the sorting robot needs to go back and forth between the receiving position for receiving the goods and the delivery position for delivering the goods. In an embodiment of the present invention, as shown inFIG.41, before the step S330, the sorting method further includes step S320: the designated sorting component being moved to a delivery position corresponding to the sorting position. Specifically, as shown inFIG.42, the step S320includes:S3201: the sorting robot receiving a delivery instruction including delivery position information;S3202: the chassis driving the designated sorting component to move to the corresponding delivery position according to the delivery position information.

Further, the step S3203includes:S32021: the chassis driving the sorting robot to move until the sorting component approaches the sorting area of the shelving unit.S32023: the chassis driving the sorting robot to move along the horizontal extension direction of the shelving unit until the sorting component moves to a delivery position corresponding to the sorting position.

Specifically, after the step S32021, the sorting method further includes step S32022: the chassis driving the sorting robot to move until the sorting component approaches a sorting area of the shelving unit.

In an actual working condition, when a receiving position for receiving the goods is different from a delivery position for delivering the goods, the sorting robot needs to go back and forth between the receiving position for receiving the goods and the delivery position for delivering the goods. In an embodiment of the present invention, as shown inFIG.43, the step S310includes:S3101: the sorting robot receiving a receiving instruction including receiving position information;S3102: the chassis driving the sorting robot to move to a corresponding receiving position according to the receiving position information; andS3104: the plurality of sorting components carrying goods to be sorted which are conveyed onto the plurality of sorting components.

Further, as shown inFIG.43, the sorting component has a receiving height when receiving goods, and after the step S3102, the sorting method further includes step S3103: the sorting component being raised or lowered to the receiving height under drive of the lifting mechanism. The step in which the sorting component is raised or lowered to the receiving height under drive of the lifting mechanism improves the efficiency of the sorting robot for receiving goods.

The technical features in the foregoing embodiments may be randomly combined. For concise description, not all possible combinations of the technical features in the embodiments are described. However, provided that combinations of the technical features do not conflict with each other, the combinations of the technical features are considered as falling within the scope described in this specification.

The foregoing embodiments only describe several implementations of the present disclosure, and their description is specific and detailed, but cannot therefore be understood as a limitation to the patent scope of the present invention. It should be noted that, a person of ordinary skill in the art may further make some variations and improvements without departing from the concept of the present invention, and the variations and improvements belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be topic to the claims.