A sorting workbench and a sorting system working in cooperation with a bin handling robot

Abstract

This application discloses a sorting workbench and sorting system that work in conjunction with a bin transport robot. The sorting workbench uses a first lifting device to pick up unsorted bins carried by the bin transport robot. At the same time, the sorting workbench also uses a second lifting device to transfer sorted bins to the bin transport robot. By separating the bins from the bin transport robot, the sorting workbench can directly queue the bins and release the bin transport robot, thereby reducing the number of bin transport robots used, improving the utilization rate or turnover rate of the bin transport robots, and saving costs.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, and in particular to a sorting workbench and sorting system that work in conjunction with a bin handling robot. Background Technology

[0002] In the logistics field, bin handling robots are widely used. A common application scenario is to use bin handling robots in conjunction with sorting workstations. That is, sorting personnel are located at the sorting workstation, and bin handling robots (such as chassis-type handling robots) carry bins to the sorting workstation. After the sorting personnel sort the bins, the bin handling robots then carry the bins away.

[0003] In the relevant solutions, the bin handling robots usually need to carry bins and queue them at the sorting workbench to wait for sorting. This requires a large number of bin handling robots, resulting in a waste of resources and high costs. Summary of the Invention

[0004] To address at least one aspect of the aforementioned technical problems, embodiments of this application provide a sorting workbench and a sorting system that work in conjunction with a bin-handling robot. The sorting workbench acquires unsorted bins carried by the bin-handling robot via a first lifting device. Simultaneously, the sorting workbench also transfers sorted bins to the bin-handling robot via a second lifting device. By separating the bins from the bin-handling robot, the sorting workbench can directly queue the bins and release the bin-handling robot, thereby reducing the number of bin-handling robots used, increasing the utilization or turnover rate of the bin-handling robots, and saving costs.

[0005] This application provides a sorting workbench that works in conjunction with a bin handling robot. The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively mounted on the frame unit.

[0006] The frame unit includes a material box translation channel, which extends in a straight line along a first direction and forms an inlet and an outlet at both ends of the extension direction, respectively. The inlet and the outlet extend vertically downward to form a first lifting channel and a second lifting channel, respectively.

[0007] The first reciprocating mechanism includes a hopper pushing device and a first power device. The first power device is used to drive the linear motion part of the hopper pushing device to perform linear reciprocating motion between a first translation position and a second translation position along the hopper translation channel.

[0008] The second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring and is respectively fixed with a first lifting device and a second lifting device. The second power device is used to drive the second annular rotating device to rotate and perform reciprocating motion between a first rotating position and a second rotating position.

[0009] In the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and to transfer the material box carried by the material box transport robot to the material box translation channel. At the same time, the second lifting device is configured to descend along the second lifting channel and to transfer the material box that has been translated thereto to the material box transport robot.

[0010] During the process of moving from the first translational position to the second translational position, the linear motion portion of the hopper pushing device is configured to at least push the hopper that has risen along the first lifting channel to the hopper translational channel toward the discharge port and push it away from the inlet port;

[0011] Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to operate at intervals according to a time sequence.

[0012] In one embodiment, preferably, the portion of the hopper translation channel between the inlet and the outlet is used to accommodate at least one hopper.

[0013] In one embodiment, preferably, the frame unit is provided with a material box support device at a position near the feed inlet in the first lifting channel;

[0014] The material box support device includes a support rod extending along the first direction, and both ends of the support rod are simultaneously hinged to a first connecting rod and a second connecting rod.

[0015] The frame unit is provided with a pair of sliding grooves at the positions corresponding to the two ends of the support rod. The sliding grooves extend in the vertical direction. The end of the first connecting rod is slidably installed in the sliding groove, and the end of the second connecting rod is hinged to the position of the frame unit located below the sliding groove.

[0016] So that when the hopper rises along the first lifting channel to the hopper translation channel, the hopper support device is used to support the hopper.

[0017] In one embodiment, preferably, the hopper pushing device includes a first annular rotating device and a follower arm fixed to the first annular rotating device, and the first power device includes a first motor that is drively connected to the first annular rotating device;

[0018] The first annular rotating device includes a first straight section that is disposed alongside the material box translation channel and extends along the material box translation channel. Both ends of the first straight section at least cover the inlet. The follower arm is fixed to the first straight section and protrudes into the material box translation channel.

[0019] So that when the first motor drives the first annular rotating device to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm will at least push the material box that has risen along the first lifting channel to the material box translation channel toward the discharge port and push it away from the inlet.

[0020] In one embodiment, preferably, one end of the first straight portion is located at the outer end of the inlet, and the other end of the first straight portion extends to the inner end of the outlet;

[0021] The first straight section is fixedly equipped with a plurality of the following arms, and the following arms are configured to be folded in one direction toward the discharge port.

[0022] So that during the process of moving from the first translational position to the second translational position, the plurality of follower arms respectively limit the material box in front of their forward direction and push the material box to move;

[0023] During the process of moving from the second translation position to the first translation position, the several follower arms respectively release the restriction on the material box in front of them in the forward direction.

[0024] In one embodiment, preferably, the first annular rotating device includes an annular chain or an annular conveyor belt, and the first annular rotating device is installed on either side or both sides of the material box translation channel relative to its extension direction.

[0025] In one embodiment, preferably, the second annular rotating device includes a second straight section disposed alongside the first lifting channel and extending in the vertical direction;

[0026] The first lifting device includes a horizontally arranged first lifting plate, which is fixed to the second straight section. The frame unit has a first guide post arranged vertically next to the first lifting channel, and the first lifting plate is slidably installed on the first guide post. The first lifting plate also includes a first support portion protruding into the first lifting channel. This allows the first support portion to rise along the first lifting channel during the rotation of the second annular rotating device from the first rotation position to the second rotation position, and to transfer the material box carried by the material box handling robot to the material box translation channel.

[0027] In one embodiment, preferably, the first lifting plate is located on one side of the first lifting channel and extends along the first direction, and the frame unit is provided with the first guide post at both ends of the first lifting plate along its extension direction.

[0028] The first lifting plate is provided with lifting shoe plates at both ends along its extension direction. The lifting shoe plates are used to protrude into the first lifting channel so that a pair of lifting shoe plates form the first support portion.

[0029] In one embodiment, preferably, the lifting shoe plate is fixedly installed on the first lifting plate in a direction perpendicular to the first direction; or,

[0030] The lifting shoe plate is rotatably mounted on the first lifting plate via a vertical pivot, so that when the first lifting plate descends, the lifting shoe plate rotates to be parallel to the first direction to avoid the material box, and when the first lifting plate rises, the lifting shoe plate rotates to be perpendicular to the first direction to lift the material box.

[0031] In one embodiment, preferably, the first lifting plate is provided with adapter bushings at both ends along its extension direction, the adapter bushings are arranged in the vertical direction, and the lifting shoe plate is rotatably mounted on the first lifting plate through the adapter bushings;

[0032] The adapter bushing is equipped with a return spring inside, and a flip guide post is fixedly installed on the adapter bushing. At the position corresponding to a pair of flip guide posts, the frame unit is provided with a pair of guide ramps.

[0033] The reset spring is configured such that, when the reset spring is in the reset position, the lifting shoe plate extends perpendicular to the first direction and protrudes into the first lifting channel, and the tilting guide post extends along the first direction.

[0034] The guide ramp is configured such that when the first lifting plate descends from the top of the first lifting channel, the guide ramp rotates the adapter sleeve by limiting the rotation of the flipping guide post, so that the lifting shoe plate avoids the material box carried by the material box handling robot during the descent.

[0035] In one embodiment, preferably, the guide ramp includes an upper flipping guide portion and a lower flipping retaining portion in the vertical direction;

[0036] The flipping guide portion is used to rotate the adapter sleeve by limiting and guiding the flipping guide post when the first lifting plate descends.

[0037] The flip-holding portion extends vertically from the end of the flip-guide portion, and the flip-holding portion is used to maintain the rotation of the adapter sleeve by limiting and guiding the flip-guide post during the descent of the first lifting plate.

[0038] Furthermore, the height of the lower end of the flipping and holding part is not higher than the height of the bottom surface of the bin carried by the bin handling robot.

[0039] In one embodiment, preferably, the second annular rotating device includes a third straight section disposed alongside the second lifting channel and extending in the vertical direction;

[0040] The second lifting device includes a horizontally arranged second lifting plate, which is fixed to the second straight section. The frame unit has a second guide post arranged vertically next to the second lifting channel, and the second lifting plate is slidably installed on the second guide post. The second lifting plate also includes a second support portion protruding into the second lifting channel. This allows the second annular rotating device to descend along the second lifting channel during its rotation from the first rotation position to the second rotation position, and to transfer the hopper that has been moved thereto to the hopper handling robot.

[0041] In one embodiment, preferably, the frame unit has a walking channel below the hopper translation channel, the walking channel extending along the first direction, the walking channel being used for the hopper transport robot to walk and pass through the frame unit along the first direction.

[0042] In one embodiment, preferably, the hopper pushing device includes a ball screw arranged along the first direction, the ball screw being disposed beside the hopper translation channel, the ball screw having a screw nut, and a follower arm fixedly mounted on the screw nut. The first power device includes a third motor driving the ball screw, such that when the third motor drives the ball screw to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the hopper that has risen along the first lifting channel to the hopper translation channel toward the discharge port and away from the inlet; or...

[0043] The hopper pushing device includes a telescopic rod arranged along the first direction, the telescopic rod being disposed beside the hopper translation channel, and a follower arm being fixedly installed on the telescopic rod. The first power device includes a cylinder or electric cylinder that drives the telescopic rod to extend and retract along the first direction, so that when the cylinder or electric cylinder drives the telescopic rod to extend and retract along the first direction, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the hopper that has risen along the first lifting channel to the hopper translation channel toward the discharge port and pushes it away from the inlet.

[0044] In one embodiment, preferably, the frame unit includes a hopper translation channel, wherein the first reciprocating mechanism and the second reciprocating mechanism are disposed on one side of the hopper translation channel; or,

[0045] The frame unit includes two parallel material box translation channels, wherein the first reciprocating mechanism and the second reciprocating mechanism are located between the pair of material box translation channels.

[0046] This application provides a sorting system, which includes at least a sorting workbench, a bin transfer device, and a bin handling robot. The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively mounted on the frame unit.

[0047] The frame unit includes a material box translation channel, which extends in a straight line along a first direction and forms an inlet and an outlet at both ends of the extension direction, respectively. The inlet and the outlet extend vertically downward to form a first lifting channel and a second lifting channel, respectively.

[0048] The first reciprocating mechanism includes a hopper pushing device and a first power device. The first power device is used to drive the linear motion part of the hopper pushing device to perform linear reciprocating motion between a first translation position and a second translation position along the hopper translation channel.

[0049] The second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring and is respectively fixed with a first lifting device and a second lifting device. The second power device is used to drive the second annular rotating device to rotate and perform reciprocating motion between a first rotating position and a second rotating position.

[0050] In the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and to transfer the material box carried by the material box transport robot to the material box translation channel. At the same time, the second lifting device is configured to descend along the second lifting channel and to transfer the material box that has been translated thereto to the material box transport robot.

[0051] During the process of moving from the first translational position to the second translational position, the linear motion portion of the hopper pushing device is configured to at least push the hopper that has risen along the first lifting channel to the hopper translational channel toward the discharge port and push it away from the inlet port;

[0052] Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to operate at intervals according to a time sequence.

[0053] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0054] This application provides a sorting workbench and sorting system that work in conjunction with a bin handling robot. The sorting workbench includes a frame unit, a first reciprocating mechanism, and a second reciprocating mechanism. The frame unit is provided with a bin translation channel and a first lifting channel and a second lifting channel located at both ends of the bin translation channel.

[0055] The second reciprocating mechanism includes a vertically arranged second annular rotating device. The first and second lifting devices are fixed at the first and second lifting channels, respectively. The second annular rotating device can achieve the upward movement of one of the two lifting devices and the downward movement of the other through reciprocating rotation. Thus, it can be understood that the rising lifting device (i.e., the first lifting device) can be used to obtain the unsorted boxes carried by the box handling robot, while the falling lifting device (i.e., the second lifting device) can be used to transfer the sorted boxes to the box handling robot. In addition, the first reciprocating mechanism, which operates at time intervals with the second reciprocating mechanism, includes a box pushing device. The linear motion part of the box pushing device performs linear reciprocating motion along the box translation channel. In this way, the unsorted boxes obtained by the sorting workbench can move towards the sorting personnel through linear reciprocating motion.

[0056] In other words, by separating the bins from the bin transport robots, the sorting workbench in this embodiment can directly queue the bins and release the bin transport robots, thereby reducing the number of bin transport robots used, increasing the utilization or turnover rate of the bin transport robots, and saving costs. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a structural schematic diagram of the sorting workbench in one state according to an embodiment of this application, wherein the linear motion part of the material box pushing device is in the first translational position in this state.

[0059] Figure 2This is a structural diagram of the sorting workbench in one state according to an embodiment of this application, wherein the linear motion part of the material box pushing device has been reset from the second translation position to the first translation position.

[0060] Figure 3 This is a structural schematic diagram of the sorting workbench in one state according to an embodiment of this application, wherein the second annular rotating device is in the second rotating position in this state.

[0061] Figure 4 This is a schematic diagram of the sorting workbench described in the embodiments of this application.

[0062] Figure 5 This is a schematic diagram showing the positional relationship between the material box translation channel, the first lifting channel, and the second lifting channel in the embodiments of this application.

[0063] Figure 6 This is a schematic diagram of the structure in which the first lifting plate and the second annular rotating device are fixedly installed in an embodiment of this application.

[0064] Figure 7 This is a schematic diagram of the sorting workbench described in the embodiments of this application.

[0065] Figure 8 for Figure 7 A magnified view of a portion of the image.

[0066] Figure 9 This is a structural schematic diagram of the sorting workbench described in this application embodiment from another angle.

[0067] Figure 10 for Figure 9 A magnified view of a portion of the image.

[0068] Figure 11 This is a schematic diagram of the structure in this embodiment of the application, showing that when the first lifting plate descends, the flipping guide post is limited and guided by the flipping guide slope, causing the adapter sleeve and the lifting shoe plate to rotate.

[0069] Figure 12 This is an exploded structural diagram of the adapter sleeve described in the embodiments of this application.

[0070] Figure 13 This is a top view of the frame unit in the embodiments of this application, which includes two material box translation channels.

[0071] Figure 14 This is a schematic diagram of the structure in which the linear reciprocating motion described in this application is achieved by a ball screw and a screw nut.

[0072] Figure 15 This is a schematic diagram of the structure in the embodiments of this application, showing that the linear reciprocating motion is achieved by a telescopic rod.

[0073] Figure 16 This is an example schematic diagram of the sorting system described in the embodiments of this application.

[0074] In the attached figures, the following labels are used:

[0075] 100 - Sorting workbench; 200 - Tobacco bin transfer equipment; 300 - Tobacco bin; 400 - Tobacco bin handling robot.

[0076] 301 - Unsorted bins, 302 - Sorted bins

[0077] 10-First reciprocating mechanism,

[0078] 11-First annular rotating device, 12-First power device, 13-Follower arm,

[0079] 111 - First straight section,

[0080] 20 - Second reciprocating mechanism,

[0081] 21-Second annular rotating device, 22-Second power device, 23-First lifting device, 24-Second lifting device

[0082] 211 - Second straight section, 212 - Third straight section

[0083] 231-First lifting plate, 232-Lifting shoe plate, 233-Adapter bushing, 234-Reset spring, 235-Tilting guide post, 236-Adapter shaft, 237-Adapter bearing.

[0084] 241-Second lifting plate,

[0085] 30-rack unit,

[0086] 31-First lifting channel, 32-Second lifting channel, 33-Bag horizontal movement channel, 34-Travel channel.

[0087] 35-First guide post, 36-Second guide post, 37-Bag support device, 38-Chutter, 39-Guide ramp,

[0088] 331 - Inlet, 332 - Outlet

[0089] 371 - First link, 372 - Second link, 373 - Support rod

[0090] 391 - Flip-guide section, 392 - Flip-holding section

[0091] 41-Ball screw, 42-Screw nut

[0092] 51-Telescopic pole,

[0093] X - First direction. Detailed Implementation

[0094] To better understand the above technical solutions, exemplary embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0095] Please combine Figures 1-5 A sorting workbench that works in conjunction with a bin handling robot includes a frame unit 30 and a first reciprocating mechanism 10 and a second reciprocating mechanism 20 respectively mounted on the frame unit 30.

[0096] The frame unit 30 includes a material box translation channel 33, which extends in a straight line along the first direction X and forms an inlet 331 and an outlet 332 at its two ends. The inlet 331 and the outlet 332 extend vertically downward to form a first lifting channel 31 and a second lifting channel 32, respectively. The first reciprocating mechanism 10 includes a material box pushing device and a first power device 12. The first power device 12 is used to drive the linear motion part of the material box pushing device to perform linear reciprocating motion between the first translation position and the second translation position along the material box translation channel 33. The second reciprocating mechanism 20 includes a second annular rotating device 21 and a second power device 22. The second annular rotating device 21 is arranged in a vertical ring and is respectively fixed with a first lifting device 23 and a second lifting device 24. The second power device 22 is used to drive the second annular rotating device 21 to rotate and perform reciprocating rotation between the first rotation position and the second rotation position.

[0097] In the process of the second annular rotating device 21 rotating from the first rotating position to the second rotating position, the first lifting device 23 is configured to rise along the first lifting channel 31 and be used to transfer the material box 300 carried by the material box transport robot 400 to the material box translation channel 33. At the same time, the second lifting device 24 is configured to descend along the second lifting channel 32 and be used to transfer the material box 300 translated thereon to the material box transport robot 400. In the process of moving from the first translation position to the second translation position, the linear motion part of the material box pushing device is configured to push the material box 300 that has risen along the first lifting channel 31 to the material box translation channel 33 toward the discharge port 332 and push it away from the inlet port 331. Furthermore, the linear reciprocating motion and the rotary reciprocating motion are configured to run at intervals according to a time sequence.

[0098] Overall, the sorting workbench provided in this embodiment can work in conjunction with the bin transport robot to complete the sorting of bins. The sorting personnel are located at the sorting workbench, and the bin transport robot carries the unsorted bins 301 to the inlet end of the sorting workbench (i.e., below the first lifting channel). After the sorting workbench obtains the unsorted bins carried by the bin transport robot, the bin transport robot can continue to the outlet end of the sorting workbench (i.e., below the second lifting channel). The sorting workbench can then transfer the sorted bins to the bin transport robot. Then, the bin transport robot carries the sorted bins 302 and leaves the sorting workbench.

[0099] The sorting workbench includes a frame unit, which is equipped with a first reciprocating mechanism and a second reciprocating mechanism.

[0100] Specifically, the frame unit includes a material box translation channel, a first lifting channel, and a second lifting channel. The material box translation channel is located, for example, at the top of the frame unit to facilitate sorting personnel operation. The material box translation channel extends in a straight line along a first direction, with an inlet and an outlet at its two ends. The first lifting channel extends vertically downward from the inlet, and the second lifting channel extends vertically downward from the outlet.

[0101] As can be seen, the unsorted bins can be raised vertically by the first lifting channel, and then enter the bin transfer channel through the inlet. After sorting, the bins can be lowered vertically through the outlet along the second lifting channel and then transported away from the sorting workbench.

[0102] It is understood that this embodiment does not limit the specific structural settings of the above-mentioned material box translation channel, the first lifting channel and the second lifting channel. For example, the above-mentioned channels can be formed by the horizontal bars, vertical bars and the space between them that constitute the frame unit.

[0103] Specifically, the second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring, for example, it can be a roughly square ring, and can be specifically installed on one side of the frame unit relative to the first direction. The second power device is, for example, a second motor, which is connected to the second annular rotating device for driving the second annular rotating device to perform reciprocating rotation.

[0104] Along the annular extension direction of the second annular rotating device, the second annular rotating device is respectively fixed with a first lifting device and a second lifting device. The first lifting device is, for example, located beside the first lifting channel and can move up and down along the first lifting channel. The second lifting device is, for example, located beside the second lifting channel and can move up and down along the second lifting channel. Furthermore, by adjusting the relative fixed positions of the two lifting devices on the second annular rotating device, when the second annular rotating device rotates clockwise, the first lifting device can rise vertically along the first lifting channel while the second lifting device falls vertically along the second lifting channel. Conversely, when the second annular rotating device rotates counterclockwise, the first lifting device can fall vertically along the first lifting channel while the second lifting device rises vertically along the second lifting channel.

[0105] Based on the above, firstly, the second motor can drive the second annular rotating device to perform reciprocating rotational motion between the first rotating position and the second rotating position;

[0106] Secondly, during the rotation of the second annular rotating device from the first rotating position to the second rotating position, in this embodiment, the unsorted boxes carried by the box transport robot can be driven by the first lifting device when it rises vertically along the first lifting channel, and the unsorted boxes can be raised to the box translation channel; at the same time, the sorted boxes can be driven down and transferred to the box transport robot when it descends vertically along the second lifting channel by the second lifting device. That is to say, the sorting workbench can obtain unsorted boxes on one side through the first lifting device, and release sorted boxes on the other side at the same time through the second lifting device. As for the box transport robot, it can walk to the bottom of the second lifting channel after the unsorted boxes are removed, and wait for the sorted boxes.

[0107] Furthermore, during the rotation of the second annular rotating device from the second rotating position to the first rotating position, the first lifting device descends vertically along the first lifting channel, while the second lifting device rises vertically along the second lifting channel. In other words, it is similar to two lifting devices needing to reset.

[0108] Regarding the first reciprocating mechanism, specifically, based on the above description, after the two lifting devices reset, that is, the first lifting device descends to its lowest position while the second lifting device rises to its highest position (i.e., parallel to the material box translation channel), the purpose of the first reciprocating mechanism is, on the one hand, to push the unsorted material boxes rising from the first lifting channel away from the inlet; on the other hand, to translate all the material boxes facing the outlet direction of the unsorted material boxes, so that the sorted material boxes at the front closest to the outlet are translated to the surface of the second lifting device, in preparation for being released; furthermore, the first reciprocating mechanism also needs to reset to meet the subsequent pushing of the material boxes.

[0109] In this embodiment, the above objective is achieved by the linear motion portion of the hopper pushing device reciprocating along the hopper translation channel between the first translation position and the second translation position.

[0110] Understandably, the aforementioned linear reciprocating motion can be driven by the first power device.

[0111] Understandably, during the process of moving from the first translation position to the second translation position, the linear motion part of the hopper pushing device should at least push the hopper that has risen along the first lifting channel to the hopper translation channel toward the outlet and push it away from the inlet; that is, in this embodiment, the linear motion part of the hopper pushing device can directly push the hopper that has just risen from the first lifting channel, and then the hopper that has just risen can push the hopper in front of it to translate; of course, considering the situation of hopper jamming, the linear motion part of the hopper pushing device in this embodiment can also push multiple hoppers on the hopper translation channel separately.

[0112] Regarding linear reciprocating motion and rotary reciprocating motion, or more specifically, regarding the operation of the first reciprocating mechanism and the second reciprocating mechanism, in conjunction with the above description, linear reciprocating motion requires the linear motion part of the hopper pushing device to move from the first translational position to the second translational position, and then return to the first translational position; similarly, rotary reciprocating motion requires the second annular rotating device to rotate from the first rotating position to the second rotating position, and then return to the first rotating position; furthermore, the two reciprocating motions mentioned above need to be operated at intervals according to a time sequence, that is, linear reciprocating motion and rotary reciprocating motion need to be operated at intervals, or in other words, the first power device and the second power device need to be driven at intervals according to a time sequence.

[0113] This application provides a sorting workbench and sorting system that work in conjunction with a bin handling robot. The sorting workbench includes a frame unit, a first reciprocating mechanism, and a second reciprocating mechanism. The frame unit is provided with a bin translation channel and a first lifting channel and a second lifting channel located at both ends of the bin translation channel.

[0114] The second reciprocating mechanism includes a vertically arranged second annular rotating device. The first and second lifting devices are fixed at the first and second lifting channels, respectively. The second annular rotating device can achieve the upward movement of one of the two lifting devices and the downward movement of the other through reciprocating rotation. Thus, it can be understood that the rising lifting device (i.e., the first lifting device) can be used to obtain the unsorted boxes carried by the box handling robot, while the falling lifting device (i.e., the second lifting device) can be used to transfer the sorted boxes to the box handling robot. In addition, the first reciprocating mechanism, which operates at time intervals with the second reciprocating mechanism, includes a box pushing device. The linear motion part of the box pushing device performs linear reciprocating motion along the box translation channel. In this way, the unsorted boxes obtained by the sorting workbench can move towards the sorting personnel through linear reciprocating motion.

[0115] In other words, by separating the bins from the bin transport robots, the sorting workbench in this embodiment can directly queue the bins and release the bin transport robots, thereby reducing the number of bin transport robots used, increasing the utilization or turnover rate of the bin transport robots, and saving costs.

[0116] Regarding the hopper translation channel 33, in one possible implementation, the portion of the hopper translation channel 33 between the inlet 331 and the outlet 332 is used to accommodate at least one hopper.

[0117] Regarding the transfer of material boxes, it is understandable that the first lifting device can raise one material box to the material box transfer channel at a time, while the second lifting device can lower one material box to the material box handling robot at a time. Furthermore, the material box transfer channel should be able to buffer at least one material box. When there are many buffered material boxes, multiple sorting positions can be set up to achieve classification and sorting.

[0118] One simple configuration is that the length of the section of the material box translation channel between the first lifting channel and the second lifting channel can be an integer multiple of the material box length, such as one, two, three times, etc., which can be set according to actual needs; at the same time, each reciprocating translation of the material box pushing device can drive all the material boxes on the material box translation channel to move forward a distance of one material box length towards the second lifting channel.

[0119] Regarding the support of the material box at the inlet 331, combined with Figure 9 , Figure 10In one possible implementation, the frame unit 30 is provided with a hopper support device 37 near the feed inlet 331 in the first lifting channel 31; wherein, the hopper support device 37 includes a support rod 373 extending along a first direction X, and both ends of the support rod 373 are simultaneously hinged to a first connecting rod 371 and a second connecting rod 372; the frame unit 30 is provided with a pair of sliding grooves 38 at the corresponding ends of the support rod 373, the sliding grooves 38 extending in a vertical direction, the end of the first connecting rod 371 is slidably mounted in the sliding groove 38, and the end of the second connecting rod 372 is hinged to the frame unit 30 located below the sliding groove 38; so that when the hopper 300 rises along the first lifting channel 31 to the hopper translation channel 33, the hopper support device 37 is used to support the hopper 300.

[0120] That is, in combination with the above, after the material box is raised from the first lifting device to the material box translation channel through the inlet, the second annular rotating device needs to be reset, that is, the first lifting device needs to be lowered along the first lifting channel. At this time, a material box support device needs to be set up to support the material box and keep it at the height of the material box translation channel.

[0121] The hopper support device needs to be installed near the feed inlet in the first lifting channel of the frame unit. Specifically, this embodiment discloses one possible structure of the hopper support device, which includes a support rod extending along a first direction (i.e., the direction in which the hopper translation channel extends). Both ends of the support rod are hinged to two connecting rods, namely a first connecting rod and a second connecting rod. The end of the first connecting rod is slidably mounted in a groove of the frame unit, the groove being vertically oriented. The end of the second connecting rod is hinged to a position of the frame unit located below the groove. It can be understood that, at this time, the upper first connecting rod... The length should be less than the length of the second link; in this way, when the hopper rises, the support rod will be subjected to the upward force of the hopper. Under the action of this force and due to the constraint of the two links, the second link will rotate and retract around the hinge point connecting it to the frame unit, and the sliding point of the first link connecting to the frame unit will slide vertically downward. Thus, the support rod retracts relative to the first lifting channel, and the hopper rises; when the force of the hopper on the support rod disappears, due to gravity and the constraint of the two links, the support rod will unfold relative to the first lifting channel to support the hopper and maintain it at the height of the hopper translation channel.

[0122] For information on the first reciprocating mechanism 10, please refer to [link / reference]. Figure 9In one possible implementation, the hopper pushing device includes a first annular rotating device 11 and a follower arm 13 fixed to the first annular rotating device 11. The first power device 12 includes a first motor that is pulsatorically connected to the first annular rotating device 11. The first annular rotating device 11 includes a first straight portion 111 that is disposed alongside the hopper translation channel 33 and extends along the hopper translation channel 33. Both ends of the first straight portion 111 at least cover the inlet 331. The follower arm 13 is fixed to the first straight portion 111 and protrudes into the hopper translation channel 33. This allows the follower arm 13 to perform linear reciprocating motion when the first motor drives the first annular rotating device 11 to rotate forward and reverse. Furthermore, the follower arm 13 pushes the hopper 300, which has risen along the first lifting channel 31 to the hopper translation channel 33, toward the outlet 332 and pushes it away from the inlet 331.

[0123] That is, the linear motion part of the aforementioned hopper pushing device can be formed by the first linear part of the first annular rotating device and the follower arm thereon.

[0124] Specifically, the first annular rotating device is located next to and extends along the material box translation channel. For example, the first annular rotating device is a vertically arranged ring. It can be understood that the upper or lower straight section of the first annular rotating device can be the first straight section. Generally, considering the stability of the push, the lower straight section is chosen as the first straight section, that is, the follower arm is fixed in the lower straight section. In this way, the first motor can realize the linear reciprocating motion of the first straight section by driving the first annular rotating device to rotate forward and backward.

[0125] The first straight section should at least cover the feed inlet, and the follower arm is fixed to the first straight section and moves in a straight reciprocating motion with the first straight section. Thus, the first motor drives the follower arm to move in a straight reciprocating motion, and the follower arm can push the material box that has just risen from the first lifting channel to move horizontally and push it away from the feed inlet.

[0126] To prevent the hopper from jamming while moving along the hopper translation channel, or to ensure the stability of the hopper while moving along the hopper translation channel, in one specific embodiment, one end of the first straight section 111 is located at the outer end of the inlet 331, and the other end of the first straight section 111 extends to the inner end of the outlet 332; wherein, the first straight section 111 is fixedly equipped with a plurality of follower arms 13, the plurality of follower arms 13 are equally spaced with the hopper length plus a safety margin as the interval, and the follower arms 13 are configured to be unidirectionally folded toward the outlet 332; so that during the movement from the first translation position to the second translation position, the plurality of follower arms 13 respectively limit and push the hopper 300 in front of them in the forward direction to move; during the movement from the second translation position to the first translation position, the plurality of follower arms 13 respectively release the limit on the hopper 300 in front of them in the forward direction.

[0127] That is, the first straight section extends along the material box translation channel, and then multiple follower arms can be set at equal intervals in the first straight section with the length of the material box plus a safety margin. In this way, when the first straight section performs linear reciprocating motion, each follower arm can push a material box. That is, several follower arms respectively limit the material box in front of their forward direction and push the material box to move.

[0128] In the reciprocating motion process, when the first linear part (or follower arm) moves toward the feed inlet, the follower arm should avoid the feed box. Therefore, in this embodiment, the follower arm is configured to be unidirectionally folded toward the discharge outlet. That is, when the follower arm moves toward the discharge outlet, it cannot be folded and can push the feed box. When the follower arm moves toward the feed inlet to reset, it can be folded by the feed box to avoid the feed box.

[0129] Regarding the triggering of the follower boom's unidirectional bending, it is understood that when the follower boom moves toward the feed inlet to reset, on the one hand, the unidirectional bending of the follower boom can be passively triggered by the collision of the feed box; on the other hand, the unidirectional bending of the follower boom can also be actively triggered by a motor located therein. This embodiment does not limit this.

[0130] In one specific embodiment, the first annular rotating device 11 includes an annular chain or an annular conveyor belt, and the first annular rotating device 11 is installed on either side or both sides of the material box translation channel 33 relative to its extension direction.

[0131] For more information on the first lifting device 23, please refer to [link / reference]. Figure 7 , Figure 8In one possible implementation, the second annular rotating device 21 includes a second straight section 211 that is disposed alongside the first lifting channel 31 and extends vertically; wherein, the first lifting device 23 includes a first lifting plate 231 that is horizontally disposed, the first lifting plate 231 being fixed to the second straight section 211, the frame unit 30 having a first guide post 35 disposed vertically alongside the first lifting channel 31, the first lifting plate 231 being slidably mounted on the first guide post 35; and the first lifting plate 231 includes a first support portion protruding into the first lifting channel 31; so that during the rotation of the second annular rotating device 21 from the first rotating position to the second rotating position, the first support portion rises along the first lifting channel 31 and is used to transfer the material box 300 carried by the material box handling machine 400 to the material box translation channel 33.

[0132] In this embodiment, firstly, as mentioned above, the second annular rotating device is, for example, generally square in shape. The second annular rotating device includes a second straight section disposed alongside the first lifting channel. The second straight section is arranged in the vertical direction, or in other words, it is arranged parallel to the first lifting channel. Thus, it can be understood that when the second annular rotating device is rotating and reciprocating, the first lifting plate fixed to the second straight section can move up and down.

[0133] Secondly, to ensure the smoothness of the vertical lifting, the first lifting plate can also be slidably installed on the first guide post, which should also be located next to the first lifting channel. The first guide post can be, for example, a post that forms the first lifting channel.

[0134] In addition, to ensure that the first lifting plate lifts the material box during the lifting process, the first lifting plate should include a first support portion protruding into the first lifting channel, that is, the material box can be placed on the first support portion of the first lifting plate and rise along the first lifting channel; as for how the material box is placed on the first support portion, it is understood that, for example, it can be achieved through the lifting function of the material box handling robot.

[0135] In one specific embodiment, the first lifting plate 231 is located on one side of the first lifting channel 31 and extends along the first direction. The frame unit is provided with first guide posts 35 at both ends of the first lifting plate 231 along its extension direction. The first lifting plate 231 is provided with lifting shoe plates 232 at both ends along its extension direction. The lifting shoe plates 232 are used to protrude into the first lifting channel 31 so that a pair of lifting shoe plates 232 form a first support portion.

[0136] That is, see Figure 7 , Figure 8 , Figure 10 First, first guide posts can be set at both ends of the first lifting plate along the first direction. The vertical guidance of the first lifting plate by a pair of first guide posts can increase the stability of its lifting process.

[0137] Secondly, the first support portion protruding into the first lifting channel mentioned above can be formed by the lifting shoe plates at both ends of the first lifting plate; in this way, the area between a pair of lifting shoe plates can form a groove that avoids the aforementioned hopper support device.

[0138] In one specific embodiment, the lifting shoe plate is fixedly installed on the first lifting plate in the direction perpendicular to the first direction X; or, the lifting shoe plate is rotatably installed on the first lifting plate via a pivot in the vertical direction, so that when the first lifting plate descends, the lifting shoe plate rotates to be parallel to the first direction to avoid the material box, and when the first lifting plate rises, the lifting shoe plate rotates to be perpendicular to the first direction to lift the material box.

[0139] That is, this embodiment provides two installation methods for the lifting shoe plate. One method is to directly fix the lifting shoe plate to the first lifting plate in the vertical direction of the first direction. In this case, it can be understood that the material box handling robot can only carry the material box to the first lifting channel after the first lifting plate has descended to its lowest point. The other method is to rotatably install the lifting shoe plate on the first lifting plate along the vertical axis. The purpose of making the lifting shoe plate rotatable is that by rotating the lifting shoe plate from, for example, perpendicular to the first direction to parallel to the first direction, the lifting shoe plate can avoid the material box below when descending with the first lifting plate. In this case, it can be understood that the material box handling robot can carry the material box to the first lifting channel in advance without waiting for the first lifting plate to descend to its lowest point, thus improving sorting efficiency.

[0140] Regarding the rotation of the lifting shoe plate, it can be actively driven by a motor, or passively driven by the guidance of the tilting guide post by the guide ramp as described below.

[0141] Specifically, the first lifting plate 231 has adapter sleeves 233 at both ends along its extension direction. The adapter sleeves 233 are arranged vertically, and the lifting shoe plate 232 is rotatably mounted on the first lifting plate 231 through the adapter sleeves 233. The adapter sleeves 233 have a return spring 234 inside, and flip guide posts 235 are fixedly mounted on them. At the positions corresponding to a pair of flip guide posts 235, the frame unit 30 has a pair of guide ramps 39. The return springs 234 are configured with... When the reset spring 234 is in the reset position, the lifting shoe plate 232 extends perpendicularly to the first direction and protrudes into the first lifting channel 31, the flipping guide post 235 extends along the first direction, and the guide slope 39 is configured such that when the first lifting plate 231 descends from the top of the first lifting channel 31, the guide slope 39 rotates the adapter sleeve 233 by limiting and guiding the flipping guide post 235, so that the lifting shoe plate 232 avoids the material box 300 carried by the material box handling machine 400 people during the descent.

[0142] Combination Figure 8 , Figure 11 and Figure 12 That is, in order to make the pair of lifting shoe plates avoid the material box that is already stationary below when the first lifting plate descends, the lifting shoe plates can be set by flipping and rotating relative to the first lifting plate.

[0143] Specifically, the lifting shoe plate is rotatably fixed to the end of the first lifting plate via an adapter sleeve. The adapter sleeve is equipped with a return spring inside, and a flip guide post is fixed to the outside of the adapter sleeve. The flip guide post cooperates with the guide ramp provided on the frame unit. When the first lifting plate descends, the guide ramp can limit and guide the flip guide post to make the adapter sleeve rotate, for example, to make the lifting shoe plate perpendicular to the first direction rotate to the first direction. In this way, when the first lifting plate descends, the lifting shoe plate can avoid the material box and will not collide with the material box.

[0144] When the interaction between the guide ramp and the flipping guide post disappears, the adapter sleeve is reset under the action of the reset spring due to the disappearance of the external force, that is, the lifting shoe plate is reset and rotated to be perpendicular to the first direction.

[0145] Regarding the guiding ramp, further, in conjunction with Figure 8 Along the vertical direction, the guide slope 39 includes an upper flipping guide portion 391 and a lower flipping retaining portion 392; wherein, the flipping guide portion 391 is used to rotate the adapter sleeve 233 by limiting the flipping guide post 235 when the first lifting plate 231 descends; the flipping retaining portion 392 extends vertically from the end of the flipping guide portion 391, and the flipping retaining portion 392 is used to retain the rotation of the adapter sleeve 233 by limiting the flipping guide post 235 during the descent of the first lifting plate 231; and the height of the lower end of the flipping retaining portion 392 is not higher than the height of the bottom surface of the material box 300 carried by the material box handling robot 400.

[0146] The guide ramp can be specifically composed of a flipping guide part and a flipping retaining part arranged vertically.

[0147] During the descent of the first lifting plate, the flipping guide post is first guided by the flipping guide part to rotate the adapter sleeve until the vertical projection of the lifting shoe plate avoids the material box; then, as the first lifting plate continues to descend, the flipping holding part can limit the flipping guide post to keep the adapter sleeve rotating until the flipping guide post disengages from the guide slope.

[0148] After the flipping guide post descends to disengage from the guide ramp, as described above, the lifting shoe plate will reset to be perpendicular to the first direction. Therefore, the aforementioned disengagement position should not be higher than the bottom surface of the hopper. In other words, the height of the lower end of the flipping holding part should not be higher than the height of the bottom surface of the hopper carried by the hopper transport robot. In this way, the pair of lifting shoe plates after resetting can lift the hopper when rising.

[0149] Regarding the second lifting device 24, in conjunction with Figure 4 , Figure 7 , Figure 9 In one possible implementation, the second annular rotating device 21 includes a third straight section 212 that is disposed alongside the second lifting channel 32 and extends vertically; wherein, the second lifting device 24 includes a horizontally disposed second lifting plate 241, the second lifting plate 241 being fixed to the second straight section 212, the frame unit 30 having a second guide post 36 disposed alongside the second lifting channel 32 and extending vertically, the second lifting plate 241 being slidably mounted on the second guide post 36; and the second lifting plate 241 includes a second support section protruding into the second lifting channel 32; so that during the rotation of the second annular rotating device 21 from the first rotating position to the second rotating position, the second support section descends along the second lifting channel 32 and is used to transfer the material box 300 that has been translated thereon to the material box handling robot 400.

[0150] That is, the second lifting plate is similar to the first lifting plate, except that since there is no need to consider avoiding the material box, the second lifting plate can be directly fixed to the second support part, that is, the second support part does not need to rotate.

[0151] In one possible implementation, combined with Figures 1-3 The frame unit 30 has a walking channel 34 below the material box translation channel 33. The walking channel 34 extends along the first direction and is used for the material box handling robot 400 to walk and pass through the frame unit 30 along the first direction.

[0152] That is, the frame unit can be equipped with a walking channel for the feeding box transport robot to pass through. The walking channel can be set parallel to and below the feeding box translation channel. In this way, after the feeding box is unloaded at the first lifting channel, the feeding box transport robot can directly walk through the walking channel to the bottom of the second lifting channel to wait for the sorted feeding box.

[0153] Of course, considering the simplicity of the frame unit structure, the frame unit can be formed by connecting several horizontal and vertical bars, and the aforementioned material box translation channel, first lifting channel and second lifting channel can be in the form of an open structure, which can be used for the material box to pass through, rather than a closed channel structure.

[0154] In one possible implementation, combined with Figure 14The hopper pushing device includes a ball screw 41 arranged along a first direction. The ball screw 41 is located next to the hopper translation channel 33. The ball screw 41 is provided with a screw nut 42. The screw nut 42 is fixedly mounted with a follower arm 13. The first power device 12 includes a third motor that drives the ball screw 41 so that when the third motor drives the ball screw 41 to rotate forward and reverse, the follower arm 13 performs linear reciprocating motion. Furthermore, the follower arm 13 at least pushes the hopper 300, which has risen along the first lifting channel 31 to the hopper translation channel 33, toward the discharge port 332 and pushes it away from the inlet port 331.

[0155] Or, combine Figure 15 The material box pushing device includes a telescopic rod 51 arranged along a first direction. The telescopic rod 51 is located next to the material box translation channel 33. A follower arm 13 is fixedly installed on the telescopic rod 51. The first power device 12 includes a cylinder or electric cylinder that drives the telescopic rod 51 so that when the cylinder or electric cylinder drives the telescopic rod 51 to move in and out along the first direction, the follower arm performs linear reciprocating motion. Furthermore, the follower arm pushes the material box that has risen along the first lifting channel to the material box translation channel toward the discharge port and pushes it away from the inlet.

[0156] That is, it can be understood that, in addition to the first annular rotating device, the linear motion part of the aforementioned hopper pushing device can also be achieved by a ball screw or a telescopic rod. Then, the aforementioned follower arm can be fixed to the screw nut of the ball screw, or the follower arm can be directly fixed to the telescopic rod.

[0157] In one possible implementation, the frame unit 30 includes a bin translation channel 33, wherein the first reciprocating mechanism 10 and the second reciprocating mechanism 20 are disposed on one side of the bin translation channel 33; or, see... Figure 13 The frame unit 30 includes two parallel and identically positioned bin translation channels 33, wherein the first reciprocating mechanism 10 and the second reciprocating mechanism 20 are located between the pair of bin translation channels 33.

[0158] That is, the frame unit may include a hopper translation channel, in which case the first reciprocating mechanism and the second reciprocating mechanism may be located on either side of the frame unit.

[0159] Of course, the frame unit may also include two material box translation channels of the same height and arranged in parallel. It can be understood that the first reciprocating mechanism and the second reciprocating mechanism can be positioned between the two material box translation channels. In this way, the two reciprocating mechanisms can act on the material boxes on both sides at the same time, thereby improving sorting efficiency.

[0160] Based on the aforementioned sorting workbench, this application also discloses a sorting system, which includes at least a sorting workbench, a bin transfer device, and a bin handling robot. The bin transfer device can be a mobile shelf, a large-capacity AGV, etc. The bin handling robot can obtain bins from the bin transfer device and then transfer them to the sorting workbench. The bin handling robot then transfers the bins sorted by the sorting workbench to the bin transfer device.

[0161] The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively installed on the frame unit.

[0162] The frame unit includes a hopper translation channel, which extends in a straight line along a first direction and forms an inlet and an outlet at its two ends. The inlet and outlet extend vertically downward to form a first lifting channel and a second lifting channel, respectively. The first reciprocating mechanism includes a hopper pushing device and a first power device. The first power device drives the linear motion part of the hopper pushing device to perform linear reciprocating motion along the hopper translation channel between a first translation position and a second translation position. The second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring and is fixed with the first lifting device and the second lifting device. The second power device drives the second annular rotating device to rotate and perform reciprocating rotation between a first rotation position and a second rotation position.

[0163] In the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and transfer the box carried by the box transport robot to the box translation channel. At the same time, the second lifting device is configured to descend along the second lifting channel and transfer the box translated thereon to the box transport robot. In the process of moving from the first translation position to the second translation position, the linear motion part of the box pushing device is configured to push the box that has risen along the first lifting channel to the box translation channel toward the discharge port and push it away from the inlet. Furthermore, the linear reciprocating motion and the rotary reciprocating motion are configured to run at intervals according to a time sequence.

[0164] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0165] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0166] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0167] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0168] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof should be included within the scope of protection of this invention.

Claims

1. A sorting station for working in cooperation with a bin handling robot, characterized in that, The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively installed in the frame unit; The frame unit includes a material box translation channel, which extends in a straight line along a first direction and forms an inlet and an outlet at both ends of the extension direction, respectively. The inlet and the outlet extend vertically downward to form a first lifting channel and a second lifting channel, respectively. The first reciprocating mechanism includes a hopper pushing device and a first power device. The first power device is used to drive the linear motion part of the hopper pushing device to perform linear reciprocating motion between a first translation position and a second translation position along the hopper translation channel. The second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring and is respectively fixed with a first lifting device and a second lifting device. The second power device is used to drive the second annular rotating device to rotate and perform reciprocating motion between a first rotating position and a second rotating position. In the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and to transfer the material box carried by the material box transport robot to the material box translation channel. At the same time, the second lifting device is configured to descend along the second lifting channel and to transfer the material box that has been translated thereto to the material box transport robot. During the process of moving from the first translational position to the second translational position, the linear motion portion of the hopper pushing device is configured to at least push the hopper that has risen along the first lifting channel to the hopper translational channel toward the discharge port and push it away from the inlet port; Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to operate at intervals according to a time sequence.

2. The sorting table according to claim 1, characterized in that, The portion of the hopper translation channel between the inlet and the outlet is used to accommodate at least one hopper.

3. The sorting table of claim 1, wherein, The frame unit is provided with a material box support device at the position of the first lifting channel near the material inlet; The material box support device includes a support rod extending along the first direction, and both ends of the support rod are simultaneously hinged to a first connecting rod and a second connecting rod. The frame unit is provided with a pair of sliding grooves at the positions corresponding to the two ends of the support rod. The sliding grooves extend in the vertical direction. The end of the first connecting rod is slidably installed in the sliding groove, and the end of the second connecting rod is hinged to the position of the frame unit located below the sliding groove. So that when the hopper rises along the first lifting channel to the hopper translation channel, the hopper support device is used to support the hopper.

4. The sorting table of claim 1, wherein, The hopper pushing device includes a first annular rotating device and a follower arm fixed to the first annular rotating device. The first power device includes a first motor that is drivenly connected to the first annular rotating device. The first annular rotating device includes a first straight section that is disposed alongside the material box translation channel and extends along the material box translation channel. Both ends of the first straight section at least cover the inlet. The follower arm is fixed to the first straight section and protrudes into the material box translation channel. So that when the first motor drives the first annular rotating device to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm will at least push the material box that has risen along the first lifting channel to the material box translation channel toward the discharge port and push it away from the inlet.

5. A sorting table according to claim 4, characterised in that One end of the first straight section is located at the outer end of the inlet, and the other end of the first straight section extends to the inner end of the outlet. The first straight section is fixedly equipped with a plurality of the following arms, and the following arms are configured to be folded in one direction toward the discharge port. So that during the process of moving from the first translational position to the second translational position, the plurality of follower arms respectively limit the material box in front of their forward direction and push the material box to move; During the process of moving from the second translation position to the first translation position, the several follower arms respectively release the restriction on the material box in front of them in the forward direction.

6. The sorting table of claim 4, wherein, The first annular rotating device includes an annular chain or an annular conveyor belt, and the first annular rotating device is installed on either side or both sides of the material box translation channel relative to its extension direction.

7. The sorting table of claim 1, wherein, The second annular rotating device includes a second straight section that is disposed alongside the first lifting channel and extends in the vertical direction; The first lifting device includes a horizontally arranged first lifting plate, which is fixed to the second straight section. The frame unit has a first guide post arranged vertically next to the first lifting channel, and the first lifting plate is slidably installed on the first guide post. The first lifting plate also includes a first support portion protruding into the first lifting channel. This allows the first support portion to rise along the first lifting channel during the rotation of the second annular rotating device from the first rotation position to the second rotation position, and to transfer the material box carried by the material box handling robot to the material box translation channel.

8. A sorting table according to claim 7, characterised in that, The first lifting plate is located on one side of the first lifting channel and extends along the first direction. The frame unit is provided with the first guide post at both ends of the first lifting plate along its extension direction. The first lifting plate is provided with lifting shoe plates at both ends along its extension direction. The lifting shoe plates are used to protrude into the first lifting channel so that a pair of lifting shoe plates form the first support portion.

9. The sorting workbench according to claim 8, characterized in that, The lifting shoe plate is fixedly installed on the first lifting plate in the direction perpendicular to the first direction; or, The lifting shoe plate is rotatably mounted on the first lifting plate via a vertical pivot, so that when the first lifting plate descends, the lifting shoe plate rotates to be parallel to the first direction to avoid the material box, and when the first lifting plate rises, the lifting shoe plate rotates to be perpendicular to the first direction to lift the material box.

10. The sorting table of claim 8, wherein, The first lifting plate is provided with a transition bushing at both ends along its extension direction. The transition bushing is arranged in the vertical direction. The lifting shoe plate is rotatably installed on the first lifting plate through the transition bushing. The adapter bushing is equipped with a return spring inside, and a flip guide post is fixedly installed on the adapter bushing. At the position corresponding to a pair of flip guide posts, the frame unit is provided with a pair of guide ramps. The reset spring is configured such that, when the reset spring is in the reset position, the lifting shoe plate extends perpendicular to the first direction and protrudes into the first lifting channel, and the tilting guide post extends along the first direction. The guide ramp is configured such that when the first lifting plate descends from the top of the first lifting channel, the guide ramp rotates the adapter sleeve by limiting the rotation of the flipping guide post, so that the lifting shoe plate avoids the material box carried by the material box handling robot during the descent.

11. A sorting table according to claim 10, characterised in that In the vertical direction, the guide slope includes an upper flipping guide portion and a lower flipping retaining portion; The flipping guide portion is used to rotate the adapter sleeve by limiting and guiding the flipping guide post when the first lifting plate descends. The flip-holding portion extends vertically from the end of the flip-guide portion, and the flip-holding portion is used to maintain the rotation of the adapter sleeve by limiting and guiding the flip-guide post during the descent of the first lifting plate. Furthermore, the height of the lower end of the flipping and holding part is not higher than the height of the bottom surface of the bin carried by the bin handling robot.

12. The sorting table of claim 1, wherein, The second annular rotating device includes a third straight section that is disposed alongside the second lifting channel and extends in the vertical direction; The second lifting device includes a horizontally arranged second lifting plate, which is fixed to the second straight section. The frame unit has a second guide post arranged vertically next to the second lifting channel, and the second lifting plate is slidably installed on the second guide post. The second lifting plate also includes a second support portion protruding into the second lifting channel. This allows the second annular rotating device to descend along the second lifting channel during its rotation from the first rotation position to the second rotation position, and to transfer the hopper that has been moved thereto to the hopper handling robot.

13. The sorting table of claim 1, wherein, The frame unit has a walking channel below the material box translation channel. The walking channel extends along the first direction and is used for the material box handling robot to walk and pass through the frame unit along the first direction.

14. The sorting workbench according to claim 1, characterized in that, The hopper pushing device includes a ball screw arranged along the first direction, the ball screw being disposed beside the hopper translation channel, the ball screw having a screw nut, and a follower arm being fixedly mounted on the screw nut. The first power device includes a third motor that drives the ball screw, so that when the third motor drives the ball screw to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the hopper that has risen along the first lifting channel to the hopper translation channel toward the discharge port and pushes it away from the inlet. or, The hopper pushing device includes a telescopic rod arranged along the first direction, the telescopic rod being disposed beside the hopper translation channel, and a follower arm being fixedly installed on the telescopic rod. The first power device includes a cylinder or electric cylinder that drives the telescopic rod to extend and retract along the first direction, so that when the cylinder or electric cylinder drives the telescopic rod to extend and retract along the first direction, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the hopper that has risen along the first lifting channel to the hopper translation channel toward the discharge port and pushes it away from the inlet.

15. The sorting workbench according to claim 1, characterized in that, The frame unit includes a hopper translation channel, wherein the first reciprocating mechanism and the second reciprocating mechanism are located on one side of the hopper translation channel; or, The frame unit includes two parallel material box translation channels, wherein the first reciprocating mechanism and the second reciprocating mechanism are located between the pair of material box translation channels.

16. A sorting system characterized by, The sorting system includes at least a sorting workbench, a bin transfer device, and a bin handling robot. The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively installed in the frame unit. The frame unit includes a material box translation channel, which extends in a straight line along a first direction and forms an inlet and an outlet at both ends of the extension direction, respectively. The inlet and the outlet extend vertically downward to form a first lifting channel and a second lifting channel, respectively. The first reciprocating mechanism includes a hopper pushing device and a first power device. The first power device is used to drive the linear motion part of the hopper pushing device to perform linear reciprocating motion between a first translation position and a second translation position along the hopper translation channel. The second reciprocating mechanism includes a second annular rotating device and a second power device. The second annular rotating device is arranged in a vertical ring and is respectively fixed with a first lifting device and a second lifting device. The second power device is used to drive the second annular rotating device to rotate and perform reciprocating motion between a first rotating position and a second rotating position. In the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and to transfer the material box carried by the material box transport robot to the material box translation channel. At the same time, the second lifting device is configured to descend along the second lifting channel and to transfer the material box that has been translated thereto to the material box transport robot. During the process of moving from the first translational position to the second translational position, the linear motion portion of the hopper pushing device is configured to at least push the hopper that has risen along the first lifting channel to the hopper translational channel toward the discharge port and push it away from the inlet port; Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to operate at intervals according to a time sequence.

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