Goods sorting system

Abstract

The invention belongs to the technical field of logistics equipment, and discloses a cargo sorting system which is characterized in that multiple sections of drum-type conveying mechanisms are sequentially arranged in the conveying direction, the adjacent drum-type conveying mechanisms are connected through aligning mechanisms, each aligning mechanism comprises multiple standard units, and the standard units are arranged in the conveying direction. The standard units are combined together in a serial connection mode, a parallel connection mode or a serial-parallel mixed connection mode, and each standard unit is constructed by adopting two groups of Mecanum wheels; through cooperative movement of the two groups of Mecanum wheels, the running directions of the plurality of standard units are matched with each other, so that in-situ turning, centering or side orientation adjustment of goods is realized, and the sorting operation of the goods is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to a cargo sorting system. Background Art

[0002] With the development of the logistics industry, the requirements for the automation of existing Mecanum wheel sorting equipment are getting higher and higher. Since there are only two sets of transmission wheels, the controller changes the running direction of the transmission wheel according to the instructions and information recognition issued by the management system during operation. It can only control the export direction of the object, but cannot achieve complex position adjustment of the goods on the sorting equipment body, such as centering the position of the goods, turning on the spot or turning around, etc., and the flexibility is relatively poor. Summary of the invention

[0003] The present invention provides a cargo sorting system, which solves the technical problems that the existing sorting equipment cannot perform complex position adjustment on cargo and has poor flexibility.

[0004] The present invention can be achieved through the following technical solutions:

[0005] A cargo sorting system, wherein a plurality of roller conveyor mechanisms are sequentially arranged along a transmission direction, and adjacent roller conveyor mechanisms are connected by a position-aligning mechanism, and each of the position-aligning mechanisms comprises a plurality of standard units, which are combined in series, parallel or series-parallel mixed connection, and each of the standard units is constructed by two sets of Mecanum wheels;

[0006] Through the coordinated movement of two sets of Mecanum wheels, the running directions of multiple standard units are coordinated with each other to achieve on-site U-turn, centering or side position adjustment of the goods, thereby realizing the sorting operation of the goods.

[0007] Furthermore, with the transmission direction as 0 degrees, for the whole-position mechanism that performs the side position adjustment, the running directions of all standard units are set to 45 degrees or -45 degrees;

[0008] For the whole-position mechanism that performs the centering adjustment, the multiple standard units therein are symmetrically divided into two groups along the transmission direction, which are respectively recorded as group I and group II, and the running directions of the standard units corresponding to group I and group II are respectively set to the 45 degree direction and the -45 degree direction;

[0009] For the whole-position mechanism that performs on-the-spot U-turn azimuth adjustment, the multiple standard units therein are symmetrically divided into four groups along the transmission direction and the direction perpendicular to the transmission direction, and are respectively recorded as group i, group ii, group iii and group iv in the counterclockwise direction, and the running directions of the standard units corresponding to group i, group ii, group iii and group iv are respectively set to 135 degrees, 45 degrees, -45 degrees and -135 degrees.

[0010] Furthermore, each of the standard units includes a guide mechanism, which includes a plurality of Mecanum wheels arranged in a matrix, wherein the Mecanum wheels in the same row are arranged on the same rotating shaft, the Mecanum wheels in the odd-numbered rows and the Mecanum wheels in the even-numbered rows form a group, and the axial center lines of their rotating rollers are perpendicular to each other, at 45 degrees and -45 degrees, respectively.

[0011] On one side of the guide mechanism, two sets of driving mechanisms are provided corresponding to the two sets of Mecanum wheels, which are respectively denoted as driving mechanism A, driving mechanism B, and Mecanum wheels of group A and Mecanum wheels of group B.

[0012] For all standard units, the drive mechanism A drives the Mecanum wheels of group A to rotate forward, and the drive mechanism B controls the Mecanum wheels of group B to stop, or the drive mechanism A drives the Mecanum wheels of group A to rotate reversely, and the drive mechanism B controls the Mecanum wheels of group B to stop, so that all standard units simultaneously perform 45-degree azimuth adjustment or -45-degree azimuth adjustment, thereby achieving the left side or right side of the goods;

[0013] For group I, the driving mechanism A drives the Mecanum wheels of group A to rotate forward, and the driving mechanism B controls the Mecanum wheels of group B to stop. At the same time, for group II, the driving mechanism A drives the Mecanum wheels of group A to rotate reversely, and the driving mechanism B controls the Mecanum wheels of group B to stop, so that group I performs an azimuth adjustment in the direction of 45 degrees, and group II performs an azimuth adjustment in the direction of -45 degrees, thereby realizing the centering of the goods;

[0014] For group i, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to reverse. At the same time, for group ii, the driving mechanism A drives the Mecanum wheel of group A to rotate forward, and the driving mechanism B controls the Mecanum wheel of group B to stop. At the same time, for group iii, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to rotate forward. At the same time, for group iv, the driving mechanism A drives the Mecanum wheel of group A to reverse, and the driving mechanism B controls the Mecanum wheel of group B to stop, so that group i, group ii, group iii and group iv simultaneously perform azimuth adjustments in the directions of 135 degrees, 45 degrees, -45 degrees and -135 degrees, thereby realizing the on-site U-turn of the goods.

[0015] Furthermore, both sets of the driving mechanisms include an orthogonal transmission mechanism and a driver. The orthogonal transmission mechanism adopts non-contact transmission to convert the vertical rotation generated by the driver into horizontal rotation to drive the corresponding set of Mecanum wheels to rotate synchronously.

[0016] Furthermore, the ends of the odd-numbered rows of rotating shafts and the ends of the even-numbered rows of rotating shafts on the same side are connected to corresponding drivers through respective orthogonal transmission mechanisms.

[0017] The orthogonal transmission mechanism comprises a transmission shaft connected to the output shaft of the driver, a plurality of first hysteresis couplings are evenly spaced on the transmission shaft, a second hysteresis coupling is arranged directly above each of the first hysteresis couplings, and each of the second hysteresis couplings is coaxially connected to the end of the corresponding rotating shaft;

[0018] Furthermore, one or more standard units are evenly spaced along the axial centerline direction of the two groups of Mecanum wheels in the standard unit, and their guide mechanisms are detachably connected to each other through the first parallel transmission mechanism, so as to realize the parallel connection of multiple standard units, wherein the paralleled standard units only include the guide mechanisms;

[0019] The first parallel transmission mechanism is used to synchronously transmit the rotation of the current group of Mecanum wheels of the guide mechanism in the previous standard unit to the corresponding group of Mecanum wheels in the guide mechanism in the next standard unit.

[0020] Furthermore, one or more standard units are evenly spaced along the axial centerline direction of the two transmission shafts in the standard unit, and they are detachably connected to each other through the second parallel transmission mechanism to realize a series combination of multiple standard units, wherein the series-connected standard units only include the guide mechanism and the orthogonal transmission mechanism;

[0021] The second parallel transmission mechanism is used to synchronously transmit the rotation of the transmission shaft in the previous standard unit to the corresponding transmission shaft in the next standard unit.

[0022] Furthermore, the first parallel transmission mechanism and the second parallel transmission mechanism have the same structure, and both include a plurality of hysteresis coupling pairs arranged in one-to-one correspondence with the rotating shaft / transmission shaft, and each of the hysteresis coupling pairs includes two hysteresis couplings, which are arranged in parallel.

[0023] For the first parallel transmission mechanism, one hysteresis coupling is coaxially connected to the end of the rotating shaft of the guide mechanism in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the rotating shaft corresponding to the guide mechanism in the next standard unit;

[0024] For the second parallel transmission mechanism, one hysteresis coupling is coaxially connected to the end of the transmission shaft in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the corresponding transmission shaft in the next standard unit.

[0025] The beneficial technical effects of the present invention are:

[0026] 1. The orthogonal transmission mechanism is constructed by using a hysteresis coupling, and the traditional belt drive is replaced by a non-contact transmission. The Mecanum wheel on the drive shaft rotates synchronously to achieve the position adjustment of the goods on the guide mechanism, which can effectively reduce mechanical wear and maintenance costs. At the same time, it can effectively increase the service life of the entire device and make it more practical;

[0027] 2. The parallel transmission mechanism is constructed with a hysteresis coupling to realize the extended connection of multiple guide mechanisms and standard units, and they can be freely disassembled from each other, which can be used for sorting goods of different sizes, greatly increasing the application scope of the whole-position device of the present invention;

[0028] 3. The cargo sorting system of the present invention can be used to flexibly combine multiple standard units in series, parallel or mixed series and parallel connection according to the actual needs of sorting to construct a whole-position mechanism that meets the needs of cargo size and orientation adjustment. It can complete complex orientation adjustments such as turning around, centering, and pulling to the side of the cargo, realize flexible sorting of cargo, expand the application scope of sorting equipment, and meet the development needs of the logistics industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 is a schematic structural diagram of a standard unit of the present invention;

[0031] Figure 3 It is a schematic diagram of the matching structure of the driver and the orthogonal transmission mechanism of the present invention;

[0032] Figure 4 It is a structural schematic diagram of a plurality of standard units of the present invention connected in parallel;

[0033] Figure 5 It is a structural schematic diagram of a plurality of standard units of the present invention connected in series;

[0034] Figure 6 It is a schematic diagram of the motion state of each standard unit when the positioning mechanism of the present invention performs the side position adjustment;

[0035] Figure 7 It is a schematic diagram of the motion state of each standard unit when the positioning mechanism of the present invention performs centering adjustment;

[0036] Figure 8 It is a schematic diagram of the motion state of each standard unit when the positioning mechanism of the present invention performs an on-site U-turn azimuth adjustment;

[0037] Among them, 1-roller conveying mechanism, 2-positioning mechanism, 21-standard unit, 211-Mecanum wheel, 212-orthogonal transmission mechanism, 2121-transmission shaft, 2122-first hysteresis coupling, 2123-second hysteresis coupling, 213-driver, 22-first parallel transmission mechanism, 23-second parallel transmission mechanism. DETAILED DESCRIPTION

[0038] The specific implementation of the present invention is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0039] like Figure 1 As shown, the present invention provides a cargo sorting system, wherein multiple sections of roller conveying mechanisms 1 are sequentially arranged along the transmission direction, and adjacent roller conveying mechanisms 1 are connected by a position adjustment mechanism 2, and each position adjustment mechanism 2 includes multiple standard units 21, which are combined in series, parallel or series-parallel mixed connection, and each standard unit 21 is constructed by two sets of Mecanum wheels; through the coordinated movement of the two sets of Mecanum wheels, the running directions of the multiple standard units 21 are coordinated with each other to achieve the on-site U-turn, centering or side position adjustment of the cargo, thereby realizing the sorting operation of the cargo. In this way, according to the actual needs of sorting, multiple standard units are flexibly combined together in series, parallel or series-parallel mixed connection to construct a position adjustment mechanism that meets the corresponding needs, complete the complex position adjustment of the cargo such as on-site U-turn, centering, side, etc., realize flexible sorting of the cargo, expand the application scope of the sorting equipment, and meet the development needs of the logistics industry.

[0040] The details are as follows:

[0041] Considering that goods have different positioning requirements during the transmission process, for example, the goods involved in logistics transportation are various, and it is difficult to make them consistent in shape and size. Most of their logistics information traceability relies on barcodes. The posting position of the barcode and the setting position of the reader must correspond and meet certain distance requirements to achieve scanning and identification. Therefore, it is necessary to use sorting equipment to adjust the goods to the center, edge or even turn around on the spot of the conveying surface to ensure that the reader can scan the barcode. For example, if the identified goods need to enter the exit channel or the next transmission channel, they are also required to first perform side or even turn position adjustment in order to smoothly enter the subsequent channel. Therefore, we need to set positioning mechanisms with different structures between the conventional roller conveyor mechanism segments to meet the requirements for positioning adjustment of the goods.

[0042] The specific number and combination of the standard units 21 can be determined according to actual needs, such as the shape and volume of the goods. For goods with long strip structures, a series combination can be used for longitudinal expansion along the transmission direction. For goods with square or circular structures, a parallel combination can be used for lateral expansion, or a mixed combination can be used for both lateral and longitudinal expansion to ensure that the transmission surface can cover the entire goods, thereby providing guarantee for the smooth transmission of the goods.

[0043] Taking the transmission direction as 0 degrees, for the whole positioning mechanism that performs the side position adjustment, such as Figure 6 As shown, the running direction of all standard units 21 is set to 45 degrees or -45 degrees, so that the goods move close to one side of the conveying surface at the same time to achieve side adjustment;

[0044] For the whole-position mechanism that performs the centering adjustment, such as Figure 7 As shown, the plurality of standard units 21 are symmetrically divided into two groups along the transmission direction, which are respectively recorded as group I and group II, and the running directions of the standard units corresponding to group I and group II are respectively set to the direction of 45 degrees and -45 degrees, so as to promote the goods to move towards each other at the same time, which is equivalent to group I and group II driving the goods to move to the left and right at the same time to complete the centering adjustment of the goods;

[0045] For the whole-position mechanism that performs the on-site U-turn orientation adjustment, such as Figure 8 As shown, multiple standard units 21 are symmetrically divided into four groups along the transmission direction and the direction perpendicular to the transmission direction, and are respectively recorded as group i, group ii, group iii and group iv in the counterclockwise direction, and the running directions of the standard units corresponding to group i, group ii, group iii and group iv are respectively set to 135 degrees, 45 degrees, -45 degrees and -135 degrees, so as to prompt the goods to rotate 180 degrees counterclockwise on the spot to complete the on-site U-turn adjustment of the goods.

[0046] like Figure 2-3 As shown, each standard unit 21 includes a guide mechanism, which includes a plurality of Mecanum wheels 211 arranged in a matrix. The Mecanum wheels 211 in the same row are arranged on the same rotating shaft. The Mecanum wheels 211 in the odd rows and the Mecanum wheels 211 in the even rows form a group, and the axial center lines of their rotating rollers are perpendicular to each other, at 45 degrees and -45 degrees, respectively, so that the standard unit can be directly controlled to perform azimuth adjustment in the 45 degree direction or -45 degree direction by the forward and reverse rotation of the motor;

[0047] On one side of the guide mechanism, two sets of driving mechanisms are provided corresponding to the two groups of Mecanum wheels, which are respectively denoted as driving mechanism A and driving mechanism B. The two groups of Mecanum wheels driven correspondingly are respectively denoted as group A Mecanum wheels and group B Mecanum wheels. Both sets of driving mechanisms include an orthogonal transmission mechanism 212 and a driver 213. The ends of the odd-numbered rows of rotating shafts and the ends of the even-numbered rows of rotating shafts on the same side are connected to the corresponding drivers 213 through their own orthogonal transmission mechanisms 212. The orthogonal transmission mechanism 212 adopts non-contact transmission to convert the vertical rotation generated by the driver 213 into horizontal rotation, so as to drive the corresponding group of Mecanum wheels to rotate synchronously.

[0048] Considering that the hysteresis coupling utilizes the hysteresis effect and realizes the rotation of the input shaft by coupling the magnetic fields of two magnetic cylinders, it is a non-contact coupling. In addition to having the function of buffering and absorbing vibration of the elastic coupling, its biggest feature is that it breaks the structural form of the traditional coupling and adopts a new magnetic coupling principle to realize the transmission of force and torque between the driving shaft and the driven shaft without direct contact. Therefore, the present invention adopts a hysteresis coupling to replace the traditional belt to construct an orthogonal transmission mechanism, and the orthogonal transmission mechanism 212 includes a transmission shaft 2121 connected to the output shaft of the driver 213, and a plurality of first hysteresis couplings 2122 are evenly spaced on the transmission shaft 2121, and a second hysteresis coupling 2123 is arranged directly above each first hysteresis coupling 2122, and each second hysteresis coupling 2123 is coaxially connected to the end of the corresponding rotating shaft.

[0049] Taking into account the space utilization and avoiding interference, we staggered the two sets of orthogonal transmission mechanisms 212, one inside and one outside. For example, the second hysteresis coupling 2123 in the odd rows is located on the outside of the second hysteresis coupling 2123 in the even rows, and then one transmission shaft 2121 is inside and the other transmission shaft 2121 is outside to achieve a staggered arrangement. At the same time, the driver 213 can use an electric motor, and its output shaft can be coaxially connected to the transmission shaft 2121 through a belt drive mechanism, so that the relative positions of the two motors can be further adjusted.

[0050] When scaling out through parallel combinations, such as Figure 4 As shown, one or more standard units 21 are evenly spaced along the axial centerline direction of the two groups of Mecanum wheels in the standard unit 21, and their guide mechanisms are detachably connected to each other through the first parallel transmission mechanism 22, so as to realize the parallel combination of multiple standard units 21, wherein the paralleled standard units 21 only include the guide mechanisms, so that the rotation of the current group of Mecanum wheels of the guide mechanism in the previous standard unit can be synchronously transmitted to the corresponding group of Mecanum wheels in the guide mechanism in the next standard unit with the help of the first parallel transmission mechanism 22.

[0051] When scaling vertically through serial combination, such as Figure 5 As shown, one or more standard units 21 are evenly spaced along the axial center line direction of the two transmission shafts in the standard unit 21, and they are detachably connected to each other through a second parallel transmission mechanism 23 to realize a series combination of multiple standard units 21, wherein the series-connected standard units 21 only include a guide mechanism and an orthogonal transmission mechanism 212, so that the rotation of the transmission shaft in the previous standard unit can be synchronously transmitted to the corresponding transmission shaft in the next standard unit by using the second parallel transmission mechanism 23.

[0052] When expansion is performed through a mixed combination of serial and parallel connections, a serial connection combination may be performed first, and then each standard unit 21 connected in series may be combined in parallel.

[0053] Also using the working principle of the hysteresis coupling, the first parallel transmission mechanism 22 and the second parallel transmission mechanism 23 have the same structure and are also constructed using the hysteresis coupling, both of which include a plurality of hysteresis coupling pairs arranged one-to-one with the rotating shaft / transmission shaft, and each hysteresis coupling pair includes two hysteresis couplings, which are arranged in parallel.

[0054] For the first parallel transmission mechanism 22, one hysteresis coupling is coaxially connected to the end of the rotating shaft of the guide mechanism in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the rotating shaft corresponding to the guide mechanism in the next standard unit;

[0055] For the second parallel transmission mechanism 23, one hysteresis coupling is coaxially connected to the end of the transmission shaft in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the corresponding transmission shaft in the next standard unit.

[0056] In this way, as long as a basic standard unit is designed, through the above-mentioned lateral expansion and longitudinal expansion, it can be suitable for the transportation of goods of different volumes and shapes. There is no need to make standard units of different sizes according to goods of different volumes, thereby greatly improving the applicability of the whole-position device of the present invention and facilitating its promotion and application.

[0057] When making side adjustments, Figure 6 As shown, for all standard units, which can be multiple standard units connected in series, in parallel or in a mixed manner, the driving mechanism A drives the Mecanum wheels of group A to rotate forward, and the driving mechanism B controls the Mecanum wheels of group B to stop, or the driving mechanism A drives the Mecanum wheels of group A to rotate reversely, and the driving mechanism B controls the Mecanum wheels of group B to stop, so that all standard units simultaneously perform 45-degree azimuth adjustment or -45-degree azimuth adjustment, thereby achieving the left side or right side of the goods;

[0058] When making a center adjustment, Figure 7 As shown, for group I, the driving mechanism A drives the Mecanum wheels of group A to rotate forward, and the driving mechanism B controls the Mecanum wheels of group B to stop. At the same time, for group II, the driving mechanism A drives the Mecanum wheels of group A to rotate reversely, and the driving mechanism B controls the Mecanum wheels of group B to stop, so that group I performs an azimuth adjustment in the direction of 45 degrees, and group II performs an azimuth adjustment in the direction of -45 degrees. The two move in opposite directions, thereby realizing the centering of the goods.

[0059] When making a U-turn on the spot, Figure 8 As shown, for group i, the driving mechanism A drives the Mecanum wheel of group A to rotate forward, and the driving mechanism B controls the Mecanum wheel of group B to stop. At the same time, for group ii, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to reverse. At the same time, for group iii, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to rotate forward. At the same time, for group iv, the driving mechanism A drives the Mecanum wheel of group A to reverse, and the driving mechanism B controls the Mecanum wheel of group B to stop, so that group i, group ii, group iii and group iv simultaneously perform azimuth adjustments in the directions of 135 degrees, 45 degrees, -45 degrees and -135 degrees, prompting the goods to rotate counterclockwise in situ, thereby realizing the U-turn of the goods in situ.

[0060] Any of the above-mentioned group I, group II or groups I-IV of standard cells may include one standard cell, or may include a plurality of standard cells connected in series, in parallel or in a mixed manner.

[0061] Although specific embodiments of the present invention are described above, those skilled in the art should understand that these are merely examples and that various changes or modifications may be made to these embodiments without departing from the principles and essence of the present invention. Therefore, the scope of protection of the present invention is limited by the appended claims.

Claims

1. A cargo sorting system, characterized in that: Multiple sections of roller conveying mechanisms are arranged in sequence along the transmission direction, and adjacent roller conveying mechanisms are connected by a positioning mechanism, each of which includes a plurality of standard units, which are combined in series, parallel or mixed series and parallel modes, and each of which is constructed by two sets of Mecanum wheels; Through the coordinated movement of two sets of Mecanum wheels, the running directions of multiple standard units are coordinated with each other to achieve on-site U-turn, centering or side position adjustment of the goods, thereby realizing the sorting operation of the goods.

2. The cargo sorting system according to claim 1, characterized in that: Taking the transmission direction as 0 degree, For the whole-position mechanism that performs the side position adjustment, the running direction of all standard units is set to 45 degrees or -45 degrees; For the whole-position mechanism that performs the centering adjustment, the multiple standard units therein are symmetrically divided into two groups along the transmission direction, which are respectively recorded as group I and group II, and the running directions of the standard units corresponding to group I and group II are respectively set to the 45 degree direction and the -45 degree direction; For the whole-position mechanism that performs on-the-spot U-turn azimuth adjustment, the multiple standard units therein are symmetrically divided into four groups along the transmission direction and the direction perpendicular to the transmission direction, and are respectively recorded as group i, group ii, group iii and group iv in the counterclockwise direction, and the running directions of the standard units corresponding to group i, group ii, group iii and group iv are respectively set to 135 degrees, 45 degrees, -45 degrees and -135 degrees.

3. The cargo sorting system according to claim 2, characterized in that: Each of the standard units includes a guide mechanism, which includes a plurality of Mecanum wheels arranged in a matrix. The Mecanum wheels in the same row are arranged on the same rotating shaft. The Mecanum wheels in the odd-numbered rows and the Mecanum wheels in the even-numbered rows form a group, and the axial center lines of their rotating rollers are perpendicular to each other, at 45 degrees and -45 degrees, respectively. On one side of the guide mechanism, two sets of driving mechanisms are provided corresponding to the two sets of Mecanum wheels, which are respectively denoted as driving mechanism A, driving mechanism B, and Mecanum wheels of group A and Mecanum wheels of group B. For all standard units, the drive mechanism A drives the Mecanum wheels of group A to rotate forward, and the drive mechanism B controls the Mecanum wheels of group B to stop, or the drive mechanism A drives the Mecanum wheels of group A to rotate reversely, and the drive mechanism B controls the Mecanum wheels of group B to stop, so that all standard units simultaneously perform 45-degree azimuth adjustment or -45-degree azimuth adjustment, thereby achieving the left side or right side of the goods; For group I, the driving mechanism A drives the Mecanum wheels of group A to rotate forward, and the driving mechanism B controls the Mecanum wheels of group B to stop. At the same time, for group II, the driving mechanism A drives the Mecanum wheels of group A to rotate reversely, and the driving mechanism B controls the Mecanum wheels of group B to stop, so that group I performs an azimuth adjustment in the direction of 45 degrees, and group II performs an azimuth adjustment in the direction of -45 degrees, thereby realizing the centering of the goods; For group i, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to reverse. At the same time, for group ii, the driving mechanism A drives the Mecanum wheel of group A to rotate forward, and the driving mechanism B controls the Mecanum wheel of group B to stop. At the same time, for group iii, the driving mechanism A drives the Mecanum wheel of group A to stop, and the driving mechanism B controls the Mecanum wheel of group B to rotate forward. At the same time, for group iv, the driving mechanism A drives the Mecanum wheel of group A to reverse, and the driving mechanism B controls the Mecanum wheel of group B to stop, so that group i, group ii, group iii and group iv simultaneously perform azimuth adjustments in the directions of 135 degrees, 45 degrees, -45 degrees and -135 degrees, thereby realizing the on-site U-turn of the goods.

4. The cargo sorting system according to claim 3, characterized in that: Both sets of the driving mechanisms include an orthogonal transmission mechanism and a driver. The orthogonal transmission mechanism adopts non-contact transmission to convert the vertical rotation generated by the driver into horizontal rotation to drive the corresponding set of Mecanum wheels to rotate synchronously.

5. The cargo sorting system according to claim 4, characterized in that: The ends of the odd-numbered rows of rotating shafts and the ends of the even-numbered rows of rotating shafts on the same side are connected to the corresponding drivers through their respective orthogonal transmission mechanisms. The orthogonal transmission mechanism comprises a transmission shaft connected to the output shaft of the driver, a plurality of first hysteresis couplings are evenly spaced on the transmission shaft, a second hysteresis coupling is arranged directly above each of the first hysteresis couplings, and each of the second hysteresis couplings is coaxially connected to the end of the corresponding rotating shaft; 6. The cargo sorting system according to claim 5, characterized in that: One or more standard units are evenly spaced along the axial centerline direction of the two groups of Mecanum wheels in the standard unit, and their guide mechanisms are detachably connected to each other through a first parallel transmission mechanism to achieve a parallel combination of multiple standard units, wherein the paralleled standard units only include the guide mechanisms; The first parallel transmission mechanism is used to synchronously transmit the rotation of the current group of Mecanum wheels of the guide mechanism in the previous standard unit to the corresponding group of Mecanum wheels in the guide mechanism in the next standard unit.

7. The cargo sorting system according to claim 5, characterized in that: One or more standard units are evenly spaced along the axial centerline direction of the two transmission shafts in the standard unit, and they are detachably connected to each other through the second parallel transmission mechanism to realize a series combination of multiple standard units, wherein the series-connected standard units only include the guide mechanism and the orthogonal transmission mechanism; The second parallel transmission mechanism is used to synchronously transmit the rotation of the transmission shaft in the previous standard unit to the corresponding transmission shaft in the next standard unit.

8. The cargo sorting system according to claim 6 or 7, characterized in that: The first parallel transmission mechanism and the second parallel transmission mechanism have the same structure, and both include a plurality of hysteresis coupling pairs arranged in one-to-one correspondence with the rotating shaft / transmission shaft, and each of the hysteresis coupling pairs includes two hysteresis couplings, which are arranged in parallel. For the first parallel transmission mechanism, one hysteresis coupling is coaxially connected to the end of the rotating shaft of the guide mechanism in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the rotating shaft corresponding to the guide mechanism in the next standard unit; For the second parallel transmission mechanism, one hysteresis coupling is coaxially connected to the end of the transmission shaft in the previous standard unit, and the other hysteresis coupling is coaxially connected to the end of the corresponding transmission shaft in the next standard unit.

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