Tray turning and sorting system and sorting method thereof

Abstract

The invention discloses a tray turning and sorting system and a sorting method thereof, and the tray turning and sorting system comprises a tray turning and sorting machine, and a package loading area and a grid opening area which are arranged at the side part of the tray turning and sorting machine, a straightening guide piece which is positioned at the downstream of the grid opening area and is used for switching the sorted trays of the tray dumping and sorting trolley from an inclined state to a straightening state is arranged on the tray dumping and sorting machine, and an empty tray detection photoelectric sensor which is positioned at the downstream of the straightening guide piece and is positioned at the upstream of the bag feeding area is also arranged at the tray dumping and sorting machine; and in the running process of the dumping tray sorting machine, whether each dumping tray sorting trolley passing through the dumping tray sorting machine is empty or not is determined according to a signal of the empty tray detection photoelectric sensor. According to the invention, the empty tray detection photoelectric sensor is adopted to detect whether the tray dumping and sorting trolley has the package, so that the equipment cost is greatly reduced, complicated model training and other processes are not needed, the development cost and implementation difficulty of the equipment are greatly reduced, and the popularization and application are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of sorting, in particular to a tray-turning sorting system and a sorting method thereof. Background Art

[0002] The tilting tray sorter is a common equipment in logistics sorting. It unloads the goods on the tray by tilting the tray left and right.

[0003] After unloading the parcels in the grid area, the tray sorting trolley of the tray sorting machine will rotate along the sorting loop to the package supply area to be loaded with packages again by the loading platform or package supply equipment. Therefore, before loading the packages, it is necessary to accurately identify whether there are packages on the tray of each tray sorting trolley.

[0004] In the existing methods, a grayscale meter is used for detection, such as the application publication number CN110871173A, which is a typical method.

[0005] However, the equipment cost of grayscale detection is high, and the grayscale needs to perform deep learning to ensure the accuracy of detection, which results in a long R&D cycle and cost, and is relatively difficult to implement. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems existing in the prior art and to provide a tray sorting system and a sorting method thereof.

[0007] The purpose of the present invention is achieved through the following technical solutions: A tray sorting system comprises a tray sorting machine and a bag loading area and a slot area arranged on the side of the tray sorting machine. The tray sorting machine is provided with a straightening guide located downstream of the slot area and used to switch the tray of the tray sorting trolley after sorting from a tilted state to a straightened state. The tray sorting machine is also provided with an empty tray detection photoelectric sensor located downstream of the straightening guide and upstream of the bag loading area. During the operation of the tray sorting machine, whether each tray sorting trolley passing through it is empty is determined based on the signal of the empty tray detection photoelectric sensor.

[0008] Preferably, in the tilt-tray sorting system, the pallet includes a bottom plate, two baffles connected to its four sides and cooperating therewith to form an inverted cone-shaped groove, and two unloading plates, the empty tray detection photoelectric sensor includes a first photoelectric sensor and / or at least one ranging sensor, the first photoelectric sensor is horizontally arranged, which is higher than the top of the pallet in the upright state and close to the top of the pallet, and the ranging sensor gap is arranged above the tilt-tray sorting trolley and measures distance downward.

[0009] Preferably, in the tilt-tray sorting system, a package supply device is provided at the package loading area to place the packages onto the tilt-tray sorting trolley.

[0010] Preferably, in the flip tray sorting system, each of the flip tray sorting carts includes a frame, two parallel vertical plates are provided on the frame, tray assemblies that can be flipped relative to each other are provided on the two vertical plates, and a switching control assembly for controlling the flipping of the tray assembly is provided on the vertical plates.

[0011] Preferably, in the flip tray sorting system, a pair of symmetrical arc-shaped flip holes bending from the outer side to the inner side of the vertical plates are respectively provided on the two vertical plates, and the positions of the arc-shaped flip holes on the two vertical plates correspond to each other one by one. The tray assembly includes two flip axes connected to the bottom of the tray and perpendicular to the vertical plates, and both ends of each flip axis are inserted into a pair of opposite arc-shaped flip holes.

[0012] Preferably, in the flip tray sorting system, the switching control component includes support components respectively matched with a flip axis, and both of the support components include a translation stopper and a driver for driving them to translate in a direction perpendicular to the flip axis; when the flip axis is located at the top of the arc-shaped flip hole, the translation stopper of the support component matched with the flip axis can be translated from the outside of the flip axis to the bottom of the flip axis so that the flip axis can be rotatably restricted at the top of the arc-shaped flip hole.

[0013] Preferably, in the tip-tray sorting system, horizontal shielding plates located below the arc-shaped flip holes are respectively provided on opposite sides of the two vertical plates, the horizontal shielding plates on one side are higher than the horizontal shielding plates on the other side and are close to each other, and the horizontal shielding plates located on opposite sides of two adjacent tip-tray sorting carts partially overlap.

[0014] Preferably, in the tray-turning sorting system, the tray-turning sorting machine is provided with a detection sensor located downstream of the upper bag area, and the detection sensor is used to detect whether there are foreign objects on the horizontal shielding plate.

[0015] According to any of the above sorting methods of the tray sorting system, when each of the tray sorting trolleys moves past the empty tray detection photoelectric sensor, it is determined whether there is an empty trolley on the tray sorting trolley according to the signal of the empty tray detection photoelectric sensor; The package supply equipment in the loading area places the packages onto the tilting tray sorting trolley that is determined to be empty.

[0016] Preferably, when the detection sensor detects foreign matter on the horizontal shielding plate, the machine stops and an alarm is sounded.

[0017] The advantages of the technical solution of the present invention are mainly reflected in: The present invention adopts an empty tray detection photoelectric sensor to detect whether there is a package on the tray sorting trolley, which greatly reduces the equipment cost and does not require complicated model training and other processes, greatly reducing the development cost and implementation difficulty of the equipment, and facilitating promotion and application.

[0018] The present invention adopts a horizontally arranged first photoelectric sensor to detect most of the goods. Goods whose height is lower than the depth of the pallet can be detected by a distance measuring sensor, thereby effectively ensuring full coverage detection.

[0019] The tilting tray sorting trolley of the present invention has a simple structure and does not need to set a lifting mechanism to achieve the tilting of the tray, which greatly simplifies the structure of the tilting tray sorting machine and is easier to implement. During sorting, there is no impact on the tray by the top, and the sorting action is gentler.

[0020] The shielding structure of the gaps between the tipping tray sorting trolleys of the present invention is more reasonable, can effectively avoid the risk of damage to the accordion cover, and reduces the difficulty of equipment maintenance.

[0021] The present invention provides a detection sensor to detect whether there are foreign objects on the horizontal shielding plate, and can handle abnormal situations as soon as they are found, which is beneficial to improving the safety of equipment operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 1 is a top view schematic diagram of the tilt tray sorting system of the present invention, in which only part of the tilt tray sorting trolley is shown; Figure 2 It is a structural schematic diagram of the tilting tray sorting trolley of the present invention with one side vertical plate hidden; Figure 3 This is a side view of the tilting tray sorting trolley of the present invention. Figure 4 It is a top view of the tilting tray sorting trolley of the present invention; Figure 5 It is a schematic diagram of a tray of the tilting tray sorting trolley of the present invention in a straightened state; Figure 6 It is a schematic diagram of the tray of the tilting tray sorting trolley of the present invention tilting to the right for sorting; Figure 7 It is a schematic diagram of the tray of the tilting tray sorting trolley of the present invention tilting to the left for sorting; Figure 8 It is a schematic diagram of the cooperation between the tilting tray sorting trolley and the straightening guide member of the present invention; Fig. 9 It is a structural schematic diagram of the present invention for detecting whether the tray-turning sorting trolley is empty by using an empty tray detection photoelectric sensor; Fig.10 It is a structural schematic diagram of detecting whether the tray-turning sorting trolley is empty and whether there are foreign objects on the horizontal shielding plate between the tray-turning sorting trolleys by using an empty tray detection photoelectric sensor and a detection sensor in the present invention. DETAILED DESCRIPTION

[0023] The purpose, advantages and features of the present invention will be illustrated and explained by the non-limiting description of the following preferred embodiments. These embodiments are only typical examples of the application of the technical solution of the present invention, and any technical solution formed by equivalent replacement or equivalent transformation falls within the scope of protection claimed by the present invention.

[0024] In the description of the scheme, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0025] The tilting tray sorting system disclosed by the present invention is described below in conjunction with the accompanying drawings. Figure 1 As shown, it includes a tray sorter 100 and a bag loading area 200 and a compartment area 300 arranged on the side of the tray sorter 100. The tray sorter 100 is provided with a straightening guide 120 located downstream of the compartment area 300 and used to switch the tray 101 of the tray sorting trolley 110 after sorting from a tilted state to a straightened state. The tray sorter 100 is also provided with an empty tray detection photoelectric sensor 400 located downstream of the straightening guide 120 and upstream of the bag loading area 200. During the operation of the tray sorter, the signal of the empty tray detection photoelectric sensor 400 is used to determine whether each tray sorting trolley 110 passing through it is an empty trolley.

[0026] As attached Figure 1 As shown, the tilting tray sorting machine 100 includes a track 130. The specific structure of the track 130 is a known technology. It is a flat closed track 130. Its specific shape can be a feasible shape such as a waist shape or a rounded rectangle. A circle of tilting tray sorting trolleys 110 connected in sequence to form a closed annular sorting loop are movably arranged on the track 130. The tilting tray sorting trolley 110 can be a known feasible structure.

[0027] As attached Figure 2 As shown, each of the tilting tray sorting carts 110 includes a frame 111, and running wheels 112 are arranged on both sides of the frame. The number of running wheels 112 on each side can be designed according to needs, for example, 1-3, preferably 2 and located at both ends of each side of the frame. Each side of the frame is also provided with a guide wheel 113 located between the two running wheels 112, and the axis of the guide wheel 113 extends in the vertical direction and protrudes to the outside of the running wheel 112.

[0028] At the same time, as in the prior art, a linear motor secondary component 114 can be provided at the bottom of the frame to cooperate with the primary component of the linear motor on the track to push the tipping sorting trolley 110 to move. Of course, in other embodiments, the driving of the sorting loop can also be achieved by a known friction drive method, which will not be elaborated here.

[0029] As attached Figure 2 , Attachment Figure 3 As shown, the frame 111 is provided with two parallel vertical plates 115, and the two vertical plates 115 are parallel to the axis of the running wheel 112. The two vertical plates 115 are provided with tray assemblies 116 that can be flipped relative to them, and the vertical plates 115 are provided with a switching control assembly 117 for controlling the flipping of the tray assembly 116.

[0030] As attached Figure 2 As shown, a pair of symmetrical arc-shaped flip holes 118 are respectively provided on the two vertical plates 115 and are bent from the outer side to the inner side of the vertical plates 115. The upper ends of the arc-shaped flip holes 118 are close to the upper ends of the vertical plates 115, and the lower ends of the arc-shaped flip holes 118 are close to the middle and lower positions of the vertical plates 115. The positions of the arc-shaped flip holes 118 on the two vertical plates 115 correspond one to one.

[0031] The tray assembly 116 includes a tray 101 and two flip shafts 102 connected to the bottom of the tray 101 and perpendicular to the vertical plate 115. The two ends of each flip shaft 102 are inserted into a pair of opposite arc-shaped flip holes 118. When the two flip shafts 102 are located at the upper ends of the arc-shaped flip holes 118, the tray assembly 116 remains in a straightened state, and the parcel can be placed on the tray assembly 116 for transportation; when the flip shaft 102 on one side slides downward along the arc-shaped flip hole 118 where it is located and the flip shaft 102 on the other side remains at the upper end of the arc-shaped flip hole 118 where it is located, the tray assembly 116 is tilted to achieve sorting.

[0032] As attached Figure 3 As shown, each of the flip shafts 102 is connected to the bottom of the tray 101 via a support rod 103 perpendicular thereto, and the support rods 103 connecting the two flip shafts 102 are respectively close to one of the vertical plates 115, so that the two support rods 103 can cooperate with the vertical plates 115 to prevent the flip shaft 102 from withdrawing from the arc-shaped flip holes 118 on the two vertical plates 115.

[0033] As attached Figure 4As shown, in order to prevent the parcel from falling from the pallet 101 when being transported on the pallet 101, the pallet 101 includes a bottom plate 10a and two baffles 10b and two unloading plates 10c connected to its four sides and cooperating therewith to form an inverted cone-shaped groove, so that when the pallet 101 is straightened, that is, when the bottom plate 10a of the pallet 101 is kept horizontal, the baffles 10b and the unloading plates 10c can restrict the parcel to a certain extent, and when the pallet assembly 116 is tilted for sorting, the parcel can be unloaded from the two unloading plates 10c.

[0034] As attached Figure 2 , Attachment Figure 3 As shown, the switching control component 117 includes support components 104 respectively matched with a flip axis 102, and the two support components 104 each include a translation block 105 and a driver 106 for driving it to translate in a direction perpendicular to the flip axis 102. When the flip axis 102 is located at the top of the arc-shaped flip hole 118, the translation block 105 of the support component 104 matched with the flip axis 102 can be translated from the outside of the flip axis 102 to the bottom of the flip axis 102 so that the flip axis 102 can be rotatably restricted at the top of the arc-shaped flip hole 118.

[0035] Specifically, a horizontal plate 119 is arranged between the two vertical plates 115, and the horizontal plate 119 is between symmetrical arc-shaped flip holes 118. The translation stops 105 of the two support assemblies 104 are movably arranged on the slide rail 107 on the horizontal plate 119. The two drivers 106 are respectively fixed on the inner walls of the two vertical plates 115. Of course, they can also be fixed on the horizontal plate 119. The driver 106 is preferably a feasible device such as an electric cylinder and a linear motor.

[0036] As attached Figure 5 As shown, when the tray 101 is in the upright state, the two translation stops 105 are respectively supported under the two flip shafts 102 located at the upper ends of the arc-shaped flip holes 118; when sorting to the right is required, the translation stop 105 of the right support assembly 104 is withdrawn from under the right flip shaft 102, so that the flip assembly rotates downward around the left flip shaft 102 under the action of its own gravity and the gravity of the package to achieve tilting. At this time, the right flip shaft 102 slides from the upper end of the arc-shaped flip hole 118 where it is located to the lower end, as shown in the attached figure. Figure 6 When sorting to the left is required, the translation stopper 105 of the left support assembly 104 is withdrawn from under the left flip shaft 102, so that the flip assembly rotates downward around the right flip shaft 102 under the action of its own gravity and the weight of the package to achieve tilting. At this time, the left flip shaft 102 slides from the upper end of the arc-shaped flip hole 118 where it is located to the lower end, as shown in the attached figure. Figure 7 shown.

[0037] As attached Figure 1 , Attachment Figure 7 As shown, the tilted flip assembly needs to be restored to the straightened state through the straightening guide 120. The straightening guide 120 is two and symmetrically arranged on the top of the track 130. The two straightening guides 120 cooperate with the unloading plate 10c of the pallet 101 to achieve the straightening of the pallet 101. The straightening guide 120 is preferably a climbing circular tube, which can be fixed to the track 130 by a bracket. The lower end of the climbing circular tube is located upstream of the upper end, and the upper end of the climbing circular tube bends downward after reaching the target height. When the pallet 101 is tilted, when the unloading plate 10c moves past the straightening guide 120, the straightening guide 120 supports the bottom of the unloading plate 10c. As the unloading plate 10c moves from the lower position of the straightening guide 120 to the upper end of the straightening guide 120, the pallet assembly 116 gradually recovers from the tilted state to the straightened state. At this time, the flip axis 102 at the lower end of the arc-shaped flip hole 118 is reset to the upper end of the arc-shaped flip hole 118 where it is located. Then, the translation stopper 105 of the support assembly 104 corresponding to the flip axis 102 moves again to the bottom of the flip axis 102 so that the flip axis 102 is limited to the upper end of the arc-shaped flip hole 118. This time, the two flip axes 102 are both restricted at the upper end of the arc-shaped flip hole 118, so that when the pallet 101 moves to the straightening guide 120, the pallet 101 can still maintain the straightened state.

[0038] As attached Figure 1 As shown, the upper bag area 200 is arranged on the side of the straight extension section of the sorting loop line, and a bag supply device 210 is provided at the upper bag area 200 to place the package on the tipping tray sorting trolley 110. The number of the bag supply devices 210 can be set as needed, and each of the bag supply devices 210 can be a known multi-stage bag supply table, a parallel robot, a four-axis robot or a six-axis robot driven suction cup assembly, etc. Its specific structure is a known technology and will not be repeated here.

[0039] As attached Figure 1 As shown, the grid area 300 is also arranged on the side of the straight extension section of the sorting loop, which includes a row of parallel grids 310. When the tilting sorting trolley 110 moves to the grid 310 corresponding to the package thereon, it is tilted for unloading, so that the package is sorted into its corresponding grid 310.

[0040] As attached Figure 1As shown, a barcode reading device 500 is further provided downstream of the upper package area 200 and upstream of the slot area 300. The barcode reading device 500 can read the barcode information on the package by means of known top scanning and / or side scanning to obtain the slot 310 corresponding to the package on each tray sorting trolley 110. In addition, in order to avoid the situation where the barcode is not read and the sorting cannot be done, the slot 310 at the most downstream of the slot area 300 can be used as an abnormal slot 310. If the slot 310 corresponding to the package is not obtained when the package on the tray sorting trolley 110 passes through the barcode reading device 500, the slot 310 to which the package is to be sorted is configured as the abnormal slot 320.

[0041] As attached Figure 1 , Attachment Fig. 9 , Attachment Fig.10 As shown, the empty tray detection photoelectric sensor 400 includes a first photoelectric sensor 410 and / or at least one distance measuring sensor 420. The first photoelectric sensor 410 is horizontally arranged, which is higher than the top of the pallet in the straightened state and close to the top of the pallet. The distance measuring sensor 420 is gap-arranged above the flip tray sorting trolley 110 and measures distance downward.

[0042] The first photoelectric sensor 410 may be a known through-beam sensor or a reflective photoelectric sensor in combination with a reflector. The number of the first photoelectric sensor 410 may be only one, or multiple and evenly spaced in the vertical direction. Of course, the first photoelectric sensor 410 may also be a grating or light curtain arranged in the vertical direction.

[0043] When the empty tray detection photoelectric sensor 400 only has the first photoelectric sensor 410 , the height of the parcel placed on the tray 101 needs to be greater than the depth of the tray 101 .

[0044] The distance measuring sensor 420 may be a known laser distance measuring sensor or other feasible photoelectric distance measuring sensor. In addition, the number of the distance measuring sensors 420 may be designed as required. To ensure the reliability of detection, the distance measuring sensors 420 may be multiple, for example, three, and they are arranged at equal intervals along the length direction of the tray 101.

[0045] In order to ensure that the empty tray detection photoelectric sensor 400 can detect packages whose height is less than the depth of the tray 101, the empty tray detection photoelectric sensor 400 includes both the first photoelectric sensor 410 and the distance measuring sensor 420, and the distance measuring sensor 420 is located downstream of the first photoelectric sensor 410. When in use, if a tray sorting trolley 110 is determined to have a package when it passes through the first photoelectric sensor 410, that is, it is determined that the tray sorting trolley 110 is not empty. At this time, when the tray sorting trolley passes through the distance measuring sensor, it is not necessary to determine again whether the tray sorting trolley is empty. Of course, it is also possible to determine again whether the tray sorting trolley is empty based on the signal of the distance measuring sensor. If a tray sorting trolley 110 is determined to be empty when it moves past the first photoelectric sensor 410, when the bottom plate of the tray of the tray sorting trolley 110 moves past the distance measuring sensor 420, the distance measuring sensor 420 is used to further determine whether the tray sorting trolley 110 is empty, that is, when there is a package on the tray sorting trolley 110, the distance measured by at least one of the multiple distance measuring sensors 420 to the top surface of the bottom plate 10a of the tray sorting trolley 110 is greater than the set standard value, so that it can be determined that there is a package on the tray sorting trolley 110. On the contrary, if the distances measured by the bottom plate of the tray sorting trolley moving past the multiple distance measuring sensors 420 are all equal to the set standard value, it can be determined that the tray sorting trolley 110 is empty, that is, there is no package on the tray sorting trolley 110. Whether the bottom plate position of each of the flip tray sorting trolleys moves to the distance measuring sensor can be determined based on known position tracking methods, which will not be elaborated here. Of course, other methods can also be used to determine whether a flip tray sorting trolley is empty based on the signal of the distance measuring sensor 420. For example, the signal change curve when the pallet of a to-be-determined flip tray sorting trolley completely passes through the distance measuring sensor can be compared with the signal change curve when the pallet of an empty vehicle completely passes through the distance measuring sensor to determine whether each flip tray sorting trolley is empty. That is, when the signal change curves when the pallet of the to-be-determined flip tray sorting trolley completely passes through the distance measuring sensor are consistent, it can be determined that the to-be-determined flip tray sorting trolley is an empty vehicle. On the contrary, if the signal change curves are very different, it can be determined that the to-be-determined flip tray sorting trolley is not empty.

[0046] As attached Fig.10As shown, in order to facilitate the connection between the flip tray sorting carts 110, the frame is also provided with a rod end joint bearing 10d located outside and facing the two vertical plates 115 thereon, and the rod end joint bearings 10d on the opposite sides of the two adjacent flip tray sorting carts 110 are connected by a connecting rod 10e. Since there will be a large gap between the adjacent flip tray sorting carts 110, the usual way is to set an accordion cover between the adjacent flip tray sorting carts 110 to block the gap. However, when in the turning position, the accordion cover is prone to uneven stretching, which is easy to cause damage to the accordion cover. Therefore, in a better structure, the two vertical plates 115 of each flip tray sorting cart 110 are respectively provided with horizontal shielding plates 10f located below the arc-shaped flip hole 118 on the opposite sides, and the horizontal shielding plates 10f on one side are higher than the horizontal shielding plates 10f on the other side and are close to each other, and the horizontal shielding plates 10f on the opposite sides of the two adjacent flip tray sorting carts 110 partially overlap. This not only effectively shields the gap, but also allows the two horizontal shielding plates 10f to move relative to each other without interference, thus avoiding uneven stretching at the turning position like an accordion cover.

[0047] Furthermore, during the loading process, there is a possibility that the parcel may fall onto the horizontal shielding plate 10f between the two tilting sorting carts 110 due to inaccurate loading. When the parcel moves to the turning position on the horizontal shielding plate 10f, it will be squeezed by the tilting sorting cart, which will cause safety hazards to both the parcel and the tilting sorting cart. Figure 1 , Attachment Fig.10 As shown, a detection sensor 600 is provided at the tray sorting machine 100 and is located downstream of the bag loading area 200. The detection sensor 600 is used to detect whether there is a foreign object on the horizontal shielding plate 10f. The detection sensor 600 can be a known through-beam sensor or a self-reflective sensor in combination with a reflective plate. Its installation height is slightly higher than the high-position horizontal shielding plate 10f. After the bag is loaded, the detection sensor 600 can be used to detect whether there is a foreign object on the horizontal shielding plate 10f. The foreign object can be a package or other items dropped on the horizontal shielding plate 10f. When the detection sensor 600 detects a foreign object, an alarm can be sounded and the machine can be stopped through an alarm, and manual processing can be performed.

[0048] Example 2 This embodiment discloses a sorting method of the above-mentioned tray sorting system. When each of the tray sorting carts 110 moves past the empty tray detection photoelectric sensor 400, it is determined whether there is an empty cart on the tray sorting cart 110 according to the signal of the empty tray detection photoelectric sensor 400. The package supply device 210 of the package loading area 200 places the packages on the tilting tray sorting trolley 110 determined to be an empty trolley.

[0049] Furthermore, when the detection sensor 600 detects foreign matter on the horizontal shielding plate 10f, the machine will be shut down and an alarm will be sounded.

[0050] There are many implementation methods of the present invention, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A tray sorting system, comprising a tray sorting machine and a bag loading area and a slot area arranged on the side of the tray sorting machine, wherein the tray sorting machine is provided with a straightening guide located downstream of the slot area for switching the tray of the tray sorting trolley after sorting from an inclined state to a straightened state, characterized in that: The tilt tray sorting machine is also provided with an empty tray detection photoelectric sensor located downstream of the straightening guide and upstream of the upper bag area. During the operation of the tilt tray sorting machine, the signal of the empty tray detection photoelectric sensor is used to determine whether each tilt tray sorting trolley passing through it is an empty trolley.

2. The tray sorting system according to claim 1, characterized in that: The pallet includes a bottom plate, two baffles connected to its four sides and cooperating therewith to form an inverted cone-shaped groove, and two unloading plates. The empty tray detection photoelectric sensor includes a first photoelectric sensor and / or at least one distance measuring sensor. The first photoelectric sensor is horizontally arranged, which is higher than the top of the pallet in the straightened state and close to the top of the pallet. The distance measuring sensor gap is arranged above the tilting tray sorting trolley and measures the distance downward.

3. The tray sorting system according to claim 1, characterized in that: The package loading area is provided with a package supply device to place the packages onto the tilting tray sorting trolley.

4. The tray sorting system according to claim 1, characterized in that: Each of the tilting tray sorting trolleys comprises a frame, on which two parallel vertical plates are arranged, on which tray assemblies which can be flipped relative to each other are arranged, and on which a switching control assembly for controlling the flipping of the tray assembly is arranged.

5. The tray sorting system according to claim 4, characterized in that: A pair of symmetrical arc-shaped flip holes are respectively provided on the two vertical plates and are bent from the outer side to the inner side of the vertical plates. The positions of the arc-shaped flip holes on the two vertical plates correspond to each other. The tray assembly includes two flip axes connected to the bottom of the tray and perpendicular to the vertical plates. Both ends of each flip axis are inserted into a pair of opposite arc-shaped flip holes.

6. The tray sorting system according to claim 5, characterized in that: The switching control component includes support components respectively matched with a flip axis, and both of the support components include a translation block and a driver for driving them to translate in a direction perpendicular to the flip axis. When the flip axis is located at the top of the arc-shaped flip hole, the translation block of the support component matched with the flip axis can be translated from the outside of the flip axis to the bottom of the flip axis so that the flip axis can be rotatably restricted at the top of the arc-shaped flip hole.

7. The tray sorting system according to claim 4, characterized in that: Horizontal shielding plates located below the arc-shaped flipping holes are respectively arranged on the opposite sides of the two vertical plates. The horizontal shielding plates on one side are higher than the horizontal shielding plates on the other side and are close to each other. The horizontal shielding plates located on the opposite sides of two adjacent tipping tray sorting carts partially overlap.

8. The tray sorting system according to claim 7, characterized in that: The tray-turning sorting machine is provided with a detection sensor located downstream of the upper bag area, and the detection sensor is used to detect whether there are foreign objects on the horizontal shielding plate.

9. The sorting method of the tilting tray sorting system according to any one of claims 1 to 8, characterized in that: When each of the tray-turning sorting trolleys moves past the empty tray detection photoelectric sensor, it is determined whether there is an empty trolley on the tray-turning sorting trolley according to the signal of the empty tray detection photoelectric sensor; The package supply equipment in the loading area places the packages onto the tilting tray sorting trolley that is determined to be empty.

10. The sorting method of the tilting tray sorting system according to claim 9, characterized in that: When the detection sensor detects foreign matter on the horizontal shielding plate, the machine will stop and alarm.

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