Sorting workbench and sorting system

Abstract

The invention discloses a sorting workbench and a sorting system.The sorting workbench comprises a rack unit, a reciprocating power unit and a reciprocating transmission unit, and the reciprocating power unit is in transmission connection with the reciprocating transmission unit and drives the reciprocating transmission unit to reciprocate; between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with a material box pushing device of the rack unit and drives the material box pushing device to do reciprocating translation motion along the material box translation channel; the reciprocating transmission unit is in transmission connection with the two lifting devices at the same time and drives the two lifting devices to conduct synchronous reverse lifting motion matched with reciprocating translation along the two lifting channels. Namely, according to the sorting workbench, the workbins are separated from the workbin carrying robots, the workbins can be directly queued to wait, and the workbin carrying robots are released, so that the use number of the workbin carrying robots can be reduced, the utilization rate or turnover rate of the workbin carrying robots is increased, and the cost is saved.

Description

Technical Field

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

[0002] Bin handling robots are widely used in the logistics field. A common application scenario is to use a bin handling robot in cooperation with a sorting workbench. That is, the sorting personnel are located at the sorting workbench. The bin handling robot (such as a chassis-mounted handling robot) carries a bin and walks to the sorting workbench. Then, after the sorting personnel sort the bin, the bin handling robot carries the bin and leaves.

[0003] In related solutions, the bin handling robot usually needs to carry the bin and queue at the sorting workbench for sorting. Therefore, a large number of bin handling robots are required, resulting in waste of resources of the bin handling robots and high costs. Summary of the Invention

[0004] In view of at least one of the above technical problems, the embodiments of the present application provide a sorting workbench and a sorting system. The sorting workbench obtains the unsorted bin carried by the bin handling robot through a first lifting device. At the same time, the sorting workbench also transfers the sorted bin to the bin handling robot through a second lifting device. In this way, by separating the bin 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, improving the utilization rate or turnover rate of the bin handling robots, and saving costs.

[0005] In a first aspect, the embodiments of the present application provide a sorting workbench. The sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the frame unit.

[0006] The frame unit includes a bin translation channel extending linearly. Both ends of the bin translation channel extend downward along its extending direction to form a first lifting channel and a second lifting channel respectively. A bin pushing device moving along the bin translation channel is provided beside the bin translation channel. A first lifting device moving up and down along the first lifting channel is provided beside the first lifting channel. A second lifting device moving up and down along the second lifting channel is provided beside the second lifting channel.

[0007] Wherein, the reciprocating power unit is in transmission connection with the reciprocating transmission unit. The reciprocating power unit is configured to drive the reciprocating transmission unit to reciprocate between a first reciprocating position and a third reciprocating position. A second reciprocating position is provided between the first reciprocating position and the second reciprocating position.

[0008] And, the reciprocating transmission unit is configured as:

[0009] Between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the bin pushing device and drives it to reciprocate linearly;

[0010] Between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously in transmission connection with the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting movements adapted to the reciprocating linear movement.

[0011] In one embodiment, preferably, during the process of moving from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission-disconnected state with the first lifting device and the second lifting device and in a transmission-connected state with the bin pushing device, and the reciprocating transmission unit drives the bin pushing device to reciprocate linearly towards the second lifting channel;

[0012] During the process of moving from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a transmission-connected state with the first lifting device and the second lifting device and in a transmission-disconnected state with the bin pushing device, and the reciprocating transmission unit drives the first lifting device to rise from the bottom to the top of the first lifting channel and simultaneously drives the second lifting device to descend from the top to the bottom of the second lifting channel;

[0013] During the process of moving from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission-connected state with the first lifting device and the second lifting device and in a transmission-disconnected state with the bin pushing device, and the reciprocating transmission unit drives the first lifting device to descend from the top to the bottom of the first lifting channel and simultaneously drives the second lifting device to rise from the bottom to the top of the second lifting channel;

[0014] During the process of moving from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a transmission-disconnected state with the first lifting device and the second lifting device and in a transmission-connected state with the bin pushing device, and the reciprocating transmission unit drives the bin pushing device to reciprocate linearly towards the first lifting channel.

[0015] In one embodiment, preferably, the reciprocating transmission unit includes a first linear slide rail and a first slider assembly slidably mounted, and the first linear slide rail extends along the translation channel of the material box; the reciprocating power unit includes a first power device drivingly connected to the first slider assembly, and the first power device is configured to drive the first slider assembly to linearly reciprocate between a first sliding position and a third sliding position, and a second sliding position is provided between the first sliding position and the third sliding position;

[0016] The reciprocating transmission unit further includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position;

[0017] Wherein, the second linear slide rail is provided with a second slider assembly, and the second slider assembly is drivingly connected to the material box pushing device; and when reciprocating between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be drivingly connected, so that the first slider assembly drives the material box pushing device to reciprocate linearly;

[0018] Wherein, the third linear slide rail is provided with a third slider assembly, and the third slider assembly is simultaneously drivingly connected to the first lifting device and the second lifting device; and when reciprocating between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be drivingly connected, so that the first slider assembly drives the first lifting device and the second lifting device to synchronously lift and lower in opposite directions.

[0019] In one embodiment, preferably, the reciprocating transmission unit includes a fourth linear slide rail arranged in parallel with the first linear slide rail, and a part of the fourth linear slide rail corresponding to the section between the first sliding position and the second sliding position forms the second linear slide rail, and a part corresponding to the section between the second sliding position and the third sliding position forms the third linear slide rail;

[0020] The first slider assembly includes a first hook member, and on a side facing the fourth linear slide rail, the first hook member is provided with a pair of connecting bosses;

[0021] Wherein, the second slider assembly includes a second hook member, and on a side facing the first linear slide rail, the second hook member is provided with a first connecting groove, so that when sliding between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be in a driving connection state through the engagement of one of the connecting bosses close to the first sliding position and the first connecting groove;

[0022] Wherein, the third slider assembly includes a third push hook member. On the side facing the first linear slide rail, the third push hook member is provided with a second connection groove; so that when sliding between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured in a transmission connection state through the engagement of another connection boss close to the third sliding position and the second connection groove.

[0023] In an embodiment, preferably, the second slider assembly includes a second slider. The second push hook member is rotatably mounted on the second slider through a first rotating shaft. The first rotating shaft is located at one end of the second push hook member close to the first sliding position. One end of the second push hook member away from the first sliding position is provided with a first roller;

[0024] Wherein, the reciprocating transmission unit further includes a first guiding chute arranged parallel to the second linear slide rail. The first guiding chute extends away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connection boss and the first connection groove is disconnected due to the rotation of the second push hook member;

[0025] The third slider assembly includes a third slider. The third push hook member is rotatably mounted on the third slider through a second rotating shaft. The second rotating shaft is located at one end of the third push hook member close to the third sliding position. One end of the third push hook member away from the third sliding position is provided with a second roller;

[0026] Wherein, the reciprocating transmission unit further includes a second guiding chute arranged parallel to the third linear slide rail. The second guiding chute extends away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connection boss and the second connection groove is disconnected due to the rotation of the third push hook member.

[0027] In an embodiment, preferably, the second push hook member includes a pair of first flanges, so that the portion between the pair of first flanges forms the first connection groove; wherein, the height of one first flange close to the first sliding position is greater than the height of one first flange away from the first sliding position;

[0028] The third push hook member includes a pair of second flanges, so that the portion between the pair of second flanges forms the second connection groove; wherein, the height of one second flange close to the third sliding position is greater than the height of one second flange away from the third sliding position.

[0029] In one embodiment, preferably, the reciprocating transmission unit includes an endless transmission belt disposed laterally to the frame unit and arranged in the vertical direction. The reciprocating power unit includes a second power device drivingly connected to the endless transmission belt. The second power device is configured to drive the endless transmission belt to reciprocally rotate between a first rotation position and a third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position.

[0030] The endless transmission belt is fixedly installed with a first transmission block, a second transmission block, and a third transmission block respectively.

[0031] Wherein, when rotating between the first rotation position and the second rotation position, the first transmission block is disposed on a horizontally extending portion at a high position of the endless transmission belt, and the first transmission block is drivingly connected to the tank pushing device, so that the endless transmission belt drives the tank pushing device to reciprocally translate through the first transmission block.

[0032] Wherein, when rotating between the second rotation position and the third rotation position, the second transmission block and the third transmission block are respectively disposed on a pair of vertically extending portions of the endless transmission belt, and the second transmission block and the third transmission block are respectively drivingly connected to the first lifting device and the second lifting device, so that the endless transmission belt drives the first lifting device and the second lifting device to synchronously lift and lower in opposite directions through the second transmission block and the third transmission block respectively.

[0033] In one embodiment, preferably, the reciprocating transmission assembly includes a towing connection plate disposed in the vertical direction. The top end of the towing connection plate is fixedly installed with the tank pushing device. The bottom end of the towing connection plate is provided with a plugging groove opening downward for the first transmission block to be plugged and installed from below.

[0034] So that the first transmission block is drivingly connected to the tank pushing device through a pair of vertical side walls forming the plugging groove, and when lifting and lowering, the driving connection between the first transmission block and the tank pushing device is disconnected due to the plugging and detachment of the first transmission block from the plugging groove.

[0035] In one embodiment, preferably, the height of the horizontally extending portion at a high position of the endless transmission belt is the same as the height when the first lifting device or the second lifting device rises to the top, and the height of the horizontally extending portion at a low position of the endless transmission belt is the same as the height when the first lifting device or the second lifting device descends to the bottom.

[0036] Among them, the second transmission block and the third transmission block are arranged on one side of the annular transmission belt facing the rack unit. On one side of the first lifting device and the second lifting device facing the annular transmission belt, a first avoidance chute and a second avoidance chute are respectively provided. The first avoidance chute and the second avoidance chute are used to respectively avoid the reciprocating translational motion of the second transmission block and the third transmission block;

[0037] Moreover, when the second transmission block moves up and down, a pair of first lateral side walls forming the first avoidance chute are in transmission connection with the second transmission block due to the up-and-down limit of the second transmission block; when the third transmission block moves up and down, a pair of second lateral side walls forming the second avoidance chute are in transmission connection with the third transmission block due to the up-and-down limit of the third transmission block.

[0038] In one embodiment, preferably, the part of the material box translation channel between the first lifting channel and the second lifting channel is used to accommodate at least one material box.

[0039] In one embodiment, preferably, the rack unit is provided with a material box support device at a position of the first lifting channel close to the material box translation channel. The material box support device is used to support the material box transported to the material box translation channel by the first lifting device.

[0040] In one embodiment, preferably, the material box support device includes a support rod extending along a first direction. Both ends of the support rod are simultaneously hinged with a first connecting rod and a second connecting rod. Among them, the first direction is the extending direction of the material box translation channel;

[0041] The rack unit is provided with a pair of chutes at positions corresponding to both ends of the support rod. The chutes extend in the vertical direction. The end of the first connecting rod is slidably installed in the chute, and the end of the second connecting rod is hinged to a position of the rack unit below the chute.

[0042] In one embodiment, preferably, the material box pushing device includes a pushing medium that is arranged beside the material box translation channel and reciprocates translationally along its extending direction;

[0043] Among them, the pushing medium is provided with a follower arm extending into the material box translation channel. The follower arm is configured to be arranged with a one-way bend toward the direction of the second lifting channel. Moreover, when the follower arm reciprocates translationally with the pushing medium, it is at least used to push the material box located at the projection position of the first lifting channel on the material box translation channel.

[0044] In one embodiment, preferably, the first lifting device includes a first lifting plate disposed horizontally. The frame unit is provided with a first guide post disposed vertically beside the first lifting channel, and the first lifting plate is slidably mounted on the first guide post;

[0045] Moreover, the first lifting plate includes a first supporting portion protruding into the first lifting channel; so that when rising, the first supporting portion is used to transfer the bin carried by the bin handling robot to the bin translation channel.

[0046] In one embodiment, preferably, lifting shoe plates are respectively installed at both ends of the first lifting plate along a first direction, the first direction being the extending direction of the bin translation channel. The lifting shoe plates extend perpendicular to the first direction and protrude into the first lifting channel, so that a pair of the lifting shoe plates form the first supporting portion.

[0047] In one embodiment, preferably, along the direction perpendicular to the first direction, the lifting shoe plates are fixedly installed on the first lifting plate; or,

[0048] The lifting shoe plates are rotatably installed on the first lifting plate through a vertical rotating shaft, so that when descending with the first lifting plate, the lifting shoe plates avoid the bin by rotating to be parallel to the first direction, and when rising with the first lifting plate, the lifting shoe plates lift the bin by rotating to be perpendicular to the first direction.

[0049] In one embodiment, preferably, at both ends of the first lifting plate along the first direction, there are respectively provided adapter bushings with the vertical direction as the rotation axis direction. The lifting shoe plates are fixed to the adapter bushings. A return spring is arranged inside the adapter bushings. The adapter bushings are also fixedly installed with flipping guide posts. At positions corresponding to a pair of the flipping guide posts, the frame unit is provided with a pair of guiding inclined surfaces;

[0050] The return spring is configured such that when the return spring is in the reset position, the lifting shoe plates extend perpendicular to the first direction and protrude into the first lifting channel, and the flipping guide posts extend along the first direction,

[0051] The guiding inclined surfaces are configured such that when the first lifting plate descends from the top of the first lifting channel, the guiding inclined surfaces rotate the adapter bushings by limiting and guiding the flipping guide posts, so that the lifting shoe plates avoid the bin carried by the bin handling robot during the descending process.

[0052] In one embodiment, preferably, along the vertical direction, the guiding inclined surface includes a flipping guiding portion at the upper end and a flipping holding portion at the lower end;

[0053] Wherein, the flipping guiding part is used to rotate the adapter sleeve by limiting and guiding the flipping guide post when the first lifting plate descends; the flipping holding part extends vertically from the end of the flipping guiding part, and the flipping holding part is used to maintain the rotation angle of the adapter sleeve by limiting and guiding the flipping guide post during the descent of the first lifting plate;

[0054] Moreover, the height of the lower end part of the flipping holding part is not higher than the height of the bottom surface of the bin carried by the bin handling robot.

[0055] In one embodiment, preferably, the frame unit is provided with a walking passage below the bin translation passage, the walking passage is arranged parallel to the bin translation passage, and the walking passage is used for the bin handling robot to walk and cross the frame unit along the extending direction of the bin translation passage.

[0056] In one embodiment, preferably, the frame unit includes one bin translation passage, wherein the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the bin translation passage; or,

[0057] The frame unit includes two bin translation passages arranged in parallel, wherein the reciprocating power unit and the reciprocating transmission unit are arranged at a position between a pair of bin translation passages.

[0058] In a second aspect, an embodiment of the present application provides a sorting system, which at least includes a sorting workbench, a bin transfer device, and a bin handling robot, and the bin handling robot is used to transfer bins between the sorting workbench and the bin transfer device;

[0059] Wherein, the sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the frame unit;

[0060] The frame unit includes a bin translation passage extending in a straight line, both ends of the bin translation passage extend downward along its extending direction to form a first lifting passage and a second lifting passage respectively, a bin pushing device moving along the bin translation passage is arranged beside the bin translation passage, a first lifting device moving up and down along the first lifting passage is arranged beside the first lifting passage, and a second lifting device moving up and down along the second lifting passage is arranged beside the second lifting passage;

[0061] Wherein, the reciprocating power unit is in transmission connection with the reciprocating transmission unit, the reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between a first reciprocating position and a third reciprocating position, and a second reciprocating position is arranged between the first reciprocating position and the second reciprocating position;

[0062] Moreover, the reciprocating drive unit is configured to:

[0063] Between the first reciprocating position and the second reciprocating position, the reciprocating drive unit is in driving connection with the bin pushing device and drives it to reciprocate linearly;

[0064] Between the second reciprocating position and the third reciprocating position, the reciprocating drive unit is simultaneously in driving connection with the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting movements adapted to the reciprocating linear movement.

[0065] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0066] The embodiments of the present application provide a sorting workbench and a sorting system. The sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating drive unit; the frame unit includes a bin translation channel, a first lifting channel, and a second lifting channel. A bin pushing device, a first lifting device, and a second lifting device are respectively arranged beside the bin translation channel, the first lifting channel, and the second lifting channel; wherein, the reciprocating power unit is in driving connection with the reciprocating drive unit and drives it to reciprocate between the first reciprocating position and the third reciprocating position; when reciprocating between the first reciprocating position and the second reciprocating position, the reciprocating drive unit is in driving connection with the bin pushing device and drives it to reciprocate linearly; when reciprocating between the second reciprocating position and the third reciprocating position, the reciprocating drive unit is simultaneously in driving connection with the two lifting devices and drives the two lifting devices to perform synchronous reverse lifting movements adapted to the reciprocating linear movement.

[0067] Thus, it can be understood that the ascending lifting device (i.e., the first lifting device) can be used to obtain the unsorted bin carried by the bin handling robot. At the same time, the descending lifting device (i.e., the second lifting device) can be used to transfer the sorted bin to the bin handling robot; in addition, the reciprocating linear movement of the bin pushing device can be used to push the bin along the bin translation channel, so that the sorting workbench completes the sorting work of the bin.

[0068] That is to say, by separating the bin from the bin handling robot, the sorting workbench of this embodiment can directly queue the bins and release the bin handling robot, thereby reducing the number of bin handling robots used, improving the utilization rate or turnover rate of the bin handling robots, and saving costs. Description of the Drawings

[0069] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0070] Figure 1 It is a schematic structural diagram of the first lifting device and the second lifting device in the sorting workbench for transporting the material box in the embodiments of the present application.

[0071] Figure 2 It is a schematic diagram of the transportation of the material box along the first lifting channel, the material box translation channel, and the second lifting channel of the sorting workbench in sequence in the embodiments of the present application.

[0072] Figure 3 It is a possible schematic structural diagram of the reciprocating transmission unit and the reciprocating power unit in the embodiments of the present application.

[0073] Figure 4 For Figure 3 Partial enlarged schematic diagram.

[0074] Figure 5 It is a schematic structural diagram of the first guiding chute and the second guiding chute guiding the first roller and the second roller respectively in the embodiments of the present application.

[0075] Figure 6 It is another possible schematic structural diagram of the reciprocating transmission unit and the reciprocating power unit in the embodiments of the present application.

[0076] Figure 7 For Figure 6 Partial enlarged schematic diagram of part A in

[0077] Figure 8 For Figure 6 Partial enlarged schematic diagram of part B in

[0078] Figure 9 It is a schematic structural diagram of the first lifting plate descending, where the flipping guide post is limited and guided by the flipping guiding slope to rotate the adapter bushing and the lifting shoe plate in the embodiments of the present application.

[0079] Figure 10 It is an exploded structural schematic diagram of the adapter bushing in the embodiments of the present application

[0080] Figure 11 It is a schematic structural diagram of the material box support device in the embodiments of the present application.

[0081] Figure 12Top view schematic diagram when the rack unit in the embodiment of the present application includes two bin translation channels.

[0082] Figure 13 Schematic diagram of the bin handling robot transferring bins between the sorting workbench and the bin transfer device in the embodiment of the present application.

[0083] Among them, reference numerals:

[0084] 100 - Sorting workbench, 200 - Bin transfer device, 300 - Bin, 400 - Bin handling robot,

[0085] 301 - Unsorted bin, 302 - Sorted bin,

[0086] 10 - Rack unit,

[0087] 11 - First lifting channel, 12 - Second lifting channel, 13 - Bin translation channel, 14 - First lifting device, 15 - Second lifting device, 16 - Bin pushing device, 17 - First guide post, 18 - Second guide post, 19 - Guiding inclined plane,

[0088] 141 - First lifting plate, 142 - Lifting boot plate, 143 - Adapter bushing, 144 - Return spring, 145 - Flipping guide post, 146 - Adapter shaft, 147 - Adapter bearing,

[0089] 161 - Follow - up arm, 162 - Guide rail, 163 - Pushing plate, 164 - Transmission belt,

[0090] 191 - Flipping guiding part, 192 - Flipping holding part,

[0091] 21 - First slider assembly, 22 - Second slider assembly, 23 - Third slider assembly, 24 - First linear slide rail, 25 - Fourth linear slide rail, 26 - First power device, 27 - Power chain, 28 - Transmission chain,

[0092] 211 - First slider, 212 - First hook member, 213 - Connecting boss,

[0093] 221 - Second slider, 222 - Second hook member, 223 - First rotating shaft, 224 - First roller, 225 - First flange, 226 - First guiding chute,

[0094] 231 - Third slider, 232 - Third hook member, 233 - Second rotating shaft, 234 - Second roller, 235 - Second flange, 236 - Second guiding chute,

[0095] 31 - First drive block, 32 - Second drive block, 33 - Third drive block, 34 - Annular drive belt, 35 - Tractor connecting plate, 36 - First avoidance chute, 37 - Second avoidance chute, 38 - Second power device

[0096] 351 - Insertion slot, 352 - Vertical side wall

[0097] 361 - First transverse side wall

[0098] 371 - Second transverse side wall

[0099] 40 - Bin support device, 41 - First connecting rod, 42 - Second connecting rod, 43 - Support rod, 44 - Chute

[0100] 50 - Walking passage

[0101] X - First direction Detailed implementation mode

[0102] To better understand the above - mentioned technical solution, the exemplary embodiments of the present 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 the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0103] Please first combine Figure 1 、 Figure 2 , a sorting workbench. The sorting workbench includes a frame unit 10 and a reciprocating power unit and a reciprocating transmission unit respectively installed on the frame unit 10. The frame unit 10 includes a bin translation channel 13 extending linearly. The two ends of the bin translation channel 13 extend downward along its extension direction to form a first lifting channel 11 and a second lifting channel 12 respectively. A bin pushing device 16 moving along it is provided beside the bin translation channel 13. A first lifting device 14 moving up and down along it is provided beside the first lifting channel 11. A second lifting device 15 moving up and down along it is provided beside the second lifting channel 12.

[0104] Among them, the reciprocating power unit is in transmission connection with the reciprocating transmission unit. The reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between the first reciprocating position and the third reciprocating position. There is a second reciprocating position between the first reciprocating position and the second reciprocating position.

[0105] And, the reciprocating transmission unit is configured as:

[0106] Between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the bin pushing device 16 and drives it to reciprocate linearly;

[0107] Between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously drivingly connected to the first lifting device 14 and the second lifting device 15 and drives the first lifting device 14 and the second lifting device 15 to perform synchronous reverse lifting movements adapted to the reciprocating translational movement.

[0108] See Figure 1 , Figure 2 Overall, the sorting workbench provided in this embodiment can cooperate with the bin handling robot to complete the sorting work of the bins. Among them, the sorter is located at the sorting workbench. The bin handling robot 400 carries the unsorted bin 301 and walks to the feeding end of the sorting workbench (i.e., below the first lifting channel). After the sorting workbench obtains the unsorted bin carried by the bin handling robot, the bin handling robot can continue to walk to the discharging end of the sorting workbench (i.e., below the second lifting channel). The sorting workbench can then transfer the sorted bin 302 to the bin handling robot. Then, the bin handling robot carries the sorted bin and can leave the sorting workbench.

[0109] Among them, the sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the frame unit.

[0110] Regarding the frame unit, specifically, the frame unit includes a bin translation channel, a first lifting channel, and a second lifting channel. The bin translation channel is, for example, provided at the upper end of the frame unit, and its height is suitable for the sorter to operate conveniently. The bin translation channel extends linearly along the first direction X. The two ends of the bin translation channel are respectively a feeding port and a discharging port. Then, a first lifting channel extends vertically downward from the feeding port, and a second lifting channel extends vertically downward from the discharging port.

[0111] It can be understood that the transfer process of the bin at the sorting workbench is as follows: The unsorted bin can rise vertically through the first lifting channel, then enter the bin translation channel through the feeding port. The unsorted bin is sorted on the bin translation channel. Then, the sorted bin can pass through the discharging port and descend vertically along the second lifting channel, and then be carried away from the sorting workbench.

[0112] It can be understood that the specific structural settings of the above-mentioned bin translation channel, first lifting channel, and second lifting channel are not limited in this embodiment. For example, each of the above channels can be formed by using the crossbars, vertical bars, and the spaces therebetween that make up the frame unit.

[0113] Among them, for the carrier of the transfer bin, in this embodiment, a first lifting device that moves up and down along the first lifting channel is provided beside the first lifting channel. The function of the first lifting device is to transfer the bin to the bin translation channel when it rises; in this embodiment, a bin pushing device that moves horizontally along the bin translation channel is provided beside the bin translation channel. The function of the bin pushing device is to push the bin to move when it moves horizontally towards the second lifting channel; in this embodiment, a second lifting device that moves up and down along the second lifting channel is provided beside the second lifting channel. The function of the second lifting device is to transfer the bin to the bin handling robot below when it descends.

[0114] Regarding the reciprocating power unit and the reciprocating transmission unit, that is, the driving device and the transmission device of the carrier, specifically, the reciprocating power unit is in transmission connection with the reciprocating transmission unit and drives the reciprocating transmission unit to perform reciprocating motion between the first reciprocating position and the third reciprocating position. Among them, a second reciprocating position is provided between the first reciprocating position and the third reciprocating position.

[0115] It can be understood that the reciprocating motion process of the reciprocating transmission unit is as follows: in the forward stroke, it first moves from the first reciprocating position to the second reciprocating position, and then continues to move to the third reciprocating position; in the return stroke, it first moves from the third reciprocating position to the second reciprocating position, and then continues to move to the first reciprocating position.

[0116] Moreover, in combination with the functions of the above-mentioned first lifting device, bin pushing device and second lifting device, when moving between the first reciprocating position and the second reciprocating position (including the forward stroke and the return stroke), the reciprocating transmission unit is configured to be in transmission connection with the bin pushing device and drive it to perform reciprocating horizontal movement, that is, the bin pushing device can reciprocate horizontally along the bin translation channel.

[0117] When moving between the second reciprocating position and the third reciprocating position (including the forward stroke and the return stroke), the reciprocating transmission unit is configured to be in transmission connection with the above two lifting devices at the same time and drive the two lifting devices to perform a synchronous reverse lifting motion adapted to the above-mentioned reciprocating horizontal movement; that is to say, first, under the drive of the reciprocating transmission unit, the two lifting devices perform a synchronous reverse lifting motion, in which one rises while the other synchronously descends, and when one descends, the other synchronously rises; second, the synchronous reverse lifting motion also needs to be adapted to the reciprocating horizontal movement of the above bin pushing device, and the intention of the adaptation is to enable the bin to complete the transfer process at the sorting workbench as described above.

[0118] The following specific process can be referred to:

[0119] In the process of moving from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission-disconnected state with the first lifting device and the second lifting device, and is in a transmission connection state with the bin pushing device. The reciprocating transmission unit drives the bin pushing device to move horizontally towards the second lifting channel;

[0120] During the process of moving from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a driving connection state with the first lifting device and the second lifting device, and is in a driving disconnection state with the bin pushing device. The reciprocating transmission unit drives the first lifting device to rise from the bottom to the top of the first lifting channel, and at the same time drives the second lifting device to descend from the top to the bottom of the second lifting channel;

[0121] During the process of moving from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a driving connection state with the first lifting device and the second lifting device, and is in a driving disconnection state with the bin pushing device. The reciprocating transmission unit drives the first lifting device to descend from the top to the bottom of the first lifting channel, and at the same time drives the second lifting device to rise from the bottom to the top of the second lifting channel;

[0122] During the process of moving from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a driving disconnection state with the first lifting device and the second lifting device, and is in a driving connection state with the bin pushing device. The reciprocating transmission unit drives the bin pushing device to translate towards the first lifting channel.

[0123] It can be understood that the process from the third reciprocating position to the second reciprocating position can be understood as the process of the reciprocating transmission unit resetting the two lifting devices, that is, lowering the first lifting device to the bottom end of the first lifting channel and at the same time raising the second lifting device to the top end of the second lifting channel to prepare for the acquisition and transfer of the next bin; similarly, the process from the second reciprocating position to the first reciprocating position can be understood as the process of the reciprocating transmission unit resetting the bin pushing device, that is, moving the bin pushing device towards the first lifting channel for acquiring the bin to prepare for the pushing and transfer of the next bin.

[0124] The embodiment of the present application provides a sorting workbench and a sorting system. The sorting workbench includes a frame unit, a reciprocating power unit and a reciprocating transmission unit; the frame unit includes a bin translation channel, a first lifting channel and a second lifting channel. A bin pushing device, a first lifting device and a second lifting device are respectively arranged beside the bin translation channel, the first lifting channel and the second lifting channel; wherein, the reciprocating power unit is in driving connection with the reciprocating transmission unit and drives it to reciprocate between the first reciprocating position and the third reciprocating position; when reciprocating between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in driving connection with the bin pushing device and drives it to reciprocate linearly; when reciprocating between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously in driving connection with the two lifting devices and drives the two lifting devices to perform synchronous reverse lifting movements adapted to the reciprocating linear movement.

[0125] Thus, it can be understood that the ascending lifting device (i.e., the first lifting device) can be used to obtain the unsorted material boxes carried by the material box handling robot, and at the same time, the descending lifting device (i.e., the second lifting device) can be used to transfer the sorted material boxes to the material box handling robot; in addition, the reciprocating translation of the material box pushing device can be used to push the material box along the material box translation channel, so that the sorting workbench can complete the sorting work of the material box.

[0126] That is to say, the sorting workbench of this embodiment separates the material boxes from the material box handling robots. The sorting workbench can directly queue the material boxes and release the material box handling robots, thereby reducing the number of material box handling robots in use, improving the utilization rate or turnover rate of the material box handling robots, and saving costs.

[0127] About one of the reciprocating transmission units, combined Figures 3 to 5 In one possible implementation, the reciprocating transmission unit includes a first linear slide rail 24 and a first slider assembly 21 which are slidably mounted, and the first linear slide rail 24 extends along the material box translation channel 13; the reciprocating power unit includes a first power device 26 which is transmission-connected to the first slider assembly 21, and the first power device 26 is used to drive the first slider assembly 21 to perform linear reciprocating sliding between a first sliding position and a third sliding position, and a second sliding position is provided between the first sliding position and the third sliding position; the reciprocating transmission unit also includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position.

[0128] Among them, the second linear slide rail is installed with a second slider assembly 22, and the second slider assembly 22 is transmission connected to the material box pushing device 16; and when sliding back and forth between the first sliding position and the second sliding position, the first slider assembly 21 and the second slider assembly 22 are configured as a transmission connection, so that the first slider assembly 21 drives the material box pushing device 16 to reciprocate and translate.

[0129] Among them, the third linear slide rail is equipped with a third slider assembly 23, and the third slider assembly 23 is simultaneously connected to the first lifting device 14 and the second lifting device 15 in transmission connection; and when sliding back and forth between the second sliding position and the third sliding position, the first slider assembly 21 and the third slider assembly 23 are configured as a transmission connection, so that the first slider assembly 21 drives the first lifting device 14 and the second lifting device 15 to lift in the opposite direction synchronously.

[0130] In summary, the reciprocating transmission unit of this embodiment can be based on a first slider assembly that slides back and forth in a straight line, and then use the sliding of the first slider assembly in straight segments in different intervals to drive the material box pushing device to reciprocate and drive the two lifting devices to lift in the opposite direction synchronously.

[0131] Specifically, the first slider assembly is slidably mounted on the first linear slide rail, and the first linear slide rail is arranged beside the translation channel of the material box and is parallel to it. Then, the first slider assembly is in transmission connection with the first power device, and the first power device is, for example, the first driving motor. Thus, it can be understood that the first power device can drive the first slider assembly to perform linear reciprocating sliding, that is, in the forward stroke, it slides from the first sliding position through the second sliding position to the third sliding position, and then in the return stroke, it slides from the third sliding position through the second sliding position to the first sliding position.

[0132] It can be seen that these three sliding positions correspond to the above three reciprocating positions.

[0133] Among them, the reciprocating transmission unit further includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position. The second linear slide rail and the third linear slide rail are respectively parallel to the first linear slide rail. Then, the second linear slide rail is equipped with a second slider assembly, and the third linear slide rail is equipped with a third slider assembly.

[0134] Thus, it can be understood that when the first slider assembly slides between the first sliding position and the second sliding position (including the forward stroke and the return stroke), in this embodiment, the second slider assembly can be in transmission connection with the first slider assembly, and the second slider assembly is also in transmission connection with the material box pushing device. In this way, the first slider assembly can drive the material box pushing device to perform the above-mentioned reciprocating translation through the second slider assembly.

[0135] When the first slider assembly slides between the second sliding position and the third sliding position (including the forward stroke and the return stroke), in this embodiment, the third slider assembly can be in transmission connection with the first slider assembly, and the third slider assembly is also simultaneously in transmission connection with two lifting devices. In this way, the first slider assembly can drive the two lifting devices to perform the above-mentioned synchronous reverse lifting through the third slider assembly.

[0136] Among them, it can be understood that regarding the transmission connection between the second slider assembly 22 and the material box pushing device 16, the purpose of this transmission connection is to make the material box pushing device 16 follow the second slider assembly 22 in translation. For example, the second slider assembly 22 and the material box pushing device 16 can be fixedly connected, and this embodiment does not limit this.

[0137] Among them, it can be understood that regarding the transmission connection between the third slider assembly 23 and the two lifting devices simultaneously, the purpose of this transmission connection is to make the two lifting devices perform synchronous reverse lifting due to the translation of the third slider assembly. For example, the third slider assembly 23 can be fixed to a transmission chain 28 extending in the first direction, and then the two ends of the transmission chain 28 are respectively fixed to the two lifting devices, so that the two lifting devices can perform synchronous reverse lifting when the third slider assembly translates.

[0138] As for the first slider assembly and the first power device, the purpose of the first power device is to drive the first slider assembly to perform linear reciprocating motion. For example, the first power device is a first drive motor, which is transmission-connected to a power chain 27 extending along a first direction, and then the first slider assembly can be fixed on the power chain; of course, it can be understood that the first power device and the transmission connection between the first power device and the first slider assembly can also be realized by other devices and structures (such as a transmission belt), and this embodiment does not limit this.

[0139] In addition, the second linear guide rail and the third linear guide rail may be located on the same side of the first linear guide rail, or may be disposed on both sides of the first linear guide rail, which is not limited in this embodiment.

[0140] Regarding the transmission connection between the first slider assembly 21 and the second slider assembly 22 and the third slider assembly 23 respectively, in a specific embodiment, the reciprocating transmission unit includes a fourth linear slide rail 25 arranged parallel to the first linear slide rail 24, and the fourth linear slide rail 25 forms a second linear slide rail corresponding to the portion between the first sliding position and the second sliding position, and forms a third linear slide rail corresponding to the portion between the second sliding position and the third sliding position; the first slider assembly 21 includes a first push hook member 212, and on the side facing the fourth linear slide rail 25, the first push hook member 212 is provided with a pair of connecting bosses 213.

[0141] The second slider assembly 22 includes a second push hook 222, and the second push hook 222 is provided with a first connecting groove on the side facing the first linear slide rail 24, so that when sliding between the first sliding position and the second sliding position, the first slider assembly 21 and the second slider assembly 22 are configured to be in a transmission connection state through the engagement of a connecting boss 213 near the first sliding position with the first connecting groove;

[0142] Among them, the third slider assembly 23 includes a third push hook member 232, and on the side facing the first linear slide rail 24, the third push hook member 232 is provided with a second connecting groove; so that when sliding between the second sliding position and the third sliding position, the first slider assembly 21 and the third slider assembly 23 are configured to be in a transmission connection state through the engagement of another connecting boss 213 close to the third sliding position with the second connecting groove.

[0143] That is, on the one hand, the present embodiment can be provided with a fourth linear slider parallel to the first linear slide rail, and the length of the fourth linear slide rail should at least cover the first sliding position and the third sliding position of the first linear slide rail. For example, the fourth linear slide rail is provided in parallel with the first linear slide rail and has the same length. In this way, it can be understood that the fourth linear slide rail can respectively form the above-mentioned second linear slide rail and third linear slide rail in different sections along its length direction, and the structure is simple.

[0144] On the other hand, the driving connection between the first slider assembly and the second slider assembly and the third slider assembly respectively can be realized, for example, by the engagement of a connecting boss and a connecting groove.

[0145] That is, the first slider assembly includes a first pushing hook member, and a pair of connecting bosses are respectively provided at both ends of the first pushing hook member along its length direction; then, the second slider assembly includes a second pushing hook member, the second pushing hook member is provided with a first connecting groove, and the third slider assembly includes a third pushing hook member, the third pushing hook member is provided with a third connecting groove; and, the connecting bosses are arranged opposite to the two connecting grooves; thus, it can be understood that when sliding between the first sliding position and the second sliding position, the first slider assembly can be configured in a driving connection state by the engagement of a connecting boss ( Figure 4 the left connecting boss in the figure) near the first sliding position with the first connecting groove of the second slider assembly; similarly, when sliding between the second sliding position and the third sliding position, the first slider assembly can be configured in a driving connection state by the engagement of another connecting boss ( Figure 4 the right connecting boss in the figure) near the third sliding position with the second connecting groove of the third slider assembly.

[0146] Regarding the disconnection of the driving connection between the first slider assembly 21 and the second slider assembly 22 and the third slider assembly 23 respectively, in a specific embodiment, the second slider assembly 22 includes a second slider 221, the second pushing hook member 222 is rotatably installed on the second slider 221 through a first rotating shaft 223, the first rotating shaft 223 is located at one end of the second pushing hook member 222 close to the first sliding position, and a first roller 224 is provided at the end of the second pushing hook member 222 far from the first sliding position; wherein, the reciprocating transmission unit further includes a first guiding chute 226 arranged in parallel with the second linear slide rail, and the first guiding chute 226 extends away from the first linear slide rail at the corresponding second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss 213 and the first connecting groove is disconnected due to the rotation of the second pushing hook member 222;

[0147] The third slider assembly 23 includes a third slider 231, the third pushing hook member 232 is rotatably installed on the third slider 231 through a second rotating shaft 233, the second rotating shaft 233 is located at one end of the third pushing hook member 232 close to the third sliding position, and a second roller 234 is provided at the end of the third pushing hook member 232 far from the third sliding position; wherein, the reciprocating transmission unit further includes a second guiding chute 236 arranged in parallel with the third linear slide rail, and the second guiding chute 236 extends away from the first linear slide rail 24 at the corresponding second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss 213 and the second connecting groove is disconnected due to the rotation of the third pushing hook member 232.

[0148] That is, generally speaking, at the second sliding position, for the disconnection of the transmission connection between the first slider assembly and the second slider assembly and the third slider assembly respectively, in this embodiment, the engagement connection can be disconnected by rotating the second push hook member and the third push hook member relative to the first push hook member respectively.

[0149] For example, for the second push hook member, the second push hook member is rotatably mounted on the second slider through a first rotating shaft. The first rotating shaft is specifically arranged in the vertical direction. Among them, the first rotating shaft is located at one end of the second push hook member close to the first sliding position. Then, a first roller is provided at one end of the second push hook member far from the first sliding position. Matched with the first roller, the reciprocating transmission unit further includes a first guiding chute for the first roller to slide in a guiding manner. The first guiding chute can be opened on the housing of the reciprocating transmission unit, for example. And the first guiding chute extends away from the first linear slide rail at the corresponding second sliding position, or is arranged in a turning manner away from the first linear slide rail.

[0150] Therefore, it can be understood that when the first push hook member and the second push hook member move from the first sliding position to the second sliding position simultaneously in the engaged connection state, due to the guiding of the first guiding chute for the first roller at one end of the second push hook member away from the first linear slide rail, this will force the second push hook member to rotate ( Figure 4 in which the second push hook member 222 rotates clockwise), so that the engagement connection between the second push hook member and the first push hook member is disconnected, that is, the transmission connection between the first slider assembly and the second slider assembly is disconnected.

[0151] It can also be understood that when the first push hook member slides from the second sliding position to the first sliding position, a connecting boss on the first push hook member close to the first sliding position will abut against and act on the protrusion on the side of the first connecting groove close to the first sliding position, which will force the second push hook member to rotate in the reverse direction ( Figure 4 in which the second push hook member 222 rotates counterclockwise), so that the first roller slides out of the turning part of the first guiding chute, and further enables the second push hook member to engage with the first push hook member, that is, the transmission connection between the first slider assembly and the second slider assembly.

[0152] Among them, the transmission connection between the third push hook member and the first push hook member and the disconnection of the transmission connection are similar to the above process of the second push hook member and the first push hook member, and will not be elaborated in this application.

[0153] Among them, the above-mentioned first slider assembly 21 can include a first slider 211, for example, and then the first push hook assembly 212 can be fixed to the first slider 211.

[0154] In a specific embodiment, the second push hook member 222 includes a pair of first flanges 225, such that the portion between the pair of first flanges 225 forms a first connection groove; wherein, the height of one of the first flanges 225 close to the first sliding position is greater than the height of one of the first flanges 225 away from the first sliding position; the third push hook member 232 includes a pair of second flanges 235, such that the portion between the pair of second flanges 235 forms a second connection groove; wherein, the height of one of the second flanges 235 close to the third sliding position is greater than the height of one of the second flanges 235 away from the third sliding position.

[0155] That is, the above-mentioned first connection groove and second connection groove can be realized by a pair of first flanges and a pair of second flanges respectively.

[0156] Among them, for the convenience of realizing the decoupling and hooking of the second push hook member and the first push hook member, or in other words, realizing the engaging connection and disconnection between the two, it can be understood that among the pair of first flanges of the second push hook member, the height of one of the first flanges close to the first sliding position should be greater than the height of one of the first flanges away from the first sliding position; similarly, for the convenience of realizing the decoupling and hooking of the third push hook member and the first push hook member, or in other words, realizing the engaging connection and disconnection between the two, it can be understood that among the pair of second flanges of the third push hook member, the height of one of the second flanges close to the third sliding position should be greater than the height of one of the second flanges away from the third sliding position.

[0157] As for the pair of connecting bosses of the first push hook member, their heights can be set to be equal, for example.

[0158] Regarding the second of the reciprocating transmission units, in combination with Figures 6 to 8 , in a possible embodiment, the reciprocating transmission unit includes an endless transmission belt 34 arranged vertically on the side of the frame unit 10, and the reciprocating power unit includes a second power device 38 drivingly connected to the endless transmission belt 34. The second power device 38 is used to drive the endless transmission belt 34 to reciprocally rotate between a first rotation position and a third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position; the endless transmission belt 34 is fixedly installed with a first transmission block 31, a second transmission block 32, and a third transmission block 33 respectively.

[0159] Among them, when rotating between the first rotation position and the second rotation position, the first transmission block 31 is disposed on the horizontally extending portion at the high position of the endless transmission belt 34, and the first transmission block 31 is drivingly connected to the material box pushing device 16, such that the endless transmission belt 34 drives the material box pushing device 16 to reciprocally translate through the first transmission block 31.

[0160] Wherein, when rotating between the second rotation position and the third rotation position, the second transmission block 32 and the third transmission block 33 are respectively arranged on a pair of vertically extending portions of the annular transmission belt 34, and the second transmission block 32 and the third transmission block 33 are respectively in transmission connection with the first lifting device 14 and the second lifting device 15, so that the annular transmission belt 34 drives the first lifting device 14 and the second lifting device 15 to lift synchronously and in opposite directions through the second transmission block 32 and the third transmission block 33.

[0161] Generally speaking, the reciprocating transmission unit of this embodiment can be based on the annular transmission belt that reciprocates and rotates. The annular transmission belt is, for example, substantially square and vertically arranged, that is, the annular transmission belt includes a horizontally extending portion at a high position above, a horizontally extending portion at a low position below, and a pair of vertically extending portions on the left and right sides. Then, the horizontally extending portion at the high position of the annular transmission belt is used to drive the material box pushing device to perform reciprocating translation, and the pair of vertically extending portions on the left and right sides are used to drive the two lifting devices to lift synchronously and in opposite directions.

[0162] Specifically, the reciprocating rotation of the annular transmission belt is driven by a second power device, and the second power device is, for example, a second driving motor, that is, the second driving motor is in transmission connection with the annular transmission belt. In this way, the second driving motor can drive the annular transmission belt to reciprocate between the first rotation position and the third rotation position. There is a second rotation position between the first rotation position and the third rotation position; that is to say, in the forward stroke, it rotates from the first rotation position through the second rotation position to the third rotation position, and then in the return stroke, it rotates from the third rotation position through the second rotation position to the first rotation position.

[0163] It can be seen that these three rotation positions correspond to the above three reciprocating positions.

[0164] Wherein, a first transmission block, a second transmission block and a third transmission block are respectively fixedly installed on the annular transmission belt along its extending direction; the position of the first transmission block on the annular transmission belt is configured as: when the annular transmission belt rotates between the first rotation position and the second rotation position, the first transmission block is located on the horizontally extending portion at a high position; the positions of the second transmission block and the third transmission block on the annular transmission belt are configured as: when the annular transmission belt rotates between the second rotation position and the third rotation position, the second transmission block and the third transmission block are respectively arranged on a pair of vertically extending portions.

[0165] Thus, it can be understood that when the annular transmission belt rotates between the first rotation position and the second rotation position (including the forward stroke and the return stroke), in this embodiment, the first transmission block can be in transmission connection with the material box pushing device. In this way, the annular transmission belt can drive the material box pushing device to perform the above-mentioned reciprocating translation through the first transmission block.

[0166] When the annular transmission belt rotates between the second rotation position and the third rotation position (including the outward and return strokes), the second transmission block and the third transmission block can be respectively connected to the first lifting device and the second lifting device; in this way, the annular transmission belt can simultaneously drive the two lifting devices through the second transmission block and the third transmission block to perform the above-mentioned synchronous reverse lifting.

[0167] Among them, it can be understood that regarding the transmission connection between the first transmission block and the material box pushing device, the purpose of the transmission connection is to enable the material box pushing device to move horizontally following the first transmission block; regarding the transmission connection between the second transmission block and the third transmission block and the first lifting device and the second lifting device respectively, the purpose of the transmission connection is to enable the first lifting device and the second lifting device to rise and fall synchronously in the opposite direction following the second transmission block and the third transmission block respectively.

[0168] As for the annular transmission belt and the first driving motor, the purpose of the first driving motor is to drive the annular transmission belt to reciprocate. For example, the annular transmission belt is a chain structure, and the first driving motor can drive the chain to reciprocate through a gear plate.

[0169] In addition, the first transmission block, the second transmission block and the third transmission block may be located on the same side of the annular transmission belt, or may be arranged on both sides of the annular transmission belt, which is not limited in this embodiment.

[0170] Regarding the transmission connection and disconnection of the first transmission block 31 and the material box pushing device 16, in a specific embodiment, the reciprocating transmission assembly includes a drag connection plate 35 arranged in the vertical direction, the top of the drag connection plate 35 is fixedly installed with the material box pushing device 16, and the bottom end of the drag connection plate 35 is provided with a plug-in groove 351 opening toward the bottom, and the plug-in groove 351 is used for the first transmission block 31 to be plugged in and installed from below; so that the first transmission block 31 is transmission-connected with the material box pushing device 16 through a pair of vertical side walls 352 forming the plug-in groove 351, and, when lifting up and down, the first transmission block 31 is disconnected from the transmission of the material box pushing device 16 due to the disconnection from the plug-in groove 351.

[0171] That is, in this embodiment, the first transmission block can be specifically connected to the material box pushing device through a vertically arranged drag connecting plate; the top of the drag connecting plate is fixedly connected to the material box pushing device, for example, welded together, and then, the bottom end of the drag connecting plate is provided with a plug-in groove opening downward, and the height of the plug-in groove should be consistent with the height of the first transmission block.

[0172] In this way, on the one hand, when the first driving block reciprocates horizontally (at this time, the corresponding endless transmission belt rotates from the first rotation position to the second rotation position, or from the second rotation position to the first rotation position), the first driving block can drive the material box pushing device to reciprocate horizontally through a pair of vertical side walls forming the insertion slot (i.e., the vertical side walls on the left and right sides of the insertion slot).

[0173] On the other hand, when the first driving block moves up and down (at this time, the corresponding endless transmission belt rotates from the second rotation position to the third rotation position, or from the third rotation position to the second rotation position), the transmission between the first driving block and the material box pushing device is disconnected due to the separation of the first driving block from the insertion slot.

[0174] It can be understood that the opening of the insertion slot can be, for example, in the shape of a flared opening, which is convenient for the reconnection of the first driving block and the towing connecting plate.

[0175] Regarding the transmission connection and disconnection between the second driving block 32 and the third driving block 33 and the first lifting device 14 and the second lifting device 15 respectively, in a specific embodiment, the height of the high-level horizontal extension part of the endless transmission belt 34 is the same as the height when the first lifting device 14 or the second lifting device 15 rises to the top, and the height of the low-level horizontal extension part of the endless transmission belt 34 is the same as the height when the first lifting device 14 or the second lifting device 15 descends to the bottom; wherein, the second driving block 32 and the third driving block 33 are arranged on one side of the endless transmission belt 34 facing the frame unit 10, and the first avoidance chute 36 and the second avoidance chute 37 are respectively arranged on one side of the first lifting device 14 and the second lifting device 15 facing the endless transmission belt 34. The first avoidance chute 36 and the second avoidance chute 37 are used to respectively avoid the reciprocating horizontal movement of the second driving block 32 and the third driving block 33;

[0176] Moreover, when the second driving block 32 moves up and down, a pair of first transverse side walls 361 forming the first avoidance chute 36 are in transmission connection with the second driving block 32 due to the up and down limit of the second driving block 32; when the third driving block 33 moves up and down, a pair of second transverse side walls 371 forming the second avoidance chute 37 are in transmission connection with the third driving block 33 due to the up and down limit of the third driving block 33.

[0177] That is, in this embodiment, the heights of the pair of horizontal extension parts of the endless transmission belt should be respectively the same as the height when the first lifting device (or the second lifting device) rises to the top and the height when it descends to the bottom; then, the second driving block and the third driving block can be fixed on one side of the endless transmission belt facing the frame unit; the first avoidance chute and the second avoidance chute are respectively arranged on one side of the first lifting device and the second lifting device facing the endless transmission belt, and the first avoidance chute and the second avoidance chute extend along the first direction.

[0178] In this way, on the one hand, when the second driving block and the third driving block reciprocate linearly (at this time, the corresponding endless transmission belt rotates from the first rotation position to the second rotation position, or from the second rotation position to the first rotation position), the first avoidance chute and the second avoidance chute can respectively avoid the linear reciprocation of the second driving block and the third driving block. That is to say, at this time, the second driving block and the third driving block are respectively in a state of disconnection from the first lifting device and the second lifting device in terms of transmission.

[0179] On the other hand, when the second driving block and the third driving block synchronously move up and down in opposite directions (at this time, the corresponding endless transmission belt rotates from the second rotation position to the third rotation position, or from the third rotation position to the second rotation position), a pair of first lateral side walls forming the first avoidance chute (i.e., the first lateral side walls on the upper and lower sides of the first avoidance chute) can limit the up and down movement of the second driving block, so that the first lifting device is in transmission connection with the second driving block and moves up and down following the second driving block; a pair of second lateral side walls forming the second avoidance chute (i.e., the second lateral side walls on the upper and lower sides of the second avoidance chute) can limit the up and down movement of the third driving block, so that the second lifting device is in transmission connection with the third driving block and moves up and down following the third driving block.

[0180] In a possible implementation manner, the part of the material box translation channel 13 between the first lifting channel 11 and the second lifting channel is used to accommodate at least one material box 300.

[0181] Regarding the transfer of the material box, it can be understood that each time the first lifting device can lift a material box to the material box translation channel, and at the same time, the second lifting device can lower a material box to the material box handling robot each time; and the material box translation channel should at least be able to cache one material box. When there are more cached material boxes, multiple sorting positions can also be set to achieve classification and sorting, etc.

[0182] Among them, a simple setting method is that the length of the part of the material box translation channel between the first lifting channel and the second lifting channel can be an integer multiple of the length of the material box, such as one time, two times, three times, etc., which can be set according to actual needs; at the same time, each linear reciprocation of the material box pushing device can drive all the material boxes on the material box translation channel to move forward a distance equal to the length of one material box towards the second lifting channel.

[0183] Regarding the support of the material box on the material box translation channel, in a possible implementation manner, the frame unit 10 is provided with a material box support device 40 at a position where the first lifting channel 11 is close to the material box translation channel 13, and the material box support device 40 is used to support the material box 300 transferred to the material box translation channel 13 by the first lifting device 14.

[0184] That is, in combination with the above, after the bin is lifted by the first lifting device to the bin translation channel, since the first lifting device needs to be reset (i.e., the first lifting device descends), at this time, a bin support device needs to be provided to support the bin and keep it at the height where the bin translation channel is located; among them, the bin support device needs to be installed at a position of the first lifting channel of the rack unit close to the bin translation channel.

[0185] In a specific embodiment, in combination with Figure 11 , the bin support device 40 includes a support rod 43 extending along the first direction X. Both ends of the support rod 43 are simultaneously hinged with a first connecting rod 41 and a second connecting rod 42. Among them, the first direction is the extending direction of the bin translation channel 13; the rack unit 10 is provided with a pair of sliding grooves 44 at positions corresponding to both ends of the support rod 43. The sliding grooves 44 extend in the vertical direction. The end of the first connecting rod 41 is slidably installed in the sliding groove 44, and the end of the second connecting rod 42 is hinged to a position of the rack unit below the sliding groove 44.

[0186] Specifically, this embodiment discloses a possible structure of the bin support device, that is, the bin support device includes a support rod extending along the first direction (that is, the extending direction of the bin translation channel). Both ends of the support rod are hinged with two connecting rods, namely the first connecting rod and the second connecting rod; among them, the end of the first connecting rod is slidably installed in the sliding groove of the rack unit, the sliding groove is arranged in the vertical direction, and the end of the second connecting rod is hinged to a position of the rack unit below the sliding groove.

[0187] It can be understood that at this time, the length of the upper first connecting rod should be less than the length of the second connecting rod; in this way, when the bin rises, the support rod will be subjected to an upward force from the bin. Under the action of this force and due to the restraint of the two connecting rods, the second connecting rod will rotate and fold up around its hinge point connecting the rack unit, and the sliding point of the first connecting rod connecting the rack unit will slide vertically downward. Thus, the support rod retracts relative to the first lifting channel to allow the bin to rise; when the acting force of the bin on the support rod disappears, due to the action of gravity and due to the restraint of the two connecting rods, the support rod will expand relative to the first lifting channel to support the bin and keep it at the height where the bin translation channel is located.

[0188] Regarding the bin pushing device 16, in a possible implementation manner, the bin pushing device 16 includes a pushing medium that reciprocates and translates along a direction beside the bin translation channel 13 and along its extending direction; among them, the pushing medium is provided with a follower arm 161 extending to the bin translation channel. The follower arm 161 is configured to be arranged with a one-way bend toward the second lifting channel 12 direction, and, when the follower arm 161 reciprocates and translates along with the pushing medium, it is at least used to push the bin 300 located at the projection position of the first lifting channel 11 on the bin translation channel 13.

[0189] This embodiment provides a possible structure of the bin pushing device. Among them, the pushing medium can be arranged beside the bin translation channel and parallel to the bin translation channel. A follower arm extending into the bin translation channel is fixedly installed on the pushing medium. The follower arm can be, for example, Figure 3 , Figure 5 shown as horizontally extending into the bin translation channel. Or understandably, the follower arm can also extend vertically into the bin translation channel.

[0190] Among them, in this embodiment, on the one hand, the function of the follower arm is to push the bin when reciprocatingly translating with the pushing medium (specifically, when translating towards the second lifting channel). In addition, considering that the follower arm also needs to avoid the bin during the return translation, this embodiment sets the follower arm to be a one-way bending setting towards the second lifting channel direction; that is to say, when the follower arm translates towards the second lifting channel direction, the follower arm cannot be folded and can push the bin, while when the follower arm translates and resets towards the first lifting channel direction, the follower arm can be folded by being touched by the bin to avoid the bin. In this way, the follower arm can avoid the bin during the return translation without generating a reverse thrust on the bin.

[0191] On the other hand, for example, the number of follower arms is one. At this time, the follower arm should at least ensure that it can push the bin at the projection position of the first lifting channel on the bin translation channel, and then use this bin to push all the bins in front of it as a whole; or, the number of follower arms can also be several. Several follower arms are arranged at equal intervals with a safety margin added to the length of the bin. In this way, when the pushing medium performs reciprocating translation, each follower arm can push a bin, that is, several follower arms respectively limit and push the bin in front of their advancing direction to move.

[0192] Among them, understandably, the function of the above-mentioned pushing medium is to make the follower arm on it reciprocatingly translate by virtue of its reciprocating translation relative to the bin translation channel. Therefore, the pushing medium can be realized by various structures.

[0193] For example, referring to Figure 6 or Figure 8 , the pushing medium can be realized by a guiding slide rail 162 arranged parallel to the bin translation channel 13 and a push plate 163 slidably installed on the guiding slide rail 162. Among them, the follower arm 161 is specifically fixedly installed on the push plate 163; or referring to Figure 5 , the pushing medium can be realized by a transmission belt 164 or a transmission chain arranged parallel to the bin translation channel 13. Among them, the follower arm 161 is specifically fixedly installed on the transmission belt 164 or the transmission chain.

[0194] Regarding the triggering of the one-way bending of the follower arm, it can be understood that during the reset translation, on the one hand, the one-way bending of the follower arm can be triggered passively by the collision of the material box; on the other hand, the one-way bending of the follower arm can also be triggered actively by a motor provided there. This embodiment does not limit this.

[0195] Regarding the first lifting device, in a possible implementation manner, the first lifting device 14 includes a first lifting plate 141 arranged horizontally. The frame unit 10 is provided with a first guide post 17 arranged vertically beside the first lifting channel 11, and the first lifting plate 141 is slidably mounted on the first guide post 17; moreover, the first lifting plate 141 includes a first supporting portion protruding into the first lifting channel 11; so that the first supporting portion is used to transfer the material box 300 carried by the material box handling machine 400 to the material box translation channel 13 when rising.

[0196] First of all, the first lifting plate is, for example, in the shape of a flat plate extending along the first direction; among them, to ensure the smoothness of the up and down lifting, the first lifting plate can also be slidably mounted on the first guide post, and the first guide post should also be arranged beside the first lifting channel. The first guide post can be, for example, the column forming the first lifting channel; specifically, for example, a first guide post can be arranged at each of the two ends of the first lifting plate along the first direction, and the vertical guiding of the first lifting plate by a pair of first guide posts can increase the stability of its lifting process.

[0197] Secondly, to ensure the lifting of the material box by the first lifting plate during the rising process, the first lifting plate should include a first supporting portion protruding into the first lifting channel, that is, the material box can be placed on the first supporting portion of the first lifting plate and rise along the first lifting channel; as for how the material box is placed on the first supporting portion, it can be understood that, for example, after the first lifting plate reaches the bottom end, the material box handling robot walks to the first lifting channel and transfers the material box to the first supporting portion through its jacking function.

[0198] In a specific implementation manner, referring to Figure 9 、 Figure 10 , lifting shoe plates 142 are respectively installed at both ends of the first lifting plate 141 along the first direction X. The first direction X is the extending direction of the material box translation channel 13. The lifting shoe plates 142 extend perpendicular to the first direction X and protrude into the first lifting channel 11, so that a pair of lifting shoe plates 142 form the first supporting portion.

[0199] Specifically, along the direction perpendicular to the first direction X, the lifting shoe plates can be fixedly installed on the first lifting plate; or, the lifting shoe plates can be rotatably installed on the first lifting plate through a vertical rotating shaft, so that when descending with the first lifting plate, the lifting shoe plates avoid the material box by rotating to be parallel to the first direction, and when rising with the first lifting plate, the lifting shoe plates lift the material box by rotating to be perpendicular to the first direction.

[0200] That is, this embodiment provides two installation methods for the lifting shoe plate. One is in the vertical direction of the first direction, and the lifting shoe plate is directly fixedly installed on the first lifting plate. At this time, it can be understood that after the first lifting plate descends to the lowest end, the bin handling robot can carry the bin and walk to the first lifting channel. The other is that the lifting shoe plate is rotatably installed on the first lifting plate along the vertical axis of rotation. The function of setting the lifting shoe plate to be rotatable is that the lifting shoe plate can be rotated from, for example, perpendicular to the first direction to parallel to the first direction. In this way, when descending with the first lifting plate, the lifting shoe plate can avoid the bin below by rotating. At this time, it can be understood that the bin handling robot can carry the bin and walk to the first lifting channel in advance, without waiting for the first lifting plate to descend to the lowest end, improving the sorting efficiency.

[0201] Regarding the rotation of the lifting shoe plate, for example, it can be actively driven by a motor, or it can be passively driven by the guiding of the guiding inclined surface to the flipping guide post described below.

[0202] Among them, regarding the passive rotation of the lifting shoe plate, in a specific embodiment, the two ends of the first lifting plate 141 along the first direction X are respectively provided with adapter bushings 143 with the vertical direction as the axis of rotation direction. The lifting shoe plate 142 is fixed to the adapter bushing 143. A return spring 144 is arranged inside the adapter bushing 143. The adapter bushing 143 is also fixedly installed with a flipping guide post 145. At the position corresponding to a pair of flipping guide posts 145, the frame unit 10 is provided with a pair of guiding inclined surfaces 19;

[0203] The return spring 144 is configured such that when the return spring 144 is in the reset position, the lifting shoe plate 142 extends perpendicular to the first direction X and protrudes into the first lifting channel 11, and the flipping guide post 145 extends along the first direction X.

[0204] The guiding inclined surface 19 is configured such that when the first lifting plate 141 descends from the top of the first lifting channel 11, the guiding inclined surface 19 rotates the adapter bushing 143 by limiting and guiding the flipping guide post 145, so that the lifting shoe plate 142 avoids the bin 300 carried by the bin handling robot 400 during the descending process.

[0205] That is, the first lifting plate can specifically lift the bin through a pair of lifting shoe plates at its two ends. Moreover, in order to enable a pair of lifting shoe plates to avoid the bin that has already stopped below when the first lifting plate descends, the lifting shoe plate can be arranged in a way that it can be flipped and rotated relative to the first lifting plate. In this way, the bin handling robot can stay in the first lifting channel before the first lifting plate descends to the lowest point, improving the sorting efficiency.

[0206] Specifically, the lifting shoe plate is rotatably fixed to the end of the first lifting plate by an adapter sleeve, a return spring is provided inside the adapter sleeve, and a flip guide column is also fixed to the outside of the adapter sleeve, the flip guide column cooperates with the guiding inclined surface provided on the frame unit, when the first lifting plate descends, the guiding inclined surface can rotate the adapter sleeve by limiting the flip guide column, for example, the lifting shoe plate perpendicular to the first direction is rotated to the first direction, so that when the first lifting plate descends, the lifting shoe plate can avoid the material box without colliding with the material box.

[0207] When the interaction between the guiding inclined surface and the flip guide post disappears, due to the disappearance of the external force, the adapter sleeve is reset under the action of the reset spring, that is, the lifting shoe plate is reset and rotated to be perpendicular to the first direction.

[0208] Regarding the guide slope 19, combined Figure 3 , Figure 9 and Figure 10 Furthermore, along the vertical direction, the guiding slope 19 includes a flip guide portion 191 at the upper end and a flip holding portion 192 at the lower end; wherein the flip guide portion 191 is used to rotate the adapter sleeve 143 by limiting the flip guide column 145 when the first lifting plate 141 descends; the flip holding portion 192 extends from the end of the flip guide portion 191 along the vertical direction, and the flip holding portion 192 is used to maintain the rotation angle of the adapter sleeve 143 by limiting the flip guide column 145 during the descent of the first lifting plate 141; and the height of the lower end portion of the flip holding portion 192 is not higher than the height of the bottom surface of the material box carried by the material box handling robot.

[0209] The guiding slope may specifically be composed of a flip guiding portion and a flip holding portion which are arranged up and down.

[0210] During the descent of the first lifting plate, the flip guide pin is first guided by the flip guide part to rotate the adapter sleeve until the vertical projection of the lifting shoe plate clears the material box; then, when the first lifting plate continues to descend, the flip holding part can limit the flip guide pin to keep the adapter sleeve at this rotation angle until the flip guide pin leaves the guide slope.

[0211] When the flip guide column descends to disengage from the guide slope, as described above, the lifting shoe plate will reset to a position perpendicular to the first direction. Therefore, the above-mentioned disengagement position should not be higher than the bottom surface of the material box, that is, the height of the lower end of the flip holding part should not be higher than the height of the bottom surface of the material box carried by the material box handling robot; in this way, the reset pair of lifting shoe plates can lift the material box when rising.

[0212] Regarding the second lifting device, in a possible implementation, the second lifting device 15 includes a second lifting plate arranged horizontally. The rack unit is provided with a second guide post 18 arranged vertically beside the second lifting channel, and the second lifting plate is slidably mounted on the second guide post 18; moreover, the second lifting plate includes a second supporting portion protruding into the second lifting channel; so that the second supporting portion is used to transfer the bin transported onto it to the bin handling robot when descending.

[0213] That is, similar to the first lifting plate, the second lifting plate can be slidably mounted on a pair of second guide posts.

[0214] The difference is that since there is no need to consider avoiding the bin, the second supporting portion can be directly provided on the second lifting plate, that is, the second supporting portion does not need to rotate.

[0215] In a possible implementation, the rack unit 10 is provided with a walking channel 50 below the bin translation channel. The walking channel is arranged parallel to the bin translation channel and is used for the bin handling robot to walk and cross the rack unit along the extending direction of the bin translation channel.

[0216] That is, the rack unit can be provided with a walking channel for the bin handling robot to cross below. The walking channel can be arranged parallel to the bin translation channel and be located below it; in this way, after the bin handling robot unloads the bin at the first lifting channel, it can directly walk through the walking channel to the lower part of the second lifting channel to wait for carrying the sorted bin.

[0217] Of course, considering the simplicity of the rack unit structure, the rack unit can be formed by overlapping several cross bars and vertical bars, and the above-mentioned bin translation channel, first lifting channel and second lifting channel can be in an open structure for the bin to pass through, rather than a closed channel structure.

[0218] In a possible implementation, the rack unit 10 includes a bin translation channel 13. Among them, the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the bin translation channel 13; or, the rack unit 10 includes two bin translation channels 13 arranged in parallel, and the reciprocating power unit and the reciprocating transmission unit are arranged at the position between the pair of bin translation channels 13.

[0219] That is, the rack unit can include a bin translation channel. At this time, the reciprocating power unit and the reciprocating transmission unit can be arranged on any side of the rack unit.

[0220] Of course, the rack unit can also include two bin translation channels of the same height and arranged in parallel. It can be understood that the reciprocating power unit and the reciprocating transmission unit can be arranged at the position between the two bin translation channels. In this way, the reciprocating transmission unit can act on the bins on both sides at the same time, improving the sorting efficiency.

[0221] Based on the above-mentioned sorting workbench, the present application also discloses a sorting system, see Figure 13 The sorting system at least includes a sorting workbench, a material box transfer device and a material box handling robot. The material box handling robot is used to transfer material boxes between the sorting workbench and the material box transfer device; wherein the material box transfer device can be a movable shelf, a large-capacity AGV vehicle, etc. The material box handling robot can obtain the material box from the material box transfer device and then transfer it to the sorting workbench. The material box handling robot then transfers the material box sorted by the sorting workbench to the material box transfer device.

[0222] The sorting workbench includes a frame unit and a reciprocating power unit and a reciprocating transmission unit respectively installed on the frame unit; the frame unit includes a material box translation channel extending in a straight line, and the material box translation channel extends downward at both ends along its extension direction to form a first lifting channel and a second lifting channel respectively, a material box pushing device that moves along the material box translation channel is provided next to the material box translation channel, a first lifting device that lifts up and down is provided next to the first lifting channel, and a second lifting device that lifts up and down is provided next to the second lifting channel;

[0223] The reciprocating power unit is in transmission connection with the reciprocating transmission unit, and the reciprocating power unit is used to drive the reciprocating transmission unit to reciprocate between the first reciprocating position and the third reciprocating position, and a second reciprocating position is provided between the first reciprocating position and the second reciprocating position;

[0224] And, the reciprocating transmission unit is configured as:

[0225] Between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the material box pushing device and drives it to reciprocate and translate;

[0226] Between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously connected to the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting motion adapted to the reciprocating translation motion.

[0227] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0228] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms that mean "including but not limited to" and can be used interchangeably with each other. The words "or" and "and" used herein mean "and / or" and can be used interchangeably with it, unless the context clearly indicates otherwise. The phrase "such as" used herein means "such as but not limited to" and can be used interchangeably with it.

[0229] It should also be noted that in the devices, equipment, and methods of this application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of this application.

[0230] 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 are very obvious 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 the broadest scope consistent with the principles and novel features disclosed herein.

[0231] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, changes, additions, and sub-combinations thereof should all be included within the scope of protection of the present invention.

Claims

1. A sorting workbench, characterized in that, The sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the frame unit; The frame unit includes a bin translation channel extending linearly. The two ends of the bin translation channel extend downward along its extension direction to form a first lifting channel and a second lifting channel respectively. A bin pushing device that moves along it is provided beside the bin translation channel. A first lifting device that moves up and down along it is provided beside the first lifting channel. A second lifting device that moves up and down along it is provided beside the second lifting channel; Wherein, the reciprocating power unit is in transmission connection with the reciprocating transmission unit. The reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between a first reciprocating position and a third reciprocating position. A second reciprocating position is provided between the first reciprocating position and the second reciprocating position; And, the reciprocating transmission unit is configured as: Between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the bin pushing device and drives it to reciprocate linearly; Between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously in transmission connection with the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting motion adapted to the reciprocating linear motion.

2. The sorting workbench according to claim 1, wherein During the process of moving from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission-disconnected state with the first lifting device and the second lifting device, and is in a transmission-connected state with the bin pushing device. The reciprocating transmission unit drives the bin pushing device to move linearly towards the second lifting channel; During the process of moving from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a transmission-connected state with the first lifting device and the second lifting device, and is in a transmission-disconnected state with the bin pushing device. The reciprocating transmission unit drives the first lifting device to rise from the bottom to the top of the first lifting channel, and at the same time drives the second lifting device to descend from the top to the bottom of the second lifting channel; During the process of moving from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission-connected state with the first lifting device and the second lifting device, and is in a transmission-disconnected state with the bin pushing device. The reciprocating transmission unit drives the first lifting device to descend from the top to the bottom of the first lifting channel, and at the same time drives the second lifting device to rise from the bottom to the top of the second lifting channel; During the process of moving from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a transmission-disconnected state with the first lifting device and the second lifting device, and is in a transmission-connected state with the bin pushing device. The reciprocating transmission unit drives the bin pushing device to move linearly towards the first lifting channel.

3. The sorting workbench according to any one of claims 1 and 2, characterized in that, The reciprocating transmission unit includes a first linear slide rail and a first slider assembly slidably mounted thereon, and the first linear slide rail extends along the translation channel of the material box; the reciprocating power unit includes a first power device drivingly connected to the first slider assembly, and the first power device is configured to drive the first slider assembly to perform linear reciprocating sliding between a first sliding position and a third sliding position, and a second sliding position is provided between the first sliding position and the third sliding position; The reciprocating transmission unit further includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position; Wherein, the second linear slide rail is provided with a second slider assembly, and the second slider assembly is drivingly connected to the material box pushing device; and when reciprocatingly sliding between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be drivingly connected, so that the first slider assembly drives the material box pushing device to reciprocatingly translate; Wherein, the third linear slide rail is provided with a third slider assembly, and the third slider assembly is simultaneously drivingly connected to the first lifting device and the second lifting device; and when reciprocatingly sliding between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be drivingly connected, so that the first slider assembly drives the first lifting device and the second lifting device to synchronously lift and lower in opposite directions.

4. The sorting workbench according to claim 3, wherein The reciprocating transmission unit includes a fourth linear slide rail arranged parallel to the first linear slide rail, and a part of the fourth linear slide rail corresponding to the section between the first sliding position and the second sliding position forms the second linear slide rail, and a part of the fourth linear slide rail corresponding to the section between the second sliding position and the third sliding position forms the third linear slide rail; The first slider assembly includes a first hook member, and on a side facing the fourth linear slide rail, the first hook member is provided with a pair of connecting bosses; Wherein, the second slider assembly includes a second hook member, and on a side facing the first linear slide rail, the second hook member is provided with a first connecting groove, so that when sliding between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be in a driving connection state through the engagement of one of the connecting bosses close to the first sliding position with the first connecting groove; Wherein, the third slider assembly includes a third hook member, and on a side facing the first linear slide rail, the third hook member is provided with a second connecting groove; so that when sliding between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be in a driving connection state through the engagement of the other connecting boss close to the third sliding position with the second connecting groove.

5. The sorting workbench according to claim 4, wherein The second slider assembly includes a second slider. The second hook member is rotatably mounted on the second slider through a first rotating shaft. The first rotating shaft is located at one end of the second hook member close to the first sliding position. A first roller is provided at one end of the second hook member away from the first sliding position. Wherein, the reciprocating transmission unit further includes a first guiding chute arranged parallel to the second linear slide rail. The first guiding chute extends away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss and the first connecting groove is disconnected due to the rotation of the second hook member. The third slider assembly includes a third slider. The third hook member is rotatably mounted on the third slider through a second rotating shaft. The second rotating shaft is located at one end of the third hook member close to the third sliding position. A second roller is provided at one end of the third hook member away from the third sliding position. Wherein, the reciprocating transmission unit further includes a second guiding chute arranged parallel to the third linear slide rail. The second guiding chute extends away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss and the second connecting groove is disconnected due to the rotation of the third hook member.

6. The sorting workbench according to claim 5, wherein The second hook member includes a pair of first flanges, so that the portion between the pair of first flanges forms the first connecting groove. Wherein, the height of one of the first flanges close to the first sliding position is greater than the height of one of the first flanges away from the first sliding position. The third hook member includes a pair of second flanges, so that the portion between the pair of second flanges forms the second connecting groove. Wherein, the height of one of the second flanges close to the third sliding position is greater than the height of one of the second flanges away from the third sliding position.

7. The sorting workbench according to any one of claims 1 and 2, characterized in that, The reciprocating transmission unit includes an endless transmission belt arranged vertically on the side of the frame unit. The reciprocating power unit includes a second power device drivingly connected to the endless transmission belt. The second power device is used to drive the endless transmission belt to reciprocally rotate between a first rotation position and a third rotation position. A second rotation position is provided between the first rotation position and the third rotation position. The first transmission block, the second transmission block and the third transmission block are respectively fixedly installed on the endless transmission belt. Wherein, when rotating between the first rotation position and the second rotation position, the first transmission block is arranged on the horizontally extending portion at the high position of the endless transmission belt. And the first transmission block is drivingly connected to the material box pushing device, so that the endless transmission belt drives the material box pushing device to reciprocally translate through the first transmission block. When rotating between the second rotation position and the third rotation position, the second transmission block and the third transmission block are respectively arranged on a pair of vertically extending portions of the annular transmission belt, and the second transmission block and the third transmission block are respectively in transmission connection with the first lifting device and the second lifting device, so that the annular transmission belt drives the first lifting device and the second lifting device to lift synchronously and in opposite directions through the second transmission block and the third transmission block.

8. The sorting workbench according to claim 7, wherein, The reciprocating transmission assembly includes a towing connecting plate arranged in the vertical direction. The top end of the towing connecting plate is fixedly installed with the material box pushing device, and the bottom end of the towing connecting plate is provided with a plugging groove opening downward for the first transmission block to be plugged and installed from below. So that the first transmission block is in transmission connection with the material box pushing device through a pair of vertical side walls forming the plugging groove, and when lifting up and down, the first transmission block is disconnected from the transmission connection with the material box pushing device due to the plugging and disengagement from the plugging groove.

9. The sorting workbench according to claim 7, characterized in that, The height of the high-level horizontal extension portion of the annular transmission belt is the same as the height when the first lifting device or the second lifting device rises to the top, and the height of the low-level horizontal extension portion of the annular transmission belt is the same as the height when the first lifting device or the second lifting device descends to the bottom. Wherein, the second transmission block and the third transmission block are arranged on the side of the annular transmission belt facing the frame unit. The first lifting device and the second lifting device are respectively provided with a first avoidance chute and a second avoidance chute on the side facing the annular transmission belt for respectively avoiding the reciprocating translational movement of the second transmission block and the third transmission block. And when the second transmission block lifts up and down, a pair of first transverse side walls forming the first avoidance chute are in transmission connection with the second transmission block due to the up and down limiting of the second transmission block; when the third transmission block lifts up and down, a pair of second transverse side walls forming the second avoidance chute are in transmission connection with the third transmission block due to the up and down limiting of the third transmission block.

10. The sorting workbench according to claim 1, characterized in that, The part of the material box translation channel between the first lifting channel and the second lifting channel is used to accommodate at least one material box.

11. The sorting workbench according to claim 1, characterized in that, The frame unit is provided with a material box supporting device at a position of the first lifting channel close to the material box translation channel, and the material box supporting device is used to support the material box transported to the material box translation channel by the first lifting device.

12. The sorting workbench according to claim 11, characterized in that, The material box supporting device includes a support rod extending in the first direction. Both ends of the support rod are simultaneously hinged with a first connecting rod and a second connecting rod, wherein the first direction is the extending direction of the material box translation channel. The frame unit is provided with a pair of chutes at positions corresponding to both ends of the support rod. The chutes extend in the vertical direction. The end of the first connecting rod is slidably installed in the chute, and the end of the second connecting rod is hinged to a position of the frame unit below the chute.

13. The sorting workbench according to claim 1, characterized in that, The material box pushing device includes a pushing medium arranged beside the material box translation channel and reciprocatingly translating along its extending direction. Wherein, the driving medium is provided with a follower arm extending to the translation channel of the bin, the follower arm is configured to be arranged with a one-way bend towards the direction of the second lifting channel, and the follower arm is at least used to push the bin located at the projection position of the first lifting channel on the translation channel of the bin when reciprocatingly translating along with the driving medium.

14. The sorting workbench according to claim 1, characterized in that, The first lifting device includes a horizontally arranged first lifting plate, and the frame unit is provided with a first guide post arranged in the vertical direction beside the first lifting channel, and the first lifting plate is slidably installed on the first guide post; Moreover, the first lifting plate includes a first supporting part protruding into the first lifting channel; so that the first supporting part is used to transfer the bin carried by the bin handling robot to the translation channel of the bin when rising.

15. The sorting workbench according to claim 14, characterized in that, Lifting shoe plates are respectively installed at both ends of the first lifting plate along the first direction, the first direction is the extending direction of the translation channel of the bin, and the lifting shoe plates extend perpendicular to the first direction and protrude into the first lifting channel, so that a pair of the lifting shoe plates form the first supporting part.

16. The sorting workbench according to claim 15, characterized in that, Along the direction perpendicular to the first direction, the lifting shoe plates are fixedly installed on the first lifting plate; or, The lifting shoe plates are rotatably installed on the first lifting plate through a vertical rotating shaft, so that when descending along with the first lifting plate, the lifting shoe plates avoid the bin by rotating to be parallel to the first direction, and when rising along with the first lifting plate, the lifting shoe plates lift the bin by rotating to be perpendicular to the first direction.

17. The sorting workbench according to claim 15, characterized in that, Transfer shaft sleeves with the vertical direction as the rotating shaft direction are respectively arranged at both ends of the first lifting plate along the first direction, the lifting shoe plates are fixed to the transfer shaft sleeves, a return spring is arranged inside the transfer shaft sleeves, and a turning guide post is also fixedly installed on the transfer shaft sleeves. At the position corresponding to a pair of the turning guide posts, the frame unit is provided with a pair of guiding inclined surfaces; The return spring is configured such that when the return spring is in the reset position, the lifting shoe plates extend perpendicular to the first direction and protrude into the first lifting channel, and the turning guide posts extend along the first direction, The guiding inclined surfaces are configured such that when the first lifting plate descends from the top end of the first lifting channel, the guiding inclined surfaces rotate the transfer shaft sleeves by limiting and guiding the turning guide posts, so that the lifting shoe plates avoid the bin carried by the bin handling robot during the descending process.

18. The sorting workbench according to claim 17, characterized in that, Along the vertical direction, the guiding inclined surface includes a turning guiding part at the upper end and a turning holding part at the lower end; Wherein, the turning guiding part is used to rotate the transfer shaft sleeve by limiting and guiding the turning guide posts when the first lifting plate descends; the turning holding part extends along the vertical direction from the end of the turning guiding part, and the turning holding part is used to maintain the rotation angle of the transfer shaft sleeve by limiting and guiding the turning guide posts during the descending process of the first lifting plate; Moreover, the height of the lower end part of the turning holding part is not higher than the height of the bottom surface of the bin carried by the bin handling robot.

19. The sorting workbench according to claim 1, characterized in that The rack unit is provided with a walking passage below the bin translation passage. The walking passage is arranged parallel to the bin translation passage and is used for the bin handling robot to walk and cross the rack unit along the extension direction of the bin translation passage.

20. The sorting workbench according to claim 1, wherein the rack unit includes one bin translation passage, and the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the bin translation passage; or the rack unit includes two bin translation passages arranged in parallel, and the reciprocating power unit and the reciprocating transmission unit are arranged at a position between a pair of bin translation passages.

21. A sorting system, characterized in that, The sorting system at least includes a sorting workbench, a bin transfer device, and a bin handling robot. The bin handling robot is used to transfer bins between the sorting workbench and the bin transfer device; wherein, the sorting workbench includes a rack unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the rack unit; the rack unit includes a bin translation passage extending in a straight line. The two ends of the bin translation passage extend downward along its extension direction to respectively form a first lifting passage and a second lifting passage. A bin pushing device that moves along the bin translation passage is arranged beside the bin translation passage. A first lifting device that moves up and down along the first lifting passage is arranged beside the first lifting passage. A second lifting device that moves up and down along the second lifting passage is arranged beside the second lifting passage; wherein, the reciprocating power unit is in transmission connection with the reciprocating transmission unit. The reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between a first reciprocating position and a third reciprocating position. A second reciprocating position is provided between the first reciprocating position and the second reciprocating position; and, the reciprocating transmission unit is configured as: between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the bin pushing device and drives it to perform reciprocating translation; between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously in transmission connection with the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting motion adapted to the reciprocating translation.

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