Sorting equipment and control method thereof

Abstract

The invention provides sorting equipment and a control method thereof. The sorting equipment provided by the invention comprises a circulating transportation device, a to-be-sorted piece input device, a sorting device and a storage device, the circulating transportation device comprises a double-layer track frame, a first vertical conveyor, a second vertical conveyor and a transfer trolley; the double-layer track frame comprises a first track and a second track which are vertically arranged. The first vertical conveyor and the second vertical conveyor are arranged at the two ends of the double-layer track frame in the length direction respectively. The to-be-sorted piece input device is used for conveying to-be-sorted pieces to the transfer trolley on the first track; the first vertical conveyor is used for receiving the transfer trolley from the first track and conveying the transfer trolley to the position in butt joint with the second track. The sorting device is used for transferring the to-be-sorted pieces in the transfer trolley located on the second track to the storage device; the second vertical conveyor is used for receiving the transfer trolley from the second rail and conveying the transfer trolley to the position in butt joint with the first rail.

Description

Technical Field

[0001] The present application relates to the technical field of sorting parts to be sorted, and in particular to a sorting device and a control method thereof. Background Art

[0002] In the process of production, it is often necessary to use sorting equipment to sort the parts to be sorted. Figure 21 In the related art, the sorting equipment includes a sorting platform 2a and a transfer vehicle 2b. The transfer vehicle 2b can move on the sorting platform 2a along the length and width of the sorting platform 2a, thereby achieving a circular movement on the sorting platform 2a. Furthermore, through this circular movement, the items to be sorted are received and discharged in a reciprocating manner. In the related art, the sorting platform 2a needs to be provided with two paths extending along the length in the width direction to enable the transfer vehicle 2b to move in a circular path. This will result in a larger footprint for the sorting platform 2a, and in turn, a larger footprint for the sorting equipment. Summary of the Invention

[0003] The embodiments of the present application provide a sorting device and a control method thereof to solve the problem of how to improve the large floor space occupied by the sorting device.

[0004] In order to solve the above technical problems, this application is implemented as follows: In a first aspect, an embodiment of the present application provides a sorting device.

[0005] The sorting equipment provided by the embodiment of the present application includes: a circulating transport device, an input device for items to be sorted, a sorting device and a storage device; the circulating transport device includes a double-layer track frame, a first vertical conveyor, a second vertical conveyor and a transfer vehicle; the double-layer track frame includes a first track and a second track stacked in a vertical direction, and the first vertical conveyor and the second vertical conveyor are respectively arranged at both ends of the length direction of the double-layer track frame; the first vertical conveyor includes a first platform, and the first platform can be vertically moved from a position docking with the first track to a position docking with the second track; the second vertical conveyor includes a second platform, and the second platform can be vertically moved from a position docking with the second track to a position docking with the first track; the input device for items to be sorted is used to transport the items to be sorted to the transfer vehicle on the first track; the first vertical conveyor is used to receive the transfer vehicle from the first track and transport the transfer vehicle to a position docking with the second track; the sorting device is used to transfer the items to be sorted in the transfer vehicle on the second track to the storage device; the second vertical conveyor is used to receive the transfer vehicle from the second track and transport the transfer vehicle to a position docking with the first track.

[0006] In a second aspect, an embodiment of the present application provides a control method for a sorting device.

[0007] The control method of the sorting equipment provided in the embodiment of the present application is applicable to any one of the sorting equipment provided in the embodiment of the present application. The control method of the sorting equipment provided in the embodiment of the present application comprises: controlling the transfer vehicle in an empty state to move to a position on the first track opposite to the discharge port of the input device for the pieces to be sorted; controlling the input device for the pieces to be sorted to transport the pieces to be sorted to the transfer vehicle opposite to the discharge port of the input device for the pieces to be sorted; controlling the transfer vehicle carrying the pieces to be sorted to move to the first platform docked with the first track; controlling the first vertical conveyor to operate so that the first platform carrying the transfer vehicle and the pieces to be sorted, Move to a position docking with the second track; control the transfer vehicle carrying the items to be sorted to move to the position of the second track corresponding to the sorting device; control the sorting device to receive the items to be sorted carried by the transfer vehicle, and transfer the items to be sorted to the storage device; control the transfer vehicle located on the second track and in an empty state to move to the second platform docking with the second track; control the second vertical conveyor to operate so that the second platform carrying the empty transfer vehicle moves to a position docking with the first track; repeat the above steps to transfer each item to be sorted input through the feed port of the item to be sorted input device to the storage device.

[0008] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: In an embodiment of the present application, the input device for items to be sorted can transport the items to be sorted to a transfer vehicle on the first track. After receiving the items to be sorted, the transfer vehicle can support the items to be sorted and move to the first platform docked with the first track.

[0009] Furthermore, the first vertical conveyor operates, driving the first platform to move vertically from a position docked with the first track to a position docked with the second track. Furthermore, a transfer cart carrying items to be sorted moves from the first platform to the second track. Furthermore, the sorting device can receive items to be sorted from the transfer cart on the second track and transfer them to the storage device. Furthermore, an empty transfer cart (i.e., one without items to be sorted) can move to the second platform docked with the second track.

[0010] Next, the second vertical conveyor operates, driving the second platform to move vertically from its docking position with the second track to its docking position with the first track. Furthermore, an empty transfer vehicle can be moved from the second platform docking with the first track to the first track. The empty transfer vehicle can then pick up the items to be sorted again at the first track. This cycle continues, transferring each item to be sorted to a storage device.

[0011] In an embodiment of the present invention, a double-deck track frame comprises a first track and a second track stacked vertically. Transfer vehicles, assisted by first and second vertical conveyors, can circulate vertically in layers. Specifically, transfer vehicles can circulate on both the upper and lower tracks. This allows the double-deck track frame to have only one longitudinal path. This reduces the width of the double-deck track frame compared to related technologies, thereby reducing the footprint of the sorting equipment.

[0012] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0014] Figure 1 A top view of a sorting device provided in an embodiment of the present application; Figure 2 A schematic diagram of a sorting device provided in an embodiment of the present application; Figure 3 for Figure 2 A partial schematic diagram of the sorting equipment shown in FIG; Figure 4 A schematic diagram of a transfer vehicle provided in an embodiment of the present application; Figure 5 A partial schematic diagram of a transfer vehicle and a double-deck track frame provided in an embodiment of the present application; Figure 6 A schematic diagram of a first vertical transport machine provided in an embodiment of the present application; Figure 7 A schematic diagram illustrating the working principle of a first vertical transporter provided in an embodiment of the present application; Figure 8 A schematic diagram of a first vertical transport machine and a transfer vehicle provided in an embodiment of the present application; Figure 9 for Figure 8 A partial schematic diagram of the first vertical conveyor and the transfer vehicle A shown in FIG; Figure 10 A schematic diagram of a first support member provided in an embodiment of the present application; Figure 11A schematic diagram of a first vertical transport machine and a transfer vehicle from another angle provided in an embodiment of the present application; Figure 12 for Figure 11 A partial schematic diagram of the first vertical conveyor and the transfer vehicle in region B is shown; Figure 13 A schematic diagram of a double-layer track rack, a transfer vehicle, a sorting device, and a storage device provided in an embodiment of the present application; Figure 14 A schematic diagram of a double-layer track rack, a transfer vehicle, a sorting device, and a storage device provided in an embodiment of the present application; Figure 15 A schematic diagram of a sorting device provided in an embodiment of the present application; Figure 16 A schematic diagram of a sorting device provided in an embodiment of the present application, showing Figure 15 On the basis of the sorting device, the frame structure is hidden; Figure 17 for Figure 16 A partial schematic diagram of the C area of the sorting device shown in FIG; Figure 18 for Figure 16 A partial schematic diagram of the D area of the sorting device shown in FIG; Figure 19 An exploded schematic diagram of a first conveyor and a first drive assembly provided in an embodiment of the present application; Figure 20 A flowchart of a control method for a sorting device provided in an embodiment of the present application; Figure 21 Schematic diagram of a sorting platform and a transfer vehicle of a sorting device in the related art.

[0015] Description of reference numerals: 1- Sorting equipment; 10-circulating transport device; 11-double-layer track frame; 111-first track; 1111-first guide rail; 1112-second guide rail; 112-second track; 1121-third guide rail; 1122-fourth guide rail; 12-first vertical transporter; 121-first platform; 1211-first support member; 12111-first guide wheel; 12112-second guide wheel; 12113-stop member; 1212-second support member; 122-first drive kit; 1221-first pulley; 1222-second pulley; 1223- First transmission belt; 1224 - first sliding guide; 1225 - second sliding guide; 1231 - first sensor; 1232 - third sensor; 1233 - fourth sensor; 1241 - first trigger; 1242 - third trigger; 1251 - mounting frame; 1252 - support; 1253 - support column; 13 - second vertical transport; 14 - transfer vehicle; 141 - running wheel; 142 - second sensor; 143 - second trigger; 144 - third guide wheel; 145 - travel distance detector; 15 - power supply conductor; 20- Input device for parts to be sorted; 30-sorting device; 31-first conveyor; 32-first drive assembly; 33-second drive assembly; 34-third drive assembly; 40- storage device; 2a-Sorting platform; 2b-Transfer vehicle. DETAILED DESCRIPTION

[0016] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0017] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0018] In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article.

[0019] Furthermore, it is required that the application be understood not only by the actual terms used but also by the meanings connoted by each term.

[0020] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0021] The present application embodiment provides a sorting device. Figures 1 to 19 The sorting device 1 provided in the embodiment of the present application includes: a circulating transport device 10, an input device 20 for items to be sorted, a sorting device 30 and a storage device 40.

[0022] The circulating transport device 10 includes a double-deck rail frame 11, a first vertical conveyor 12, a second vertical conveyor 13 and a transfer vehicle 14. The double-deck rail frame 11 includes a first rail 111 and a second rail 112 stacked in a vertical direction. For example, referring to Figure 3 In some embodiments, the first track 111 is located below the second track 112 . Alternatively, in other embodiments, the first track 111 is located above the second track 112 .

[0023] refer to Figure 2 The first vertical conveyor 12 and the second vertical conveyor 13 are respectively provided at both ends of the length direction of the double-deck track frame 11. Figure 6 and Figure 7 The first vertical transporter 12 includes a first platform 121. The first platform 121 is vertically movable from a position docking with the first track 111 to a position docking with the second track 112. Similar to the first vertical transporter 12, the second vertical transporter 13 includes a second platform. The second platform is vertically movable from a position docking with the second track 112 to a position docking with the first track 111.

[0024] refer to Figure 3 、 Figures 5 to 7 For example, when the first track 111 is located below the second track 112, the first platform 121 can be vertically raised so that the first platform 121 rises from a position docking with the first track 111 to a position docking with the second track 112. Similarly, the second platform can be vertically lowered so that the second platform can descend from a position docking with the second track 112 to a position docking with the first track 111.

[0025] It should be noted that the case where the first track 111 is located on the upper layer of the second track 112 is similar to the case where the first track 111 is located on the lower layer of the second track 112 , and will not be further described here.

[0026] Furthermore, in an embodiment of the present invention, the device 20 for inputting items to be sorted is used to transport the items to be sorted to the transfer cart 14 on the first track 111. The first vertical conveyor 12 is used to receive the transfer cart 14 from the first track 111 and transport the transfer cart 14 to a position docking with the second track 112. The sorting device 30 is used to transfer the items to be sorted from the transfer cart 14 on the second track 112 to the storage device 40. The second vertical conveyor 13 is used to receive the transfer cart 14 from the second track 112 and transport the transfer cart 14 to a position docking with the first track 111.

[0027] In this manner, in an embodiment of the present invention, the piece-to-be-sorted input device 20 can transport the piece-to-be-sorted to the transfer vehicle 14 on the first track 111. After receiving the piece-to-be-sorted, the transfer vehicle 14 can support the piece-to-be-sorted and move to the first platform 121 docked with the first track 111.

[0028] Furthermore, the first vertical conveyor 12 operates, driving the first platform 121 to move, thereby vertically moving the first platform 121 from a position docked with the first track 111 to a position docked with the second track 112. Furthermore, the transfer cart 14 carrying the items to be sorted moves from the first platform 121 to the second track 112. Furthermore, the sorting device 30 can receive the items to be sorted from the transfer cart 14 on the second track 112 and transfer them to the storage device 40. Furthermore, an empty transfer cart 14 (i.e., a transfer cart 14 without any items to be sorted) can move to the second platform docked with the second track 112.

[0029] Furthermore, the second vertical conveyor 13 operates, driving the second platform to move vertically from its docking position with the second track 112 to its docking position with the first track 111. Furthermore, the empty transfer vehicle 14 can be moved from the second platform docking with the first track 111 to the first track 111. The empty transfer vehicle 14 can then receive another item to be sorted at the first track 111. This cycle continues in this manner, transferring each item to be sorted to the storage device 40.

[0030] In an embodiment of the present invention, the double-deck track frame 11 comprises a first track 111 and a second track 112 stacked vertically. The transfer vehicle 14, assisted by the first vertical conveyor 12 and the second vertical conveyor 13, can circulate vertically in layers. Specifically, the transfer vehicle 14 can circulate on both the upper and lower support tracks. This allows the double-deck track frame 11 to have only one longitudinal path. This reduces the width of the double-deck track frame 11 compared to related art, thereby reducing the footprint of the sorting equipment 1.

[0031] In some embodiments, the first vertical transporter 12 can be a first elevator, and the second vertical transporter 13 can be a second elevator. When the first track 111 is located at the lower level of the second track 112, the first platform 121 of the first vertical transporter 12 can be raised from a position docking with the first track 111 of the lower level to a position docking with the second track 112 of the upper level. In this way, when the first platform 121 is docked with the first track 111, the transfer vehicle 14 on the first track 111 can be moved to the first platform 121. Furthermore, the transfer vehicle 14 can be raised together with the first platform 121. Furthermore, when the first platform 121 is raised to a position docking with the second track 112, the transfer vehicle 14 can be moved from the first platform 121 to the second track 112.

[0032] Furthermore, the second platform of the second vertical transporter 13 can be lowered from a position docking with the second track 112 on the upper level to a position docking with the first track 111 on the lower level. Thus, when the second platform docks with the second track 112, the transfer vehicle 14 can be moved from the second track 112 to the second platform. Furthermore, the transfer vehicle 14 can be lowered together with the second platform. Furthermore, when the second platform is lowered to a position docking with the first track 111, the transfer vehicle 14 can be moved from the second platform to the first track 111.

[0033] It should also be noted that the operation of the sorting apparatus 1 in the case where the first track 111 is located above the second track 112 is similar to the operation in the case where the first track 111 is located below the second track 112. Therefore, the operation of the sorting apparatus 1 in the case where the first track 111 is located above the second track 112 will not be further described here. Furthermore, the construction of the second vertical conveyor 13 can be similar to that of the first vertical conveyor 12. For example, if the drive direction of the second vertical conveyor 13 is opposite to that of the first vertical conveyor 12, one of the first and second vertical conveyors 12, 13 can be configured to perform a lifting function while the other performs a lowering function. Therefore, the structures of the second vertical conveyor 13 and the first vertical conveyor 12 can be used in a manner similar to each other.

[0034] It is understandable that the items to be sorted can be any items suitable for sorting by the sorting device 1. For example, the items to be sorted can be various parts in a factory; or, the items to be sorted can be express parcels, etc., which are not listed here one by one.

[0035] To help those skilled in the art better implement the solutions provided in the embodiments of the present application, a more detailed example is provided below for reference by those skilled in the art. For ease of description, the following mainly uses the example of the first track 111 being located below the second track 112 to illustrate the working principle of the sorting device 1.

[0036] refer to Figures 3 to 5 In some embodiments, the first track 111 includes a first guide rail 1111 and a second guide rail 1112 spaced apart along the width of the double-deck track frame 11. The first guide rail 1111 and the second guide rail 1112 are spaced apart by a first distance. The second track 112 includes a third guide rail 1121 and a fourth guide rail 1122 spaced apart along the width of the double-deck track frame 11. The third guide rail 1121 and the fourth guide rail 1122 are spaced apart by a second distance. The first distance, the second distance, and the wheelbase of the transfer vehicle 14 are all equal.

[0037] Therefore, the running wheels 141 of the transfer vehicle 14 can be supported by the first guide rail 1111 and the second guide rail 1112; or, the running wheels 141 of the transfer vehicle 14 can be supported by the third guide rail 1121 and the fourth guide rail 1122. In the embodiment of the present invention, the manufacturing cost of the first rail 111 and the second rail 112 can be reduced by using guide rails to form the first rail 111 and the second rail 112.

[0038] refer to Figure 4 For example, the transfer vehicle 14 includes four running wheels 141. There are two running wheels 141 on each of the left and right sides of the transfer vehicle 14. The distance between the pair of front wheels on the left and right sides of the transfer vehicle 14, the distance between the pair of rear wheels on the left and right sides of the transfer vehicle 14, the first distance, and the second distance are all equal.

[0039] In some embodiments, the double-layer track frame 11 further includes a plurality of connecting rods for supporting and fixing the first guide rail 1111 , the second guide rail 1112 , the third guide rail 1121 and the fourth guide rail 1122 .

[0040] refer to Figure 1 and Figure 3 In some embodiments, the circulating transport device 10 further includes a power supply conductor 15, which extends along the length direction of the double-layer track frame 11; when the transfer vehicle 14 runs on the first track 111 and / or the second track 112, the power receiver of the transfer vehicle 14 is electrically connected to the power supply conductor 15, and the power supply conductor 15 is used to charge the transfer vehicle 14.

[0041] Exemplarily, the power supply conductor 15 is a power supply rail. The power receiver and the power supply rail may form a busbar. Thus, as the power receiver slides with the transfer vehicle 14 relative to the power supply conductor 15, electrical energy can be transmitted to the transfer vehicle 14 via the power supply conductor 15 and the power receiver. Exemplarily, the transfer vehicle 14 includes a rechargeable battery, and electrical energy can be stored in the rechargeable battery. Consequently, the electrical energy stored in the rechargeable battery can drive the transfer vehicle 14.

[0042] It is understood that in other embodiments, the power supply conductor 15 can be provided at a position that matches the power collector of the transfer vehicle 14 located on the second track 112. In this way, when the transfer vehicle 14 is carried on the second track 112, the power collector of the transfer vehicle 14 can be electrically connected to the power supply conductor 15.

[0043] In other embodiments, two groups of power supply conductors 15 may be provided, wherein one group of power supply conductors 15 is provided at a position matching the power collector of the transfer vehicle 14 located on the first track 111 , and the other group of power supply conductors 15 is provided at a position matching the power collector of the transfer vehicle 14 located on the second track 112 .

[0044] Therefore, in an embodiment of the present application, when the circulating transport device 10 also includes a power supply conductor 15, when the transfer vehicle 14 runs on the first track 111 and / or the second track 112, the power collector of the transfer vehicle 14 is electrically connected to the power supply conductor 15, thereby supplying power to the transfer vehicle 14.

[0045] refer to Figure 6 and Figure 7 In some embodiments, the first platform 121 includes a first support member 1211 and a second support member 1212. For example, the first support member 1211 and the second support member 1212 are spaced apart along the width direction of the double-layer track frame 11. For example, referring to Figure 7 , the first support member 1211 is located on the left side of the second support member 1212. Of course, in other embodiments, the first support member 1211 may be located on the right side of the second support member 1212.

[0046] The first vertical conveyor 12 further includes a pair of first drive assemblies 122 spaced apart along the width of the double-deck track frame 11. The first drive assemblies 122 include a first pulley 1221, a second pulley 1222, and a first transmission belt 1223 connected by a belt drive. For example, the first transmission belt 1223 may be a synchronous toothed belt, and the first pulley 1221 and the second pulley 1222 are synchronous pulleys that match the synchronous toothed belt.

[0047] The first pulley 1221 and the second pulley 1222 are spaced apart in the vertical direction. The first support member 1211 is connected to the first transmission belt 1223 of one of the first drive assemblies 122, and the second support member 1212 is connected to the first transmission belt 1223 of the other first drive assemblies 122. The first support member 1211 and the second support member 1212, located between the two opposing first transmission belts 1223 and at the same height, are used to jointly support the transfer vehicle 14. If the transfer vehicle 14 includes running wheels 141, the running wheels 141 of the transfer vehicle 14 can be supported by the first support member 1211 and the second support member 1212.

[0048] For example, the first drive belt 1223 of the first drive assembly 122 on the left side is connected to the first support member 1211 on the left side, while the first drive belt 1223 of the first drive assembly 122 on the right side is connected to the second support member 1212 on the right side. The left running wheel 141 of the transfer vehicle 14 is supported by the left first support member 1211, while the right running wheel 141 of the transfer vehicle 14 is supported by the right second support member 1212. When the first pulley 1221 (or second pulley 1222) of each first drive assembly 122 is driven to rotate, the first support member 1211 and the second support member 1212 rise synchronously, causing the first platform 121 to rise from a position docked with the first track 111 to a position docked with the second track 112. This allows the transfer vehicle 14 to move from the first track 111 on the lower level to the second track 112 on the upper level.

[0049] In some embodiments, there are multiple first support members 1211, and the multiple first support members 1211 are spaced apart along the circumferential direction of the first transmission belt 1223 connected thereto. The spacing between two adjacent first support members 1211 along the circumferential direction of the first transmission belt 1223 is a third distance, and the spacing between the first track 111 and the second track 112 along the vertical direction is a fourth distance.

[0050] The number of the second support members 1212 is equal to the number of the first support members 1211. The plurality of second support members 1212 are spaced apart along the circumferential direction of the first transmission belt 1223 connected thereto. The distance between two adjacent second support members 1212 along the circumferential direction of the first transmission belt 1223 is a fifth distance.

[0051] It is understood that, when there are multiple first support members 1211 and the number of second support members 1212 is equal to the number of first support members 1211, the first support members 1211 and the second support members 1212 located between the two opposing first transmission belts 1223 and at the same height constitute a first platform 121. For example, when the number of first support members 1211 and the number of second support members 1212 are both four, when each opposing first support member 1211 and second support member 1212 moves to a position opposing the first rail 111, the opposing first support members 1211 and second support members 1212 constitute the first platform 121.

[0052] The third distance, the fourth distance, and the fifth distance are all equal. Thus, for example, when the first track 111 is located below the second track 112, when the first platform 121 connected to the first track 111 rises to a position connected to the second track 112, the next first platform 121 just moves to a position connected to the first track 111.

[0053] Illustratively, the first vertical conveyor 12 further includes a fourth rotary drive element and a transfer case. The fourth rotary drive element is drivingly connected to the transfer case, which is drivingly connected to the first pulleys 1221 of each first drive assembly 122, thereby driving the first pulleys 1221 to rotate, thereby causing the first support member 1211 and the second support member 1212 to move around the corresponding first transmission belt 1223.

[0054] refer to Figures 6 to 12 In some embodiments, a sensor may be provided to determine whether the first support member 1211 and the second support member 1212 move from a position corresponding to the first rail 111 to a position corresponding to the second rail 112. For details, refer to the following.

[0055] refer to Figure 11 and Figure 12 The first vertical transporter 12 includes a first sensor 1231 and a plurality of first triggering members 1241. The number of the first triggering members 1241 is equal to the number of the second supporting members 1212, and the first triggering members 1241 are connected to a second supporting member 1212 in a one-to-one correspondence. Figure 7 For example, if the number of the second supporting members 1212 is 4, then the number of the first triggering members 1241 is also 4. Furthermore, the four first triggering members 1241 are connected to the second supporting members 1212 in a one-to-one correspondence.

[0056] When the first support member 1211 and the second support member 1212 are docked with the first track 111 , the first trigger member 1241 on the second support member 1212 docked with the first track 111 triggers the first sensor 1231 .

[0057] Illustratively, the first vertical transporter 12 includes a mounting frame 1251 and a support 1252. A first sensor 1231 is mounted on the support 1252, which is connected to the mounting frame 1251. The first sensor 1231 is positioned at a suitable height so that when the first support member 1211 and the second support member 1212 are docked with the first rail 111, the first trigger member 1241 on the first support member 1211 can trigger the first sensor 1231.

[0058] Exemplarily, the first sensor 1231 can be a photoelectric sensor, which includes a light-emitting element and a light-receiving element. The first trigger 1241 is a light-shielding plate. When the light-shielding plate blocks the light-emitting element and the light-receiving element, the light emitted by the light-emitting element cannot be received by the light-receiving element. When the light-shielding plate exits the blocking position, the light emitted by the light-emitting element can be received by the light-receiving element. For example, when the first support member 1211 and the second support member 1212 are docked with the first track 111, the light-shielding plate is just in the blocking position. In this way, the light emitted by the light-emitting element cannot be received by the light-receiving element. Therefore, it can be determined based on the signal obtained by the photoelectric sensor whether the first support member 1211 and the second support member 1212 are docked with the first track 111.

[0059] In addition, illustratively, the first sensor 1231 can be a micro switch or a Hall sensor, etc., which are not listed here one by one.

[0060] refer to Figure 6 In some embodiments, the first driving assembly 122 further includes a first sliding guide 1224, and the first sliding guide 1224 is provided with a first sliding groove extending in the vertical direction. Figure 10 The first support member 1211 is provided with a first guide wheel 12111 .

[0061] When the first platform 121 moves from the position where it docks with the first rail 111 to the position where it docks with the second rail 112, the first guide wheel 12111 is located in the first chute and rolls against two opposite side surfaces of the first chute along the length of the double-deck track frame 11. This prevents the first support member 1211 from shaking along the length of the double-deck track frame 11.

[0062] Similarly, the second support member 1212 is equipped with a fourth guide wheel. During the movement of the first platform 121 from its docking position with the first track 111 to its docking position with the second track 112, the fourth guide wheel is located in the corresponding first chute and rolls against two opposing sides of the first chute along the length of the double-deck track frame 11. This prevents the second support member 1212 from wobbling along the length of the double-deck track frame 11.

[0063] refer to Figure 6 In some embodiments, the first driving assembly 122 further includes a second sliding guide 1225, and the second sliding guide 1225 is provided with a second sliding groove. Figure 10The first support member 1211 is provided with a second guide wheel 12112. The second guide wheel 12112 is located in the second chute. In this way, when the first platform 121 moves to the top (or moves to the bottom) and performs a "U-turn", the second guide wheel 12112 can slide smoothly along the second chute.

[0064] Similarly, the second support member 1212 is provided with a fifth guide wheel. The fifth guide wheel is located in the corresponding second chute. Thus, when the first platform 121 moves to the top (or bottom) and performs a "U-turn", the fifth guide wheel can slide smoothly along the corresponding second chute.

[0065] refer to Figure 4 、 Figure 8 and Figure 9 In some embodiments, the transfer vehicle 14 includes a second sensor 142 and a second trigger 143. Figure 11 、 Figure 12 、 Figure 9 and Figure 10 , the first vertical transporter 12 also includes a third sensor 1232 and a third trigger 1242 .

[0066] When the transfer vehicle 14 moves to the transfer vehicle parking position of the first platform 121 , the third triggering member 1242 triggers the second sensor 142 , and the second triggering member 143 triggers the third sensor 1232 .

[0067] In this way, the transfer vehicle 14 can determine whether it has moved to the transfer vehicle docking position of the first platform 121 based on the second sensor 142. In other words, the transfer vehicle 14 can determine whether it has moved into position based on the second sensor 142. For example, if the transfer vehicle 14 determines that it has moved into position, the transfer vehicle 14 stops moving, so that the transfer vehicle 14 is exactly located at the transfer vehicle docking position.

[0068] The first vertical transporter 12 can determine whether the transfer vehicle 14 has moved to the transfer vehicle docking position of the first platform 121 based on the third sensor 1232. In other words, the first vertical transporter 12 can determine whether the transfer vehicle 14 has moved into position based on the third sensor 1232. For example, if the first vertical transporter 12 determines that the transfer vehicle 14 is exactly at the transfer vehicle docking position, the first vertical transporter 12 can switch to an operating state, thereby driving the first platform 121 to move, so that the first platform 121 moves from a position docked with the first rail 111 to a position docked with the second rail 112.

[0069] It should be noted that the number of the second trigger members 143 is equal to the number of the first support members 1211, and the second trigger members 143 are connected to the first support members 1211 in a one-to-one correspondence. Figure 7, the number of the first supporting members 1211 is 4, and the number of the second triggering members 143 is also 4. Furthermore, each first supporting member 1211 is provided with a second triggering member 143.

[0070] It is understandable that if only the second sensor 142 is provided on the transfer vehicle 14, and the first vertical conveyor 12 is not provided with the third sensor 1232, then after the transfer vehicle 14 determines that it has moved into position, it needs to transmit a signal to the first vertical conveyor 12 so that the first vertical conveyor 12 drives the transfer vehicle 14 up or down. However, with the solution provided in the embodiment of the present application, the transfer vehicle 14 and the first vertical conveyor 12 can each determine whether the transfer vehicle 14 has moved into position based on their respective sensors without signal transmission, thus avoiding the problem of signal transmission delay.

[0071] It should also be noted that in the embodiment of the present application, when the first track 111 is located below the second track 112, after the transfer vehicle 14 determines that it has moved into position based on the second sensor 142, the transfer vehicle 14 can control the running wheels 141 to stop operating. After the first vertical conveyor 12 determines that the transfer vehicle 14 has moved into position, the first vertical conveyor 12 can drive the first platform 121 to a position where it is connected to the second track 112. Then, the transfer vehicle 14 can move from the first platform 121 to the second track 112.

[0072] refer to Figure 12 In some embodiments, the first vertical conveyor 12 further includes a fourth sensor 1233. The fourth sensor 1233 is located below the third sensor 1232. If the first vertical conveyor 12 accidentally causes the first platform 121 to drop, the second trigger 143 on the transfer vehicle 14 can trigger the fourth sensor 1233. Furthermore, the first vertical conveyor 12 can perform an emergency stop based on the signal received by the fourth sensor 1233 to prevent the first platform 121 from accidentally dropping while the transfer vehicle 14 is being lifted.

[0073] refer to Figure 6 、 Figure 11 and Figure 12 Exemplarily, the first vertical transporter 12 further includes a mounting frame 1251 and a support column 1253. The third sensor 1232 and the fourth sensor 1233 are disposed on the support column 1253, and the support column 1253 is connected to the mounting frame 1251.

[0074] It should be noted that the second sensor 142 , the third sensor 1232 and the fourth sensor 1233 may be configured with reference to the first sensor 1231 , and the specific types of the second sensor 142 , the third sensor 1232 and the fourth sensor 1233 are not listed here one by one.

[0075] refer to Figure 9 and Figure 10 In some embodiments, each first support member 1211 is provided with a stopper 12113. The stopper 12113 is used to prevent the transfer vehicle 14 from moving away from the first vertical conveyor 12 in a direction away from the double-deck track frame 11, thereby preventing the transfer vehicle 14 from falling from the first vertical conveyor 12 due to an accident.

[0076] The structure of the second vertical conveyor 13 is similar to that of the first vertical conveyor 12. For example, in some embodiments, the second platform includes: a third support member and a fourth support member. The third support member and the fourth support member are spaced apart along the width direction of the double-layer track frame 11. The second vertical conveyor 13 also includes a pair of second drive kits spaced apart along the width direction of the double-layer track frame 11. The second drive kit includes a third pulley, a fourth pulley and a second transmission belt connected by a belt drive. The third pulley and the fourth pulley are spaced apart in the vertical direction. The third support member is connected to the second transmission belt of one of the second drive kits, and the fourth support member is connected to the second transmission belt of the other second drive kit. The third support member and the fourth support member located between the two opposite second transmission belts and at the same height are used to jointly carry the transfer vehicle 14.

[0077] It should be noted that since the second vertical conveyor 13 can be configured similarly to the first vertical conveyor 12, the structure of the second vertical conveyor 13 will not be described in detail here. It should also be noted that if the first vertical conveyor 12 and the second vertical conveyor 13 are similarly configured, the first platform 121 and the second platform can be used to lift the transfer vehicle 14 and lower the transfer vehicle 14 by rotating the driving element (e.g., motor) of the first vertical conveyor 12 forward and the driving element (e.g., motor) of the second vertical conveyor 13 reverse.

[0078] refer to Figure 4 、 Figure 8 and Figure 9 In some embodiments, the transfer vehicle 14 includes third guide wheels 144. For example, there are four third guide wheels 144, with two third guide wheels 144 positioned on each of the left and right sides of the transfer vehicle 14. As the transfer vehicle 14 moves along the first track 111, the first platform 121, the second track 112, and the second platform, the third guide wheels 144 roll in contact with the sidewalls of each supporting mechanism to prevent the transfer vehicle 14 from deviating from its trajectory.

[0079] refer to Figures 13 to 19In some embodiments, the sorting device 30 includes a first conveyor 31, a first drive assembly 32, a second drive assembly 33, and a third drive assembly 34. The first conveyor 31 is used to receive the items to be sorted conveyed by the transfer vehicle 14. The first drive assembly 32 is connected to the first conveyor 31 to drive the first conveyor 31 to rotate around a vertical axis. The second drive assembly 33 is connected to the first drive assembly 32 to drive the first drive assembly 32 and the first conveyor 31 connected thereto to move in a vertical direction. The third drive assembly 34 is connected to the second drive assembly 33 to drive the second drive assembly 33, the first drive assembly 32, and the first conveyor 31 to move along the width direction of the double-layer track frame 11.

[0080] For example, the first conveyor 31 is a belt conveyor. The first drive assembly 32 includes a first rotary drive element, a worm, and a turbine. The first rotary drive element is drivingly connected to the worm, and the turbine engages with the worm. Thus, the first rotary drive element can be used to drive the turbine to rotate about a vertical axis. Furthermore, the turbine can be connected to the first conveyor 31, so that the first drive assembly 32 can drive the first conveyor 31 to rotate about a vertical axis.

[0081] Illustratively, the second drive assembly 33 includes a second rotary drive element and a belt drive mechanism similar to the first drive assembly 122. The mounting base of the first drive assembly 32 is connected to the drive belt of the belt drive mechanism. Thus, as the drive belt rotates about its own rotational direction, it can drive the first drive assembly 32 to move vertically.

[0082] The third drive assembly 34 may include a third rotary drive element and three belt transmission mechanisms. Two of the belt transmission mechanisms are arranged along the width direction of the double-layer track frame 11, and the two belt transmission mechanisms are arranged at intervals in the vertical direction. Another set of belt transmission mechanisms transmits the driving force of the third rotary drive element to the two belt transmission mechanisms arranged along the width direction of the double-layer track frame 11. The upper and lower ends of the second drive assembly 33 are respectively connected to the transmission belts of the two belt transmission mechanisms arranged along the width direction of the double-layer track frame 11. Furthermore, when the third rotary drive element is working, the upper and lower ends of the second drive assembly 33 can be driven to move synchronously along the width direction of the double-layer track frame 11.

[0083] refer to Figures 1 to 3In some embodiments, there are at least two sorting devices 30, with at least two sorting devices 30 being located on either side of the endless transport device 10 along the width direction of the double-layer track frame 11. There are at least three storage devices 40, with at least one sorting device 30 being provided with a storage device 40 on either side along the length direction of the double-layer track frame 11. In some embodiments, the number of storage devices 40 is twice the number of sorting devices 30. Each sorting device 30 is provided with a storage device 40 on either side along the length direction of the double-layer track frame 11.

[0084] To facilitate those skilled in the art to understand the solution provided by the embodiment of the present application, the working mode of the sorting device 1 is briefly described below with reference to the accompanying drawings.

[0085] refer to Figures 1 to 3 , the pieces to be sorted can be delivered to the piece input device 20. Exemplarily, the piece input device 20 can include a second conveyor. Exemplarily, the second conveyor is a belt conveyor. The second conveyor can transport the pieces to be sorted, which are input from the inlet of the piece input device 20, to the outlet of the piece input device 20. The transfer vehicle 14 located on the first track 111 can be moved to a position opposite the outlet of the piece input device 20 to receive the pieces to be sorted from the piece input device 20.

[0086] refer to Figure 6 and Figure 7 Furthermore, the transfer vehicle 14 carrying the items to be sorted can be moved to the first platform 121 of the first vertical transport 12. After the transfer vehicle 14 moves into place, the first platform 121 rises to a position where it docks with the second track 112.

[0087] refer to Figure 13 Furthermore, the transfer vehicle 14 carrying the items to be sorted moves to the second track 112. The first conveyor 31 of the sorting device 30 moves to a position where it docks with the third conveyor of the transfer vehicle 14. The third conveyor of the transfer vehicle 14 can transport the items to be sorted to the first conveyor 31 of the sorting device 30. If the third conveyor of the transfer vehicle 14 is a belt conveyor, the conveying direction of the third conveyor is parallel to the width of the double-layer track frame 11.

[0088] Further, combined with Figure 1 and Figure 2 After unloading the items to be sorted, the transfer cart 14 can move to the second platform of the second vertical conveyor 13. After the transfer cart 14 moves into position, the second platform descends to a position where it docks with the first rail 111. The transfer cart 14 can then move again to a position opposite the discharge port of the item input device 20 to receive the items.

[0089] It should be noted that there can be multiple transfer vehicles 14. For example, some of the transfer vehicles 14 are located on the first track 111, and other transfer vehicles 14 are located on the second track 112.

[0090] In addition, combined Figure 13 After the first conveyor 31 of the sorting device 30 receives the items to be sorted, the sorting device 30 can drive the first conveyor 31 to rotate 90 degrees forward or backward so that the discharge port of the first conveyor 31 faces the storage device 40. Furthermore, the sorting device 30 can drive the first conveyor 31 to move to a position facing a bin of the storage device 40. The first conveyor 31 can then transport the items to be sorted to the bin of the storage device 40.

[0091] For example, in combination Figure 4 In some embodiments, the transfer vehicle 14 is equipped with a travel distance detector 145. The travel distance detector 145 can determine the mileage of the transfer vehicle 14, thereby determining the location of the transfer vehicle 14. Furthermore, for example, each time the transfer vehicle 14 moves to a receiving position opposite the discharge port of the input device 20 for the parts to be sorted, the mileage detected by the travel distance detector 145 can be reset to zero to prevent cumulative errors.

[0092] Exemplarily, the travel distance detector 145 includes a rotary encoder and a roller. The roller rolls in contact with the support surface for supporting the transfer vehicle 14. Thus, the travel distance of the transfer vehicle 14 can be determined based on the number of revolutions of the roller.

[0093] The embodiment of the present application provides a control method for a sorting device, which is applicable to any of the sorting devices provided in the embodiment of the present application. Figure 20 , the control method of the sorting equipment provided in the embodiment of the present application includes: Step 510: Control the transfer vehicle in an empty state to move to a position on the first track opposite to the discharge port of the input device for the parts to be sorted.

[0094] In an embodiment of the present application, the transfer vehicle 14 in an empty state can be controlled to move to a position of the first track 111 opposite to the discharge port of the input device 20 for the pieces to be sorted, so as to receive the pieces to be sorted.

[0095] Step 520: Control the input device for the pieces to be sorted to transport the pieces to be sorted to a transfer vehicle opposite to the discharge port of the input device for the pieces to be sorted.

[0096] In the embodiment of the present application, the input device 20 for pieces to be sorted can be controlled to transport the pieces to be sorted to the transfer vehicle 14 opposite to the discharge port of the input device 20 for pieces to be sorted.

[0097] Step 530: Control the transfer vehicle carrying the items to be sorted to move to the first platform docked with the first track.

[0098] In an embodiment of the present application, the transfer vehicle 14 carrying the items to be sorted can be controlled to move to the first platform 121 docked with the first track 111 .

[0099] Step 540: Control the first vertical transport machine to operate so that the first platform carrying the transfer vehicle and the items to be sorted moves to a position where it docks with the second track.

[0100] In an embodiment of the present application, the first vertical transporter 12 can be controlled to operate so that the first platform 121 carrying the transfer vehicle 14 and the items to be sorted is moved to a position docking with the second track 112 .

[0101] Step 550: Control the transfer vehicle carrying the items to be sorted to move to a position on the second track corresponding to the sorting device.

[0102] In an embodiment of the present application, the transfer vehicle 14 carrying the items to be sorted can be controlled to move to a position on the second track 112 corresponding to the sorting device 30 .

[0103] Step 560: Control the sorting device to receive the items to be sorted carried by the transfer vehicle, and transfer the items to be sorted to the storage device.

[0104] In an embodiment of the present application, the sorting device 30 can be controlled to receive the items to be sorted carried by the transfer vehicle 14 and transfer the items to be sorted to the storage device 40 .

[0105] Step 570: Control the transfer vehicle located on the second track and in an empty state to move to the second platform docked with the second track.

[0106] In an embodiment of the present application, the transfer vehicle 14 located on the second track 112 and in an empty state can be controlled to move to the second platform docked with the second track 112 .

[0107] Step 580: Control the second vertical transport machine to operate so that the second platform carrying the empty transfer vehicle moves to a position docking with the first track.

[0108] In an embodiment of the present application, the second vertical transporter 13 can be controlled to operate so that the second platform carrying the transfer vehicle 14 in an empty state moves to a position docking with the first track 111.

[0109] The above steps are repeated to transfer the pieces to be sorted input through the feed port of the piece input device 20 to the storage device 40 .

[0110] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0111] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the embodiments of the present application, and the scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. A sorting device, characterized in that: include: A circulating transport device (10), an input device for parts to be sorted (20), a sorting device (30), and a storage device (40); The circulating transport device (10) comprises a double-layer track frame (11), a first vertical transport machine (12), a second vertical transport machine (13) and a transfer vehicle (14); The double-layer track frame (11) comprises a first track (111) and a second track (112) stacked in a vertical direction, and the first vertical conveyor (12) and the second vertical conveyor (13) are respectively arranged at both ends of the length direction of the double-layer track frame (11); The first vertical transporter (12) includes a first platform (121), and the first platform (121) can be vertically moved from a position docking with the first track (111) to a position docking with the second track (112); The second vertical transporter (13) includes a second platform, and the second platform is capable of vertically moving from a position docking with the second track (112) to a position docking with the first track (111); The to-be-sorted piece input device (20) is used to transport the to-be-sorted pieces to the transfer vehicle (14) on the first track (111); The first vertical transporter (12) is used to receive the transfer vehicle (14) from the first track (111) and transport the transfer vehicle (14) to a position docking with the second track (112); The sorting device (30) is used to transfer the parts to be sorted in the transfer vehicle (14) located on the second track (112) to the storage device (40); The second vertical transporter (13) is used to receive the transfer vehicle (14) from the second track (112) and transport the transfer vehicle (14) to a position docking with the first track (111).

2. The sorting device according to claim 1, characterized in that: The first track (111) comprises a first guide rail (1111) and a second guide rail (1112) spaced apart along a width direction of the double-layer track frame (11), the first guide rail (1111) and the second guide rail (1112) being spaced apart by a first distance; The second track (112) comprises a third guide rail (1121) and a fourth guide rail (1122) spaced apart along the width direction of the double-layer track frame (11), and the third guide rail (1121) and the fourth guide rail (1122) are spaced apart by a second distance; The first distance, the second distance and the wheelbase of the transfer vehicle (14) are all equal.

3. The sorting device according to claim 1, characterized in that: The circulating transport device (10) further includes a power supply conductor (15), which extends along the length direction of the double-layer track frame (11); when the transfer vehicle (14) runs on the first track (111) and / or the second track (112), the power receiver of the transfer vehicle (14) is electrically connected to the power supply conductor (15), and the power supply conductor (15) is used to charge the transfer vehicle (14).

4. The sorting device according to claim 1, characterized in that: The first platform (121) comprises: a first support member (1211) and a second support member (1212); The first vertical transporter (12) further comprises a pair of first drive kits (122) spaced apart along the width direction of the double-layer track frame (11), the first drive kit (122) comprising a first pulley (1221), a second pulley (1222) and a first transmission belt (1223) connected with a belt drive, the first pulley (1221) and the second pulley (1222) being spaced apart in the vertical direction, the first support member (1211) being connected to the first transmission belt (1223) of one of the first drive kits (122), and the second support member (1212) being connected to the first transmission belt (1223) of the other first drive kit (122); The first support member (1211) and the second support member (1212) located between the two opposing first transmission belts (1223) and at the same height are used to jointly support the transfer vehicle (14); The second platform includes: a third support member and a fourth support member; The second vertical transporter (13) further comprises a pair of second drive kits spaced apart along the width direction of the double-layer track frame (11), the second drive kit comprising a third pulley, a fourth pulley and a second transmission belt connected by a belt drive, the third pulley and the fourth pulley being spaced apart along the vertical direction, the third support member being connected to the second transmission belt of one of the second drive kits, and the fourth support member being connected to the second transmission belt of the other second drive kit; The third support member and the fourth support member, which are located between the two opposite second transmission belts and at the same height, are used to jointly support the transfer vehicle (14).

5. The sorting device according to claim 4, characterized in that: The number of the first support members (1211) is plural, and the plural first support members (1211) are spaced apart along the circumferential direction of the first transmission belt (1223) connected thereto, the spacing between two adjacent first support members (1211) along the circumferential direction of the first transmission belt (1223) is a third distance, and the spacing between the first track (111) and the second track (112) along the vertical direction is a fourth distance; The number of the second support members (1212) is equal to the number of the first support members (1211), and the plurality of second support members (1212) are arranged at intervals along the circumferential direction of the first transmission belt (1223) connected thereto, and the spacing between two adjacent second support members (1212) along the circumferential direction of the first transmission belt (1223) is a fifth distance, and the third distance, the fourth distance, and the fifth distance are all equal; The first vertical transporter (12) comprises a first sensor (1231) and a plurality of first triggering members (1241), the number of the first triggering members (1241) being equal to the number of the second supporting members (1212), and the first triggering members (1241) being connected to one of the second supporting members (1212) in a one-to-one correspondence; When the first support member (1211) and the second support member (1212) are docked with the first track (111), the first trigger member (1241) on the second support member (1212) docked with the first track (111) triggers the first sensor (1231).

6. The sorting device according to claim 5, characterized in that: The first drive kit (122) further includes a first sliding guide (1224), wherein the first sliding guide (1224) is provided with a first sliding groove extending in a vertical direction; The first support member (1211) is provided with a first guide wheel (12111). When the first platform (121) moves from a position docking with the first track (111) to a position docking with the second track (112), the first guide wheel (12111) is located in the first slide groove. The first guide wheel (12111) is in rolling contact with two opposite side surfaces of the first slide groove along the length direction of the double-layer track frame (11).

7. The sorting device according to claim 1, characterized in that: The transfer vehicle (14) includes a second sensor (142) and a second trigger (143), and the first vertical transporter (12) also includes a third sensor (1232) and a third trigger (1242); When the transfer vehicle (14) moves to the transfer vehicle parking position of the first platform (121), the third triggering member (1242) triggers the second sensor (142), and the second triggering member (143) triggers the third sensor (1232).

8. The sorting device according to claim 1, characterized in that: The sorting device (30) includes a first conveyor (31), a first drive assembly (32), a second drive assembly (33) and a third drive assembly (34); The first conveyor (31) is used to receive the items to be sorted conveyed by the transfer vehicle (14); The first drive assembly (32) is connected to the first conveyor (31) to drive the first conveyor (31) to rotate around a vertical axis; The second driving assembly (33) is connected to the first driving assembly (32) to drive the first driving assembly (32) and the first conveyor (31) connected thereto to move in a vertical direction; The third drive assembly (34) is connected to the second drive assembly (33) to drive the second drive assembly (33), the first drive assembly (32) and the first conveyor (31) to move along the width direction of the double-layer track frame (11).

9. The sorting device according to claim 1, characterized in that: The number of the sorting devices (30) is at least two, and the at least two sorting devices (30) are respectively arranged on both sides of the circulating transport device (10) along the width direction of the double-layer track frame (11); The number of the storage devices (40) is at least three, and the storage devices (40) are respectively provided on both sides of at least one of the sorting devices (30) along the length direction of the double-layer track frame (11).

10. A control method for a sorting device, applied to the sorting device according to any one of claims 1 to 9, characterized in that: The control method of the sorting device includes: Controlling the transfer vehicle (14) in an empty state to move to a position on the first track (111) opposite to the discharge port of the input device (20) for the parts to be sorted; Controlling the input device (20) for the items to be sorted to transport the items to be sorted to the transfer vehicle (14) opposite to the discharge port of the input device (20) for the items to be sorted; Controlling the transfer vehicle (14) carrying the items to be sorted to move to the first platform (121) docked with the first track (111); Controlling the first vertical transporter (12) to operate so that the first platform (121) carrying the transfer vehicle (14) and the items to be sorted moves to a position where it docks with the second track (112); Controlling the transfer vehicle (14) carrying the items to be sorted to move to a position on the second track (112) corresponding to the sorting device (30); Controlling the sorting device (30) to receive the items to be sorted carried by the transfer vehicle (14), and transferring the items to be sorted to the storage device (40); Controlling the transfer vehicle (14) located on the second track (112) and in an empty state to move to the second platform docked with the second track (112); Controlling the second vertical transporter (13) to operate so that the second platform carrying the transfer vehicle (14) in an empty state moves to a position where it docks with the first track (111); The above steps are repeated to transfer each piece to be sorted input through the feed port of the piece to be sorted input device (20) to the storage device (40).

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