Sorting device

Abstract

The invention provides a sorting device which comprises a base, a controller, a first rotating unit, a second rotating unit, a third rotating unit and a fourth rotating unit, the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are fixedly installed on the base in sequence, and the rotating speed and the rotating direction of the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are controlled by the controller. An included angle of 0-30 degrees is formed between the first rotation axis of the first rotation unit and the third rotation axis of the third rotation unit, an included angle of 0-30 degrees is formed between the second rotation axis of the second rotation unit and the fourth rotation axis of the fourth rotation unit, and the first rotation axis of the first rotation unit intersects with the second rotation axis of the second rotation unit. The sorting device provided by the invention is simple in structural arrangement, not only improves the conveying efficiency and the sorting accuracy, but also improves the sorting reliability and stability, and further reduces the cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics sorting, in particular to a sorting device. BACKGROUND

[0002] The sorting of logistics goods is an extremely important link in logistics operation.

[0003] The balance wheel sorting machine is a common sorting equipment in express logistics sorting. The existing balance wheel sorting machine disclosed in CN202510308817.3 sets the roller on the bracket which can rotate circumferentially, and the bracket rotates circumferentially to drive the roller to convey goods in different directions.

[0004] The existing balance wheel sorting machine adopts the mechanical redirection mode of multiple redirection driving motors driving the balance wheel to rotate. Such balance wheel sorting machine with mechanical redirection structure has the problems of complex structure, high cost, inaccurate rotation angle of the balance wheel, existence of clamping parts in the balance wheel, unstable package conveying, inconvenient replacement of the motor roller, etc. SUMMARY

[0005] In order to overcome the deficiencies of the prior art, the purpose of the present application is to provide a sorting device which has a simple structure, improves the conveying efficiency and the accuracy of sorting, improves the reliability and stability of sorting, and reduces the cost.

[0006] The present application provides a sorting device, which comprises a base, a controller, and first, second, third and fourth rotating units which are fixedly installed on the base in sequence and have their rotating speeds and directions controlled by the controller, wherein a first self-rotation axis of the first rotating unit and a third self-rotation axis of the third rotating unit form an included angle of 0°-30°, a second self-rotation axis of the second rotating unit and a fourth self-rotation axis of the fourth rotating unit form an included angle of 0°-30°, and the first self-rotation axis of the first rotating unit intersects the second self-rotation axis of the second rotating unit.

[0007] In a preferred embodiment of the present application, the linear speed of the first rotating unit is V1, the linear speed of the second rotating unit is V2, the linear speed of the third rotating unit is V3, and the linear speed of the fourth rotating unit is V4, the second rotating unit and the third rotating unit are arranged on the two sides of the center line, wherein the horizontal component of V2, the horizontal component of V3, the horizontal component of V1 and the horizontal component of V4 all point towards the center line, and V2≥V1, V2≥V4, V3≥V1 and V3≥V4, forming a first conveying path. The horizontal component of V2 and the horizontal component of V4 are both towards the right side of the center line, and V2≥V1, V2≥V3, V4≥V1, V4≥V3, forming a second conveying path. The horizontal component of V1 and the horizontal component of V3 are both towards the left side of the center line, and V1≥V2, V1≥V4, V3≥V2, V3≥V4, forming a third conveying path.

[0008] In the preferred embodiment of the present application, the first rotating unit comprises N first rotating members, the second rotating unit comprises M second rotating members, the third rotating unit comprises n third rotating members, and the fourth rotating unit comprises m fourth rotating members, wherein N, M, n and m are all natural numbers greater than 1.

[0009] In the preferred embodiment of the present application, the N first rotating members are equally spaced along a first direction, the M second rotating members are equally spaced along the first direction, the n third rotating members are equally spaced along the first direction, and the m fourth rotating members are equally spaced along the first direction, wherein the first direction intersects the first axis of rotation and the second axis of rotation.

[0010] In the preferred embodiment of the present application, the first direction intersects the first axis of rotation and the second axis of rotation to form an included angle of 30°-60°.

[0011] In the preferred embodiment of the present application, along the first direction, the rotation speed of the M second rotating members shows an increasing trend, and the rotation speed of the n third rotating members shows an increasing trend.

[0012] In the preferred embodiment of the present application, the first axis of rotation and the second axis of rotation are coplanar.

[0013] In the preferred embodiment of the present application, the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are fixedly installed on the upper surface of the base in sequence, and the first axis of rotation and the second axis of rotation are parallel to the upper surface.

[0014] In the preferred embodiment of the present application, the second conveying path can be divided into a plurality of second sub-conveying paths, and the third conveying path can be divided into a plurality of third sub-conveying paths.

[0015] In the preferred embodiment of the present application, the sorting device further comprises an auxiliary rotating unit fixedly installed on the base and controlled in rotation speed and rotation direction by the controller, wherein the fifth axis of rotation of the auxiliary rotating unit forms an included angle of 0°-30° with the second axis of rotation, or the fifth axis of rotation forms an included angle of 0°-30° with the third axis of rotation.

[0016] Compared with the prior art, the application has the beneficial effects that: With the above sorting device, the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are fixedly installed on the base through the support seat, and the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are controlled to rotate around the shaft by the controller, and the first rotation axis of the first rotating unit and the third rotation axis of the third rotating unit form an included angle of 0°-30°, the second rotation axis of the second rotating unit and the fourth rotation axis of the fourth rotating unit form an included angle of 0°-30°, and the first rotation axis of the first rotating unit and the second rotation axis of the second rotating unit intersect, the above rotating units are staggered on the base, further, the rotating direction (forward rotation and reverse rotation) and the rotating speed of the first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are controlled by the controller, so as to change the conveying path of the package, so as to realize the sorting or central conveying of the package, as described above, the sorting device has simple structure, does not need the mechanical changing direction mechanism in the prior art, not only improves the conveying efficiency and the accuracy of sorting, but also improves the reliability and stability of sorting, and further reduces the cost.

[0017] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be learned by practice of the technical solutions of the present application. The purpose and other advantages of the present application can be achieved and obtained by the structure and / or process specially pointed out in the specification, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure schematic diagram of the sorting device provided for the embodiment of the present application is shown in the figure;

[0019] Figure 2 The structure schematic diagram of the sorting device (the upper cover and the side cover are hidden) provided for the embodiment of the present application is shown in the figure;

[0020] Figure 3 The top view of the sorting device (the upper cover and the side cover are hidden) provided for the embodiment of the present application is shown in the figure;

[0021] Figure 4 The principle diagram of the sorting device forming the first conveying path provided for the embodiment of the present application is shown in the figure;

[0022] Figure 5 The principle diagram of the sorting device forming the second conveying path provided for the embodiment of the present application is shown in the figure;

[0023] Figure 6 The principle diagram of the sorting device forming the third conveying path provided for the embodiment of the present application is shown in the figure;

[0024] Figure 7 A schematic diagram of a sorting device forming a plurality of sub-conveying paths according to an embodiment of the present application;

[0025] Figure 8 A schematic diagram of a sorting device forming another plurality of sub-conveying paths according to an embodiment of the present application.

[0026] BRIEF DESCRIPTION OF DRAWINGS 100 - sorting device; 10 - base, 10a - upper surface, 11 - support seat, 12 - upper cover, 13 - side cover, 14 - support leg, 15 - forklift groove, 10-1 - upper package position, 10-2 - left lower package position, 10-21 - left upper lower package position, 10-22 - left lower lower package position, 10-3 - right lower package position, 10-31 - right upper lower package position, 10-32 - right lower lower package position, 10-4 - front lower package position; 20 - controller; 30 - first rotating unit, 31 - first rotating member, 31a - first self-rotation axis; 40 - second rotating unit, 41 - second rotating member, 41a - second self-rotation axis; 50 - third rotating unit, 51 - third rotating member, 51a - third self-rotation axis; 60 - fourth rotating unit, 61 - fourth rotating member, 61a - fourth self-rotation axis; 70 - first reverse; 80 - auxiliary rotating unit, 81 - fifth rotating member, 81a - fifth self-rotation axis; 200 - first conveying path; 300 - second conveying path; 400 - third conveying path; DETAILED DESCRIPTION

[0027] The embodiments of the present application will be described in detail below with reference to the drawings and embodiments, so that how the present application applies technical means to solve technical problems and achieves technical effects can be fully understood and implemented. It should be noted that these specific descriptions are only to make those skilled in the art more easily and clearly understand the present application, and are not a limiting interpretation of the present application; for example, the first, second mentioned in the embodiments of the present application are not limited to them, but only to express the serial number of the same or similar devices, mechanisms, and those skilled in the art can re-adjust these serial numbers in order to facilitate expression or technical solution arrangement; and some alternative schemes are described in different embodiments, which can also be applied to other same or similar devices and mechanisms; and as long as there is no conflict, each embodiment in the present application and each feature in each embodiment can be combined with each other, and the formed technical solution is within the protection scope of the present application.

[0028] The technical solutions of the present application will be described in detail below with reference to the drawings and specific embodiments: Embodiments

[0029] Reference Figures 1-8 The present embodiment provides a sorting device 100, which belongs to the technical field of logistics sorting, and the sorting device 100 comprises a base 10, a controller 20, and a first rotating unit 30, a second rotating unit 40, a third rotating unit 50, and a fourth rotating unit 60 which are fixedly installed on the base 10 in sequence through support seats 11 and are controlled by the controller 20 to rotate around the axis at a certain speed and in a certain direction.

[0030] Among them, the base 10 is supported by four supporting feet 14, and four side covers 13 are installed on the four sides for protection, one of which is provided with a pair of forklift grooves 15 to facilitate the movement of the forklift on the base 10; in the present embodiment, a plurality of support seats 11 are fixed on the base 10 in sequence by screws, and each rotating unit is installed on the corresponding support seat 11 and controlled by the controller 20 to rotate around the axis.

[0031] Among them, the controller 20 is arranged in the base 10, the communication input port of the controller 20 is connected with the upper computer through the cable, and the output port communication line and I / O port of the controller 20 are connected with all rotating units through the cable, and the controller 20 controls the rotating speed and direction of each rotating unit around the axis.

[0032] The first self-rotation axis 31a of the first rotating unit 30 and the third self-rotation axis 51a of the third rotating unit 50 form an included angle of 0°-30°, preferably, the first self-rotation axis 31a is parallel to the third self-rotation axis 51a, the second self-rotation axis 41a of the second rotating unit 40 and the fourth self-rotation axis 61a of the fourth rotating unit 60 form an included angle of 0°-30°, preferably, the second self-rotation axis 41a is parallel to the fourth self-rotation axis 61a, and the first self-rotation axis 31a of the first rotating unit 30 intersects the second self-rotation axis 41a of the second rotating unit 40. The rotating units are arranged on the base 10 in this way.

[0033] The parcel sorting and conveying are carried out by using the above-described sorting device 100. The first rotating unit 30, the second rotating unit 40, the third rotating unit 50, and the fourth rotating unit 60 are fixedly installed on the base 10 through the support seat 11, and the first rotating unit 30, the second rotating unit 40, the third rotating unit 50, and the fourth rotating unit 60 are controlled to rotate around the shaft by the controller 20. The first self-rotation axis 31a of the first rotating unit 30 and the third self-rotation axis 51a of the third rotating unit 50 form an included angle of 0°-30°, the second self-rotation axis 41a of the second rotating unit 40 and the fourth self-rotation axis 61a of the fourth rotating unit 60 form an included angle of 0°-30°, and the first self-rotation axis 31a of the first rotating unit 30 intersects the second self-rotation axis 41a of the second rotating unit 40. The rotating units are arranged on the base 10 in this way. Further, the rotating direction (forward rotation and reverse rotation) and the rotating speed of the first rotating unit 30, the second rotating unit 40, the third rotating unit 50, and the fourth rotating unit 60 are controlled by the controller 20 to change the conveying path of the parcel, so as to realize the sorting or central conveying of the parcel. As described above, the sorting device 100 has a simple structure and does not need the mechanical redirection mechanism in the prior art. The sorting device 100 not only improves the conveying efficiency and the sorting accuracy, but also improves the reliability and stability of the sorting, and further reduces the cost.

[0034] In this embodiment, in order to realize the accurate, efficient, stable, and reliable sorting or central conveying of the parcel, the linear speed of the first rotating unit 30 is V1, the linear speed of the second rotating unit 40 is V2, the linear speed of the third rotating unit 50 is V3, and the linear speed of the fourth rotating unit 60 is V4. The second rotating unit 40 and the third rotating unit 50 are separately arranged on the two sides of the center line.

[0035] The horizontal component of V2, the horizontal component of V3, the horizontal component of V1, and the horizontal component of V4 all face the center line, and V2≥V1, V2≥V4, V3≥V1, and V3≥V4, forming the first conveying path 200; see Figure 4For example: V1=V4, V2=V3, V2≥V1, and the first rotating unit 30 and the third rotating unit 50 rotate in opposite directions, and the second rotating unit 40 and the fourth rotating unit 60 rotate in opposite directions. Then, the horizontal components of V2 and V3 face each other towards the center line, the horizontal components of V1 and V4 face each other towards the center line, and the vertical components of V2 and V3 are greater than the vertical components of V1 and V4. This causes the rotating units to centrally transport the package forward, forming a... Figure 4 The first transmission path 200 is shown.

[0036] In this embodiment, although encountering from Figure 4 Packages sent in from the left or right corner of the upper package position 10-1 will be conveyed forward to the front lower package position 10-4 under the action of the horizontal components of V2 and V3, V1 and V4 facing each other towards the middle and the vertical components of V2 and V3 being greater than V1 and V4, thus successfully completing the sorting. However, when encountering packages sent in from the left or right corners, the existing swing wheel sorting machine may experience package loss or package jamming, resulting in the inability to carry out the sorting work and sorting failure.

[0037] In this configuration, the horizontal components of V2 and V4 both point to the right of the centerline, and V2 ≥ V1, V2 ≥ V3, V4 ≥ V1, and V4 ≥ V3, forming the second transmission path 300; see also Figure 5 For example: V1=V3, V2=V4, V2≥V1, and the first rotating unit 30 and the third rotating unit 50 rotate in the same direction, and the second rotating unit 40 and the fourth rotating unit 60 rotate in the same direction. Then, the horizontal components of V1 and V3, and V2 and V4, all point to the right, and the vertical components of V2 and V4 are greater than the vertical components of V1 and V3. This causes the aforementioned rotating units to centrally transport packages to the right, forming a configuration as shown in the image. Figure 5 The second conveyor path 300 shown is for sorting packages to the right.

[0038] In this embodiment, although encountering from Figure 5 Packages sent in from the left corner of the upper package position 10-1 will be centered and moved to the lower right package position 10-3 under the influence of the rightward horizontal components of V1 and V3, V2 and V4, and the vertical components of V2 and V4 being greater than V1 and V3, thus successfully completing the sorting. However, when encountering packages sent in from the corner, the existing swing wheel sorting machine may miss or jam packages, causing the sorting work to fail.

[0039] In this configuration, the horizontal components of V1 and V3 both point to the left of the centerline, and V1 ≥ V2, V1 ≥ V4, V3 ≥ V2, and V3 ≥ V4, forming a third transmission path 400; see also Figure 6For example: V1=V3, V2=V4, V1≥V2, and the first rotating unit 30 and the third rotating unit 50 rotate in the same direction, and the second rotating unit 40 and the fourth rotating unit 60 rotate in the same direction. Then, the horizontal components of V1 and V3, and V2 and V4, all point to the left, and the vertical components of V1 and V3 are greater than the vertical components of V2 and V4. This causes the aforementioned rotating units to centrally transport the package to the left, forming a configuration as shown in the image. Figure 6 The third conveyor path 400 shown is for sorting packages to the left.

[0040] Similarly, despite encountering from Figure 6 Packages sent in from the right corner of the upper package position 10-1 will be centered and moved to the lower left package position 10-2 under the influence of the leftward horizontal components of V1 and V3, V2 and V4, and the vertical components of V1 and V3 being greater than V2 and V4, thus successfully completing the sorting. However, when encountering packages sent in from the corner, the existing swing wheel sorting machine may miss or jam packages, causing the sorting work to fail.

[0041] In this embodiment, preferably, the first rotating unit 30 includes N first rotating parts 31, the second rotating unit 40 includes M second rotating parts 41, the third rotating unit 50 includes n third rotating parts 51, and the fourth rotating unit 60 includes m fourth rotating parts 61. The above-mentioned multiple rotating parts are arranged in multiple columns and rows on the base 10, which is beneficial to improving the conveying efficiency, sorting accuracy, reliability and stability of packages.

[0042] More preferably, see Figures 4-6 The first rotation unit 30 includes N first rotating members 31 arranged in a straight line along the first direction 70; the second rotation unit 40 includes M second rotating members 41 arranged in a straight line along the first direction 70; the third rotation unit 50 includes n third rotating members 51 arranged in a straight line along the first direction 70; and the fourth rotation unit 60 includes m fourth rotating members 61 arranged in a straight line along the first direction 70. The linear velocity of each first rotating member 31 is V1, and each first rotating member 31 rotates about its first rotation axis 31a. The linear velocity of each second rotating member 41 is V2. Rotating component 41 rotates around its second rotation axis 41a. The linear velocity of each third rotating component 51 is V3, and each third rotating component 51 rotates around its third rotation axis 51a. The linear velocity of each fourth rotating component 61 is V4, and each fourth rotating component 61 rotates around its fourth rotation axis 61a. N, M, n, and m are all natural numbers greater than 1. The first direction 70 intersects with the first rotation axis 31a and the second rotation axis 41a. The above-mentioned multiple rotating components are arranged in a regular staggered pattern on the base 10, which further improves the conveying efficiency and the accuracy, reliability, and stability of sorting.

[0043] In the embodiment, preferably, the first rotating member 31, the second rotating member 41, the third rotating member 51 and the fourth rotating member 61 are all servo rollers, the specifications of which are: outer diameter: 60mm, length: 168mm, the drivers of the servo rollers can be arranged in the servo rollers or arranged outside the servo rollers. Figures 4-6 In the embodiment, the arrow directions marked on each rotating member represent the rotation directions of the rotating member when the rotating member is viewed from above the base 10.

[0044] In the embodiment, preferably, N=M=n=m, that is, each rotating unit contains the same number of rotating members, and further, each rotating unit is linearly arranged in the first direction 70 in the same manner, that is, each rotating unit forms the same regular column, which is beneficial to forming a regular square or rectangular sorting device 100, and further improves the transmission efficiency and the accuracy, reliability and stability of sorting.

[0045] In the embodiment, preferably, the first direction 70 and the first rotation axis 31a and the second rotation axis 41a form an angle of 30°-60°, and further preferably, the first direction 70 and the first rotation axis 31a and the second rotation axis 41a form an angle of 45°, that is, the first rotation axis 31a and the second rotation axis 41a are perpendicular, that is, the first rotating member 31 and the second rotating member 41 are arranged perpendicularly, and the third rotating member 51 and the fourth rotating member 61 are arranged perpendicularly. In this way, the arrangement density of the rotating members is increased, the gap between the rotating members is small, and the reliability and stability of transmission are improved.

[0046] In the embodiment, preferably, along the first direction 70, the rotation speeds of the M second rotating members 41 show an increasing trend, the rotation speeds of the n third rotating members 51 show an increasing trend, or further, the rotation speeds of the N first rotating members 31 show an increasing trend, and the rotation speeds of the m fourth rotating members show an increasing trend. In this way, for a plurality of parcels conveyed by the sorting device 100, the rotation speeds of the rotating members in the same column along the first direction 70 become faster and faster, which can pull apart the front and rear parcels, so that the parcels can be pulled apart during the conveying process, the overlapping of the parcels is avoided, and the sorting is successfully completed.

[0047] In the embodiment, the first rotation axis 31a and the second rotation axis 41a are coplanar, that is, all the first rotating members 31, the second rotating members 41, the third rotating members 51 and the fourth rotating members 61 contact the parcels to form conveying lines, and these conveying lines form a flat conveying plane, which is helpful to stably convey the parcels and prevent the parcels from jumping and falling during the conveying process.

[0048] Further preferably, the first rotating unit 30, the second rotating unit 40, the third rotating unit 50, and the fourth rotating unit 60 are fixedly installed on the upper surface 10a of the base 10 in sequence, and the first self-rotation axis 31a and the second self-rotation axis 41a are parallel to the upper surface 10a, that is, the rotating members of the rotating units are at the same height on the base 10 to efficiently and stably convey the packages, and the upper surface 10a of the base 10 is connected with the upper cover 12, and the upper ends of the rotating members of the rotating units are exposed from the upper cover 12 to convey the packages.

[0049] In the embodiment, further, the sorting device 100 further comprises an auxiliary rotating unit 80 fixedly installed on the base 10 and controlled in rotation speed and direction by the controller 20, and the linear speed of the auxiliary rotating unit 80 is V5, wherein the fifth self-rotation axis 81a of the auxiliary rotating unit 80 is parallel to the second self-rotation axis 41a, V5 = V2, and the auxiliary rotating unit 80 is the same in direction as the second rotating unit 40, or the fifth self-rotation axis 81a is parallel to the third self-rotation axis 51a, V5 = V3, and the auxiliary rotating unit 80 is the same in direction as the third rotating unit 50.

[0050] That is, the auxiliary rotating unit 80 can be arranged near the first rotating unit 30 and / or near the fourth rotating unit 60, the fifth self-rotation axis 81a is parallel to the second self-rotation axis 41a, V5 = V2, and the auxiliary rotating unit 80 is the same in direction as the second rotating unit 40, and / or the fifth self-rotation axis 81a is parallel to the third self-rotation axis 51a, V5 = V3, and the auxiliary rotating unit 80 is the same in direction as the third rotating unit 50, so that in the case of Figure 4 , the auxiliary rotating unit 80 assists in conveying the packages to the center and forward; in the case of Figure 5 , the auxiliary rotating unit 80 assists in conveying the packages to the center and right; in the case of Figure 6 , the auxiliary rotating unit 80 assists in conveying the packages to the center and left.

[0051] Further, another auxiliary rotating unit 80 is arranged on the basis of the auxiliary rotating unit 80, that is, the number of columns of rotating members is increased, and the fifth self-rotation axis 81a of the auxiliary rotating unit 80 is parallel to the first self-rotation axis 31a, V5 = V1, and the auxiliary rotating unit 80 is the same in direction as the first rotating unit 30, or the fifth self-rotation axis 81a is parallel to the fourth self-rotation axis 61a, V5 = V4, and the auxiliary rotating unit 80 is the same in direction as the fourth rotating unit 60, so as to further assist in conveying the packages.

[0052] In the embodiment, further, the second conveying path 300 can be divided into a plurality of second sub-conveying paths, and the third conveying path 400 can be divided into a plurality of third sub-conveying paths to meet different conveying requirements of the packages.

[0053] Specifically, referring to Figure 7 and Figure 8 , according to the package delivery requirements, site requirements, sorting device of arbitrary length and arbitrary number of cells, sorting device when viewed can be rectangular, square, triangular, polygonal, circular structure appearance; Figure 7 In the figure, the sorting device is rectangular when viewed, and the arrow in the figure shows the lower package delivery path of the package. It can be a centrally forward lower package, and five lower package positions are arranged at the left lower package position 10-2 and the right lower package position 10-3. Figure 8 In the figure, the sorting device is hexagonal when viewed, and the arrow in the figure shows the lower package delivery path of the package. It can be a centrally forward lower package, and the lower package is arranged at the left upper lower package position 10-21, the left lower lower package position 10-22, the right upper lower package position 10-31, and the right lower lower package position 10-32.

[0054] In the sorting process, the controller only needs to control the rotating member that will contact the package on the predetermined moving line to work, so that the system is more efficient, more energy-saving, and the package is more accurate.

[0055] Finally, it should be noted that the above description is only the best embodiment of the present application, and does not limit the present application in any form. Any person skilled in the art, without departing from the scope of the present application, can use the above disclosed methods and technical contents to make many possible changes and simple replacements of the present application, which are within the scope of the present application.

Claims

1. A sorting device, characterized in that, The base, the controller, and The first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are fixedly installed on the base in sequence and are controlled by the controller, The first self-rotation axis of the first rotating unit and the third self-rotation axis of the third rotating unit form an included angle of 0°-30°, the second self-rotation axis of the second rotating unit and the fourth self-rotation axis of the fourth rotating unit form an included angle of 0°-30°, and the first self-rotation axis of the first rotating unit and the second self-rotation axis of the second rotating unit intersect.

2. The sorting device according to claim 1, characterized in that The linear velocity of the first rotating unit is V1, the linear velocity of the second rotating unit is V2, the linear velocity of the third rotating unit is V3, and the linear velocity of the fourth rotating unit is V4, the second rotating unit and the third rotating unit are arranged on the two sides of the center line, The horizontal component of V2, the horizontal component of V3, the horizontal component of V1 and the horizontal component of V4 all point to the center line, and V2≥V1, V2≥V4, V3≥V1, V3≥V4, forming a first conveying path; The horizontal component of V2 and the horizontal component of V4 both point to the right side of the center line, and V2≥V1, V2≥V3, V4≥V1, V4≥V3, forming a second conveying path; The horizontal component of V1 and the horizontal component of V3 both point to the left side of the center line, and V1≥V2, V1≥V4, V3≥V2, V3≥V4, forming a third conveying path.

3. The sorting device according to claim 2, characterized in that The first rotating unit includes N first rotating members, the second rotating unit includes M second rotating members, the third rotating unit includes n third rotating members, and the fourth rotating unit includes m fourth rotating members, wherein N, M, n and m are all natural numbers greater than 1.

4. The sorting device according to claim 3, characterized in that The N first rotating members are equally spaced along a first direction, the M second rotating members are equally spaced along the first direction, the n third rotating members are equally spaced along the first direction, and the m fourth rotating members are equally spaced along the first direction, wherein the first direction intersects the first self-rotation axis and the second self-rotation axis.

5. The sorting device according to claim 4, characterized in that The first direction intersects the first self-rotation axis and the second self-rotation axis to form an included angle of 30°-60°.

6. The sorting device of claim 4, wherein, Along the first direction, the rotation speed of the M second rotating members shows an increasing trend, and the rotation speed of the n third rotating members shows an increasing trend.

7. The sorting device of claim 2, wherein, The first self-rotation axis and the second self-rotation axis are coplanar.

8. The sorting device according to claim 7, characterized in that The first rotating unit, the second rotating unit, the third rotating unit and the fourth rotating unit are fixedly installed on the upper surface of the base in sequence, and the first self-rotation axis and the second self-rotation axis are parallel to the upper surface.

9. The sorting device of claim 3, wherein, The second conveying path can be divided into a plurality of second sub-conveying paths, and the third conveying path can be divided into a plurality of third sub-conveying paths.

10. The sorting device according to any of claims 1-9, characterized in that, The sorting device further comprises an auxiliary rotating unit fixedly installed on the base and controlled in rotating speed and rotating direction by the controller, wherein a fifth self-rotation axis of the auxiliary rotating unit forms an included angle of 0°-30° with the second self-rotation axis, or the fifth self-rotation axis forms an included angle of 0°-30° with the third self-rotation axis.

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