Traveling crane frame assembly and loop line sorting machine

Abstract

One or more embodiments of the present specification provide a crane frame assembly and a loop sorting machine. The travelling crane frame assembly is applied to the loop line sorting machine and comprises a frame, a driving device and a driving device, first rotating axes of the plurality of walking wheels are arranged in parallel; each mounting base comprises a base body and a support rotationally connected with the base body, the supports are rotationally connected with the walking wheels in a one-to-one correspondence mode, and the first rotating axes of the walking wheels are perpendicular to the second rotating axes of the supports; the first rotating axis and the second rotating axis are arranged at an interval in the advancing direction of the walking wheel; and each guide wheel is rotationally connected to the frame, each guide wheel forms a rail clamping space in the direction parallel to the first rotating axis, and the third rotating axis of each guide wheel is parallel to the second rotating axis.

Description

Technical Field

[0001] This specification relates to one or more embodiments in the field of logistics technology, and more particularly to a crane frame assembly and a loop sorting machine. Background Technology

[0002] With the rapid development of the logistics industry and the continuous advancement of automation technology, automated guided vehicles (AGVs) have been widely used in logistics automation. However, most AGVs currently lack sufficient freedom of movement, resulting in difficulties moving smoothly at curves and vibrations along the tracks. This leads to low sorting stability, reduced sorting efficiency, increased maintenance costs, and an inability to meet user needs. Summary of the Invention

[0003] In view of the above, one or more embodiments of this specification provide the following technical solutions: According to a first aspect of one or more embodiments of this specification, a crane frame assembly is provided for use in a loop sorting machine, the crane frame assembly comprising: Frame; Multiple walking wheels, with their first rotation axes arranged in parallel; Multiple mounting bases, each mounting base including a base body and a bracket rotatably connected to the base body, the bracket being rotatably connected to each of the traveling wheels, the first rotation axis of the traveling wheel being perpendicular to the second rotation axis of the bracket, and the first rotation axis and the second rotation axis being spaced apart in the traveling direction of the traveling wheel; Multiple sets of guide wheels are provided, each of which is rotatably connected to the frame. Each set of guide wheels forms a track clamping space in a direction parallel to the first rotation axis. The third rotation axis of each guide wheel is set parallel to the second rotation axis.

[0004] Optionally, the frame includes a through groove extending in a direction parallel to the second rotation axis, the wheel portion passing through the through groove and protruding outwards, and the inner wall of the through groove is used to limit the extreme position of the wheel when the wheel rotates with the support about the second rotation axis.

[0005] Optionally, the overhead frame assembly includes multiple frames and at least one connector. Each frame is provided with the traveling wheel, the guide wheel, and the mounting base. The multiple frames are arranged at intervals in sequence, and each connector is rotatably connected to two adjacent frames respectively.

[0006] According to a second aspect of one or more embodiments of this specification, a loop sorting machine is provided, comprising: Sorting cart; Lifting assembly; As described in any of the foregoing embodiments, the frame of the overhead crane assembly is fixedly connected to the lifting assembly in a one-to-one correspondence, and the sorting trolley is disposed on the lifting assembly.

[0007] Optionally, it also includes a straight rail, a front curved rail, and a rear curved rail. The straight rail includes a first side rail and a second side rail arranged side by side. The front curved rail is connected to the first end of the first side rail and the second end of the second side rail. The rear curved rail is connected to the third end of the first side rail and the fourth end of the second side rail to form an annular guide rail. The annular guide rail contacts the traveling wheel and the guide wheel respectively. The annular guide rail is clamped in the rail clamping space. Among them, at least one of the first side rail, the second side rail, the front curved rail and the rear curved rail is a single piece.

[0008] Optionally, both the first side rail and the second side rail are integral sheet metal parts.

[0009] Optionally, both the front curved rail and the rear curved rail are integral castings.

[0010] Optionally, the annular guide rail includes an upper guide rail and a lower guide rail spaced apart. The overhead crane assembly is an upper overhead crane assembly, and the circular sorting machine also includes a lower overhead crane assembly. The traveling wheels and guide wheels of the upper overhead crane assembly are in contact with the upper guide rail, and the lower guide rail is sandwiched between the guide wheels of the lower overhead crane assembly.

[0011] Optionally, the lifting assembly includes: Back plate, which is fixedly connected to the vehicle frame; The secondary plate is fixedly connected to the back plate, and the secondary plate and the frame are disposed on the same side of the back plate. The sorting trolley is located on the side of the back plate away from the frame. The circular sorting machine also includes a permanent magnet linear motor, which interacts with the secondary plate to drive the traveling wheels to move in the direction of travel.

[0012] Optionally, the lifting assembly further includes: A timing belt assembly, wherein the transmission pulley of the timing belt assembly is rotatably disposed on the; A drive motor is used to drive the conveyor belt of the synchronous belt assembly to move. A slide table, connected to the conveyor belt, moves with the conveyor belt in a direction parallel to the second rotation axis, and is fixedly connected to the sorting trolley. The slide rail is slidably engaged with the slide table.

[0013] As can be seen from the above embodiments, the support provided by multiple traveling wheels in this specification helps to increase the load inertia that the gantry frame assembly can bear, provide sufficient support at curves, reduce equipment vibration, and improve the stability of the gantry frame assembly during operation. Moreover, the bracket and the base are rotatably connected, so when the gantry frame assembly is running at a curve, the traveling wheels can be driven by the bracket to rotate adaptively to adapt to curve changes, which helps to reduce the risk of derailment and reduce vibration. The design of multiple sets of guide wheels helps to keep multiple guide wheels in close contact with the track at all times, which can improve the stability of the gantry frame assembly during travel, especially at curves. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of a vehicle frame assembly provided according to an exemplary embodiment.

[0015] Figure 2 yes Figure 1 Side view of the central frame assembly.

[0016] Figure 3 yes Figure 1 Top view of the central frame assembly.

[0017] Figure 4 This is a top view of a loop sorting machine provided according to an exemplary embodiment.

[0018] Figure 5 yes Figure 4 Cross-sectional view of the central loop sorting machine.

[0019] Figure 6 This is an exploded view of a straight rail, a front curved rail, and a rear curved rail provided according to an exemplary embodiment.

[0020] Figure 7 This is a structural schematic diagram of a lifting assembly provided according to an exemplary embodiment.

[0021] Figure 8 yes Figure 7 Another angle diagram of the lifting assembly.

[0022] Figure 9 This is a schematic diagram of the assembly of a lifting component and a sorting cart according to an exemplary embodiment.

[0023] Figure 10 yes Figure 9 Another angle of the assembly of the lifting component and the sorting cart.

[0024] Figure 11 This is a structural schematic diagram of a sorting cart provided according to an exemplary embodiment.

[0025] Figure 12 yes Figure 11 Another angle of the sorting cart.

[0026] Figure 13 This is a parcel delivery flowchart provided according to an exemplary embodiment. Detailed Implementation

[0027] Figure 1 This is a structural schematic diagram of a vehicle frame assembly provided according to an exemplary embodiment. Figure 2 yes Figure 1 Side view of the central frame assembly Figure 3 yes Figure 1 A top view of the central frame assembly. (As shown) Figures 1-3 As shown, the overhead crane assembly 10 is used in a circular sorting machine to move in conjunction with a circular guide rail. The overhead crane assembly 10 includes a frame 1, traveling wheels 2, guide wheels 3, and a mounting base 4. The number of traveling wheels 2 is multiple, for example... Figure 1 The illustrated embodiment may include two traveling wheels 2, or in other embodiments, three or more traveling wheels 2. The first rotation axes of the multiple traveling wheels 2 are arranged in parallel to ensure that the traveling directions of the multiple traveling wheels 2 are the same. Each mounting base 4 includes a base 41 and a bracket 42, which is rotatably connected to the base 41. There are multiple mounting bases 4, thereby forming multiple brackets 42. The multiple brackets 42 are rotatably connected to the multiple traveling wheels 2 in a one-to-one correspondence. The rolling in the traveling direction is achieved by the rotation of the traveling wheels 2 relative to the brackets 42.

[0028] Furthermore, the first axis of rotation of the traveling wheel 2 is perpendicular to the second axis of rotation of the bracket 42, and the first and second axes of rotation are spaced apart in the traveling direction of the traveling wheel 2. For example Figure 2 As shown, the direction of the first rotation axis is perpendicular to the plane of the paper, the direction of the second rotation axis is vertical, and the direction of travel is horizontal. Therefore, the first rotation axis and the second rotation axis are perpendicular, and in the horizontal direction, the first rotation axis and the second rotation axis are spaced apart. Based on this, on the one hand, multiple traveling wheels 2 can be used for support, which helps to increase the load inertia that the trolley frame assembly 10 can bear, provide sufficient support force at the curve position, reduce equipment vibration, and improve the stability of the trolley frame assembly 10 during operation. On the other hand, the bracket 42 is rotatably connected to the base 41, so that when the trolley frame assembly 10 runs to the curve position, the traveling wheels 2 can be driven by the bracket 42 to rotate adaptively to adapt to the curve change, which helps to reduce the risk of derailment and reduce vibration.

[0029] Furthermore, there are multiple guide wheels 3, each guide wheel 3 is rotatably connected to the frame 1, and the third rotation axis of each guide wheel 3 is arranged parallel to the second rotation axis, that is... Figure 2The third rotation axis of the guide wheel 3 shown is arranged in the vertical direction. The multiple guide wheels 3 can be divided into multiple groups, and each group of guide wheels 3 can form a track clamping space in a direction parallel to the first rotation axis. This track clamping space can be used to clamp a ring-shaped guide rail. The design of multiple groups of guide wheels 3 helps to ensure that the multiple guide wheels 3 always maintain close contact with the track, especially at curves, which can improve the stability of the gantry assembly 10 during travel.

[0030] In some embodiments, the frame 1 includes a through groove 11 extending in a direction parallel to the second rotation axis. The number of through grooves 11 can be one or more. One or more traveling wheels 2 can partially pass through the same through groove 11, and the traveling wheel 2 protrudes relative to the through groove 11 so as to form support by contacting the annular guide rail through the protruding part. The inner wall of the through groove 11 can be used to limit the extreme position of the traveling wheel 2 when the traveling wheel 2 rotates with the bracket 42 around the second rotation axis. That is, the inner wall of the through groove 11 can limit the extreme rotation angle of the traveling wheel 2 when the traveling wheel 2 adaptively changes its angle, thereby reducing the risk of derailment caused by excessive rotation angle of the traveling wheel 2. For example, through the limitation of the through groove 11, the extreme position of the rotation angle of the traveling wheel 2 is ±20°. At the 0° position, the traveling wheel 2 is perpendicular to the second rotation axis. The structure of the through groove 11 eliminates the need for additional limiting structures, which helps to simplify the structure of the frame assembly 10 and reduce the difficulty of installation and design.

[0031] In some embodiments, the overhead crane assembly 10 includes a plurality of frames 1 and at least one connector 5. Each frame 1 is provided with a traveling wheel 2, a guide wheel 3, and a mounting base 4. The assembly relationship and positional relationship between the traveling wheel 2, guide wheel 3, and mounting base 4 on each frame 1 can be referred to the foregoing embodiments, and will not be repeated here. The plurality of frames 1 are arranged sequentially at intervals, and each connector 5 is rotatably connected to two adjacent frames 1, thereby achieving end-to-end connection to obtain an overhead crane assembly 10 with a closed structure design to adapt to the ring structure of the loop sorting machine.

[0032] Figure 4 This is a top view of a loop sorting machine provided according to an exemplary embodiment. Figure 5 yes Figure 4 Cross-sectional view of the central loop sorting machine. (See diagram below.) Figure 4 and Figure 5As shown in the diagram, this specification also provides a circular sorting machine, which includes a sorting trolley 20, a lifting assembly 30, and a traveling frame assembly 10 as described in any of the preceding embodiments. The sorting trolley 20 is fixedly connected to the lifting assembly 30, and the lifting assembly 30 drives the sorting trolley 20 to rise and fall, so as to receive packages at different heights or transport packages to storage compartments at different heights. The frame 1 of the traveling frame assembly 10 is fixedly connected to the lifting assembly 30, so that the movement of the traveling frame assembly 10 on the circular guide rail drives the lifting assembly 30, thereby moving the packages on the sorting trolley 20 to the target location.

[0033] Furthermore, such as Figure 6 As shown, the circular sorting machine also includes a straight rail 40, a front curved rail 50, a rear curved rail 60, and a gantry frame 70. The straight rail 40, the front curved rail 50, and the rear curved rail 60 are each connected to at least one gantry frame 70. The gantry frame 70 stably supports the straight rail 40, the front curved rail 50, and the rear curved rail 60 on the ground, and can also suspend the straight rail 40, the front curved rail 50, and the rear curved rail 60. This provides vertical space for the layout of the lifting assembly 30, which is beneficial for the suspension setting of the lifting assembly 30 and avoids the influence of ground factors. The straight rail 40 includes a first side rail 401 and a second side rail 402 arranged side by side. A front curved rail 50 is connected to the first end of the first side rail 401 and the second end of the second side rail 402. A rear curved rail 60 is connected to the third end of the first side rail 401 and the fourth end of the second side rail 402. In this way, a ring-shaped guide rail is constructed by the front curved rail 50, the first side rail 401, the second side rail 402 and the rear curved rail 60. The ring-shaped guide rail contacts the traveling wheel 2 and the guide wheel 3 respectively. Specifically, the traveling wheel 2 contacts the support surface of the ring-shaped guide rail and the guide wheel 3 contacts the side of the ring-shaped guide rail. The ring-shaped guide rail can be clamped in the rail clamping space, so that the ring-shaped guide rail and the trolley frame assembly 10 are more stable and reliable.

[0034] In this design, at least one of the first side rail 401, the second side rail 402, the front curved rail 50, and the rear curved rail 60 is a single piece. It is understood that upper and lower guide rails are required in the straight rail 40, the front curved rail 50, and the rear curved rail 60, respectively. Using a single piece structure allows the upper and lower guide rails to be integrated, thereby improving the rail strength and stability and reducing assembly difficulty. For example, in some embodiments, since the straight rail 40 has a straight structure, the first side rail 401 and the second side rail 402 can both be single sheet metal parts, which is simple and feasible. In some embodiments, since the front curved rail 50 and the rear curved rail 60 need to have curves, the front curved rail 50 and the rear curved rail 60 can be single castings, which is beneficial for the forming of the curved structure.

[0035] In some embodiments, the annular guide rail may include an upper guide rail and a lower guide rail spaced apart. The overhead frame assembly 10 is an upper overhead frame assembly. The traveling wheels 2 and guide wheels 3 of the upper overhead frame assembly are in contact with the upper guide rail. The upper guide rail provides support for the traveling wheels 2, and the guide wheels 3 clamp the upper guide rail by contacting it, ensuring stable contact between the upper overhead frame assembly and the upper guide rail. The circular sorting machine also includes a lower overhead frame assembly 90. The lower overhead frame assembly 90 may include guide wheels, and the configuration of the guide wheels of the lower overhead frame assembly can refer to that of the upper overhead frame assembly. The lower guide rail is clamped between the guide wheels of the lower overhead frame assembly 90. The guide wheels of the lower overhead frame assembly 90 can clamp the lower guide rail, further improving the stable contact between the lower overhead frame assembly 90 and the upper guide rail.

[0036] In the above embodiments, such as Figures 7-10 As shown, the lifting assembly 30 includes a back plate 31 and a secondary plate 32. The back plate 31 is fixedly connected to the frame 1 of the overhead crane assembly 10. For example, the frame 1 may include a base plate 14 and a side plate 12 connected to the base plate 14. The base plate 14 and the side plate 12 are basically vertical. The side plate 12 is fixedly connected to the back plate 31. To improve the strength of the frame 1, the frame 1 may also include one or more reinforcing ribs connected to the side plate 12 and the base plate 14 respectively. The upper overhead crane assembly and the lower overhead crane assembly can be fixedly connected to the back plate 31 at intervals. The secondary plate 32 is fixedly connected to the back plate 31, and the secondary plate 32 and the frame 1 are located on the same side of the back plate 31. The sorting trolley 20 is located on the side of the back plate 31 away from the frame 1. This can avoid interference between the upper overhead crane assembly and the lower overhead crane assembly and the vertical movement of the sorting trolley 20. The circular sorting machine also includes a permanent magnet linear motor 80, which can interact with the secondary plate 32 to generate motor thrust, driving the walking wheel 2 to move in the direction of travel, that is, driving the walking wheel 2 to move on the upper guide rail.

[0037] Furthermore, the lifting assembly 30 also includes a synchronous belt assembly, a drive motor 34, a slide table 35, and a slide rail 36. The synchronous belt assembly includes a transmission wheel and a conveyor belt that cooperates with the transmission wheel. The drive motor 34 drives the transmission wheel to rotate, and further drives the conveyor belt to move through the rotation of the transmission wheel. The slide table 35 is slidably engaged with the slide rail 36, and the slide table 35 is fixedly connected to the sorting cart 20. The slide table 35 is also connected to the conveyor belt, for example, by fixing it to the conveyor belt through a toothed plate, so that it can move with the conveyor belt in a direction parallel to the second rotation axis, thereby realizing the lifting of the sorting cart 20. The slide rail 36 and the back plate 31 can be fixedly connected by bolts, or they can be relatively fixed by welding or snap-fitting. The two can be directly connected and fixed or connected and fixed by means of components.

[0038] The lifting assembly 30 also includes a cable chain 37, which has a cable inside. The cable is fixedly connected to the sorting trolley 20 and can also be electrically connected to the central processing unit. The cable in the cable chain 37 can then supply power to the sorting trolley 20 and transmit signals. As the sorting trolley 20 moves up and down, the cable chain 37 can be used to release and retract the cable, preventing tangling and sagging, and helping to eliminate safety hazards.

[0039] In some embodiments, such as Figure 11 and Figure 12 As shown, the sorting trolley 20 includes a support panel 21, an electric roller 22, a driven roller 23, a conveyor belt 24, a brush 25, a limiting plate 26, and a connecting plate 27. The connecting plate 27 is connected to the limiting plates 26 on both sides. The driven roller 23 is rotatably connected to both limiting plates 26, and is located on the side of the limiting plates 26 away from the connecting plate 27. The electric roller 22 is rotatably connected to both limiting plates 26, and is located on the side of the limiting plates 26 closer to the connecting plate 27. The conveyor belt 24 is connected to the electric roller 22 and the driven roller 23 respectively. The bidirectional transmission of the conveyor belt 24 is achieved by the rolling of the electric roller 22. The connecting plate 27 is fixedly connected to the slide 35 of the lifting assembly 30. The brush 25 is connected to the connecting plate 27. The brush 25 can contact the conveyor belt 24 to clean the conveyor belt 24. The support panel 21 is located between the upper and lower conveyor belts 24. The support panel 21 bears the main weight and increases the maximum load of the sorting trolley 20.

[0040] like Figure 13 As shown, an adaptive description of the package conveying process of the loop sorting machine in this manual is provided.

[0041] In step 1301, the package is identified and entered into the package supply station.

[0042] In this embodiment, the package label can be identified by the QR code attached to the package, and the package can be transported to the package supply station by manual labor, robotic arm or assembly line docking.

[0043] In step 1302, a first-in-first-out (FIFO) algorithm is used to sort the packages input to the package supply station.

[0044] In this embodiment, multiple packages can be placed on the same feeding platform. To avoid confusion, the packages can be sorted according to the first-in, first-out principle. That is, the package that is identified and enters the feeding platform first can leave the feeding platform and enter the sorting cart first.

[0045] In step 1303, the coordinates of the packages to be output to the loop sorting machine are obtained, the optimal planned path is calculated, and the sorting trolley is scheduled.

[0046] In this embodiment, by obtaining the coordinates of the package, the position of the package relative to the feeding platform is determined. For example, it can be determined whether the package is currently biased to the left or right of the feeding platform. Based on this position, the optimal planned path can be calculated. This optimal planned path is the path of the package from the feeding platform into the sorting cart. The planning of this optimal path can be done earlier than the output time of the package. For example, if the package is at the end of the first-in-first-out (FIFO) sorting sequence, the optimal planned path can be calculated in advance and scheduled with the sorting cart, thereby improving sorting efficiency.

[0047] In step 1304, check whether the current sorting cart meets the transport conditions.

[0048] In this embodiment, multiple sorting carts can be pre-set for the same package. Based on the principle of first-come, first-served, the system checks whether the arriving sorting cart meets certain conditions. These conditions may include whether the sorting cart is idle or in normal working order.

[0049] If the sorting cart meets the conveying conditions, proceed to step 1306; if the sorting cart does not meet the conveying conditions, proceed to step 1305. In step 1305, a sorting cart waits for the conditions to be met.

[0050] In step 1306, S-curve motion control is used to transport the package to the designated sorting cart.

[0051] In this embodiment, when the sorting cart meets the conveying conditions, an S-shaped curve motion can be used to control the delivery of packages to the designated sorting cart.

[0052] In step 1307, the offset of the package on the sorting cart is identified, and the position of the package on the sorting cart is corrected.

[0053] In this embodiment, for the position of the package on the sorting cart's conveyor belt that has already been transported to the sorting cart, if the package position deviates, the position of the package on the sorting cart is corrected.

[0054] In step 1308, the destination location is checked, and the sorting cart is moved to the designated floor via the lifting assembly.

[0055] In step 1309, check whether the destination status meets the conditions.

[0056] In this embodiment, whether the destination status meets the conditions can be determined by whether the destination is in an empty state. If the destination status meets the conditions, proceed to step 1310; if the destination status does not meet the conditions, proceed to step 1311.

[0057] In step 1310, the object falls into its destination.

[0058] In step 1311, we wait for a destination that meets the conditions.

[0059] In step 1312, it checks whether the number of laps exceeds the specified number of laps.

[0060] In this embodiment, while waiting for the destination, the number of delivery loops of the package is monitored. If the number of loops exceeds a specified number, the process proceeds to step 1313. If the number of loops does not exceed the specified number, the process proceeds to step 1309, where the destination status is checked again to see if the conditions are met.

[0061] In step 1313, the material is transported to the designated abnormal exit.

Claims

1. A crane frame assembly, characterized in that, Applied to a loop sorting machine, the overhead crane assembly includes: Frame; Multiple walking wheels, with their first rotation axes arranged in parallel; Multiple mounting bases, each mounting base including a base body and a bracket rotatably connected to the base body, the bracket being rotatably connected to each of the traveling wheels, the first rotation axis of the traveling wheel being perpendicular to the second rotation axis of the bracket, and the first rotation axis and the second rotation axis being spaced apart in the traveling direction of the traveling wheel; Multiple sets of guide wheels are provided, each of which is rotatably connected to the frame. Each set of guide wheels forms a track clamping space in a direction parallel to the first rotation axis. The third rotation axis of each guide wheel is arranged parallel to the second rotation axis.

2. The overhead crane frame assembly according to claim 1, characterized in that, The frame includes a through groove extending in a direction parallel to the second rotation axis. The traveling wheel portion passes through the through groove and protrudes outward. The inner wall of the through groove is used to limit the extreme position of the traveling wheel when it rotates with the bracket around the second rotation axis.

3. The overhead crane frame assembly according to claim 1, characterized in that, The overhead frame assembly includes multiple frames and at least one connector. Each frame is provided with the traveling wheel, the guide wheel and the mounting base. The multiple frames are arranged in sequence at intervals. Each connector is rotatably connected to two adjacent frames respectively.

4. A circular sorting machine, characterized in that, include: Sorting cart; Lifting assembly; The overhead crane assembly as described in any one of claims 1-3, wherein the frame of the overhead crane assembly is fixedly connected to the lifting assembly in a one-to-one correspondence, and the sorting trolley is disposed on the lifting assembly.

5. The circular sorting machine according to claim 4, characterized in that, It also includes a straight rail, a front curved rail, and a rear curved rail. The straight rail includes a first side rail and a second side rail arranged side by side. The front curved rail is connected to the first end of the first side rail and the second end of the second side rail. The rear curved rail is connected to the third end of the first side rail and the fourth end of the second side rail to form an annular guide rail. The annular guide rail contacts the traveling wheel and the guide wheel respectively. The annular guide rail is clamped in the rail clamping space. Among them, at least one of the first side rail, the second side rail, the front curved rail and the rear curved rail is a single piece.

6. The circular sorting machine according to claim 5, characterized in that, Both the first side rail and the second side rail are integral sheet metal parts.

7. The circular sorting machine according to claim 5, characterized in that, Both the front curved rail and the rear curved rail are integral castings.

8. The circular sorting machine according to claim 5, characterized in that, The annular guide rail includes an upper guide rail and a lower guide rail that are spaced apart. The overhead crane assembly is an upper overhead crane assembly, and the circular sorting machine also includes a lower overhead crane assembly. The traveling wheels and guide wheels of the upper overhead crane assembly are in contact with the upper guide rail, and the lower guide rail is sandwiched between the guide wheels of the lower overhead crane assembly.

9. The circular sorting machine according to claim 4, characterized in that, The lifting assembly includes: Back plate, which is fixedly connected to the vehicle frame; The secondary plate is fixedly connected to the back plate, and the secondary plate and the frame are disposed on the same side of the back plate. The sorting trolley is located on the side of the back plate away from the frame. The circular sorting machine also includes a permanent magnet linear motor, which interacts with the secondary plate to drive the traveling wheels to move in the direction of travel.

10. The circular sorting machine according to claim 9, characterized in that, The lifting assembly also includes: A timing belt assembly, wherein the transmission pulley of the timing belt assembly is rotatably disposed on the; A drive motor is used to drive the conveyor belt of the synchronous belt assembly to move. A slide table is connected to the conveyor belt to move with the conveyor belt in a direction parallel to the direction of the second rotation axis, and the slide table is fixedly connected to the sorting trolley. The slide rail is slidably engaged with the slide table.

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