Sorting system

Abstract

The embodiment of the utility model provides a sorting system. The sorting system comprises sorting equipment, a first robot and a second robot, the sorting equipment comprises a sorting mechanism, a storage goods shelf and a connection goods shelf. The storage shelves are arranged in two rows and comprise a plurality of storage layers; each storage layer comprises a plurality of material box grids, and each material box grid is used for storing a material box to be loaded; the connection goods shelf is adjacent to the storage goods shelf and is used for temporarily storing full material boxes or empty material boxes to be supplemented; the sorting mechanism is arranged between the two rows of storage shelves and is configured to receive to-be-sorted goods and convey the to-be-sorted goods to material boxes of the storage shelves; the first robot is configured to pick and place full material boxes or empty material boxes between the storage goods shelf and the connection goods shelf; and the second robot is configured to pick and place full material boxes or empty material boxes between the connection goods shelf and the material box transfer station.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics warehousing, in particular to a sorting system. Background Art

[0002] With the continuous improvement of the intelligence of logistics and warehousing technology, processes such as packaging and handling can be completed by intelligent robots. However, the sorting process still requires human participation. For example, during the sorting process, workers need to take the full material boxes from the shelves of the sorting equipment to the next link, and also need to add the empty material boxes to the vacant positions, which reduces the sorting efficiency.

[0003] At present, relevant technologies are mainly focused on researching sorting equipment to improve sorting efficiency. However, after the sorting equipment has loaded the goods to be sorted into the boxes, manual replacement of the boxes is still required, which limits the sorting efficiency. In addition, the height of the sorting equipment shelves is limited by the height of the staff, resulting in low space utilization. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide a sorting system to realize automatic replacement of material boxes and improve sorting efficiency and space utilization. The specific technical solution is as follows:

[0005] An embodiment of the present application proposes a sorting system, including: a sorting device, a first robot and a second robot; the sorting device includes: a sorting mechanism, a storage shelf and a docking shelf; the storage shelf is arranged in two rows, including a plurality of storage layers; each of the storage layers includes a plurality of material box openings, and each material box opening is used to store a material box to be loaded; the docking shelf is arranged adjacent to the storage shelf, and is used to temporarily store full material boxes or empty material boxes to be replenished; the sorting mechanism is arranged between the two rows of storage shelves, and is configured to receive the goods to be sorted and transport the goods to be sorted to the material boxes of the storage shelves; the first robot is configured to pick up and place full material boxes or empty material boxes between the storage shelves and the docking shelf; the second robot is configured to pick up and place full material boxes or empty material boxes between the docking shelf and the material box transfer station.

[0006] In some embodiments of the present application, the storage shelf includes: a plurality of beams spaced apart in a vertical direction; so that the first robot is installed on the outside of the storage shelf based on the beams.

[0007] In some embodiments of the present application, the first robot includes: a column gantry, a transport mechanism and at least one sliding guide rail; the column gantry is installed along the vertical direction of the storage shelf; the transport mechanism is arranged on the column gantry, and is used to pick up and place boxes at different heights of the storage shelf; the at least one sliding guide rail is fixedly installed on the crossbeam; the column gantry is slidably connected to the at least one sliding guide rail, so that the column gantry and the transport mechanism slide horizontally along the crossbeam to pick up and place different boxes in the length direction of the storage shelf; the first robot is configured to move full boxes on the storage shelf to the docking shelf, or move empty boxes on the docking shelf to the storage shelf.

[0008] In some embodiments of the present application, the transport mechanism includes: a lifting assembly and a picking assembly; the lifting assembly is arranged on the column gantry and is configured to drive the picking assembly to move in a vertical direction; the picking assembly is installed on the lifting assembly and is configured to extend out of the column gantry to pick up and place the material boxes on the storage shelf or the docking shelf.

[0009] In some embodiments of the present application, the docking rack is a single-layer rack arranged along the length direction of the storage rack; a plurality of temporary storage locations are provided on the docking rack, and each temporary storage location is used to temporarily store a full container or an empty container.

[0010] In some embodiments of the present application, a through slot is provided at the bottom of each temporary storage location, so that the second robot can pick up and place the material box on the temporary storage location based on the through slot.

[0011] In some embodiments of the present application, the second robot includes a moving chassis and a lifting mechanism; the lifting mechanism is arranged on the top of the moving chassis; the lifting mechanism is configured to move under the drive of the moving chassis and pass through the through slot in a vertical direction to lift or place the material box.

[0012] In some embodiments of the present application, the docking racks are arranged in two rows corresponding to the lower part of the storage racks; a parallel and spaced first channel and a second channel are provided on the side of each row of the storage racks away from the sorting mechanism; the first channel is closer to the storage rack than the second channel; the first channel and the second channel extend from the storage rack to the material box transfer station; the second robot is configured as follows: an unloaded second robot travels along the first channel to the docking rack, picks up a full material box from the docking rack, and travels along the second channel to transport the full material box to the material box transfer station; or, an unloaded second robot travels along the first channel to the material box transfer station, picks up an empty material box from the material box transfer station, and travels along the second channel to transport the empty material box to the docking rack.

[0013] In some embodiments of the present application, the docking racks are arranged in two rows, corresponding to the side of each row of the storage racks away from the sorting mechanism, parallel to and spaced from the storage racks; a third channel is provided in the spacing area between each row of the docking racks and the storage racks, and a fourth channel parallel to the third channel is provided on the side of each row of the docking racks away from the storage racks; the third channel and the fourth channel extend from the storage racks to the material box transfer station; the second robot is configured as: an unloaded second robot travels along the third channel to the docking racks, picks up full material boxes from the docking racks, and travels along the fourth channel to transport the full material boxes to the material box transfer station; or, an unloaded second robot travels along the third channel to the material box transfer station, picks up empty material boxes from the material box transfer station, and travels along the fourth channel to transport the empty material boxes to the docking racks.

[0014] In some embodiments of the present application, the material box transfer station includes a full material box conveyor line and an empty material box replenishment line; the second robot is configured to: move the full material box on the docking rack to the full material box conveyor line; or move the empty material box on the empty material box replenishment line to the docking rack.

[0015] In some embodiments of the present application, the sorting equipment further includes: a lifting mechanism and an infeed; the sorting mechanism includes: a guiding mechanism and a shuttle sorting vehicle; the lifting mechanism is arranged at both ends of the storage shelf, and is used to drive the shuttle sorting vehicle to move up and down along the height direction of the storage shelf when the shuttle sorting vehicle moves to one end of the storage shelf; the infeed is arranged on one side or both sides of the lifting mechanism, and is docked with the lifting mechanism; the guiding mechanism is arranged between two rows of the storage shelves, and includes a plurality of shuttle rails corresponding to the height of each storage layer, and the shuttle rails are docked with the lifting mechanism for the shuttle sorting vehicle to move back and forth along the length direction of the storage shelf; the shuttle sorting vehicle is used to switch between shuttle rails of different heights through the lifting mechanism, sort the goods to be sorted at the infeed into material boxes with different heights of material box grids, and sort the goods to be sorted at the infeed into material boxes with different material box grids in the length direction through the guiding mechanism.

[0016] The sorting system provided by the embodiment of the utility model realizes the automatic replacement of the material boxes of the sorting system by the first robot picking up and placing the material boxes between the storage shelf and the docking shelf, and the second robot picking up and placing the material boxes between the docking shelf and the material box transfer station, which improves the sorting efficiency and sorting accuracy compared with the manual box replacement method. In addition, the first robot replaces the manual box replacement, which can make the height of the storage shelf exceed the height limit of the staff, expand the number of material box grids that can be configured on the storage shelf, and improve the sorting capacity and space utilization of the sorting system.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the sorting system of the first embodiment of the present application;

[0020] Figure 2 for Figure 1 A schematic front view of the sorting system shown;

[0021] Figure 3 for Figure 1 A schematic top view of the sorting system shown;

[0022] Figure 4 for Figure 1 A schematic side view of the sorting system shown;

[0023] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the first robot shown;

[0024] Figure 6 for Figure 1 A schematic front view of the first robot shown;

[0025] Figure 7 for Figure 1 A schematic top view of the first robot shown;

[0026] Figure 8 for Figure 1 A schematic side view of the first robot shown;

[0027] Fig. 9 for Figure 1 A schematic top view of the docking rack shown;

[0028] Fig.10 for Figure 1 A schematic diagram of the three-dimensional structure of the second robot shown;

[0029] Fig.11 for Figure 1 A schematic diagram of the three-dimensional structure of the second robot lifting a material box;

[0030] Fig.12 for Fig.11A schematic diagram of the three-dimensional structure of the second robot docking with the material box transfer station;

[0031] Fig.13 for Fig.12 A schematic diagram of the three-dimensional structure after the second robot is docked with the material box transfer station;

[0032] Fig.14 A schematic diagram of the three-dimensional structure of a sorting system according to a second embodiment of the present application;

[0033] Fig.15 for Fig.14 A schematic front view of the sorting system shown;

[0034] Fig.16 for Fig.14 A schematic top view of the sorting system shown;

[0035] Fig.17 for Fig.14 Schematic side view of the sorting system shown.

[0036] Reference numerals:

[0037] Sorting equipment 100; sorting mechanism 110; guiding mechanism 111; shuttle rail 1111; shuttle sorting vehicle 112; storage shelf 120; storage layer 121; material box opening 1211; beam 122; docking shelf 130; temporary storage position 131; through slot 1311; lifting mechanism 140; induction table 150;

[0038] The first robot 200; the column door frame 210; the door column 211; the transport mechanism 220; the lifting component 221; the picking component 222; the sliding guide rail 230;

[0039] The second robot 300; the moving chassis 310; the lifting mechanism 320; the lifting platform 321;

[0040] Container transfer station 400; docking station 401; conveying section 402; full container conveying line 410; empty container replenishing line 420; conveyor belt 430;

[0041] Material box 500;

[0042] The first channel 600 ; the second channel 700 ; the third channel 800 ; and the fourth channel 900 . DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0044] As mentioned in the background technology, with the continuous improvement of the intelligence of logistics and warehousing technology, processes such as packaging and handling can be completed by intelligent robots. However, the sorting process still requires human participation. For example, in the sorting process, the staff needs to take the full material boxes from the shelves of the sorting equipment to the next link, and also need to add the empty material boxes to the vacant positions, which reduces the sorting efficiency.

[0045] At present, relevant technologies are mainly focused on researching sorting equipment to improve sorting efficiency. However, after the sorting equipment has finished filling the boxes with the goods to be sorted, manual replacement of the boxes is still required, which limits the sorting efficiency. In addition, the height of the shelves of the sorting equipment is limited by the height of the staff, resulting in low space utilization.

[0046] In order to realize automatic replacement of material boxes and improve sorting efficiency and space utilization, an embodiment of the present application provides a sorting system, which is described in detail below.

[0047] See also Figures 1 to 4 , Figure 1 This is a schematic diagram of the three-dimensional structure of the sorting system of the first embodiment of the present application; Figure 2 for Figure 1 A schematic front view of the sorting system shown; Figure 3 for Figure 1 A schematic top view of the sorting system shown; Figure 4 for Figure 1 Schematic side view of the sorting system shown.

[0048] like Figures 1 to 4 As shown, the sorting system provided by the embodiment of the present application includes: a sorting device 100, a first robot 200 and a second robot 300; the sorting device 100 includes: a sorting mechanism 110, a storage shelf 120 and a docking shelf 130.

[0049] The storage shelves 120 are arranged in two rows, including a plurality of storage layers 121; each storage layer 121 includes a plurality of material box openings 1211, and each material box opening 1211 is used to store a material box 500 to be loaded.

[0050] The docking rack 130 is disposed adjacent to the storage rack 120 and is used to temporarily store full bins 500 or empty bins 500 to be replenished.

[0051] The sorting mechanism 110 is disposed between two rows of storage shelves 120 , and is configured to receive goods to be sorted and transport the goods to be sorted to the material box 500 of the storage shelf 120 .

[0052] The first robot 200 is configured to pick up and place full containers 500 or empty containers 500 between the storage rack 120 and the docking rack 130 .

[0053] The second robot 300 is configured to pick up and place full containers 500 or empty containers 500 between the docking rack 130 and the container transfer station 400 .

[0054] The embodiment of the present application provides such a sorting system, wherein the first robot 200 takes and places the material box 500 between the storage shelf 120 and the docking shelf 130, and the second robot 300 takes and places the material box 500 between the docking shelf 130 and the material box transfer station 400, thereby realizing the automatic replacement of the material box 500 of the sorting system, and improving the sorting efficiency and sorting accuracy compared with the manual box replacement method. In addition, the first robot 200 replaces the manual box replacement, which can make the height of the storage shelf 120 exceed the height limit of the staff, expand the number of material box grids 1211 that can be configured on the storage shelf 120, and improve the sorting capacity and space utilization of the sorting system.

[0055] Figure 1 In the first embodiment shown, as Figure 2 and Figure 3 As shown, the storage rack 120 may include: a plurality of beams 122 spaced apart in the vertical direction; so that the first robot 200 is installed outside the storage rack 120 based on the beams 122. There may be a plurality of first robots 200, all of which are arranged on the beams 122 to pick up and place the boxes on the storage rack 120 and the docking rack 130, thereby improving the handling efficiency.

[0056] Specifically, the beam 122 extends from one end to the other end of the storage shelf 120 in the length direction, and the first robot 200 can slide along the beam 122 to move horizontally along the storage shelf 120. The specific coordination method is described in detail in the subsequent description.

[0057] Figure 1 In the first embodiment shown, see Figures 5 to 8 , Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the first robot shown; Figure 6 for Figure 1 A schematic front view of the first robot shown; Figure 7 for Figure 1 A schematic top view of the first robot shown; Figure 8 for Figure 1 A schematic side view of the first robot is shown.

[0058] like Figures 5 to 8 As shown, the first robot 200 may include: a column gantry 210 , a transport mechanism 220 and at least one sliding guide rail 230 .

[0059] The column door frame 210 is installed along the vertical direction of the storage shelf 120.

[0060] The transport mechanism 220 is disposed on the column gantry 210 and is used for taking and placing the material boxes 500 at different heights of the storage shelf 120 .

[0061] At least one sliding guide rail 230 is fixedly mounted on the cross beam 122 ; the column gantry 210 is slidably connected to at least one sliding guide rail 230 , so that the column gantry 210 and the transport mechanism 220 slide horizontally along the cross beam 122 to pick up and place different material boxes 500 in the length direction of the storage shelf 120 .

[0062] The first robot 200 is configured to move a full container 500 on the storage shelf 120 to the docking shelf 130 , or to move an empty container 500 on the docking shelf 130 to the storage shelf 120 .

[0063] Specifically, Figure 1 and Figure 2 As shown, the first robot 200 is fixed on the storage shelf 120 by two sliding guide rails 230 spaced apart from each other. The first robot 200 can move along the length direction of the storage shelf 120 based on the two sliding guide rails 230 .

[0064] In the embodiment of the present application, the first robot 200 can move horizontally in the length direction of the storage shelf 120 to pick up and place each material box 500 in the length direction of the storage shelf 120. In addition, the picking component 222 of the first robot 200 can move up and down in the height direction of the storage shelf 120 to pick up and place material boxes 500 at different heights of the storage shelf 120. The specific picking and placing method is described in detail in the subsequent description.

[0065] Figure 1 In the first embodiment shown, as Figures 5 to 8 As shown, the transport mechanism 220 may include: a lifting component 221 and a picking component 222 .

[0066] The lifting assembly 221 is disposed on the column gantry 210 and is configured to drive the picking assembly 222 to move in the vertical direction.

[0067] The picking component 222 is installed on the lifting component 221 and is configured to extend out of the column door frame 210 to pick up and place the material box 500 on the storage shelf 120 or the docking shelf 130.

[0068] Specifically, the column gantry 210 includes two door columns 211, and the lifting assembly 221 can drive the picking assembly 222 to move up and down in the vertical direction of the storage shelf 120 through a driving motor arranged on the column gantry 210, a driving wheel and a driven wheel arranged on the top and bottom of the two door columns 211, and two synchronous belts mounted on the driving wheel and the driven wheel.

[0069] The form of the picking component 222 includes but is not limited to a fork arm type, a suction cup type, a roller type, a hook arm, etc.

[0070] The picking component 222 can be installed on a synchronous belt, and the picking component 222 can include a telescopic structure with a bidirectional telescopic direction. It can move toward the storage shelf 120 or move away from the storage shelf 120, and extend into the storage shelf 120 or the docking shelf 130 through the telescopic structure to pick up and place the material box 500.

[0071] By applying the embodiments of the present application, the first robot 200 can, based on the sliding guide rail 230, pick up and place the material box 500 on the storage shelf 120 or the docking shelf 130 in the horizontal direction; and can pick up and place the material box 500 on the storage shelf 120 or the docking shelf 130 in the vertical direction based on the lifting component 221.

[0072] Figure 1 In the first embodiment shown, as Figures 1 to 3 As shown, the docking racks 130 are arranged in two rows corresponding to the lower side of the storage racks 120 .

[0073] The docking rack 130 can be a single-layer rack, arranged along the length direction of the storage rack 120, and two docking racks 130 are respectively arranged under two storage racks 120. The docking rack 130 is provided with multiple temporary storage locations 131, which are configured to temporarily store a full material box 500 or an empty material box 500.

[0074] Figure 1 In the first embodiment shown, see Fig. 9 , Fig. 9 for Figure 1 The docking rack 130 is arranged below the storage rack 120 and can be a separate rack or a plurality of racks. Figure 1 and Fig. 9 As shown, the storage shelf 120 is configured as an integral shelf, and the bottom layer of the shelf is used as a docking shelf 130 to temporarily store the material boxes 500.

[0075] like Fig. 9 As shown, a through slot 1311 is provided at the bottom of each temporary storage location 131 of the docking rack 130 , so that the second robot 300 can pick up and place the material box 500 on the temporary storage location 131 based on the through slot 1311 .

[0076] Specifically, Figure 3 As shown, the process of the second robot 300 taking the full container 500 from the docking shelf 130 is as follows:

[0077] The second robot 300 moves to below the target temporary storage location 131 , passes through the through slot 1311 , lifts up the full material box 500 , and exits the temporary storage location 131 along the through slot 1311 .

[0078] The process of the second robot 300 placing the empty container on the docking rack 130 is as follows:

[0079] The second robot 300 moves to below the target temporary storage location 131 , passes through the through slot 1311 and descends to place the full material box 500 , and exits the temporary storage location 131 along the through slot 1311 .

[0080] Figure 1 In the first embodiment shown, a first channel 600 and a second channel 700 are provided on a side of each row of storage shelves 120 away from the sorting mechanism 110 , which are parallel and spaced apart.

[0081] The first channel 600 is closer to the storage rack 120 than the second channel 700 .

[0082] The first channel 600 and the second channel 700 extend from the storage rack 120 to the container transfer station 400 .

[0083] The second robot 300 is configured as follows:

[0084] The unloaded second robot 300 travels along the first channel 600 to the docking shelf 130, receives the full container 500 from the docking shelf 130, and travels along the second channel 700 to transport the full container 500 to the container transfer station 400; or, the unloaded second robot 300 travels along the first channel 600 to the container transfer station 400, receives the empty container 500 from the container transfer station 400, and travels along the second channel 700 to transport the empty container 500 to the docking shelf 130.

[0085] That is, the first channel 600 is for the second robot 300 to travel when it is empty. On the first channel 600, the second robot 300 can go to the docking rack 130 to receive a full container 500, or go to the container transfer station 400 to receive an empty container 500.

[0086] The second channel 700 is used for the second robot 300 to travel when fully loaded. On the second channel 700, the second robot 300 can go to the docking shelf 130 to place an empty material box 500, or go to the material box transfer station 400 to place a full material box 500.

[0087] Among them, the structural form of the material box transfer station 400 includes but is not limited to a conveyor line, a docking rack, etc. Figure 3 The container transfer station 400 is in the form of a conveyor line, and includes a full container conveyor line 410 and an empty container replenishment line 420. The second robot 300 is configured to: move a full container 500 on the docking rack 130 to the full container conveyor line 410; or move an empty container 500 on the empty container replenishment line 420 to the docking rack 130.

[0088] Specifically, Figure 3 As shown, the second robot 300 moves the full container 500 on the docking rack 130 to the full container conveyor line 410 along the second channel 700 ; or moves the empty container 500 on the empty container replenishment line 420 to the docking rack 130 .

[0089] It should be noted that Figure 3 The black squares shown in the figure represent full material boxes 500, and the white squares represent empty material boxes 500. The two second channels 700 of the embodiment of the present application can pass through the second robot 300 carrying full material boxes 500, and can also pass through the second robot 300 carrying empty material boxes 500. Figure 3 Only one embodiment is shown, in which a second robot 300 carrying an empty container 500 is traveling on one second channel 700 , and a second robot 300 carrying a full container 500 is traveling on another second channel 700 .

[0090] The directions of the first channel 600 and the second channel 700 are arranged according to the position of the material box transfer station 400 relative to the sorting device 100, such as Figure 3 As shown, the material box transfer station 400 is arranged at one end of the sorting device 100, and the directions of the first channel 600 and the second channel 700 are parallel to the long side direction of the storage shelf 120, extending from the end of the storage shelf 120 away from the material box transfer station 400 to the material box transfer station 400. The first channel 600 and the second channel 700 can be joined together at one end close to the material box transfer station 400, and extend together to the material box transfer station 400.

[0091] Since it is necessary to ensure that the picking component 222 of the first robot 200 can pick up and place the material boxes 500 on the storage shelf 120 and the docking shelf 130, the height of the column gantry 210 of the first robot 200 in the vertical direction needs to extend from the top storage layer 121 to the docking shelf 130.

[0092] The height of the unloaded second robot 300 is lower than the height of the picking component 222 of the first robot 200 when it picks up and places the material box 500 on the docking shelf 130. Therefore, the first channel 600 for the unloaded second robot 300 to travel can be set to be as close to the storage shelf 120 as possible while ensuring the smooth passage of the second robot 300. This will neither cause interference between the first robot 200 and the second robot 300 nor save the deployment area of ​​the sorting equipment 100 to the maximum extent.

[0093] like Figures 1 to 3 As shown, the motion process of the unloaded second robot 300 is as follows:

[0094] The unloaded second robot 300 can pass under the first robot 200 along the first channel 600, enter the temporary storage bin 131 from the side of the temporary storage bin 131 close to the first channel 600, lift the full material box 500, then return along the through slot 1311, and drive into the second channel 700 to the full material box conveyor line 410;

[0095] Alternatively, the unloaded second robot 300 can go along the first channel 600 to the empty container replenishment line 420 to pick up the empty container 500 .

[0096] The movement process of the second robot 300 carrying the material box 500 is as follows:

[0097] The second robot 300 carrying the empty material box 500 drives along the second channel 700, drives into the temporary storage position 131 and puts down the empty material box 500, then returns along the through slot 1311 and drives into the first channel 600, then drives along the first channel 600 into other temporary storage positions 131 with full material boxes 500 to receive the full material boxes 500, and finally drives along the second channel 700 to the full material box conveyor line 410;

[0098] Alternatively, the second robot 300 carrying the empty box 500 travels along the second channel 700 , enters the temporary storage location 131 and puts down the empty box 500 , then returns along the through slot 1311 and enters the first channel 600 to the standby area or the empty box replenishment line 420 .

[0099] The second robot 300 carrying the full box 500 travels along the second channel 700 and goes to the full box conveyor line 410 to place the full box 500. It can then go to the standby area, or go to the empty box replenishment line 420 to pick up an empty box, or go along the first channel 600 to the docking shelf 130 to pick up a full box 500.

[0100] By using the embodiment of the present application, the docking shelves 130 are arranged in two rows corresponding to the lower part of the storage shelves 120, which can save the deployment area of ​​the sorting equipment 100 and improve the space utilization rate of the storage shelves 120; the driving route of the second robot 300 is divided into a first channel 600 and a second channel 700, respectively for the unloaded second robot 300 and the second robot 300 loaded with a material box 500 to travel, thereby improving the handling efficiency of the second robot 300. The unloaded second robot 300 travels on the first channel 600, thereby avoiding interference between the first robot 200 and the second robot 300, saving the deployment area of ​​the sorting equipment 100 and improving the space utilization rate. The material box transfer station 400 is divided into a full material box conveying line 410 and an empty material box replenishing line 420, which can convey full material boxes 500 and empty material boxes 500 at the same time, thereby improving the working efficiency of the sorting system.

[0101] Figure 1 In the first embodiment shown, see Fig.10 and Fig.11 , Fig.10 for Figure 1 A schematic diagram of the three-dimensional structure of the second robot shown; Fig.11 for Figure 1 The three-dimensional structural schematic diagram of the second robot lifting the material box is shown.

[0102] like Fig.10 and Fig.11 As shown, the second robot 300 includes a moving chassis 310 and a lifting mechanism 320; the lifting mechanism 320 is arranged on the top of the moving chassis 310; the lifting mechanism 320 is configured to move driven by the moving chassis 310 and pass through the through slot 1311 in the vertical direction to lift or place the material box 500.

[0103] Specifically, the lifting mechanism 320 includes a lifting platform 321, and the width dimension of the through slot 1311 is configured to be smaller than the size of the material box 500 and larger than the size of the lifting platform 321, so that the lifting platform 321 can pass through the through slot 1311 to lift or put down the material box 500, and also prevent the material box 500 from falling through the through slot 1311.

[0104] like Figures 1 to 3 and Fig. 9 As shown, the process of the second robot 300 taking the full box 500 is as follows: after the first robot 200 places the full box in the temporary storage position 131 of the docking shelf 130, the second robot 300 moves to the bottom of the temporary storage position 131, the lifting platform 321 moves upward, passes through the through slot 1311 and lifts the full box 500, then moves out of the temporary storage position 131 along the through slot 1311, and transports the full box 500 to the full box conveyor line 410.

[0105] The process of the second robot 300 emptying the material box 500 is as follows: the second robot 300 loads the empty material box 500 and moves to the side of the temporary storage position 131. After the lifting mechanism 320 lifts the empty material box 500 to a height higher than the temporary storage position 131, the second robot 300 moves along the through groove 1311 to the bottom of the temporary storage position 131. The lifting mechanism 320 drives the empty material box 500 to move downward until the empty material box 500 contacts the top surface of the temporary storage position 131, and then continues to move downward and drives out of the temporary storage position 131.

[0106] The vertical movement of the lifting mechanism 320 and the horizontal movement of the moving chassis 310 can be performed simultaneously, that is, when the moving chassis 310 moves into or out of the temporary storage bin 131 , the lifting mechanism can raise or lower the material box 500 .

[0107] By applying the embodiments of the present application, the first robot 200 can pick up and place the material box 500 without stopping or briefly stopping, which can improve the efficiency of the second robot in picking up and placing the material box 500. In addition, the second robot 300 picks up and places the material box 500 under the temporary storage position 131, which can improve the space utilization rate of the docking shelf 130.

[0108] Figure 1 In the first embodiment shown, the full container conveyor line 410 and the empty container replenishment line 420 are each composed of a docking station 401 and a conveying section 402, and the docking station 401 and the conveying section 402 are independent of each other in rolling. The docking station 401 is located at the end, and the rest is the conveying section 402. The docking station 401 and the conveying section 402 can cooperate to carry out the conveying work of the container 500.

[0109] Specifically, the second robot 300 docks with the docking position 401 of the full-box conveying line 410 or the empty-box replenishing line 420 , thereby completing the placement of the full box 500 or the removal of the empty box 500 .

[0110] The process of the second robot 300 transporting the full container 500 is as follows:

[0111] When the second robot 300 transports the full material box 500 on the docking shelf 130 to the docking position 401 of the full material box conveyor line 410, the docking position 401 stops rolling, and starts rolling again after the second robot 300 has placed the full material box 500, and cooperates with the conveying section 402 to transport the full material box 500 to the next processing link, such as outbound or review and packaging. The second robot 300 that has completed transporting the full material box 500 can go to the standby area to wait, or go to the empty material box replenishment line 420 and dock with the docking position 401 of the empty material box replenishment line 420, take the empty material box 500 to replenish it on the docking shelf 130, or go to the docking shelf 130 to continue to take the full material box 500.

[0112] The process of the second robot 300 transporting the empty material box 500 is as follows:

[0113] When the second robot 300 moves to the docking position 401 of the empty material box replenishment line 420, the docking position 401 is in a stationary state, and starts to roll after the second robot 300 takes away the empty material box 500. The conveying section 402 replenishes the next empty material box 500 to the docking position 401, waiting for the second robot 300 to take it.

[0114] The second robot 300 , which has completed transporting the empty box 500 , can go to the standby area to wait, or receive the full box 500 on the docking shelf 130 and transport it to the full box conveyor line 410 , or go to the empty box replenishment line 420 to continue receiving the empty box 500 .

[0115] By applying the embodiment of the present application, the transmission of the docking position 401 and the conveying section 402 are independent of each other but cooperate with each other. When the docking position 401 needs to receive a full material box 500 or the second robot 300 needs to take away an empty material box 500, the stillness of the docking position 401 will not affect the transmission of the material box 500 that is already on the conveying section 402, thereby improving the working efficiency of the material box transfer station 400.

[0116] See also Fig.12 and Fig.13 , Fig.12 for Fig.11 A schematic diagram of the three-dimensional structure of the second robot docking with the material box transfer station; Fig.13 for Fig.12 The diagram is a schematic diagram of the three-dimensional structure after the second robot is docked with the material box transfer station.

[0117] like Fig.12 As shown, the input end of the full-box conveyor line 410 and the docking position 401 of the empty-box replenishment line 420 both include two parallel conveyor belts 430 ; a travel space for the second robot 300 to pass through is provided between the two conveyor belts 430 .

[0118] like Figures 11 to 13 As shown, when the second robot 300 docks with the docking position 401 of the full-box conveyor line 410 to place the full box 500, the conveyor belt 430 is in a stationary state, and the second robot 300 lifts the full box 500 to a height higher than the conveyor belt 430 through the lifting mechanism 320 and moves toward the driving space. After the second robot 300 enters the driving space, the full box 500 is placed on two conveyor belts 430 through the lifting mechanism 320, and the conveyor belts 430 start to roll, and cooperate with the conveying section 402 to transport the full box 500 to the next processing link. The second robot 300 continues to move and leaves the driving space to perform the next task.

[0119] The material box transfer station 400 may also include an empty material box shelf, and the empty material box 500 on the empty material box shelf may be placed on the empty material box replenishment line 420 by a staff member or an automated device, such as a robot arm. The second robot 300 runs to the docking position 401 of the empty material box replenishment line 420, docks and receives the empty material box 500, and transports the empty material box 500 to the docking shelf 130.

[0120] When the second robot 300 docks with the docking position 401 of the empty box replenishment line 420 to receive the empty box 500, the second robot 300 moves to the docking position 401 of the empty box replenishment line 420. When the empty box 500 moves to the docking position 401 of the empty box replenishment line 420, the docking position 401 stops rolling, and the second robot 300 takes away the empty box 500 through the lifting mechanism 320. Thereafter, new empty boxes 500 are replenished to the empty box replenishment line 420 manually or automatically.

[0121] By applying the embodiment of the present application, the transfer of full bins 500 and the replenishment of empty bins 500 are completed through the second robot 300 and the bin transfer station 400, which improves the working efficiency of the sorting system compared to manual handling of full bins 500 and replenishment of empty bins 500.

[0122] Figure 1 In the first embodiment shown, as Figures 1 to 3 As shown, the sorting device 100 further includes: a lifting mechanism 140 and a supply platform 150 ; the sorting mechanism 110 includes: a guiding mechanism 111 and a shuttle sorting vehicle 112 .

[0123] The lifting mechanism 140 is disposed at both ends of the storage shelf 120 , and is used to drive the shuttle sorting vehicle 112 to move up and down along the height direction of the storage shelf 120 when the shuttle sorting vehicle 112 moves to one end of the storage shelf 120 .

[0124] The induction table 150 is disposed on one side or both sides of the lifting mechanism 140 and is connected to the lifting mechanism 140 .

[0125] The guide mechanism 111 is arranged between two rows of storage shelves 120, and includes multiple shuttle rails 1111 corresponding to the height of each storage layer 121. The shuttle rails 1111 are connected to the lifting mechanism 140 to allow the shuttle sorting vehicle 112 to move back and forth along the length direction of the storage shelf 120.

[0126] The shuttle sorting vehicle 112 is used to switch between shuttle rails 1111 at different heights through the lifting mechanism 140, so as to sort the goods to be sorted at the supply platform 150 into the material boxes 500 with material box openings 1211 at different heights, and to sort the goods to be sorted at the supply platform 150 into the material boxes 500 with different material box openings 1211 in the length direction through the guiding mechanism 111.

[0127] Specifically, the induction table 150 can be connected to the cargo conveying line, and the cargo conveying line can transport the cargo to be sorted to the induction table 150, or the staff can put the cargo to be sorted on the induction table 150 for the shuttle sorting vehicle 112 to pick up the cargo.

[0128] The sorting system also includes a control device, which is in communication with the shuttle sorting vehicle 112 . The control device can send instructions to control the shuttle sorting vehicle 112 to drop each to-be-sorted cargo into a corresponding material box 500 .

[0129] The control device is communicatively connected with the lifting mechanism 140, and the control device can send instructions so that the lifting mechanism 140 drives the shuttle sorting vehicle 112 to move along the height direction of the storage shelf 120 to the height of the storage layer 121 where the corresponding material box 500 is located. The shuttle sorting vehicle 112 continues to move along the shuttle guide rail 1111 at the storage layer 121 where the corresponding material box 500 is located to the corresponding material box 500, and drops the goods into the material box 500.

[0130] The above operations are continuously repeated. When a certain material box 500 on the storage shelf 120 is filled with goods, or the goods on the order bound to the material box 500 have been sorted, the material box 500 is regarded as a full material box 500. The control device is in communication connection with the first robot 200 and the second robot 300. The control device can send instructions so that the first robot 200 moves the full material box 500 on the storage shelf 120 to the docking shelf 130, the second robot 300 moves the full material box 500 on the docking shelf 130 to the material box transfer station 400, and then moves the empty material box 500 of the material box transfer station 400 to the empty position on the docking shelf 130. Finally, the first robot 200 moves the empty material box 500 on the docking shelf 130 to the empty material box grid 1211 on the storage shelf 120.

[0131] The number of first robots 200 and second robots 300 corresponding to each row of storage shelves 120 is at least one, and multiple first robots 200 can simultaneously move a full box 500 to the docking shelf 130 or move an empty box 500 to the empty box grid 1211; multiple second robots 300 can simultaneously move a full box 500 to the box transfer station 400 or move an empty box 500 to the docking shelf 130, which can improve the working efficiency of the sorting system.

[0132] By using the embodiment of the present application, the shuttle sorting vehicle 112 is moved in the height and length direction of the storage shelf 120 through the lifting mechanism 140 and the guide mechanism 111. The sorting mechanism 110 is arranged between two rows of storage shelves 120, which can save space and improve space utilization; the shuttle sorting vehicle 112 can take into account the order sorting of the upper material boxes 500 of the two rows of storage shelves 120 through the shuttle guide rail 1111, thereby improving the working efficiency of the sorting system.

[0133] As mentioned earlier, Figure 1 In the sorting system of the first embodiment shown, the docking racks 130 are arranged in two rows corresponding to the storage racks 120. In other embodiments of the sorting system, the docking racks 130 may be arranged in two rows corresponding to the side of each row of storage racks 120 away from the sorting mechanism 110, parallel to and spaced from the storage racks 120.

[0134] For details, see Figures 14 to 17 , Fig.14 A schematic diagram of the three-dimensional structure of a sorting system according to a second embodiment of the present application; Fig.15 for Fig.14 A schematic front view of the sorting system shown; Fig.16 for Fig.14 A schematic top view of the sorting system shown; Fig.17 for Fig.14 Schematic side view of the sorting system shown.

[0135] like Figures 14 to 17 As shown, the docking racks 130 are arranged in two rows corresponding to a side of each row of storage racks 120 away from the sorting mechanism 110 , and are parallel to and spaced from the storage racks 120 .

[0136] A third channel 800 is provided in the interval area between each row of docking racks 130 and the storage racks 120 , and a fourth channel 900 parallel to the third channel 800 is provided on the side of each row of docking racks 130 away from the storage racks 120 .

[0137] The third channel 800 and the fourth channel 900 extend from the storage rack 120 to the container transfer station 400;

[0138] The second robot 300 is configured as follows:

[0139] The unloaded second robot 300 travels along the third channel 800 to the docking rack 130, receives the full container 500 from the docking rack 130, and travels along the fourth channel 900 to transport the full container 500 to the container transfer station 400; or, the unloaded second robot 300 travels along the third channel 800 to the container transfer station 400, receives the empty container 500 from the container transfer station 400, and travels along the fourth channel 900 to transport the empty container 500 to the docking rack 130.

[0140] That is, the third channel 800 is used for the second robot 300 to travel when it is empty. The second robot 300 goes to the docking shelf 130 to receive a full material box 500 on the third channel 800, and can also go to the material box transfer station 400 to receive an empty material box 500.

[0141] The fourth channel 900 is for the second robot 300 to travel when fully loaded. On the fourth channel 900, the second robot 300 can go to the docking shelf 130 to place an empty material box 500, or go to the material box transfer station 400 to place a full material box 500.

[0142] Specifically, Fig.16 As shown, the second robot 300 moves the full container 500 on the docking rack 130 to the full container conveyor line 410 along the fourth channel 900 ; or moves the empty container 500 on the empty container replenishment line 420 to the docking rack 130 .

[0143] It should be noted that Fig.16 The black squares shown in the figure represent full material boxes 500, and the white squares represent empty material boxes 500. The two fourth channels 900 of the embodiment of the present application can pass through the second robot 300 carrying full material boxes 500, and can also pass through the second robot 300 carrying empty material boxes 500. Fig.16 Only one embodiment is shown, in which a second robot 300 carrying an empty container 500 is traveling on one fourth channel 900 , and a second robot 300 carrying a full container 500 is traveling on another fourth channel 900 .

[0144] The first robot 200 is arranged on the outer side of the storage shelf 120, that is, the first robot 200 is located between the storage shelf 120 and the docking shelf 130. The picking component 222 of the first robot 200 can be retracted in two directions, extending toward the storage shelf 120 to receive a full box 500 or place an empty box 500, and extending toward the docking shelf 130 to place a full box 500 or receive an empty box 500.

[0145] The directions of the third channel 800 and the fourth channel 900 are arranged according to the position of the material box transfer station 400 relative to the sorting device 100, such as Fig.16 As shown, the material box transfer station 400 is arranged at one end of the sorting device 100, and the directions of the third channel 800 and the fourth channel 900 are parallel to the long side direction of the storage shelf 120, extending from the end of the storage shelf 120 away from the material box transfer station 400 to the material box transfer station 400. The third channel 800 and the fourth channel 900 can be joined together at one end close to the material box transfer station 400, and extend to the material box transfer station 400 together.

[0146] like Figures 14 to 16As shown, the motion process of the unloaded second robot 300 is as follows:

[0147] The unloaded second robot 300 can pass under the first robot 200 along the third channel 800, enter the temporary storage bin 131 from the side of the temporary storage bin 131 close to the third channel 800, lift the full material box 500, drive into the fourth channel 900 along the through slot 1311 and go to the full material box conveyor line 410;

[0148] Alternatively, the unloaded second robot 300 can go along the third channel 800 to the empty material box replenishment line 420 to pick up the empty material box 500.

[0149] The movement process of the second robot 300 carrying the material box 500 is as follows:

[0150] The second robot 300 carrying the empty material box 500 drives along the fourth channel 900, drives into the temporary storage position 131 and puts down the empty material box 500, then drives into the third channel 800 along the through slot 1311, and then drives into other temporary storage positions 131 with full material boxes 500 along the third channel 800 to receive the full material boxes 500, and finally goes to the full material box conveyor line 410 along the fourth channel 900;

[0151] Alternatively, the second robot 300 carrying the empty box 500 travels along the fourth channel 900 , enters the temporary storage location 131 and puts down the empty box 500 , then travels along the through slot 1311 into the third channel 800 and goes to the standby area or the empty box replenishment line 420 .

[0152] The second robot 300 carrying the full box 500 travels along the fourth channel 900 and goes to the full box conveyor line 410 to place the full box 500. Then, it can go to the standby area, or go to the empty box replenishment line 420 to pick up an empty box, or go along the third channel 800 to the docking shelf 130 to pick up a full box 500.

[0153] By using the embodiment of the present application, the docking racks 130 are arranged in two rows corresponding to the side of each row of storage racks 120 away from the sorting mechanism 110, so that more material box openings 1211 can be arranged on the storage racks 120, thereby improving the sorting capacity of the sorting device 100. The driving route of the second robot 300 is divided into a third channel 800 and a fourth channel 900, which are respectively provided for the unloaded second robot 300 and the second robot 300 loaded with material boxes 500 to travel, thereby improving the handling efficiency of the second robot 300. The first robot 200 and the unloaded second robot 300 both move between the storage racks 120 and the docking racks 130 without interfering with each other, which not only saves the deployment area of ​​the sorting device 100 and improves the space utilization, but also avoids the scene where the first robot 200 and the second robot 300 need to avoid each other.

[0154] in addition, Fig.14 In the second embodiment shown in FIG. 1 , the structure of the sorting mechanism 110 in the sorting device 100, the structure and installation method of the first robot 200, the structure of the second robot 300 and the structure of the material box transfer station 400 can be the same as Figure 1 The sorting mechanism 110, the first robot 200, the second robot 300 and the material box transfer station 400 in the first embodiment shown are completely identical and will not be described in detail here.

[0155] That is to say, Fig.14 The second embodiment shown is Figure 1 The first embodiment shown mainly differs in the storage rack 120, the docking rack 130 and the driving route of the second robot 300, and the other settings can be consistent.

[0156] In practical applications, no matter the first embodiment or the second embodiment, or the modified solutions of the above two embodiments are adopted, the first robot 200 can pick up and place the material box 500 between the storage shelf 120 and the docking shelf 130, and the second robot 300 can pick up and place the material box 500 between the docking shelf 130 and the material box transfer station 400, so as to realize the automatic replacement of the material box 500 of the sorting system, which improves the sorting efficiency and sorting accuracy compared with the manual box replacement method. In addition, the first robot 200 replaces the manual box replacement, which can make the height of the storage shelf 120 exceed the height limit of the staff, expand the number of material box grids 1211 that can be configured on the storage shelf 120, and improve the sorting capacity and space utilization of the sorting system.

[0157] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A sorting system, characterized in that: include: A sorting device (100), a first robot (200) and a second robot (300); The sorting device (100) comprises: a sorting mechanism (110), a storage shelf (120) and a docking shelf (130); The storage shelves (120) are arranged in two rows, and include a plurality of storage layers (121); each storage layer (121) includes a plurality of material box openings (1211), and each material box opening (1211) is used to store a material box (500) to be loaded; The docking rack (130) is arranged adjacent to the storage rack (120) and is used to temporarily store full boxes (500) or empty boxes (500) to be replenished; The sorting mechanism (110) is disposed between two rows of storage shelves (120), and is configured to receive goods to be sorted and transport the goods to be sorted to a material box (500) of the storage shelf (120); The first robot (200) is configured to pick up and place full boxes (500) or empty boxes (500) between the storage shelf (120) and the docking shelf (130); The second robot (300) is configured to pick up and place full boxes (500) or empty boxes (500) between the docking rack (130) and the box transfer station (400).

2. The sorting system according to claim 1, characterized in that: The storage shelf (120) comprises: a plurality of beams (122) arranged at intervals in a vertical direction; so that the first robot (200) is installed on the outside of the storage shelf (120) based on the beams (122).

3. The sorting system according to claim 2, characterized in that: The first robot (200) comprises: a column gantry (210), a transport mechanism (220) and at least one sliding guide rail (230); The upright door frame (210) is installed along the vertical direction of the storage shelf (120); The transport mechanism (220) is arranged on the column door frame (210) and is used to take and place material boxes (500) of different heights on the storage shelf (120); The at least one sliding guide rail (230) is fixedly mounted on the crossbeam (122); the column door frame (210) is slidably connected to the at least one sliding guide rail (230), so that the column door frame (210) and the transport mechanism (220) slide horizontally along the crossbeam (122) to take and place different material boxes (500) in the length direction of the storage shelf (120); The first robot (200) is configured to move a full box (500) on a storage shelf (120) to a docking shelf (130), or to move an empty box (500) on a docking shelf (130) to a storage shelf (120).

4. The sorting system according to claim 3, characterized in that: The transport mechanism (220) comprises: a lifting component (221) and a picking component (222); The lifting assembly (221) is disposed on the upright mast (210) and is configured to drive the picking assembly (222) to move in a vertical direction; The picking component (222) is installed on the lifting component (221) and is configured to extend from the column door frame (210) to pick up and place the material box (500) on the storage shelf (120) or the docking shelf (130).

5. The sorting system according to claim 1, characterized in that: The docking rack (130) is a single-layer rack, arranged along the length direction of the storage rack (120); a plurality of temporary storage locations (131) are provided on the docking rack (130), and each temporary storage location (131) is used to temporarily store a full material box (500) or an empty material box (500).

6. The sorting system according to claim 5, characterized in that: A through slot (1311) is provided at the bottom of each temporary storage location (131) so that the second robot (300) can pick up and place the material box (500) on the temporary storage location (131) based on the through slot (1311).

7. The sorting system according to claim 6, characterized in that: The second robot (300) comprises a moving chassis (310) and a lifting mechanism (320); the lifting mechanism (320) is arranged on the top of the moving chassis (310); The lifting mechanism (320) is configured to move under the drive of the moving chassis (310) and pass through the through slot (1311) in a vertical direction to lift or place the material box (500).

8. The sorting system according to claim 1 or 5, characterized in that: The docking shelves (130) are arranged in two rows corresponding to the lower side of the storage shelves (120); A first channel (600) and a second channel (700) are provided in parallel and spaced apart on a side of each row of the storage shelves (120) away from the sorting mechanism (110); The first channel (600) is closer to the storage shelf (120) than the second channel (700); The first channel (600) and the second channel (700) extend from the storage shelf (120) to the container transfer station (400); The second robot (300) is configured as follows: the unloaded second robot (300) travels along the first channel (600) to the docking shelf (130), receives a full material box (500) from the docking shelf (130), and travels along the second channel (700) to transport the full material box (500) to the material box transfer station (400); or, the unloaded second robot (300) travels along the first channel (600) to the material box transfer station (400), receives an empty material box (500) from the material box transfer station (400), and travels along the second channel (700) to transport the empty material box (500) to the docking shelf (130).

9. The sorting system according to claim 1 or 5, characterized in that: The docking shelves (130) are arranged in two rows, corresponding to a side of each row of the storage shelves (120) away from the sorting mechanism (110), and are parallel to and spaced from the storage shelves (120); A third passage (800) is provided in the interval area between each row of the docking racks (130) and the storage racks (120), and a fourth passage (900) parallel to the third passage (800) is provided on a side of each row of the docking racks (130) away from the storage racks (120); The third channel (800) and the fourth channel (900) extend from the storage shelf (120) to the container transfer station (400); The second robot (300) is configured as follows: The unloaded second robot (300) travels along the third channel (800) to the docking shelf (130), receives a full container (500) from the docking shelf (130), and travels along the fourth channel (900) to transport the full container (500) to the container transfer station (400); or, the unloaded second robot (300) travels along the third channel (800) to the container transfer station (400), receives an empty container (500) from the container transfer station (400), and travels along the fourth channel (900) to transport the empty container (500) to the docking shelf (130).

10. The sorting system according to claim 1, characterized in that: The material box transfer station (400) includes a full material box conveying line (410) and an empty material box replenishing line (420); The second robot (300) is configured to: move a full container (500) on the docking rack (130) to the full container conveyor line (410); or move an empty container (500) on the empty container replenishment line (420) to the docking rack (130).

11. The sorting system according to claim 1, characterized in that: The sorting device (100) further comprises: a lifting mechanism (140) and a supply platform (150); the sorting mechanism (110) comprises: a guiding mechanism (111) and a shuttle sorting vehicle (112); The lifting mechanism (140) is arranged at both ends of the storage shelf (120) and is used to drive the shuttle sorting vehicle (112) to move up and down along the height direction of the storage shelf (120) when the shuttle sorting vehicle (112) moves to one end of the storage shelf (120); The induction table (150) is arranged on one side or both sides of the lifting mechanism (140) and is connected to the lifting mechanism (140); The guide mechanism (111) is arranged between two rows of storage shelves (120), and comprises a plurality of shuttle rails (1111) corresponding to the height of each storage layer (121); the shuttle rails (1111) are connected to the lifting mechanism (140) to allow the shuttle sorting vehicle (112) to move back and forth along the length direction of the storage shelves (120); The shuttle sorting vehicle (112) is used to switch between shuttle guide rails (1111) of different heights through the lifting mechanism (140) to sort the goods to be sorted at the supply platform (150) into material boxes (500) with material box openings (1211) of different heights, and to sort the goods to be sorted at the supply platform (150) into material boxes (500) with different material box openings (1211) in the length direction through the guiding mechanism (111).

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