A delivery mechanism, a sorting apparatus and a sorting system

Abstract

The disclosure provides a delivery mechanism, a sorting device and a sorting system. The delivery mechanism comprises: a first driving member; a first transmission assembly comprising a moving member and a turnover member, the moving member being connected with the first driving member to move along a first preset direction under the driving of the first driving member, the moving member having a first engaging portion, the turnover member having a second engaging portion, the second engaging portion being configured to drive the turnover member to turn around a first axis extending in a second preset direction when the moving member moves to the first engaging portion and the second engaging portion are engaged, the first preset direction and the second preset direction forming a first preset angle; and a carrying member connected with the turnover member, the carrying member being configured to receive, carry and / or deliver a target article; wherein the turnover member is configured to drive the carrying member to turn around the first axis extending in the second preset direction when the moving member moves to the first engaging portion and the second engaging portion are engaged, so as to deliver the target article.

Description

Technical Field

[0001] This disclosure belongs to the field of warehousing and logistics equipment technology, and particularly relates to a delivery mechanism, sorting equipment and sorting system. Background Technology

[0002] In a warehousing system, workstations, such as picking workstations, retrieve goods from order orders and transport them via a parcel feeder to an automated sorting machine or sorting robot. The automated sorting machine or sorting robot then uses a delivery mechanism to deliver the goods into containers, completing the sorting process. The delivery mechanism is used frequently, therefore its reliability is crucial.

[0003] In related technologies, the delivery mechanism of a three-dimensional sorting machine or sorting robot is usually a belt structure. In this way, during delivery, the delivery mechanism uses a horizontal belt transmission method to deliver the goods on the belt into the turnover box.

[0004] However, the aforementioned delivery agencies have problems with long delivery times and inconsistent delivery locations. Utility Model Content

[0005] This disclosure provides a delivery mechanism, sorting equipment, and sorting system that shortens delivery time and ensures fixed delivery points.

[0006] According to a first aspect of the present disclosure, a delivery mechanism is provided, comprising: a first driving member; a first transmission assembly including a moving member and a flipping member, the moving member being connected to the first driving member to move along a first preset direction under the drive of the first driving member, the moving member having a first engaging portion, the flipping member having a second engaging portion, the second engaging portion being configured to, when the moving member moves to the point where the first engaging portion engages with the second engaging portion, cause the flipping member to flip about a first axis extending in a second preset direction, the first preset direction and the second preset direction forming a first preset angle; and a carrying member connected to the flipping member, the carrying member being configured to receive a target item, carry a target item, and / or deliver a target item; wherein, the flipping member is configured to, when the moving member moves to the point where the first engaging portion engages with the second engaging portion, cause the carrying member to flip about a first axis extending in the second preset direction to receive or deliver the target item.

[0007] According to a second aspect provided in this disclosure, a sorting device is provided, comprising: the aforementioned delivery mechanism, wherein a movable member of the delivery mechanism moves along a first preset direction to switch between an engaged state and a disengaged state between a first engaging portion of the movable member and a second engaging portion of a flipping member; and a motion mechanism connected to the delivery mechanism, the motion mechanism being configured to drive the delivery mechanism to a position docking with a target container; the delivery mechanism is configured to receive or carry a target item via a carrier when the first engaging portion and the second engaging portion are in the disengaged state; or, the delivery mechanism is configured to, when the first engaging portion and the second engaging portion are in the engaged state, drive the carrier to flip around a first axis extending in a second preset direction via the flipping member to deliver the received target item to the target container, wherein the first preset direction and the second preset direction form a first preset angle.

[0008] According to a third aspect provided in the embodiments of this disclosure, a sorting system is provided, comprising: the aforementioned sorting device, configured to receive a target item and transport the target item to a position docking with a target container; and a target container, configured to receive the target item; wherein a movable member of the sorting device moves along a first preset direction to switch between an engaged state and a disengaged state between a first engaging portion of the movable member and a second engaging portion of a flipping member, the sorting device being configured to receive or carry the target item via a carrier when the first engaging portion and the second engaging portion are disengaged, and to transport the carried target item to a position docking with the target container via a motion mechanism; and / or, wherein when the first engaging portion and the second engaging portion are engaged, the sorting device is configured to drive the carrier to flip around a first axis extending in a second preset direction via the flipping member to deliver the received target item to the target container, wherein the first preset direction and the second preset direction form a first preset angle.

[0009] This disclosure provides a delivery mechanism, sorting equipment, and sorting system. The delivery mechanism includes a first driving member, a first transmission assembly, and a carrying member. The first transmission assembly includes a moving member and a flipping member. The moving member is connected to the first driving member and has a first engaging portion. The flipping member has a second engaging portion. The carrying member is connected to the flipping member. When the first driving member operates, it drives the moving member to move, causing the first engaging portion on the moving member to engage with the second engaging portion on the flipping member. This causes the flipping member to flip, thereby flipping the carrying member and delivering the target item onto the carrying member into the target container. In other words, this disclosure's delivery mechanism uses a flipping method to deliver the target item, which shortens the delivery time and improves sorting efficiency compared to belt conveyor. Furthermore, the flipping delivery method ensures consistent delivery points for the target item, allowing it to be stably delivered into the target container and ensuring controllable delivery positions, thus improving the sorting effect of the sorting equipment. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0011] Figure 1 This is a schematic diagram of the delivery mechanism provided in an embodiment of this disclosure;

[0012] Figure 2 This is a schematic diagram of the first structure of the rotating component in the delivery mechanism provided in this embodiment of the disclosure;

[0013] Figure 3 This is a schematic diagram of a second structure of the rotating component in the delivery mechanism provided in this embodiment of the disclosure;

[0014] Figure 4 This is a schematic diagram of a third structure of the rotating component in the delivery mechanism provided in this embodiment of the disclosure;

[0015] Figure 5 This is a schematic diagram of a first structure of a sorting system provided in an embodiment of the present disclosure, wherein a first sorting device is shown;

[0016] Figure 6 This is a schematic diagram of a second structure of the sorting system provided in the embodiments of this disclosure, showing a first sorting device and a second sorting device;

[0017] Figure 7 This is a schematic diagram of a first structure of the second sorting device provided in the embodiments of this disclosure;

[0018] Figure 8This is a schematic diagram of a second structure of the second sorting device provided in the embodiments of this disclosure.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1-Delivery mechanism; 11-First driving component;

[0021] 12-First transmission assembly; 121-Moving component; 1211-First engaging part; 1211a-First sub-engaging part; 1211b-Second sub-engaging part;

[0022] 123-Flipping component; 1231-First flipping component; 1232-Second flipping component; 123a-Second engaging part;

[0023] 125 - First connecting piece; 126 - Drive shaft;

[0024] 13-Loading component; 14-Base; 141-Mounting part; 1411-First mounting part; 1412-Second mounting part;

[0025] 15-Rotating assembly; 151-Second driving component; 152-Second connecting component; 153-Second transmission assembly;

[0026] 2-Motion mechanism; 21-Chassis; 22-Lifting assembly; 23-Frame; 24-Motion components;

[0027] 3-Target container;

[0028] 4-Sorting equipment; 41-First sorting equipment; 411-Buffer mechanism; 42-Second sorting equipment;

[0029] 5 - Vehicle; 51 - Target cargo location;

[0030] 6. Platform Structure. Detailed Implementation

[0031] To facilitate the explanation of the technical solution of the application, some concepts involved in this disclosure will be explained first.

[0032] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0033] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this disclosure. However, this disclosure may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this disclosure is not limited to the specific embodiments disclosed below.

[0034] In the description of this disclosure, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. In this disclosure, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0035] In this disclosure, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this disclosure can be understood according to the specific circumstances.

[0036] In this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0037] In related technologies, the delivery mechanism 1 includes a belt structure. During sorting, the delivery mechanism 1 uses a horizontal belt conveyor to deliver the target items on the belt to a designated location. The designated location can be the target container 3 mentioned below, or a suitable location for placing the target items, such as a certain area on the ground or a table. This disclosure does not limit the specific location; the choice can be made flexibly according to the actual situation. Furthermore, the target items can include, but are not limited to, the goods themselves, goods with packaging boxes, or packages containing goods.

[0038] For example, after the target item is transferred to the receiving position of the belt structure, in order to improve delivery efficiency, the belt in the belt structure can accelerate horizontal movement, which will accelerate the transport of the target item at the receiving position to the designated position. When the target item at the receiving position reaches the end of the belt structure, the target item can move to the designated position under the action of inertia.

[0039] In the aforementioned delivery process, the belt structure needs to move the target item to its end, and then, under the influence of inertia, move it to the designated position, resulting in a relatively long delivery time. Furthermore, because the receiving position (relative to the belt's starting point) and receiving time (relative to the belt's cycle time) of the target item vary each time, the acceleration process, trajectory, and attitude of the target item on the belt differ. This causes variations in the target item's motion state (velocity vector, angular velocity, etc.) upon leaving the belt end, resulting in different parabolic trajectories in the air and consequently, different landing points. In other words, the landing point is uncontrollable, affecting delivery effectiveness. For example, the target item might land at the edge of the designated location, leading to poor delivery, or it might even land outside the designated location, resulting in delivery failure.

[0040] This disclosure provides a delivery mechanism 1, which includes a first driving member 11 and a first transmission assembly 12. The first transmission assembly 12 includes a moving member 121 and a flipping member 123. The first driving member 11 drives the moving member 121 to move, which in turn drives the flipping member 123 to flip. The carrying member 13 is connected to the flipping member 123, thus causing the carrying member 13 to flip and deliver the target item on the carrying member 13 to the designated location. That is, the delivery mechanism 1 of this disclosure uses a flipping method to deliver the target item. Compared with the belt conveyor method, this shortens the delivery time and improves the sorting efficiency. In addition, the flipping delivery method can ensure the consistency of the delivery point of the target item, so that the target item can be stably delivered to the designated location, ensuring the controllability of the delivery position, thereby improving the sorting effect of the sorting equipment 4.

[0041] The structure of the delivery mechanism 1 provided in the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0042] This disclosure provides a delivery organization 1, with reference to... Figure 1 As shown, the delivery mechanism 1 includes a first driving member 11 and a first transmission assembly 12. The first transmission assembly 12 includes a moving member 121 and a tilting member 123. The moving member 121 is connected to the first driving member 11 so that it moves along a first preset direction (reference) under the drive of the first driving member 11. Figure 1The moving member 121 has a first engaging portion 1211, and the flipping member 123 has a second engaging portion 123a. The second engaging portion 123a is configured to drive the flipping member 123 to rotate around a second preset direction (refer to the x-direction) when the moving member 121 moves to the point where the first engaging portion 1211 engages with the second engaging portion 123a. Figure 1 The first axis extending in the y direction is flipped, and the first preset direction and the second preset direction are at a first preset angle.

[0043] The delivery mechanism 1 also includes a carrying component 13, which may be a flap. The carrying component 13 is connected to a flipping component 123 and is configured to receive, carry, and / or deliver a target item. The flipping component 123 is configured to flip the carrying component 13 around a first axis extending in a second preset direction when the moving component 121 moves to engage with the first engaging part 1211 and the second engaging part 123a, so as to deliver the target item.

[0044] Through the above technical solution, when the delivery mechanism 1 of this disclosure is working, the first driving member 11 will drive the moving member 121 to move along the first preset direction, so that the first engaging part 1211 on the moving member 121 engages with the second engaging part 123a on the flipping member 123. In this way, as the moving member 121 continues to move, the first engaging part 1211 will drive the second engaging part 123a to flip around the first axis extending in the second preset direction, thereby driving the flipping member 123 to flip around the first axis extending in the second preset direction, so that the carrier 13 connected to the flipping member 123 will flip around the first axis extending in the second preset direction. In this way, the carrier 13 can deliver the received target item to the designated location through the flipping action.

[0045] In the above process, delivery mechanism 1 uses a flipping method for delivery. In this case, since flipping delivery is an "active throw," it is an active and rapid action, while belt transmission is a "waiting to slide down," which is a passive process that relies on friction. Therefore, compared with delivery via belt transmission, delivery via flipping takes less time. At the same time, since the delivery parameters of flipping delivery (such as flipping speed and angle) are fixed, the flight trajectory of the target item is controllable and consistent. In contrast, the landing point of belt transmission is greatly affected by the receiving position of the target item (relative to the belt starting point) and the receiving time (relative to the belt's running cycle), resulting in scattered landing points. Therefore, compared with delivery via belt transmission, the landing point of delivery via flipping is fixed.

[0046] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1As shown, the first engaging part 1211 and the second engaging part 123a include an engaged state and a disengaged state, in which the carrier 13 has different functions. Specifically, in the delivery mechanism 1 of this disclosure, the relationship between the function of the carrier 13 and the state of the two engaging parts can be implemented in the following ways:

[0047] In the first implementation, when the carrier 13 receives the target item, the first drive member 11 controls the first engaging part 1211 and the second engaging part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby placing the carrier 13 in a horizontal state, which is beneficial for the carrier 13 to receive the target item. In this case, the delivery mechanism 1 of this disclosure can ensure the reliability of the receiving process.

[0048] In the second implementation, when the carrier 13 carries the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby making the carrier 13 in a horizontal state, which is conducive to the carrier 13 carrying the target item. In this case, the delivery mechanism 1 of this disclosure can ensure the reliability of the carrying process.

[0049] In the third implementation, when the carrier 13 receives and carries the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby making the carrier 13 in a horizontal state, which is conducive to the carrier 13 receiving and carrying the target item. In this case, the delivery mechanism 1 of this disclosure can simultaneously take into account the reliability of the receiving and carrying process.

[0050] In the fourth implementation, when the carrier 13 delivers the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to be engaged, so that the flipping member 123 is in a flipped state, thereby making the carrier 13 in a flipped state, which is conducive to the carrier 13 delivering the target item. In this case, the delivery mechanism 1 of this disclosure can ensure the reliability of power transmission during the delivery process.

[0051] In the fifth implementation, when the carrier 13 receives the target item, the first drive member 11 controls the first engaging part 1211 and the second engaging part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby placing the carrier 13 in a horizontal state, which is beneficial for the carrier 13 to receive the target item; and when the carrier 13 delivers the target item, the first drive member 11 controls the first engaging part 1211 and the second engaging part 123a to be in an engaged state, so that the flipping member 123 is in a flipped state, thereby placing the carrier 13 in a flipped state, which is beneficial for the carrier 13 to deliver the target item. In this case, the delivery mechanism 1 of this disclosure has both reliability during reception and reliability of power transmission during delivery.

[0052] In the sixth implementation, when the carrier 13 carries the target item, the first drive member 11 controls the first engaging part 1211 and the second engaging part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby making the carrier 13 horizontal, which is beneficial for the carrier 13 to carry the target item; and when the carrier 13 delivers the target item, the first drive member 11 controls the first engaging part 1211 and the second engaging part 123a to be in an engaged state, so that the flipping member 123 is in a flipped state, thereby making the carrier 13 flipped, which is beneficial for the carrier 13 to deliver the target item. In this case, the delivery mechanism 1 of this disclosure has both the reliability of the carrying process and the reliability of the power transmission during the delivery process.

[0053] In the seventh implementation, when the carrier 13 receives and carries the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to be in a disengaged state, so that the flipping member 123 is in a horizontal state, thereby making the carrier 13 in a horizontal state, which is conducive to the carrier 13 receiving and carrying the target item; and when the carrier 13 delivers the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to be in an engaged state, so that the flipping member 123 is in a flipped state, thereby making the carrier 13 in a flipped state, which is conducive to the carrier 13 delivering the target item. In this case, the delivery mechanism 1 of this disclosure has both the reliability of the receiving and carrying process and the reliability of the power transmission during the delivery process.

[0054] It should be noted that the relationship between the state of the delivery mechanism 13 and the two engaging parts provided in this disclosure is not limited to the seven implementation methods listed above, and any other suitable method can also be adopted. The above seven implementation methods are some examples given to illustrate the relationship between the state of the delivery mechanism 13 and the two engaging parts, so as to facilitate understanding of the technical solution of this disclosure. Therefore, they should not be construed as limitations on this disclosure.

[0055] Through the above technical solution, this disclosure utilizes the switching between the two states of the first engaging part 1211 and the second engaging part 123a to efficiently realize the two functions of receiving (or carrying) and delivering, which have completely different motion characteristics, in the same mechanism. Therefore, the delivery mechanism 1 provided by this disclosure simplifies the overall structure and improves delivery efficiency. Specifically, when the carrier 13 performs the function of receiving or carrying the target item, the first driving member 11 controls the first engaging part 1211 and the second engaging part 123a to be in a separated state. In this state, there is no transmission connection between the first engaging part 1211 and the second engaging part 123a, thereby providing an unobstructed passage for the smooth entry of the target item and preventing interference that may be caused by the engagement of the first engaging part 1211 and the second engaging part 123a. When the carrier 13 performs the function of delivering the target item, the first drive member 11 controls the first engagement part 1211 and the second engagement part 123a to switch to the engagement state. In this state, a transmission connection is formed between the first engagement part 1211 and the second engagement part 123a. This ensures that the entire transmission chain is stable and synchronized at the moment of delivery, avoiding energy loss or action delay, and ensuring delivery efficiency and delivery direction accuracy.

[0056] It should be noted that in the delivery mechanism of this disclosure, during the movement of the moving member 121 to cause the first engaging part 1211 to drive the flipping member 123 to flip via the second engaging part 123a, the flipping angle of the flipping member 123 is related not only to the moving distance of the first engaging part 1211, but also to the rotation angle of the second engaging part 123a. For example, refer to... Figure 1 As shown, when the first engaging part 1211 and the second engaging part 123a are engaged, as the moving member 121 moves along the first preset direction (reference...) Figure 1 As the distance moved in the x-direction (as shown in the figure) towards the left (or right) increases, the first engaging part 1211 on the moving part 121 will move further and further in the first preset direction towards the left (or right) of the figure. This will cause the second engaging part 123a to drive the flipping part 123 to rotate at a greater and greater angle along the first axis extending in the second preset direction. As a result, the flipping angle of the carrying part 13 will increase, making the delivery of the target item smoother.

[0057] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1As shown, when there is an engagement state and a disengagement state between the first engagement portion 1211 and the second engagement portion 123a, and the engagement state and the disengagement state are switchable, the first engagement portion 1211 and the second engagement portion 123a are configured to switch between the engagement state and the disengagement state by moving the moving member 121 along a first preset direction; when the first engagement portion 1211 and the second engagement portion 123a are in the engagement state, the carrier 13 flips to deliver the target item located on the carrier 13; When the first engaging part 1211 and the second engaging part 123a are in a separated state, the loading member 13 is reset to receive and / or carry the target item. With this setting, the moving member 121 can be controlled to move to the corresponding position along the first preset direction according to the current usage needs, so as to adjust the first engaging part 1211 and the second engaging part 123a to be in an engaged state or a separated state, thereby causing the flipping member 123 to flip or reset, so that the loading member 13 connected to the flipping member 123 flips to deliver the target item or resets to receive or carry the target item.

[0058] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1 As shown, the first engaging portion 1211 includes a first sub-engaging portion 1211a and a second sub-engaging portion 1211b, which are arranged along a first predetermined direction (reference). Figure 1 The rotating members 123 are arranged at intervals in the x-direction, and include a first rotating member 1231 and a second rotating member 1232. The first rotating member 1231 and the second rotating member 1232 are arranged along a third preset direction (reference). Figure 1 The moving member 121 is configured to switch between a first position and a second position under the drive of the first driving member 11. The first position and the second position are spaced apart along a first preset direction. In the first position, the first sub-engaging part 1211a engages with the second engaging part 123a of the first flipping member 1231, and the first flipping member 1231 drives the carrying member 13 to flip forward around the first sub-axis extending in the second preset direction. In the second position, the second sub-engaging part 1211b engages with the second engaging part 123a of the second flipping member 1232, and the second flipping member 1232 drives the carrying member 13 to flip backward around the second sub-axis extending in the second preset direction. The third preset direction forms a second preset angle with the first preset direction, and the first sub-axis is parallel to the second sub-axis.

[0059] The above technical solution enables bidirectional delivery by delivery mechanism 1, thus making its application scenarios more extensive and flexible. For example, refer to... Figure 1As shown, when the delivery mechanism 1 is working, if the designated position is located to the left in the x-direction shown in the figure, the moving member 121 can be moved to the first position (i.e., the position shown in the figure) by the first driving member 11. In this case, the first sub-engaging part 1211a on the moving member 121 engages with the second engaging part 123a on the first flipping member 1231, while the second sub-engaging part 1211b on the moving member 121 disengages from the second engaging part 123a on the second flipping member 1232. At this time, the first sub-engaging part 1211a drives the first flipping member 1231 to flip towards the designated position through the second engaging part 123a on the first flipping member 1231, thereby driving the carrier 13 connected to the first flipping member 1231 to flip towards the designated position, so as to deliver the target item carried by the carrier 13 to the designated position. The designated position is set on the side of the delivery mechanism 1 closest to the first sub-engaging part 1211a, that is, the designated position is set on the side of the delivery mechanism 1 closest to the first sub-engaging part 1211a. Figure 1 The left side of delivery unit 1 shown.

[0060] Conversely, when the designated position is located to the right in the x direction shown in the figure, the moving member 121 moves to the second position (not shown in the figure). At this time, the first sub-engaging part 1211a on the moving member 121 separates from the second engaging part 123a of the first flipping member 1231, while the second sub-engaging part 1211b on the moving member 121 engages with the second engaging part 123a on the second flipping member 1232. The second sub-engaging part 1211b drives the second flipping member 1232 to flip toward the designated position through the second engaging part 123a on the second flipping member 1232, thereby driving the carrier 13 connected to the second flipping member 1232 to flip toward the designated position, so as to deliver the target item carried by the carrier 13 to the designated position. The designated position is set on the side of the delivery mechanism 1 near the second sub-engaging part 1211b.

[0061] It should be noted that, in the above embodiments, references Figure 1As shown, when the first sub-engaging part 1211a of the moving member 121 engages with the second engaging part 123a of the first flipping member 1231, the second sub-engaging part 1211b of the moving member 121 separates from the second engaging part 123a of the second flipping member 1232. At this time, the moving member 121 drives the first flipping member 1231 to rotate in the forward direction around the first sub-axis extending in the second preset direction through the first sub-engaging part 1211a, and at the same time drives the second flipping member 1232 connected to the carrying member 13 to rotate in the forward direction around the first sub-axis extending in the second preset direction, so as to deliver the target item to the designated position. At this time, the designated position is located on one side of the delivery mechanism 1 and close to the first sub-engaging part 1211a of the moving member 121. Similarly, when the second sub-engaging part 1211b of the moving member 121 engages with the second engaging part 123a of the second flipping member 1232 (not shown in the figure), the first sub-engaging part 1211a of the moving member 121 separates from the second engaging part 123a of the first flipping member 1231. At this time, the moving member 121 drives the second flipping member 1232 to flip in the opposite direction around the second sub-axis extending in the second preset direction through the second sub-engaging part 1211b, and at the same time drives the first flipping member 1231 connected to the carrying member 13 to flip in the opposite direction around the second sub-axis extending in the second preset direction, so as to deliver the target item to the designated position. At this time, the designated position is located on one side of the delivery mechanism 1 and close to the second sub-engaging part 1211b of the moving member 121.

[0062] It should also be noted that the reference Figure 1 As shown, when the moving member 121 moves to engage with the second engaging part 123a of the first sub-engaging part 1211a and the second engaging part 123a of the first flipping member 1231, or when the moving member 121 moves to engage with the second engaging part 123a of the second flipping member 1232, the third preset direction represented by w is different from the first preset direction represented by x. At this time, the second preset angle is greater than zero and less than or equal to 90°, and the third preset angle is equal to 90°. The carrying member 13 is used to deliver the target item. For example, the second preset angle can be 5°, 30°, 60° or 90°, or any suitable value between 0° (excluding the number itself) and 90°. This disclosure does not limit this, and the specific value can be flexibly selected according to the actual situation. When the moving member 121 moves to the point where the first sub-engaging part 1211a separates from the second engaging part 123a of the first flipping member 1231 (not shown in the figure), and the second sub-engaging part 1211b separates from the second engaging part 123a of the second flipping member 1232 (not shown in the figure), the third preset direction represented by w is the same as the first preset direction represented by x. At this time, the second preset angle is equal to zero, and the third preset angle is equal to 90°. The carrying member 13 is used to receive the target item or carry the target item.

[0063] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1 As shown, the moving member 121 may include a rack that extends along a first preset direction and has a first engagement portion 1211, that is, the meshing teeth of the rack serve as the first engagement portion 1211. The flipping member 123 may include a gear that has a second engagement portion 123a, that is, the meshing teeth of the gear serve as the second engagement portion 123a. The gear is configured to drive the carrying member 13 to flip around a first axis extending in a second preset direction when the rack moves to engage with the first engagement portion 1211 and the second engagement portion 123a, so as to deliver the target item.

[0064] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1 As shown, the gear may include a first gear and a second gear, and the rack may include a first tooth segment and a second tooth segment. The first tooth segment is the first sub-meshing part 1211a of the first meshing part 1211, which meshes with the first gear. The second tooth segment is the second sub-meshing part 1211b of the first meshing part 1211, which meshes with the second gear. Thus, when the rack moves to the point where the first tooth segment meshes with the first gear, the first tooth segment drives the first gear to rotate toward the side of the delivery mechanism 1 closest to the first tooth segment, thereby driving the load connected to the first gear. 13 is flipped toward this side to deliver the target item carried on the carrier 13 to a designated position, wherein the designated position is located on one side of the delivery mechanism 1 and close to the first tooth segment; and when the rack moves to the second tooth segment and meshes with the second gear, the second tooth segment drives the second gear to flip toward the side of the delivery mechanism 1 close to the second tooth segment, thereby driving the carrier 13 connected to the second gear to flip toward this side to deliver the target item carried on the carrier 13 to a designated position, wherein the designated position is located on one side of the delivery mechanism 1 and close to the second tooth segment.

[0065] It should be noted that, in the above embodiments, references Figure 1 As shown, when the rack moves to the point where the first tooth segment meshes with the first gear, the second tooth segment on the rack will disengage from the second gear. Therefore, while the first tooth segment drives the object 13 to rotate in the forward direction around the first sub-axis extending in the second preset direction via the first gear, it will also drive the second gear connected to the object 13 to rotate in the forward direction around the first sub-axis extending in the second preset direction simultaneously. Similarly, when the rack moves to the point where the second tooth segment meshes with the second gear (not shown in the figure), the first tooth segment on the rack will disengage from the first gear. Therefore, while the second tooth segment drives the object 13 to rotate in the reverse direction around the second sub-axis extending in the second preset direction via the second gear, it will also drive the first gear connected to the object 13 to rotate in the reverse direction around the second sub-axis extending in the second preset direction simultaneously.

[0066] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1As shown, in order to drive the first gear to rotate forward by meshing the first tooth segment with the first gear, so that the carrier 13 rotates forward and delivers the target item, and to drive the first gear to rotate in the reverse direction by meshing the second tooth segment with the second gear, so that the carrier 13 rotates in the reverse direction and delivers the target item, the relationship between the first tooth segment and the first gear and the relationship between the second tooth segment and the second gear can be set in the following ways:

[0067] In the first implementation, the length of the first tooth segment can be greater than zero and less than or equal to one-quarter of the circumference of the first gear. For example, the length of the first tooth segment can be one-tenth, one-eighth, one-sixth, or one-quarter of the circumference of the first gear, or any suitable value between zero (excluding the number itself) and one-quarter of the circumference of the first gear. The specific value can be flexibly selected according to the actual situation, and this disclosure does not impose any restrictions on it.

[0068] In the second implementation, the length of the second tooth segment is greater than zero and less than or equal to one-quarter of the circumference of the second gear. For example, the length of the second tooth segment can be one-tenth, one-eighth, one-sixth, or one-quarter of the circumference of the second gear, or any suitable value between zero (excluding the number itself) and one-quarter of the circumference of the second gear. The specific value can be flexibly selected according to the actual situation, and this disclosure does not impose any restrictions on it.

[0069] In the third implementation, the length of the first tooth segment can be greater than zero and less than or equal to one-quarter of the circumference of the first gear, and the length of the second tooth segment is greater than zero and less than or equal to one-quarter of the circumference of the second gear. For example, the length of the first tooth segment can be one-tenth, one-eighth, one-sixth, or one-quarter of the circumference of the first gear, or any suitable value between zero (excluding the number itself) and one-quarter of the circumference of the first gear. The specific choice can be flexible according to the actual situation, and this disclosure does not impose any restrictions. Similarly, the length of the second tooth segment can be one-tenth, one-eighth, one-sixth, or one-quarter of the circumference of the second gear, or any suitable value between zero (excluding the number itself) and one-quarter of the circumference of the second gear. The specific choice can be flexible according to the actual situation, and this disclosure does not impose any restrictions.

[0070] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1As shown, the moving part 121 may include at least two sets, and the at least two sets of moving parts 121 are arranged at intervals along a second preset direction. The first transmission component 12 also includes a first connector 125. The first driving part 11 is connected to the at least two sets of moving parts 121 through the first connector 125 to drive the at least two sets of moving parts 121 to move synchronously. The flipping component 123 includes at least two sets, which are arranged at intervals along a second preset direction. The first transmission component 12 also includes a transmission shaft 126. The load 13 is connected to the at least two sets of flipping components 123 via the transmission shaft 126. The first driving component 11 is configured to drive the at least two sets of moving components 121 to move synchronously via the first connecting component 125, so that the first engaging part 1211 of the at least two sets of moving components 121 engages with the second engaging part 123a of the at least two sets of flipping components 123. With this arrangement, the number of moving components 121 and flipping components 123 that drive the load 13 to flip is increased. Thus, during the flipping process, more components can cooperate to drive the load 13 to flip, thereby improving the stability and reliability of the load 13 during the flipping process, making the delivery of the load 13 more stable and reliable, and further ensuring that the landing point of the target item is fixed.

[0071] For example, refer to Figure 1 As shown, the moving parts 121 may include two sets, which are arranged at intervals along a second preset direction. The first transmission assembly 12 also includes a first connecting member 125. The first driving member 11 is connected to the two sets of moving parts 121 respectively through the first connecting member 125 to drive the two sets of moving parts 121 to move synchronously. Correspondingly, the flipping parts 123 also include two sets, which are arranged at intervals along a second preset direction. The first transmission assembly 12 also includes a transmission shaft 126. The carrying part 13 is connected to the two sets of flipping parts 123 respectively through the transmission shaft 126. The first driving member 11 is configured to drive the two sets of moving parts 121 to move synchronously through the first connecting member 125, so that the first engaging part 1211 of the two sets of moving parts 121 respectively engages with the second engaging part 123a of the two sets of flipping parts 123. Of course, the number of moving parts 121 and flipping parts 123 can also be flexibly set according to the actual situation. The specific number can be flexibly selected according to the actual situation, and this disclosure does not limit it.

[0072] In the exemplary embodiments provided in this disclosure, reference is made to Figure 1 As shown, the delivery mechanism 1 may further include a base 14, on which the load 13 is mounted via a flipping member 123. A mounting portion 141 is provided on the base 14. When the moving member 121 moves to engage with the first engaging portion 1211 and the second engaging portion 123a, at least a portion of the flipping member 123 is rotatably mounted on the mounting portion 141 and rotates on the mounting portion 141 about a first axis extending in a second predetermined direction, thereby causing the load 13 to flip.

[0073] In the above embodiments, the rotational arrangement of at least a portion of the flipper 123 on the mounting portion 141 can be implemented in several ways:

[0074] In the first implementation, a portion of the flipping member 123 is rotatably mounted on the mounting portion 141. In this case, the first engaging portion 1211 drives a portion of the flipping member 123 to flip on the mounting portion 141 by engaging with the second engaging portion 123a, thereby driving the load 13 to flip.

[0075] For example, refer to Figure 1 As shown, the flipping member 123 may include a first flipping member 1231 and a second flipping member 1232, the first flipping member 1231 and the second flipping member 1232 being aligned along a third preset direction (reference). Figure 1 The first engaging portion 1211 may include a first sub-engaging portion 1211a and a second sub-engaging portion 1211b, which are arranged at intervals along a first preset direction (reference direction). Figure 1 The mounting portions 141 are arranged at intervals in the x-direction (as shown in the image). The mounting portion 141 may include a first mounting portion 1411 and a second mounting portion 1412, which are arranged along a first preset direction (reference direction). Figure 1 (arranged at intervals in the x-direction).

[0076] The first mounting portion 1411 is configured such that when the first sub-engaging portion 1211a engages with the second engaging portion 123a of the first flipping member 1231, the first flipping member 1231 is disposed in the first mounting portion 1411, and when the first flipping member 1231 drives the load 13 to rotate in the forward direction around the first sub-axis extending in the second preset direction, the load 13 drives the second flipping member 1232 to disengage from the second mounting portion 1412 and rotate in the forward direction around the first sub-axis extending in the second preset direction.

[0077] The second mounting portion 1412 is configured such that when the second sub-engaging portion 1211b engages with the second engaging portion 123a of the second flipping member 1232, the second flipping member 1232 is disposed in the second mounting portion 1412, and when the second flipping member 1232 causes the carrier 13 to flip in the opposite direction around the second sub-axis extending in the second preset direction, the carrier 13 causes the first flipping member 1231 to disengage from the first mounting portion 1411 and flip in the opposite direction around the second sub-axis extending in the second preset direction.

[0078] In the second implementation, the entire rotation of the flipping member 123 is provided on the mounting part 141. In this case, the first engaging part 1211 drives the entire flipping member 123 to flip on the mounting part 141 by engaging with the second engaging part 123a, thereby driving the load 13 to flip.

[0079] For example, the flipping member 123 includes a first flipping member 1231 (not shown in the figure), the first engaging portion 1211 includes a first sub-engaging portion 1211a, and the mounting portion 141 includes a first mounting portion 1411. The first mounting portion 1411 is configured such that when the first sub-engaging portion 1211a engages with the second engaging portion 123a of the first flipping member 1231, the first flipping member 1231 is disposed in the first mounting portion 1411, and the first flipping member 1231 drives the load 13 to flip forward about a first sub-axis extending in a second preset direction. In this case, the flipping member 123 includes the first flipping member 1231, therefore, the flipping of the load 13 is achieved by the rotation of the first flipping member 1231 in the first mounting portion 1411, that is, the load 13 achieves unidirectional flipping.

[0080] In other examples, refer to Figure 1 As shown, when the moving member 121 is constructed as a rack and the flipping member 123 is constructed as a gear, the mounting part 141 can be constructed as a groove opened on the base 14, and at least a portion of the flipping member 123 is rotatably disposed in the groove.

[0081] In the exemplary embodiments provided in this disclosure, reference is made to Figures 2 to 4 As shown, the delivery mechanism 1 may further include a rotating component 15, which is connected to the carrier 13 or the base 14 to directly or through the base 14 drive the carrier 13 to rotate in a fourth preset direction (see reference). Figure 1 The second axis extending in the z-direction rotates, wherein the fourth preset direction forms a fourth preset angle with the first preset direction, a fifth preset angle with the second preset direction, and a sixth preset angle with the third preset direction. In this way, not only can the delivery mechanism 1 be flipped around the first axis extending in the second preset direction, but the load 13 can also be rotated around the second axis extending in the fourth preset direction. Thus, after the delivery mechanism 1 moves to the position where it docks with the designated position, the positional relationship between the load 13 and the designated position can be checked to see if the outlet of the load 13 is aligned with the inlet of the designated position. If they are aligned, the load 13 can be directly flipped to deliver the target item to the designated position. If they are not aligned, that is, if there is a deviation between the outlet of the load 13 and the inlet of the designated position, the load 13 can be adjusted by the rotating component 15 until the outlet of the load 13 is aligned with the inlet of the designated position, and then the load 13 can be flipped to deliver the target item to the designated position.

[0082] In the exemplary embodiments provided in this disclosure, the rotating assembly 15 includes at least a second driving member 151, which is connected to the carrier 13 or the base 14 to drive the carrier 13 to rotate directly or indirectly. For example, in the indirect manner, the carrier 13 can be driven to rotate through the base 14 in the following ways:

[0083] In the first implementation, the rotating component 15 includes a second driving member 151 (not shown in the figure), which is directly connected to the carrier 13 to directly drive the carrier 13 to rotate.

[0084] In the second implementation, the rotating assembly 15 includes a second driving member 151 (not shown in the figure), which is connected to the base 14. The object 13 is movably disposed on the base 14 in the manner described above and can be flipped relative to the base 14. In this case, the second driving member 151 drives the base 14 to rotate, thereby causing the object 13 disposed on the base 14 to rotate.

[0085] In the third implementation method, refer to Figure 2 As shown, the rotating assembly 15 may include a second drive member 151 and a second connector 152. The second drive member 151 is connected to the carrier 13 via the second connector 152. The second drive member 151 is configured to drive the second connector 152 to rotate the carrier 13.

[0086] In the fourth implementation method, refer to Figure 2 As shown, the rotating assembly 15 may include a second drive member 151 and a second connector 152. The second drive member 151 is connected to the base 14 via the second connector 152. The object 13 is movably disposed on the base 14 in the manner described above and can be flipped relative to the base 14. In this case, the second drive member 151 is configured to drive the second connector 152 to rotate the base 14, thereby causing the object 13 disposed on the base 14 to rotate.

[0087] In the fifth implementation method, refer to Figure 3 and Figure 4 As shown, the rotating component 15 may include a second driving member 151 and a second transmission component 153. The second driving member 151 is connected to the carrier 13 through the second transmission component 153. The second driving member 151 is configured to drive the second transmission component 153 to rotate the carrier 13.

[0088] In the sixth implementation method, refer to Figure 3 and Figure 4As shown, the rotating assembly 15 may include a second driving member 151 and a second transmission assembly 153. The second driving member 151 is connected to the base 14 through the second transmission assembly 153. The load 13 is movably disposed on the base 14 in the manner described above and can be flipped relative to the base 14. In this case, the second driving member 151 is configured to drive the second transmission assembly 153 to rotate the base 14, thereby causing the load 13 disposed on the base 14 to rotate.

[0089] It should be noted that when the delivery mechanism 1 provided in this disclosure drives the load 13 to rotate directly or indirectly via the second driving member 151, it is not limited to the six implementation methods listed above. Other suitable methods can also be used. The six implementation methods described above are examples given to illustrate the working principle of the second driving member 151 driving the load 13 to rotate directly or indirectly, in order to facilitate understanding of the technical solution of this disclosure. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the second driving member 151, the second connecting member 152, and the second transmission assembly 153 can also be arranged in any suitable manner, and this disclosure does not impose any limitations on this.

[0090] In some examples, reference Figure 2 As shown, the second driving component 151 includes a motor, and the second connecting component 152 includes a cantilever. In this case, one end of the cantilever can be connected to the motor via a reducer, and the other end can be connected to the load 13 or the base 14. Thus, when the motor starts, it will drive the cantilever to rotate via the reducer, thereby causing the load 13 or the base 14 connected to the cantilever to rotate in a fourth preset direction (see reference). Figure 2 The second axis extends (in the z-direction) and rotates. When the cantilever is connected to the base 14, the load 13 is movably mounted on the base 14 in the manner described above and can rotate relative to the base 14. In this case, when the base 14 rotates around the fourth preset direction (refer to...) Figure 2 When the second axis extending in the z direction rotates, it will drive the load 13 set on the base 14 to rotate synchronously around the second axis extending in the fourth preset direction. This allows the load 13 to rotate around the second axis extending in the fourth preset direction, that is, to rotate the load 13 in the horizontal plane. In this way, after the delivery mechanism 1 moves to the position docking with the designated position, the position of the load 13 relative to the designated position can be adjusted by controlling the rotation angle of the cantilever, so that the discharge port of the load 13 is aligned with the inlet of the designated position. This facilitates the delivery of the load 13, so that the target item can be accurately placed into the appropriate position of the inlet of the designated position.

[0091] In some examples, reference Figure 3As shown, the second driving component 151 includes a motor, and the second transmission assembly 153 includes a gear and timing belt structure. The gear and timing belt structure includes a driving pulley, a driven pulley, and a timing belt. In this case, the driving pulley can be connected to the motor, and the driven pulley can be connected to the load 13 or the base 14. Thus, when the motor starts, it drives the timing belt through the driving pulley, which in turn drives the driven pulley, thereby moving the load 13 or the base 14 connected to the driven pulley. Here, the movement of the load 13 or the base 14 is such that it revolves around a fourth preset direction (see reference). Figure 3 The rotational motion of the second axis extending in the z-direction can be achieved by setting the rotation axis of the driven wheel to be the second axis extending in the fourth preset direction. When the driven wheel is connected to the base 14, the method by which the load 13 rotates through the base 14 can be referred to the preceding text; to avoid repetition, it will not be described again here.

[0092] Through the above technical solution, after the delivery mechanism 1 moves to the position where it docks with the designated location, it can be adjusted according to the deflection angle of the discharge port of the carrying item 13 relative to the inlet port of the designated location, so that the discharge port of the carrying item 13 is directly aligned with the inlet port of the designated location. This facilitates the delivery of the carrying item 13, allowing the target item to accurately fall into the appropriate position of the inlet port of the designated location. The method for adjusting the rotation of the carrying item 13 is as follows: calculate the deviation angle between the discharge port of the carrying item 13 and the inlet port of the designated location, simultaneously obtain the transmission ratio between the driving wheel and the driven wheel, then calculate the rotation angle of the motor based on the deviation angle and the transmission ratio, and control the motor according to this rotation angle.

[0093] In other embodiments, reference is made to Figure 4 As shown, the second driving component 151 includes a motor, and the second transmission assembly 153 includes a gear pair, that is, a gear pair formed by the meshing of two gears with different numbers of teeth. In this case, the driving wheel can be connected to the motor for transmission, and the driven wheel can be connected to the load 13 or the base 14 for transmission. Thus, when the motor starts, it will drive the driven wheel to move through the driving wheel, thereby driving the load 13 or the base 14 connected to the driven wheel to move. Here, the movement of the load 13 or the base 14 is such that it revolves around a fourth preset direction (see reference). Figure 4The rotational motion of the second axis extending in the z-direction can be achieved by setting the rotation axis of the driven wheel to be the second axis extending in the fourth preset direction. When the driven wheel is connected to the base 14, the method by which the load 13 rotates through the base 14 can be referred to the previous description; to avoid repetition, this disclosure will not repeat it here. Furthermore, in this case, after the delivery mechanism 1 moves to the position where it aligns with the designated position, the method for adjusting the alignment of the load 13's outlet with the designated inlet based on the deflection angle of the outlet relative to the inlet at the designated position can be referred to the aforementioned embodiment, that is, the embodiment where the second transmission component 153 is a gear synchronous belt structure can be referred to; to avoid repetition, this disclosure will not repeat it here.

[0094] This disclosure also provides a sorting device 4, see reference. Figure 5 , Figure 7 as well as Figure 8 As shown, the sorting equipment 4 includes the aforementioned delivery mechanism 1 and motion mechanism 2. The delivery mechanism 1 receives the target item, carries the target item, and delivers the target item into the target container 3. The motion mechanism 2 is connected to the delivery mechanism 1 and is configured to drive the delivery mechanism 1 to a position where it docks with the target container 3. The target container 3 may include, but is not limited to, a bin, carton, or cage, etc., and one target item corresponds to one target container 3 for one sorting task. Furthermore, the sorting equipment 4 and the corresponding motion mechanism 2 can be implemented in the following ways:

[0095] In the first implementation, the sorting device 4 may include a first sorting device 41, i.e., a three-dimensional sorting machine. In this case, the motion mechanism 2 may include a frame 23 and at least one motion component 24. The at least one motion component 24 is movably disposed on the frame 23. The delivery mechanism 1 is connected to the at least one motion component 24. The at least one motion component 24 is configured to drive the delivery mechanism 1 to move along a second preset direction and / or a fourth preset direction of the frame 23, wherein the second preset direction and the fourth preset direction form a fifth preset angle.

[0096] It should be noted that at least one moving part 24 is configured to drive the delivery mechanism 1 to move along the second preset direction and / or the fourth preset direction of the frame 23, which may include the following situations:

[0097] In the first scenario, the moving part 24 includes a delivery mechanism 1 and a moving part 24 disposed within the frame 23. The moving part 24 is configured to drive the delivery mechanism 1 to move along a second preset direction of the frame 23, thereby moving the delivery mechanism 1 to a position where it docks with the target container 3, and the delivery mechanism 1 delivers the target item into the target container 3.

[0098] In the second scenario, the moving part 24 includes a delivery mechanism 1 and a moving part 24 disposed within the frame 23. The moving part 24 is configured to drive the delivery mechanism 1 to move along the fourth preset direction of the frame 23, thereby moving the delivery mechanism 1 to a position where it docks with the target container 3, and the delivery mechanism 1 delivers the target item into the target container 3.

[0099] In the third scenario, the moving parts 24 include at least two. The delivery mechanism 1 and at least two moving parts 24 are disposed within the frame 23. Some of the moving parts 24 are configured to drive the delivery mechanism 1 to move along the second preset direction of the frame 23, and other moving parts 24 are configured to drive the delivery mechanism 1 to move along the fourth preset direction of the frame 23. These moving parts 24 moving along the second preset direction and the moving parts 24 moving along the fourth preset direction can cooperate with each other to drive the same delivery mechanism 1 to the position of docking with the target container 3, or they can work independently to drive their respective corresponding delivery mechanisms 1 to the position of docking with their respective target containers 3. The specific choice can be made flexibly according to the actual situation, and this disclosure does not impose any restrictions on this.

[0100] For example, refer to Figure 5 As shown, the motion mechanism 2 may include two motion components 24. The delivery mechanism 1 and the two motion components 24 are disposed within the frame 23. The two motion components 24 cooperate to drive the delivery mechanism 1 to a position where it docks with the target container 3. One motion component 24 may be a vertical motion module, and the other motion component 24 may be a horizontal motion module. The horizontal motion module may be connected to the vertical motion module to drive the vertical motion module to move along the length direction of the frame 23. The delivery mechanism 1 is disposed on the vertical motion module, so that it can move along the second preset direction of the frame 23 (refer to the horizontal motion module) under the drive of the horizontal motion module. Figure 5 The vertical motion module can drive the delivery mechanism 1 along the fourth preset direction (reference direction) of the frame 23. Figure 5 The moving parts 24 move in the z-direction, causing the delivery mechanism 1 to move to a position where it docks with the target container 3, and the delivery mechanism 1 delivers the target item into the target container 3. Of course, the number and sequence of the moving parts 24 are not limited to the methods listed above, and any other suitable method can be used. The above example is an illustration of the working method of the moving mechanism 2 and the delivery mechanism 1 during the operation of the first sorting device 41, in order to facilitate understanding of the technical solution of this application. Therefore, it should not be construed as a limitation of this disclosure.

[0101] For details on the horizontal motion module and the vertical motion module, please refer to the relevant technical documents; they will not be elaborated upon here.

[0102] In the second implementation, refer to Figure 7 As shown, the sorting device 4 may include a second sorting device 42, i.e. a sorting robot. In this case, the motion mechanism 2 may include a chassis 21. The chassis 21 moves along the running surface of the sorting system. The delivery mechanism 1 of the sorting robot is mounted on the chassis 21. The chassis 21 is configured to drive the delivery mechanism 1 to move to the position where it docks with the target container 3.

[0103] In the third implementation method, refer to Figure 8 As shown, the sorting device 4 may include a second sorting device 42, i.e. a sorting robot. In this case, the motion mechanism 2 may include a chassis 21 and a lifting assembly 22. The chassis 21 moves along the running surface of the sorting system, and the lifting assembly 22 moves up and down relative to the chassis 21. The delivery mechanism 1 is mounted on the lifting assembly 22. The chassis 21 is configured to drive the delivery mechanism 1 to move to a position where it docks with the target container 3. The lifting assembly 22 is configured to drive the delivery mechanism 1 to move closer to the target container 3 in the height direction so that the delivery mechanism 1 delivers the target item. Alternatively, after delivery, the lifting mechanism is configured to drive the delivery mechanism 1 away from the target container 3 in the height direction so that the chassis 21 can move on the running surface.

[0104] It should be noted that the sorting device 4 and its corresponding motion mechanism 2 of this disclosure are not limited to the three methods listed above, and can also be implemented in any other suitable way. The above three implementation methods are some examples given to illustrate the working mode of the sorting device 4 and its corresponding motion mechanism 2, so as to facilitate understanding of the technical solution of this disclosure. Therefore, they should not be construed as limitations on this disclosure.

[0105] In some examples, reference Figure 1 As shown, the moving part 121 of the delivery mechanism 1 moves along a first preset direction (reference). Figure 1 The delivery mechanism 1 moves in the x-direction (as shown in the image) to switch the first engaging portion 1211 of the moving member 121 and the second engaging portion 123a of the flipping member 123 between an engaged state and a disengaged state. When the first engaging portion 1211 and the second engaging portion 123a are in the disengaged state, the delivery mechanism 1 receives or carries the target item via the carrying member 13. When the first engaging portion 1211 and the second engaging portion 123a are in the engaged state, the delivery mechanism 1 drives the carrying member 13 around a second preset direction (refer to the x-direction) via the flipping member 123. Figure 1The first axis extending in the y-direction is flipped to deliver the received target item to the target container 3, wherein the first preset direction and the second preset direction form a first preset angle. With this setting, the moving part 121 can be controlled to move along the first preset direction to the corresponding position according to the current usage needs, so as to adjust the first engaging part 1211 and the second engaging part 123a to be in an engaged state or a disengaged state, thereby causing the flipping part 123 to flip or reset, so that the carrier 13 connected to the flipping part 123 flips to deliver the target item or resets to receive or carry the target item.

[0106] This disclosure also provides a sorting system comprising the sorting device 4 and the target container 3 described above. The sorting device 4 is configured to receive target items and transport them to a position where they dock with the target container 3. The target container 3 is configured to receive the target items.

[0107] The moving part 121 of the sorting device 4 moves along the first preset direction (reference). Figure 1 The moving part 121 moves in the x-direction (as shown) to switch the first engaging part 1211 of the moving part 121 and the second engaging part 123a of the flipping part 123 between an engaged state and a disengaged state. Thus, during the processes of receiving the target item, transporting the target item, and delivering the target item to the target container 3 (i.e., the target container 3 receiving the target item), the operation of each component in the sorting equipment 4 is as follows:

[0108] When the first engagement part 1211 and the second engagement part 123a are separated, the carrier 13 is in a horizontal reset state. At this time, the sorting equipment 4 can receive or carry the target item through the carrier 13, and transport the carried target item to the docking position with the target container 3 through the motion mechanism 2.

[0109] When the first engaging part 1211 and the second engaging part 123a are engaged, the carrier 13 is in a flipped state. At this time, the sorting device 4 can drive the carrier 13 to rotate around the second preset direction (reference) via the flipping member 123. Figure 1 The first axis extending in the y-direction shown is flipped to deliver the received target item to the target container 3, wherein the first preset direction and the second preset direction are at a first preset angle.

[0110] The moving part 121 includes a rack, the flipping part 123 includes a gear that meshes with the rack, and the carrying part 13 can be a flip plate.

[0111] For example, refer to Figure 1As shown, when the sorting device 4 needs to receive the target item and deliver it to the target container 3, the first drive unit 11 (e.g., a linear motor) of the sorting device 4 drives the rack along a first preset direction (reference) through the first connector 125 (e.g., a connecting frame). Figure 1 The mechanism moves the flap in the x-direction until the meshing teeth on the rack separate from the meshing teeth on the gear. At this point, the flap switches from the flipped state to the horizontal reset state, and the flap can receive and carry the target item. Under the action of the motion mechanism 2, the flap moves to the position where it docks with the target container 3, the linear motor is started, and the linear motor drives the connecting frame along the first preset direction (refer to the x-direction). Figure 1 The rack connected to the connecting frame moves in the x-direction to drive the rack along the first preset direction (reference direction). Figure 1 The rack moves in the x-direction towards the target container 3 until the meshing teeth on the rack re-mesh with the meshing teeth on the gear. Then, driven by the rack, the gear will rotate in the second preset direction (refer to...). Figure 1 The first axis (extending in the y-direction) rotates, thereby causing the flap connected to the gear to rotate around the second preset direction (reference). Figure 1 The first axis (extending in the y direction) is flipped toward the target container 3, so that the target item carried on the flip plate can be delivered to the target container 3.

[0112] The sorting system may also include a carrier 5, on which a target storage location 51 is provided, and a target container 3 is placed on the target storage location 51. For example, the carrier 5 may be a shelf, which includes multiple storage locations arranged along the height direction. Each storage location may include multiple storage locations arranged side by side along the length direction of the shelf. The storage location includes the target storage location 51, on which the target container 3 is placed and configured to receive the target item delivered by the sorting system.

[0113] In some examples, the carrier 5 may include, but is not limited to, shelves and pallet devices. The shelves may be fixed shelves or mobile shelves. In the exemplary embodiments provided in this disclosure, the sorting device 4 can deliver target items to the target container 3 in at least the following ways:

[0114] In the first implementation, refer to Figure 5 As shown, the sorting equipment 4 may include a first sorting equipment 41, such as a three-dimensional sorting machine, which transports the target item to the docking position with the target container 3 so as to deliver the target item on the carrier 13 to the target container 3.

[0115] The first sorting device 41 can have the following functions:

[0116] In the first case, the first sorting device 41 can be configured to receive and carry the target item via the delivery mechanism 1 of the first sorting device 41.

[0117] In the second case, the first sorting device 41 is configured to drive the delivery mechanism 1 of the first sorting device 41 to the position of docking with the target container 3 through the movement of the motion mechanism 2 of the first sorting device 41.

[0118] In the third case, the first sorting device 41 is configured to deliver the target items carried by the first sorting device 41 to the target container 3 via the delivery mechanism 1 of the first sorting device 41.

[0119] In the fourth case, the first sorting device 41 can be configured to receive and carry the target item through the delivery mechanism 1 of the first sorting device 41, and the first sorting device 41 is configured to drive the delivery mechanism 1 of the first sorting device 41 to move to the position of docking with the target container 3 through the movement of the motion mechanism 2 of the first sorting device 41.

[0120] In the fifth case, the first sorting device 41 can be configured to receive and carry the target item through the delivery mechanism 1 of the first sorting device 41, and the first sorting device 41 is configured to deliver the carried target item to the target container 3 through the delivery mechanism 1 of the first sorting device 41.

[0121] In the sixth case, the first sorting device 41 is configured to drive the delivery mechanism 1 of the first sorting device 41 to move to the position of docking with the target container 3 through the movement of the motion mechanism 2 of the first sorting device 41, and the first sorting device 41 is configured to deliver the target item carried to the target container 3 through the delivery mechanism 1 of the first sorting device 41.

[0122] In the seventh case, the first sorting device 41 can be configured to receive and carry the target item through the delivery mechanism 1 of the first sorting device 41. The first sorting device 41 can be configured to drive the delivery mechanism 1 of the first sorting device 41 to move to the position of docking with the target container 3 through the movement of the motion mechanism 2 of the first sorting device 41. The first sorting device 41 can also be configured to deliver the carried target item to the target container 3 through the delivery mechanism 1 of the first sorting device 41.

[0123] It should be noted that the application scenarios of the first sorting device 41 of this disclosure are not limited to the seven situations listed above, but can also be any other suitable application scenarios. The above seven situations are some examples given to illustrate the application scenarios of the first sorting device 41 in order to facilitate understanding of the technical solutions of this disclosure. Therefore, they should not be construed as limitations on this disclosure.

[0124] In the exemplary embodiments provided in this disclosure, the motion mechanism 2 corresponding to the first sorting device 41 (e.g., an automated sorting machine) may include a frame 23 and at least one motion component 24 (e.g., a motion module). The at least one motion component 24 is movably mounted on the frame 23. The delivery mechanism 1 of the first sorting device 41 is connected to the at least one motion component 24. The at least one motion component 24 is configured to move along a second preset direction and / or a fourth preset direction of the frame 23 to drive the delivery mechanism 1 to a position where it docks with the target container 3. The sorting system also includes a carrier 5 (e.g., a shelf). The carrier 5 is provided with a target storage location 51, and the target container 3 is disposed on the target storage location 51. The carrier 5 is located on at least one side of the first sorting device 41. The configuration of the at least one motion component 24 to move along the second preset direction and / or the fourth preset direction of the frame 23 may include the following scenarios, as described above.

[0125] For example, refer to Figure 5 As shown, the sorting system may also include a carrier 5, such as a shelf, on which a target storage location 51 is provided, and a target container 3 is placed on the target storage location 51. The automated sorting machine includes a first side and a second side arranged opposite to each other, and shelves may be provided on both the first side and the second side of the automated sorting machine. The delivery mechanism 1 can deliver target items to the shelf on the first side or to the shelf on the second side, thereby realizing the sorting of target items. The moving parts 24 may include two, one of which is a horizontal moving module and the other is a vertical moving module. The horizontal moving module is set inside the frame 23 and can drive the vertical moving module along the horizontal direction of the frame 23 (see reference). Figure 5 The delivery mechanism 1 is mounted on the vertical motion module and can move along the height direction of the vertical motion module (as shown in the y-direction). Figure 5 The delivery mechanism 1 can be moved to a position to dock with the target container 3 on the shelf by moving the horizontal and vertical motion modules relative to the frame 23. The target item can then be delivered to the target container 3 by the delivery mechanism 1.

[0126] In the above embodiments, the specific operation process of the three-dimensional sorting machine receiving and carrying the target item and delivering the target item to the target container 3 is as follows:

[0127] refer to Figure 5 As shown, the first drive unit 11 (e.g., a linear motor) of the three-dimensional sorting machine drives the rack along a first preset direction (reference) via the first connector 125 (e.g., a connecting frame). Figure 5The vertical motion module moves along the second preset direction (x-direction) until the meshing teeth on the rack separate from the meshing teeth on the gear. At this point, the flap switches from the flipping state to the horizontal reset state, and the flap receives and carries the target item. Under the action of the horizontal motion module, the vertical motion module drives the delivery mechanism 1 along the second preset direction (reference). Figure 5 The vertical motion module moves the delivery mechanism 1 in the fourth preset direction (refer to the y-direction) to the position where it docks with the target container 3, and drives the delivery mechanism 1 in the fourth preset direction (refer to the y-direction) via the vertical motion module. Figure 5 Move the linear motor of the automated sorting machine closer to the target container 3 in the z-direction (as shown in the image) until it reaches a suitable position for easy delivery; restart the linear motor of the automated sorting machine so that the linear motor drives the rack connected to the connecting frame along the first preset direction (refer to the z-direction). Figure 5 The gear moves in the x-direction (as shown in the image) towards the target container 3 until the meshing teeth on the rack of the automated sorting machine re-mesh with the meshing teeth on the gear. Then, driven by the rack, the gear of the automated sorting machine will rotate in the second preset direction (refer to the image). Figure 5 The first axis (extending in the y-direction) rotates, thereby causing the flap of the three-dimensional sorting machine connected to the gear to rotate around the second preset direction (refer to...). Figure 5 The first axis (extending in the y direction) is flipped toward the target container 3, so that the flip plate of the three-dimensional sorting machine can receive and deliver the target item to the target container 3.

[0128] Of course, during the above delivery process, the horizontal motion module and the vertical motion module can move simultaneously or their order can be adjusted during the movement. The specific adjustments can be made flexibly according to the actual situation, and this disclosure does not impose any restrictions. For example, in some embodiments, when the delivery mechanism 1 needs to move to the position where it docks with the target container 3, the horizontal motion module can also drive the delivery mechanism 1 along a fourth preset direction (refer to...) under the action of the vertical motion module. Figure 5 The device moves in the z-direction to the position where it docks with the target container 3, and then drives the delivery mechanism 1 in the second preset direction (reference direction) via the horizontal motion module. Figure 5 The delivery mechanism 1 moves towards the target container 3 in the y-direction (as shown in the image) until it reaches a suitable position. In other embodiments, when the delivery mechanism 1 needs to move to a position to dock with the target container 3, it can also be driven directly by the horizontal motion module along the second preset direction (refer to the image). Figure 5 The delivery mechanism 1 moves along the y-direction (as shown in the image) to the position where it docks with the target container 3, until it reaches the appropriate position. In some other embodiments, when the delivery mechanism 1 needs to move to the position where it docks with the target container 3, it can also be driven directly by the vertical motion module along the fourth preset direction (refer to the image). Figure 5 Move in the z-direction to the position where it docks with the target container 3, until the appropriate position is reached.

[0129] In some examples, reference Figure 5As shown, when the sorting equipment 4 includes a first sorting equipment 41, i.e., an automated sorting machine, the first sorting equipment 41 may include a buffer mechanism 411. Sorting personnel or the second sorting equipment 42 (i.e., a sorting robot) mentioned below can place the target items obtained from the workstation into the buffer mechanism 411, and then the buffer mechanism 411 will transfer the target items to the delivery mechanism 1, thereby shortening the waiting time for sorting personnel or the sorting robot and improving sorting efficiency. After receiving the target item, the delivery mechanism 1 of the sorting equipment 4 can move to the delivery position within the frame 23 under the drive of the motion mechanism 2, and deliver the target item into the target container 3 of the carrier 5, completing the sorting of the target item. For example, the buffer mechanism 411 may be a structure such as a conveyor belt, and the target item located on the conveyor belt can be delivered to the delivery mechanism 1 by horizontal transmission.

[0130] In other examples, when the sorting equipment 4 is a three-dimensional sorting machine, the delivery mechanism 1 can be one or more. For example, there can be multiple delivery mechanisms 1, which can move alternately to the delivery position to receive target items from the sorting robot, sorting personnel or buffer mechanism 411, and move independently to the corresponding delivery position to deliver the corresponding target items to the designated target container 3. This allows for the sorting of multiple target items at the same time, improving the sorting efficiency of the sorting equipment 4.

[0131] In the second implementation, multiple sorting devices 4 can cooperate to complete the sorting operation of the target items. For example, see reference... Figure 6 As shown, the sorting equipment 4 may include a first sorting equipment 41 (e.g., an automated sorting machine) and a second sorting equipment 42 (e.g., a sorting robot). The first sorting equipment 41 and the second sorting equipment 42 cooperate to complete the sorting operation of the target items. The second sorting equipment 42 transports the target items to the docking position with the target container 3 through the first sorting equipment 41. The second sorting equipment 42 is configured to receive the target items to be delivered through the carrier 13 and deliver the received target items to the first sorting equipment 41. The first sorting equipment 41 is configured to receive the target items from the second sorting equipment 42 through the carrier 13 and deliver the received target items to the target container 3.

[0132] The functions of the first sorting device 41 and its corresponding motion mechanism 2 can be referred to the preceding description, and will not be repeated here to avoid repetition. The second sorting device 42 may have the following functions:

[0133] In the first case, the second sorting device 42 can be configured to receive and carry the target items to be delivered via the delivery mechanism 1 of the second sorting device 42.

[0134] In the second case, the second sorting device 42 can be configured to drive the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the delivery mechanism 1 of the first sorting device 41 through the movement of the motion mechanism 2 of the second sorting device 42.

[0135] In the third case, the second sorting device 42 can be configured to deliver the target item carried by the second sorting device 42 to the delivery mechanism 1 of the first sorting device 41 via the delivery mechanism 1 of the second sorting device 42.

[0136] In the fourth case, the second sorting device 42 can be configured to receive and carry the target item to be delivered through the delivery mechanism 1 of the second sorting device 42, and the second sorting device 42 can be configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position of docking with the delivery mechanism 1 of the first sorting device 41 through the movement of the movement mechanism 2 of the second sorting device 42.

[0137] In the fifth case, the second sorting device 42 can be configured to receive and carry the target item to be delivered through the delivery mechanism 1 of the second sorting device 42, and the second sorting device 42 can be configured to deliver the carried target item to the delivery mechanism 1 of the first sorting device 41 through the delivery mechanism 1 of the second sorting device 42.

[0138] In the sixth case, the second sorting device 42 can be configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position where it docks with the delivery mechanism 1 of the first sorting device 41 through the movement of the motion mechanism 2 of the second sorting device 42, and the second sorting device 42 can be configured to deliver the target item carried to the delivery mechanism 1 of the first sorting device 41 through the delivery mechanism 1 of the second sorting device 42.

[0139] In the seventh case, the second sorting device 42 can be configured to receive and carry the target item to be delivered through the delivery mechanism 1 of the second sorting device 42. The second sorting device 42 can be configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position of docking with the delivery mechanism 1 of the first sorting device 41 through the movement of the movement mechanism 2 of the second sorting device 42. The second sorting device 42 can also be configured to deliver the target item carried by the delivery mechanism 1 of the second sorting device 42 to the delivery mechanism 1 of the first sorting device 41.

[0140] It should be noted that the application scenarios of the second sorting device 42 of this disclosure are not limited to the seven situations listed above, but can also be any other suitable application scenario. The above seven situations are examples given to illustrate the application scenarios of the second sorting device 42 in order to facilitate understanding of the technical solutions of this disclosure, and therefore should not be construed as limiting this disclosure. For example, taking a sorting task as an example, the sorting robot can receive target items from the workstation, transport the target items to the position docking with the automated sorting machine, and deliver the target items to the automated sorting machine. The automated sorting machine then delivers the received target items to the corresponding target container 3. The sorting robot can be a flip-board robot, a belt-type sorting robot, a liftable pallet robot, or other types of robots. This disclosure does not limit the specific form of the sorting robot.

[0141] In the exemplary embodiments provided in this disclosure, the motion mechanism 2 corresponding to the second sorting device 42 (e.g., a sorting robot) can have at least two structures. For example, in the first structure, referring to... Figure 7 As shown, the motion mechanism 2 of the sorting robot includes a chassis 21, which moves along the operating surface of the sorting system. The delivery mechanism 1 of the second sorting device 42 is mounted on the chassis 21, and the chassis 21 is configured to drive the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the delivery mechanism 1 of the first sorting device 41. Exemplarily, in the second structure, referring to... Figure 8 As shown, the motion mechanism 2 of the sorting robot includes a chassis 21 and a lifting assembly 22. The chassis 21 moves along the running surface of the sorting system, and the lifting assembly 22 moves up and down relative to the chassis 21. The delivery mechanism 1 of the second sorting device 42 is mounted on the lifting assembly 22. The chassis 21 is configured to drive the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the delivery mechanism 1 of the first sorting device 41. The lifting assembly 22 is configured to drive the delivery mechanism 1 of the second sorting device 42 to move closer to the delivery mechanism 1 of the first sorting device 41 in the height direction, so that the second sorting device 42 can deliver the target item to the delivery mechanism 1 of the first sorting device 41 through the delivery mechanism 1. Alternatively, the lifting assembly 22 is configured to drive the delivery mechanism 1 of the second sorting device 42 away from the delivery mechanism 1 of the first sorting device 41 in the height direction, so that the second sorting device 42 can move easily through the chassis 21 after delivery.

[0142] The sorting system also includes a carrier 5, such as a shelf, on which a target location 51 is set, and a target container 3 is placed on the target location 51. A second sorting device 42 (e.g., a sorting robot) operates on the ground or a platform structure 6. When the second sorting device 42 operates on the platform structure 6, the platform structure 6 is located on one side of the first sorting device 41 (e.g., an automated sorting machine), and the carrier 5 (e.g., a shelf) is located on the other side of the first sorting device 41.

[0143] For example, refer to Figure 6 As shown, the sorting system may also include a carrier 5, such as a shelf, on which a target location 51 is provided, and a target container 3 is placed on the target location 51. The automated sorting machine includes a first side, a second side, and a third side, wherein the first side and the second side are along a first preset direction (refer to the first preset direction) of the delivery mechanism 1 of the automated sorting machine. Figure 6 The third side is positioned relative to the first and second sides (in the x-direction), and is located between the first and second sides and adjacent to both sides. The shelf includes a first shelf and a second shelf. The first shelf is located on the first side of the automated sorting machine, and the second shelf is located on the second side. The platform structure 6 is located on the third side of the automated sorting machine. That is, the platform structure 6 and the automated sorting machine are positioned relative to each other in the second preset direction (refer to the x-direction) of the delivery mechanism 1 of the automated sorting machine. Figure 6 The sorting robot is set sequentially in the y-direction of the platform structure 6 and is used to dock with the three-dimensional sorting machine to deliver the received target items to the three-dimensional sorting machine, which then delivers the target items to the target container 3.

[0144] In some examples, the moving parts 24 of the automated sorting machine may include two, one being a horizontal motion module and the other a vertical motion module. The horizontal motion module is disposed within the frame 23 and can drive the vertical motion module along the horizontal direction of the frame 23 (see reference). Figure 5 The delivery mechanism 1 of the three-dimensional sorting machine is mounted on the vertical motion module and can move along the height direction of the vertical motion module (as shown in the y-direction). Figure 5 The robot moves in the z-direction (as shown in the diagram). Thus, by moving the horizontal and vertical motion modules relative to the frame 23, the delivery mechanism 1 can be moved to a position where it docks with the target container 3 on the shelf. The delivery mechanism 1 then delivers the target item to the target container 3. The movement of the sorting robot can include the chassis 21 and the lifting assembly 22. The lifting assembly 22 can be a guide rail slider structure mounted on the chassis 21. The slider moves along the height direction of the guide rail (refer to the z-direction). Figure 8 The delivery mechanism 1 is mounted on the slider and moves in the z-direction shown in the diagram.

[0145] With the above technical solution, when sorting is required, the delivery mechanism 1 of the sorting robot receives and carries the target item from the workbench. Then, the sorting robot moves the delivery mechanism 1 of the sorting robot to the position where it docks with the delivery mechanism 1 of the three-dimensional sorting machine via the chassis 21. The slider moves along the guide rail so that the delivery mechanism 1 on the slider gradually approaches the delivery mechanism 1 of the three-dimensional sorting machine until it reaches a suitable height for delivery. The target item carried by the delivery mechanism 1 of the sorting robot is delivered to the delivery mechanism 1 of the three-dimensional sorting machine. The three-dimensional sorting machine moves the delivery mechanism 1 set on the vertical motion module to the position where it docks with the target container 3 on the shelf via the horizontal motion module and the vertical motion module. The delivery mechanism 1 of the three-dimensional sorting machine then delivers the target item carried by it into the target container 3.

[0146] In the above process, with the moving part 121 constructed as a rack, the flipping part 123 constructed as a gear meshing with the rack, and the carrying part 13 constructed as a flip plate, and the motion mechanism 2 of the sorting robot including a chassis 21 and a lifting assembly 22, and the lifting assembly 22 including a guide rail and a slider that moves up and down along the guide rail, the specific operation process of the sorting robot receiving and carrying the target item and delivering the target item to the three-dimensional sorting machine is as follows:

[0147] refer to Figure 1 and Figure 8 As shown, the first drive unit 11 (e.g., a linear motor) of the sorting robot drives the rack along a first preset direction (reference) via the first connector 125 (e.g., a connecting frame). Figure 1 and Figure 8 The slide moves along the x-direction of the rack until the meshing teeth on the rack separate from the meshing teeth on the gear. At this point, the flip plate switches from the flipped state to the horizontal reset state. The flip plate receives and carries the target item. Under the action of the chassis 21, the flip plate of the sorting robot moves to the position where it docks with the flip plate of the three-dimensional sorting machine. The slider is operated along the height direction of the guide rail (reference). Figure 1 and Figure 8 The movement (in the z-direction) drives the delivery mechanism 1 on the slider to approach the delivery mechanism 1 of the three-dimensional sorting machine until it reaches a suitable height for delivery. Then, the linear motor of the sorting robot is restarted, causing it to drive the rack connected to the connecting frame along the first preset direction (reference direction). Figure 1 and Figure 8 The sorting robot moves towards the delivery mechanism 1 of the three-dimensional sorting machine in the x-direction until the meshing teeth on the rack of the sorting robot re-mesh with the meshing teeth on the gear. In this way, driven by the rack of the sorting robot, the gear of the sorting robot will rotate around the second preset direction (refer to the x-direction). Figure 1 and Figure 8 The first axis (extending in the y-direction) rotates, thereby causing the flap connected to the gear to rotate around the second preset direction (reference). Figure 1 and Figure 8The first axis (extending in the y direction) flips towards the flip plate of the three-dimensional sorting machine, so that the target item carried on the flip plate of the sorting robot can be delivered to the flip plate of the three-dimensional sorting machine to realize the transfer of the target item.

[0148] The moving part 121 is constructed as a rack, the flipping part 123 is constructed as a gear that meshes with the rack, and the carrying part 13 is constructed as a flip plate. The motion mechanism 2 of the automated sorting machine includes a gantry and two moving parts 24. The two moving parts 24 include a horizontal motion module and a vertical motion module. The delivery mechanism 1 of the automated sorting machine is set on the vertical motion module, and the horizontal motion module is set inside the gantry and can drive the vertical motion module relative to the gantry along its own delivery mechanism 1 in a second preset direction (reference). Figure 5 The vertical motion module moves along the y-direction of itself, and the delivery mechanism 1 moves along the fourth preset direction of the delivery mechanism 1 (reference direction). Figure 5 When the machine moves in the z-direction, the specific operation process of receiving and carrying the target item and delivering it to the target container 3 is as follows:

[0149] refer to Figure 5 As shown, the first drive unit 11 (e.g., a linear motor) of the three-dimensional sorting machine drives the rack along a first preset direction (reference) via the first connector 125 (e.g., a connecting frame). Figure 5 The vertical motion module moves along the x-direction until the meshing teeth on the rack separate from the meshing teeth on the gear. At this point, the flap switches from the flipping state to the horizontal reset state. The flap receives and carries the target item from the sorting robot. Under the action of the horizontal motion module, the vertical motion module drives the delivery mechanism 1 along the second preset direction (reference). Figure 5 The vertical motion module moves the delivery mechanism 1 in the fourth preset direction (refer to the y-direction) to the position where it docks with the target container 3, and drives the delivery mechanism 1 in the fourth preset direction (refer to the y-direction) via the vertical motion module. Figure 5 Move the linear motor of the automated sorting machine (in the z-direction) close to the target container 3 until it reaches a suitable position for easy delivery. Start the linear motor of the automated sorting machine so that the linear motor drives the rack connected to the connecting frame along the first preset direction (refer to the z-direction). Figure 5 The gear moves in the x-direction (as shown in the image) towards the target container 3 until the meshing teeth on the rack of the automated sorting machine re-mesh with the meshing teeth on the gear. Then, driven by the rack, the gear of the automated sorting machine will rotate in the second preset direction (refer to the image). Figure 5 The first axis (extending in the y-direction) rotates, thereby causing the flap of the three-dimensional sorting machine connected to the gear to rotate around the second preset direction (refer to...). Figure 5 The first axis (extending in the y direction) is flipped toward the target container 3, so that the flip plate of the three-dimensional sorting machine can receive and deliver the target item to the target container 3.

[0150] In the third implementation, the sorting device 4 may include a second sorting device 42, such as a sorting robot, which transports the target item to the docking position with the target container 3 to deliver the target item on the carrier 13 to the target container 3.

[0151] It should be noted that the implementation of the sorting device 4 in this disclosure is not limited to the three implementation methods listed above, and can also be any other suitable implementation method. The three implementation methods mentioned above are examples given to illustrate the application scenarios of the sorting device 4 in order to facilitate understanding of the technical solution of this disclosure. Therefore, they should not be construed as limitations on this disclosure.

[0152] The second sorting device 42 can have the following functions:

[0153] In the first case, the second sorting device 42 can be configured to receive and carry the target items via the delivery mechanism 1 of the second sorting device 42.

[0154] In the second case, the second sorting device 42 is configured to drive the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the target container 3 through the movement of the motion mechanism 2 of the second sorting device 42.

[0155] In the third case, the second sorting device 42 is configured to deliver the target items carried to the target container 3 via the delivery mechanism 1 of the second sorting device 42.

[0156] In the fourth case, the second sorting device 42 can be configured to receive and carry the target item through the delivery mechanism 1 of the second sorting device 42, and the second sorting device 42 is configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position of docking with the target container 3 through the movement of the movement mechanism 2 of the second sorting device 42.

[0157] In the fifth case, the second sorting device 42 can be configured to receive and carry the target item through the delivery mechanism 1 of the second sorting device 42, and the second sorting device 42 is configured to deliver the carried target item to the target container 3 through the delivery mechanism 1 of the second sorting device 42.

[0158] In the sixth case, the second sorting device 42 is configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position of docking with the target container 3 through the movement of the motion mechanism 2 of the second sorting device 42, and the second sorting device 42 is configured to deliver the target item carried to the target container 3 through the delivery mechanism 1 of the second sorting device 42.

[0159] In the seventh case, the second sorting device 42 can be configured to receive and carry the target item through the delivery mechanism 1 of the second sorting device 42. The second sorting device 42 can be configured to drive the delivery mechanism 1 of the second sorting device 42 to move to the position of docking with the target container 3 through the movement of the movement mechanism 2 of the second sorting device 42. The second sorting device 42 can also be configured to deliver the carried target item to the target container 3 through the delivery mechanism 1 of the second sorting device 42.

[0160] It should be noted that the application scenarios of the second sorting device 42 of this disclosure are not limited to the seven situations listed above, but can also be any other suitable application scenarios. The above seven situations are some examples given to illustrate the application scenarios of the second sorting device 42 in order to facilitate understanding of the technical solutions of this disclosure. Therefore, they should not be construed as limitations on this disclosure.

[0161] In this disclosure, the motion mechanism 2 corresponding to the second sorting device 42 (e.g., a sorting robot) can have at least two structures. For example, in the first structure, referencing... Figure 7 As shown, the motion mechanism 2 of the sorting robot includes a chassis 21, which moves along the operating surface of the sorting system. The delivery mechanism 1 of the second sorting device 42 is mounted on the chassis 21, and the chassis 21 is configured to drive the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the target container 3. Exemplarily, in the second structure, referencing... Figure 8 As shown, the motion mechanism 2 of the sorting robot includes a chassis 21 and a lifting assembly 22. The chassis 21 moves along the operating surface of the sorting system, and the lifting assembly 22 rises and falls relative to the chassis 21. The delivery mechanism 1 of the second sorting device 42 is mounted on the lifting assembly 22. The chassis 21 is configured to move the delivery mechanism 1 of the second sorting device 42 to a position where it docks with the target container 3. The lifting assembly 22 is configured to move the delivery mechanism 1 of the second sorting device 42 closer to the target container 3 in the height direction, so that the second sorting device 42 can deliver the target item to the target container 3 through the delivery mechanism 1. Alternatively, the lifting assembly 22 is configured to move the delivery mechanism 1 of the second sorting device 42 away from the target container 3 in the height direction, so that the second sorting device 42 can move easily via the chassis 21 after delivery. It should be noted that the above two structures are illustrative examples of the motion mechanism 2 corresponding to the second sorting device 42 (e.g., a sorting robot) to facilitate understanding of the technical solution of this disclosure, and therefore should not be construed as limiting this disclosure.

[0162] For example, the sorting system may also include a carrier 5, such as a shelf, on which a target location 51 is provided, and a target container 3 is placed on the target location 51. A second sorting device 42 (e.g., a sorting robot) operates on the ground or platform structure 6. When the second sorting device 42 operates on the platform structure 6, the carrier 5 (e.g., the shelf) is positioned on one side of the platform structure 6.

[0163] In some examples, where the moving part 121 is constructed as a rack, the flipping part 123 is constructed as a gear that meshes with the rack, the carrying part 13 is constructed as a flap, and the motion mechanism 2 of the sorting robot includes a chassis 21 and a lifting assembly 22, and the lifting assembly 22 includes a guide rail and a slider that moves up and down along the guide rail, the specific operation process of the sorting robot receiving and carrying the target item and delivering the target item to the target container 3 is as follows:

[0164] refer to Figure 1 and Figure 8 As shown, the first drive unit 11 (e.g., a linear motor) of the sorting robot drives the rack along a first preset direction (reference) via the first connector 125 (e.g., a connecting frame). Figure 1 and Figure 8 The slide moves in the x-direction until the meshing teeth on the rack separate from the meshing teeth on the gear. At this point, the flap switches from the flip state to the horizontal reset state. The flap receives and carries the target item. Under the action of the chassis 21, the flap of the sorting robot moves to the position where it docks with the target container 3. By operating the slider along the height direction of the guide rail (reference...), the slide moves... Figure 1 and Figure 8 The movement (in the z-direction) drives the delivery mechanism 1 on the slider to approach the target container 3 until it reaches a suitable height for delivery. The linear motor of the sorting robot is then restarted, causing it to drive the rack connected to the connecting frame along the first preset direction (reference direction). Figure 1 and Figure 8 The sorting robot moves towards the target container 3 in the x-direction until the meshing teeth on its rack re-mesh with the meshing teeth on its gear. Then, driven by the rack, the gear rotates in the second preset direction (refer to...). Figure 1 and Figure 8 The first axis (extending in the y-direction) rotates, thereby causing the flap connected to the gear to rotate around the second preset direction (reference). Figure 1 and Figure 8 The first axis (extending in the y direction) flips towards the flip plate of the three-dimensional sorting machine, so that the target item carried on the flip plate of the sorting robot can be delivered to the target container 3 to realize the delivery of the target item.

[0165] The embodiments disclosed herein have the same or corresponding technical features as the foregoing embodiments, and therefore have the same or similar technical effects as the foregoing embodiments of this disclosure. For details, please refer to the detailed description of the foregoing embodiments of this disclosure, which will not be repeated in the embodiments of this disclosure.

[0166] The above detailed embodiments further illustrate the purpose, technical solutions, and beneficial effects of the embodiments of this disclosure. It should be understood that the above are merely specific embodiments of the embodiments of this disclosure and are not intended to limit the protection scope of the embodiments of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this disclosure should be included within the protection scope of the embodiments of this disclosure.

Claims

1. A delivery mechanism, characterized in that, include: First driving component (11); The first transmission assembly (12) includes a moving member (121) and a flipping member (123). The moving member (121) is connected to the first driving member (11) to move along a first preset direction under the drive of the first driving member (11). The moving member (121) has a first engaging part (1211), and the flipping member (123) has a second engaging part (123a). The second engaging part (123a) is configured to cause the flipping member (123) to flip around a first axis extending in a second preset direction when the moving member (121) moves to the point where the first engaging part (1211) engages with the second engaging part (123a). The first preset direction and the second preset direction form a first preset angle. as well as A carrier (13) is connected to the flipper (123), and the carrier (13) is configured to receive, carry, and / or deliver a target item; The flipping member (123) is configured to, when the moving member (121) moves to engage the first engaging part (1211) and the second engaging part (123a), drive the carrying member (13) to flip around the first axis extending in the second preset direction, so as to deliver the target item.

2. The delivery mechanism according to claim 1, characterized in that, The first engaging part (1211) and the second engaging part (123a) include an engaging state and a disengaged state. When the carrier (13) receives the target item and / or carries the target item, the first engaging part (1211) and the second engaging part (123a) are in the disengaged state. And / or, When the target item located on the carrier (13) is delivered by the carrier (13), the first engaging part (1211) and the second engaging part (123a) are in the engaging state; The flipping angle of the flipping member (123) is related to the moving distance of the first engaging part (1211), and the flipping angle of the flipping member (123) is also related to the rotation angle of the second engaging part (123a).

3. The delivery mechanism according to claim 1, characterized in that, When there is an engagement state and a disengagement state between the first engagement portion (1211) and the second engagement portion (123a), and the engagement state and the disengagement state are switchable, the first engagement portion (1211) and the second engagement portion (123a) are configured to switch between the engagement state and the disengagement state by moving the moving member (121) along the first preset direction; When the first engaging part (1211) and the second engaging part (123a) are in the engaged state, the carrier (13) flips over to deliver the target item located on the carrier (13); and / or, when the first engaging part (1211) and the second engaging part (123a) are in the disengaged state, the carrier (13) resets to receive the target item and / or carry the target item.

4. The delivery mechanism according to any one of claims 1 to 3, characterized in that, The first engaging portion (1211) includes a first sub-engaging portion (1211a) and a second sub-engaging portion (1211b), the first sub-engaging portion (1211a) and the second sub-engaging portion (1211b) are arranged at intervals along the first preset direction, and the flipping member (123) includes a first flipping member (1231) and a second flipping member (1232), the first flipping member (1231) and the second flipping member (1232) are arranged at intervals along the third preset direction; The moving part (121) is configured to switch between a first position and a second position under the drive of the first driving part (11), the first position and the second position being spaced apart along the first preset direction; In the first position, the first sub-engaging part (1211a) engages with the second engaging part (123a) of the first flipping member (1231), and the first flipping member (1231) drives the carrier (13) to flip forward about the first sub-axis extending in the second preset direction; in the second position, the second sub-engaging part (1211b) engages with the second engaging part (123a) of the second flipping member (1232), and the second flipping member (1232) drives the carrier (13) to flip backward about the second sub-axis extending in the second preset direction; Wherein, the third preset direction forms a second preset angle with the first preset direction, the third preset direction forms a third preset angle with the second preset direction, and the first sub-axis is parallel to the second sub-axis.

5. The delivery mechanism according to claim 4, characterized in that, The moving member (121) includes a rack that extends along the first preset direction and has a first engagement portion (1211). The flipping member (123) includes a gear that has a second engagement portion (123a). The gear is configured to drive the carrying member (13) to flip around a first axis extending in the second preset direction when the rack moves to engage with the first engagement portion (1211) and the second engagement portion (123a), so as to deliver the target item.

6. The delivery mechanism according to claim 5, characterized in that, The gear includes a first gear and a second gear, and the rack includes a first tooth segment and a second tooth segment; In the first position, the first tooth segment is the first sub-meshing part (1211a) of the first meshing part (1211), and the first tooth segment meshes with the first gear; In the second position, the second tooth segment is the second sub-meshing part (1211b) of the first meshing part (1211), and the second tooth segment meshes with the second gear.

7. The delivery mechanism according to claim 6, characterized in that, The length of the first tooth segment is greater than zero and less than or equal to one-quarter of the circumference of the first gear; and / or The length of the second tooth segment is greater than zero and less than or equal to one-quarter of the circumference of the second gear.

8. The delivery mechanism according to any one of claims 1-3, characterized in that, The moving part (121) includes at least two sets, and the at least two sets of the moving parts (121) are arranged at intervals along the second preset direction. The first transmission assembly (12) also includes a first connecting part (125). The first driving part (11) is connected to the at least two sets of the moving parts (121) through the first connecting part (125) to drive the at least two sets of the moving parts (121) to move synchronously. The flipping component (123) includes at least two sets, and the at least two sets of the flipping component (123) are arranged at intervals along the second preset direction. The first transmission assembly (12) further includes a transmission shaft (126). The carrying component (13) is connected to at least two sets of the flipping component (123) through the transmission shaft (126). The first drive member (11) is configured to drive at least two sets of the moving members (121) to move synchronously via the first connector (125), so that the first engagement portion (1211) of the at least two sets of the moving members (121) engages with the second engagement portion (123a) of the at least two sets of the flipping members (123).

9. The delivery mechanism according to claim 4, characterized in that, The delivery mechanism (1) further includes a base (14), and the load (13) is mounted on the base (14) via the flipping member (123); The base (14) is provided with a mounting part (141). When the moving part (121) moves to the point where the first engaging part (1211) engages with the second engaging part (123a), at least a portion of the flipping part (123) is rotatably disposed on the mounting part (141) and rotates on the mounting part (141) about a first axis extending in the second preset direction, so as to drive the load (13) to flip.

10. The delivery mechanism according to claim 9, characterized in that, The mounting portion (141) includes a first mounting portion (1411) and a second mounting portion (1412), wherein the first mounting portion (1411) and the second mounting portion (1412) are arranged at intervals along the first preset direction. The first mounting portion (1411) is configured such that when the first sub-engaging portion (1211a) engages with the second engaging portion (123a) of the first flipping member (1231), the first flipping member (1231) is disposed in the first mounting portion (1411), and when the first flipping member (1231) drives the carrier (13) to rotate in the positive direction around the first sub-axis extending in the second preset direction, the carrier (13) drives the second flipping member (1232) to disengage from the second mounting portion (1412); The second mounting portion (1412) is configured such that when the second sub-engaging portion (1211b) engages with the second engaging portion (123a) of the second flipping member (1232), the second flipping member (1232) is disposed in the second mounting portion (1412), and when the second flipping member (1232) causes the carrier (13) to flip in the opposite direction around the second sub-axis extending in the second preset direction, the carrier (13) causes the first flipping member (1231) to disengage from the first mounting portion (1411).

11. The delivery mechanism according to claim 9, characterized in that, The delivery mechanism (1) further includes a rotating component (15), which is connected to the carrier (13) or the base (14) to drive the carrier (13) to rotate around a second axis extending in a fourth preset direction, either directly or through the base (14). Wherein, the fourth preset direction forms a fourth preset angle with the first preset direction, the fourth preset direction forms a fifth preset angle with the second preset direction, and the fourth preset direction forms a sixth preset angle with the third preset direction.

12. The delivery mechanism according to claim 11, characterized in that, The rotating assembly (15) includes at least a second drive member (151), which is connected to the carrier (13) or the base (14) to drive the carrier (13) to rotate directly or through the base (14).

13. The delivery mechanism according to claim 12, characterized in that, The rotating assembly (15) includes a second connector (152), and the second drive member (151) is connected to the carrier (13) or the base (14) via the second connector (152). The second drive member (151) is configured to drive the second connector (152) to rotate the carrier (13).

14. The delivery mechanism according to claim 12, characterized in that, The rotating assembly (15) includes a second transmission assembly (153), and the second drive member (151) is connected to the carrier (13) or the base (14) through the second transmission assembly (153). The second drive member (151) is configured to drive the second transmission assembly (153) to rotate the carrier (13).

15. A sorting device (4), characterized in that, include: The delivery mechanism as described in any one of claims 1-14, wherein the moving member (121) of the delivery mechanism (1) moves along a first preset direction to switch between an engaged state and a disengaged state between the first engaging portion (1211) of the moving member (121) and the second engaging portion (123a) of the flipping member (123); and A motion mechanism (2) is connected to the delivery mechanism (1), and the motion mechanism (2) is configured to drive the delivery mechanism (1) to move to a position where it docks with the target container (3); The delivery mechanism (1) is configured to receive or carry a target item via a carrier (13) when the first engaging part (1211) and the second engaging part (123a) are in the separated state; or, the delivery mechanism (1) is configured to, when the first engaging part (1211) and the second engaging part (123a) are in the engaged state, drive the carrier (13) to rotate around a first axis extending in a second preset direction via the flipping member (123) to deliver the received target item to the target container (3). Wherein, the first preset direction and the second preset direction form a first preset angle.

16. The sorting equipment (4) according to claim 15, characterized in that, The motion mechanism (2) includes a chassis (21) that moves along the operating surface of the sorting system. The delivery mechanism (1) is mounted on the chassis (21), and the chassis (21) is configured to move the delivery mechanism (1) to a position where it docks with the target container (3); or, The motion mechanism (2) includes a chassis (21) and a lifting assembly (22). The chassis (21) moves along the operating surface of the sorting system, and the lifting assembly (22) moves up and down relative to the chassis (21). The delivery mechanism (1) is mounted on the lifting assembly (22). The chassis (21) is configured to move the delivery mechanism (1) to a position where it docks with the target container (3). The lifting assembly (22) is configured to move the delivery mechanism (1) closer to or further away from the target container (3) in the height direction; or... The motion mechanism (2) includes a frame (23) and at least one motion component (24), the at least one motion component (24) is movably disposed on the frame (23), the delivery mechanism (1) is connected to the at least one motion component (24), and the at least one motion component (24) is configured to drive the delivery mechanism (1) to move along a second preset direction and / or a fourth preset direction of the frame (23), wherein the second preset direction and the fourth preset direction form a fifth preset angle.

17. A sorting system, characterized in that, include: The sorting device (4) as described in claim 15 or 16 is configured to receive a target item and transport the target item to a position for docking with a target container (3); and Target container (3), the target container (3) being configured to receive the target item; The moving part (121) of the sorting device (4) moves along a first preset direction to switch the first engaging part (1211) of the moving part (121) and the second engaging part (123a) of the flipping part (123) between an engaging state and a disengaged state. The sorting device (4) is configured to receive or carry the target item through the carrying part (13) when the first engaging part (1211) and the second engaging part (123a) are disengaged, and to transport the carried target item to a position docking with the target container (3) through the motion mechanism (2); and / or, the sorting device (4) is configured to drive the carrying part (13) to flip around a first axis extending in a second preset direction when the first engaging part (1211) and the second engaging part (123a) are engaged, so as to deliver the received target item to the target container (3). Wherein, the first preset direction and the second preset direction form a first preset angle.

18. The sorting system according to claim 17, characterized in that, The sorting equipment (4) includes a first sorting equipment (41), which transports the target item to a position that docks with the target container (3) to deliver the target item on the carrier (13) to the target container (3); Wherein, the first sorting device (41) is configured to receive and carry the target item through the delivery mechanism (1) of the first sorting device (41); and / or, the first sorting device (41) is configured to drive the delivery mechanism (1) of the first sorting device (41) to move to the position of docking with the target container (3) through the movement of the movement mechanism (2) of the first sorting device (41); and / or, the first sorting device (41) is configured to deliver the carried target item to the target container (3) through the delivery mechanism (1) of the first sorting device (41).

19. The sorting system according to claim 18, characterized in that, The sorting system also includes a carrier (5), which is provided with a target location (51), and the target container (3) is placed on the target location (51); The carrier (5) is located on at least one side of the first sorting device (41). The motion mechanism (2) includes a frame (23) and at least one motion component (24). The at least one motion component (24) is movably disposed on the frame (23). The delivery mechanism (1) is connected to the at least one motion component (24). The at least one motion component (24) is configured to move along a second preset direction and / or a fourth preset direction of the frame (23) to drive the delivery mechanism (1) to a position where it docks with the target container (3). The first sorting device (41) is configured to receive and carry the target item via the carrier (13) when the moving member (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated; and / or, the first sorting device (41) is configured to, when the moving member (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated, move along the second preset direction of the frame (23) via the at least one moving member (24). The movement in the direction and / or the fourth preset direction causes the carrier (13) to move to a position where it docks with the target container (3); and / or, the first sorting device (41) is configured to, when the moving member (121) moves to the point where the first engaging part (1211) engages with the second engaging part (123a), cause the carrier (13) to rotate around a first axis extending in the second preset direction via the flipping member (123) so as to deliver the target item carried by the carrier (13) to the target container (3).

20. The sorting system according to claim 18, characterized in that, The sorting device (4) further includes a second sorting device (42), which is configured to receive the target item to be delivered. The second sorting device (42) transports the target item to a position that docks with the first sorting device (41) so as to deliver the target item to be delivered carried by the second sorting device (42) to the first sorting device (41). Wherein, the second sorting device (42) is configured to receive and carry the target item to be delivered through the delivery mechanism (1) of the second sorting device (42); and / or, the second sorting device (42) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move to a position docking with the delivery mechanism (1) of the first sorting device (41) through the movement of the movement mechanism (2) of the second sorting device (42); and / or, the second sorting device (42) is configured to deliver the target item carried by the second sorting device (42) to the delivery mechanism (1) of the first sorting device (41) through the delivery mechanism (1) of the second sorting device (42).

21. The sorting system according to claim 20, characterized in that, The sorting system also includes a carrier (5), on which a target location (51) is provided, and the target container (3) is placed on the target location (51); The motion mechanism (2) of the second sorting device (42) includes a chassis (21), which moves along the running surface of the sorting system. The delivery mechanism (1) of the second sorting device (42) is mounted on the chassis (21), and the chassis (21) is configured to drive the delivery mechanism (1) of the second sorting device (42) to a position where it docks with the delivery mechanism (1) of the first sorting device (41). The second sorting device (42) operates on the ground or platform structure (6). When the second sorting device (42) operates on the platform structure (6), the platform structure (6) is located on one side of the first sorting device (41), and the carrier (5) is located on the other side of the first sorting device (41). The second sorting device (42) is configured to receive and carry the target item via the loading member (13) of the second sorting device (42) when the moving part (121) of the second sorting device (42) moves to the point where the first engaging part (1211) of the second sorting device (42) separates from the second engaging part (123a) of the second sorting device (42); and / or, the second sorting device (42) is configured to drive the second sorting device (4) via the movement of the chassis (21) when the moving part (121) of the second sorting device (42) moves to the point where the first engaging part (1211) of the second sorting device (42) separates from the second engaging part (123a) of the second sorting device (42). 2) The carrier (13) moves to a position where it docks with the carrier (13) of the first sorting device (41); and / or, the second sorting device (42) is configured such that when the moving part (121) of the second sorting device (42) moves to a position where the first engaging part (1211) of the second sorting device (42) engages with the second engaging part (123a) of the second sorting device (42), the carrier (13) of the second sorting device (42) is rotated around a first axis extending in a second preset direction by the flipping part (123) of the second sorting device (42) to deliver the target item carried by the carrier (13) of the second sorting device (42) to the carrier (13) of the first sorting device (41); The motion mechanism (2) of the first sorting device (41) includes a frame (23) and at least one motion component (24). The at least one motion component (24) is movably disposed on the frame (23). The delivery mechanism (1) of the first sorting device (41) is connected to the at least one motion component (24). The at least one motion component (24) is configured to move along a second preset direction and / or a fourth preset direction of the frame (23) to drive the delivery mechanism (1) of the first sorting device (41) to move to a position where it docks with the target container (3). The first sorting device (41) is configured to receive and carry the target item via its loading member (13) when the moving part (121) of the first sorting device (41) moves to the point where the first engaging part (1211) of the first sorting device (41) is separated from the second engaging part (123a) of the first sorting device (41); and / or, the first sorting device (41) is configured to move its loading member (13) to a position where it docks with the target container (3) via the movement of the at least one moving part (24). Alternatively, the first sorting device (41) is configured such that when the moving part (121) of the first sorting device (41) moves to engage with the first engaging part (1211) and the second engaging part (123a) of the first sorting device (41), the flipping part (123) of the first sorting device (41) drives the carrying part (13) of the first sorting device (41) to flip around a first axis extending in a second preset direction, so as to deliver the target item carried by the carrying part (13) of the first sorting device (41) to the target container (3).

22. The sorting system according to claim 20, characterized in that, The sorting system also includes a carrier (5), on which a target location (51) is provided, and the target container (3) is placed on the target location (51); The motion mechanism (2) of the second sorting device (42) includes a chassis (21) and a lifting assembly (22). The chassis (21) moves along the running surface of the sorting system, and the lifting assembly (22) moves up and down relative to the chassis (21). The delivery mechanism (1) of the second sorting device (42) is mounted on the lifting assembly (22). The chassis (21) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move to a position where it docks with the delivery mechanism (1) of the first sorting device (41). The lifting assembly (22) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move closer to or further away from the delivery mechanism (1) of the first sorting device (41) in the height direction. The second sorting device (42) operates on the ground or on a platform structure (6). When the second sorting device (42) operates on the platform structure (6), the platform structure (6) is located on one side of the first sorting device (41), and the carrier (5) is located on the other side of the first sorting device (41). The second sorting device (42) is configured to receive and carry the target item via its carrier (13) when the moving part (121) of the second sorting device (42) moves to the point where the first engaging part (1211) of the second sorting device (42) separates from the second engaging part (123a) of the second sorting device (42); and / or, the second sorting device (42) is configured to, via its chassis (21), move the carrier (13) of the second sorting device (42) to the point where it is adjacent to the carrier (123a) of the first sorting device (41) when the moving part (121) of the second sorting device (42) moves to the point where it separates from the first engaging part (1211) of the second sorting device (42) separates from the second engaging part (123a) of the second sorting device (42); and / or, the second sorting device (42) is configured to, via its chassis (21), move the carrier (13) of the second sorting device (42) to the point where it is adjacent to the carrier (123a) of the first sorting device (41). 13) The docking position, and the lifting component (22) drives the load (13) of the second sorting device (42) to approach the load (13) of the first sorting device (41); and / or, the second sorting device (42) is configured such that when the moving part (121) of the second sorting device (42) moves to the first engaging part (1211) of the second sorting device (42) and the second engaging part (123a) of the second sorting device (42) engage, the flipping part (123) of the second sorting device (42) drives the load (13) of the second sorting device (42) to flip around the first axis extending in the second preset direction, so as to deliver the target item carried by the load (13) of the second sorting device (42) to the load (13) of the first sorting device (41); The motion mechanism (2) of the first sorting device (41) includes a frame (23) and at least one motion component (24). The at least one motion component (24) is movably disposed on the frame (23). The delivery mechanism (1) of the first sorting device (41) is connected to the at least one motion component (24). The at least one motion component (24) is configured to move along a second preset direction and / or a fourth preset direction of the frame (23) to drive the delivery mechanism (1) of the first sorting device (41) to move to a position where it docks with the target container (3). The first sorting device (41) is configured to receive and carry the target item via the loading member (13) of the first sorting device (41) when the moving part (121) of the first sorting device (41) moves to the point where the first engaging part (1211) of the first sorting device (41) separates from the second engaging part (123a) of the first sorting device (41); and / or, the first sorting device (41) is configured to, when the moving part (121) of the first sorting device (41) moves to the point where the first engaging part (1211) of the first sorting device (41) separates from the second engaging part (123a) of the first sorting device (41), via the at least one moving member (24) The movement drives the carrier (13) of the first sorting device (41) to move to a position where it docks with the target container (3); and / or, the first sorting device (41) is configured such that when the moving part (121) of the first sorting device (41) moves to a position where the first engaging part (1211) of the first sorting device (41) engages with the second engaging part (123a) of the first sorting device (41), the carrier (13) of the first sorting device (41) is rotated around a first axis extending in a second preset direction by the flipping part (123) of the first sorting device (41) to deliver the target item carried by the carrier (13) of the first sorting device (41) to the target container (3).

23. The sorting system according to claim 17, characterized in that, The sorting equipment (4) includes a second sorting equipment (42), which is configured to receive the target item to be delivered and transport the target item to a position docking with the target container (3) to deliver the target item to the target container (3). Wherein, the second sorting device (42) is configured to receive and carry the target item to be delivered through the delivery mechanism (1) of the second sorting device (42); and / or, the second sorting device (42) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move to the position of docking with the target container (3) through the movement of the movement mechanism (2) of the second sorting device (42); and / or, the second sorting device (42) is configured to deliver the target item carried to the target container (3) through the delivery mechanism (1) of the second sorting device (42).

24. The sorting system according to claim 23, characterized in that, The sorting system also includes a carrier (5) with a target location (51) and a target container (3) placed on the target location (51). The motion mechanism (2) of the second sorting device (42) includes a chassis (21), which moves along the running surface of the sorting system. The delivery mechanism (1) of the second sorting device (42) is mounted on the chassis (21), and the chassis (21) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move to a position where it docks with the target container (3). The second sorting device (42) runs on the ground via the motion mechanism (2), and the carrier (5) is set on the ground; or, the second sorting device (42) runs on the platform structure (6) via the motion mechanism (2), and the carrier (5) is set on one side of the platform structure (6); The second sorting device (42) is configured to receive and carry the target item to be delivered via the carrier (13) when the moving part (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated; and / or, the second sorting device (42) is configured to move the carrier (13) to a position where it docks with the target container (3) via the movement of the chassis (21) when the moving part (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated; and / or, the second sorting device (42) is configured to drive the carrier (13) to rotate around a first axis extending in a second preset direction via the flipping part (123) when the moving part (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are engaged, so as to deliver the target item carried by the carrier (13) to the target container (3).

25. The sorting system according to claim 23, characterized in that, The sorting system also includes a carrier (5) with a target location (51) and a target container (3) placed on the target location (51). The motion mechanism (2) of the second sorting device (42) includes a chassis (21) and a lifting assembly (22). The chassis (21) moves along the running surface of the sorting system, and the lifting assembly (22) moves up and down relative to the chassis (21). The delivery mechanism (1) of the second sorting device (42) is mounted on the lifting assembly (22). The chassis (21) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move to a position where it docks with the target container (3). The lifting assembly (22) is configured to drive the delivery mechanism (1) of the second sorting device (42) to move closer to or further away from the target container (3) in the height direction. The second sorting device (42) runs on the ground via the motion mechanism (2), and the carrier (5) is set on the ground; or, the second sorting device (42) runs on the platform structure (6) via the motion mechanism (2), and the carrier (5) is set on one side of the platform structure (6); The second sorting device (42) is configured to receive and carry the target item to be delivered via the carrier (13) when the moving part (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated; and / or, the second sorting device (42) is configured to drive the carrier (13) to move to the point where the target item is located via the chassis (21) when the moving part (121) moves to the point where the first engaging part (1211) and the second engaging part (123a) are separated. The container (3) docks at the position, and the lifting assembly (22) moves the carrying component (13) closer to the target container (3); and / or, the second sorting device (42) is configured to, when the moving component (121) moves to the point where the first engaging part (1211) engages with the second engaging part (123a), drive the carrying component (13) to rotate around a first axis extending in a second preset direction via the flipping component (123) so as to deliver the target item carried by the carrying component (13) to the target container (3).

Images