Three-dimensional sorting system

Abstract

To provide a three-dimensional sorting system that can improve sorting efficiency. [Solution] The system includes a lifting sorting machine 100 that moves along an annular rail, and the lifting sorting machine 100 comprises a lifting mechanism 110 and a conveying device 130 that is lifted up and down by the lifting mechanism 110. The lifting mechanism 110 is provided with a rotary drive device 150, and the conveying device 130 is provided with the rotary drive device 150. The conveying device 130 is rotatable horizontally around a vertical axis perpendicular to the conveying surface.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a three-dimensional sorting system for sorting goods.

Background Art

[0002] Three-dimensional sorting systems are generally used as systems that automatically sort goods. In this three-dimensional sorting system, it is desired to increase the number of sorting ports by using multiple layers of sorting ports. For example, Patent Document 1 below discloses raising and lowering the conveying device of a lift sorting machine to supply goods to sorting ports at different heights.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, as shown in FIG. 1, when sorting, the goods supplied from the conveying device of the lift sorting machine 100 to the sorting unit 800 not only have a first speed V1 perpendicular to the moving direction of the lift sorting machine 100 due to the drive of the conveying device (belt conveyor), but also have a second speed V2 along the moving direction of the lift sorting machine Therefore, the sorting trajectory of the goods after they leave the conveying device is parabolic. Therefore, in order to stably introduce the goods that have left the conveying device into the sorting port 811, it is necessary to design the entrance width of the sorting port 81 as wide. Or, it is necessary to limit the moving speed of the lift sorting machine 100. However, designing the entrance width of the sorting port 811 wide is disadvantageous for increasing the number of sorting ports 811, and limiting the moving speed of the lift sorting machine 100 is also disadvantageous for improving the sorting efficiency.

[0005] Therefore, this disclosure was made to solve the above-mentioned problems and aims to provide a three-dimensional sorting system that can improve sorting efficiency.

[0006] One embodiment of the present disclosure made to solve the above problems is a three-dimensional sorting system comprising a lifting sorting machine that moves along an annular rail, wherein the lifting sorting machine comprises a lifting mechanism and a conveying device that is lifted up and down by the lifting mechanism, characterized in that the lifting mechanism is provided with a rotary drive device, the rotary drive device is provided with the conveying device, and the conveying device is rotatable horizontally about a vertical axis perpendicular to the conveying surface.

[0007] In the above embodiment, it is preferable that a plurality of the lifting sorting machines are provided along the rail, the rail is provided with a lower rail, each of the lifting sorting machines is provided at equal intervals on a moving frame that moves along the lower rail, the moving frame includes T-shaped frames that are sequentially connected along the lower rail, and the lower intermediate region of each lifting sorting machine is fixed to one of the T-shaped frames.

[0008] In the above embodiment, the lifting mechanism includes a rectangular frame structure, a lifting seat is provided between two support columns of the frame structure, both sides of the lifting seat are connected to lifting drive devices provided on the support columns, each of the lifting drive devices is connected by a synchronous mechanism, one of the lifting drive devices is connected to a lifting drive motor, and preferably the rotation drive device is provided on the lifting seat.

[0009] In the above embodiment, the rotary drive device is a motor, the output shaft of the motor is located in the center of the bottom of the lifting seat provided in the lifting mechanism, two I-shaped rollers with vertically extending axes are provided at the bottom of the conveying device, each I-shaped roller is configured to move along two arc-shaped guide grooves provided in the lifting seat, and it is preferable that each of the guide grooves is arranged concentrically.

[0010] In the above embodiment, when the lifting sorting machine receives cargo from the packaging supply table, it is preferable that the conveying device is rotated horizontally by the drive of the rotary drive device, and that the conveying direction of the conveying device is aligned with the supply direction of the packaging supply table.

[0011] In the above embodiment, it is preferable that when the lifting sorting machine receives cargo from the packaging supply table, the lifting mechanism moves the conveying surface of the conveying device to a position lower than the supply surface of the packaging supply table.

[0012] In the above embodiment, when the lifting sorting machine supplies cargo to the sorting unit, the conveying device is rotated horizontally by the drive of the rotary drive device, and it is preferable to deflect the conveying direction of the conveying device toward the upstream side of the sorting port to which the cargo is to be sorted, rather than toward the orthogonal direction perpendicular to the direction of movement of the lifting sorting machine.

[0013] In the above embodiment, when the lifting sorting machine supplies cargo to the sorting unit, it is preferable that the lifting mechanism raises the conveying surface of the conveying device higher than the entrance to the sorting port.

[0014] In the above embodiment, a plurality of the lifting sorting machines are provided along the rail, the rail is provided with a lower rail, and each of the lifting sorting machines is provided at equal intervals on a moving frame that moves along the lower rail, the moving frame includes a first moving frame and a second moving frame, the first moving frame is provided with a support for attaching the lifting sorting machine, while the second moving frame is not provided with the support, the lifting sorting machine is attached to the first moving frame via the support, while it is not attached to the second moving frame, the first moving frame and the second moving frame are connected alternately in order along the lower rail, and it is preferable that adjacent lifting sorting machines are not connected to each other.

[0015] In the above embodiment, when supplying cargo from the conveying device to the sorting unit, if the moving speed of the lifting sorting machine is ID, the conveying speed at which the conveying device transports the cargo is HD, and the angle formed by the moving speed ID and a vector opposite to the conveying speed HD1 is θ, it is preferable to adjust the conveying speed HD so that it is the value obtained by dividing the moving speed ID by cosθ.

[0016] According to the three-dimensional sorting system disclosed herein, the lifting sorter employs a configuration in which a conveying device is rotated horizontally by a rotary drive device, allowing the conveying direction of the conveying device to be adjusted during sorting. As a result, the direction of the driving force (conveying direction) applied by the conveying device to the cargo overcomes the inertial force along the direction of movement of the lifting sorter, and the direction of cargo movement approaches the direction perpendicular to the direction of movement of the lifting sorter. In this way, highly accurate sorting is possible even with smaller sorting openings, and the lifting sorter can travel at higher speeds with the same sorting unit size. Furthermore, the design of the rotary drive device and conveying device structure minimizes the vertical space they occupy, contributing to the overall miniaturization of the system. At the same time, the rotation angle of the conveying device can be effectively limited, avoiding collisions with other structures due to excessive deflection. In addition, the sorting unit can stably receive cargo of different heights despite its compact structure. Moreover, it can effectively detect jams and full loads, allowing for rapid identification of abnormal conditions. Furthermore, the side frames of the conveying device form an enclosure (enclosure wall), which prevents cargo from falling from the side when the conveying device rotates. In addition, in the lifting sorting machine, buffering during cargo receiving and unloading operations can be minimized. Moreover, when the lifting sorting machine receives cargo, the conveying direction of the conveying device can be adjusted to match the supply direction of the packaging supply table, allowing for smooth supply of cargo to the sorting unit. [Effects of the Invention]

[0017] The three-dimensional sorting system described herein can improve sorting efficiency. [Brief explanation of the drawing]

[0018] [Figure 1] This diagram shows the sorting trajectory of cargo after it leaves the conveying device in a conventional three-dimensional sorting system. [Figure 2] This is a perspective view of the three-dimensional sorting system of this embodiment. [Figure 3] An enlarged view partially showing the lower rail and the moving frame shown in FIG. 2. [Figure 4] A cross-sectional view showing the state where the lifting and sorting machine is arranged on the upper rail and the lower rail. [Figure 5] A perspective view of the lifting and sorting machine seen from below. [Figure 6] A front view of the lifting and sorting machine. [Figure 7] A front view of the lifting and sorting machine. [Figure 8] A cross-sectional view showing the slide frame, the timing belt, and the lower pulley of the lifting and sorting machine. [Figure 9] An enlarged view of part A shown in FIG. 7. [Figure 10] A perspective view showing the state where the conveying device rotates horizontally and is inclined. [Figure 11] A plan view of the three-dimensional sorting system. [Figure 12] A perspective view of the sorting unit. [Figure 13] A perspective view of the sorting device. [Figure 14] A perspective view of the partition member shown in FIG. 12 seen from below the bottom plate. [Figure 15] A front view of the sorting unit shown in FIG. 12. [Figure 16] A view showing the state where goods are supplied from the packaging supply table to the sorting cart. [Figure 17] A view showing the state where goods are supplied from the lifting and sorting machine to the sorting unit. [Figure 18] A view showing the lifting and sorting machine in the second embodiment. [Figure 19] A view showing the lifting and sorting machine in the third embodiment. [Figure 20] A view showing the lifting and sorting machine in the fourth embodiment. [Figure 21] A view showing the lifting and sorting machine in the fourth embodiment. [Figure 22] A perspective view showing the first moving frame in the fifth embodiment. [Figure 23] This is a perspective view showing the second moving frame in the fifth embodiment. [Figure 24] This is a perspective view showing a state in which the first moving frame and the second moving frame are alternately connected in the fifth embodiment. [Figure 25] This is a front view showing a lifting sorting machine in the fifth embodiment. [Figure 26] This is a front view showing a lifting sorting machine in the fifth embodiment. [Figure 27] This is a front view showing a three-dimensional sorting system in the fifth embodiment. [Figure 28] This figure shows the supply vector V1 formed from the moving speed ID1 and the conveying speed HD1 in the sixth embodiment, where the moving speed of the lifting sorting machine is ID1 and the conveying speed of the conveying device is HD1. [Figure 29] This figure shows the supply vector V2 formed from the moving speed ID2 and the conveying speed HD2 in the sixth embodiment, where the moving speed of the lifting sorting machine is ID2 and the conveying speed of the conveying device is HD2. [Modes for carrying out the invention]

[0019] The purposes, advantages, and features of this disclosure are set forth below through a non-limiting description of preferred embodiments. These embodiments are merely representative examples of the application of the technical means of this disclosure, and all technical means formed by equivalent substitutions or equivalent transformations are also included within the scope of protection sought by this disclosure.

[0020] In the description of this embodiment, terms such as "center," "up," "down," "left," "right," "front," "back," "vertical," "horizontal," "inside," and "outside," which indicate directions and positional relationships, are based on the positional relationships and directions shown in the drawings and are used solely for the convenience and simplification of explanation. Therefore, these terms do not necessarily mean that the devices or parts indicated have a specific direction, structure, or operating method, and should not be interpreted as limiting this disclosure. Furthermore, terms such as "first," "second," and "third" are used solely for explanatory convenience and do not suggest or limit their importance or order.

[0021] The three-dimensional sorting system of this disclosure will be described below with reference to the attached figures. As shown in Figure 2, the three-dimensional sorting system 1 includes a lifting sorting machine 100 that moves around along an annular rail (track), and the lifting sorting machine 100 is arranged on a moving frame 300 that moves along a lower rail 200 so as to complete one full rotation at equal intervals. As shown in Figures 2 and 3, the lower rail 200 is provided on an outer frame 900.

[0022] The shape of the lower rail 200 can be designed as needed, and preferably, the lower rail 200 includes an inner rail 210 and an outer rail 220 arranged concentrically. The shape of the inner rail 210 and the outer rail 220 can be designed as a suitable closed loop (ring) depending on the application, for example, the inner rail 210 and the outer rail 220 may be elliptical or a roughly rectangular shape with rounded corners. The inner rail 210 and the outer rail 220 can also be constructed by combining practical square pipes. In another embodiment, the inner rail 210 and the outer rail 220 may be constructed as a known and practical C-shaped groove structure, and their openings may be arranged to face each other. In addition, in the inner rail 210 and the outer rail 220, the straight sections may be constructed as a C-shaped groove structure, and the curved sections may be constructed as square pipes. In this way, the curved sections can more effectively absorb the impact when the lifting sorting machine 100 moves, and the stability of the structure can be ensured.

[0023] As shown in Figure 3, the movable frame 300 comprises a T-shaped frame 310 that is hinged sequentially along the lower rail 200 for one full rotation. The T-shaped frame 310 includes a main rod 311 that is vertically connected to form a T-shape, and a mounting rod 312 having a C-shaped groove. The tip of the main rod 311 (left end in Figure 3) is provided with a rod-mounted articulated bearing 313, and the base end of the main rod 311 (right end in Figure 3) is connected to the central position of the mounting rod 312. The opening of the mounting rod 312 faces in the opposite direction from the main rod 311, and wheel seats 320 are hinged to both ends of the mounting rod 312.

[0024] The pin shafts connecting the wheel seats 320 and the mounting rods 312 extend vertically, and each wheel seat 320 is provided with a movable wheel 330. The axes of the movable wheels 330 extend horizontally, with one movable wheel 330 running on the upper surface of the inner rail 210 and the other movable wheel 330 running on the upper surface of the outer rail 220. Below the mounting rods 312 are two lower limiting wheels 340 located below the movable wheels 330. These lower limiting wheels 340 roll along the opposing sides of the inner rail 210 and the outer rail 220, guiding the wheels. Furthermore, a connecting shaft 314 is provided in the center of the mounting rod 312, and this connecting shaft 314 extends vertically. Adjacent T-frames 310 are connected to each other by articulated bearings 313 with rods and connecting shafts 314.

[0025] As shown in Figure 4, a secondary member 350 of a linear motor is attached to the lower part of the main rod 311. A primary member 400 of a linear motor, corresponding to the secondary member 350 of the linear motor, is provided on the lower rail 200, and the primary member 400 and the secondary member 350 of the linear motor cooperate to provide the driving force that moves the movable frame 300 along the lower rail 200.

[0026] Furthermore, to facilitate power supply, a sliding contact type current collector 360 is provided on the side of the main rod 311 of the T-shaped frame 310, and a power supply rail 500 corresponding to the current collector 360 is provided on the lower rail 200.

[0027] As shown in Figure 2, the middle region of the lower (bottom) of each lifting sorter 100 is fixed to the upper part of the main rod 311 of a single T-frame 310. Furthermore, both ends of the lower part of each lifting sorter 100 abut against two T-frames 310 located on either side of the T-frame 310 to which they are fixed, and the ends of two adjacent lifting sorters 100 that are close to each other abut against the same T-frame 310. This ensures that both ends of the bottom of each lifting sorter 100 are stably supported.

[0028] As shown in Figure 5, the lifting sorting machine 100 comprises a lifting mechanism 110 and a conveying device 130 that is lifted (moved up and down) by the lifting mechanism 110. The lifting mechanism 110 is provided with a rotary drive device 150, and the conveying device 130 is mounted on this rotary drive device 150. As a result, the conveying device 130 can rotate horizontally around a vertical axis Z perpendicular to its conveying surface, as shown in Figure 6. The vertical axis Z is preferably set to a position that passes through the center of the conveying surface of the conveying device 130, but in other embodiments, it may be set to another appropriate position.

[0029] As shown in Figures 6 and 7, the lifting mechanism 110 has a rectangular frame structure, and a lifting seat 112 is provided between two support columns 111 of the frame structure. Both sides of the lifting seat 112 are connected to lifting drive devices 113 provided on each support column 111. These two lifting drive devices 113 are connected by a synchronization mechanism 114, and a lifting drive motor 115 is connected to one of the lifting drive devices 113. A rotary drive device 150 is provided on the lifting seat 112.

[0030] As shown in Figure 7, the support column 111 includes a vertically extending structural member (formed member) 116, with an upper fixing seat 117 provided at the upper end of the formed member 116 and a lower fixing seat 118 provided at the lower end of the formed member 116. The two lower fixing seats 118 are connected by a lower mounting member 119, and the two upper fixing seats 117 are connected by an upper mounting member 120.

[0031] The specific structure of the lifting drive device 113 can be designed as appropriate as needed. For example, in this embodiment, the lifting drive device 113 is a timing belt mechanism, and specifically, as shown in Figures 7 and 8, the timing belt mechanism includes a lower pulley 121 provided on the lower fixed seat 118 and an upper pulley 122 provided on the upper fixed seat 117.

[0032] The lower support shaft 123 of the lower pulley 121 is rotatably mounted on the lower fixed seat 118 by bearings, and similarly, the upper support shaft of the upper pulley 122 is rotatably mounted on the upper fixed seat 117 by bearings. A timing belt 124 is stretched between the upper pulley 122 and the lower pulley 121, passing through the mold 116. A slide frame 125 is attached to one straight section of the timing belt 124. The slide frame 125 is slidable up and down relative to the mold 116.

[0033] A lifting seat 112 is positioned between two slide frames 125 connected to two timing belts 124. The lower support shafts 123 of the two lower pulleys 121 are connected by a synchronization mechanism 114. The synchronization mechanism 114 is a drive shaft connected concentrically (coaxially) to the two lower support shafts 123. This drive shaft is located within a lower mounting member 119, and both ends of the drive shaft are connected to the two lower support shafts 123 via couplings.

[0034] One of the lower support shafts 123 is connected to a lifting drive motor 115 located on the outside of the frame structure. This lifting drive motor 115 can be a known reduction motor, which will not be described in detail here. Therefore, the lifting drive motor 115 can rotate the two lower pulleys 121 synchronously in the same direction. At this time, the two timing belts 124 also rotate synchronously, thereby enabling the vertical movement of the lifting seat 112.

[0035] In another embodiment, the lifting drive device 113 can be a ball screw (screw shaft) drive mechanism. Specifically, the screw shaft drive mechanism includes a lower support shaft 123 rotatably mounted on a lower fixed seat 118, and a first conical gear (not shown) is mounted concentrically (coaxially) on the lower support shaft 123. The first conical gear meshes with a second conical gear (not shown) located above it, and the axis of the second conical gear extends vertically and is perpendicular to the axis of the first conical gear. The second conical gear is connected to the lower end of the screw shaft of a vertically extending screw shaft (not shown), and the upper end of the screw shaft is rotatably mounted on an upper fixed seat 117. A slide frame 125 is connected to the moving nut of the screw shaft (ball screw), and the slide frame 125 is arranged to slide vertically relative to the mold material 116, but its sliding is restricted. A lifting seat 112 is provided between two slide frames 125 connected to two screw shafts. Two lower support shafts 123 are capable of torque transmission via a drive shaft, and a lifting drive motor 115 is connected to one of the lower support shafts 123. Thus, when the lifting drive motor 115 rotates the first conical gear, the first conical gear rotates the second conical gear, which in turn rotates the screw shaft of the screw shaft, ultimately allowing the lifting seat 112 to be raised and lowered.

[0036] In the above description, since there is no limit mechanism to restrict the position of the upper part of the lifting sorting machine 100, the height of the lifting sorting machine 100 cannot be made too high in order to ensure the operational stability of the lifting sorting machine 100. In contrast, it is necessary to improve stability by providing an effective limit mechanism at the top of the lifting sorting machine 100.

[0037] As shown in Figure 9, an upper limit roller 170 is provided at the top of the frame structure, with a vertical axis extending from it. The upper limit roller 170 consists of two parts, and both upper limit rollers 170 are arranged to roll within the rail groove of the upper rail 600 (see Figure 2). The upper rail 600 is provided on the outer frame 900 and has a C-shaped rail groove that opens downward. The upper limit roller 170 rolls along both side walls of the rail groove and makes close contact with it. As shown in Figure 7, adjacent frame structures are connected by connecting members 180 provided at the top of each frame structure.

[0038] To enhance structural stability, as shown in Figure 9, the upper limit rollers 170 are rotatably mounted on vertical shafts 171 provided on the top plate 126 of the upper mounting member 120. The vertical shafts 171 are screw-connected to the top plate 126, and specifically, the vertical shafts 171 have internal screw holes. The top plate 126 is provided with through holes corresponding to the vertical shafts 171. Lock bolts 172 are inserted from the underside of the top plate 126 through the through holes and screwed into the internal screw holes of the vertical shafts 171, thereby fixing and connecting the vertical shafts 171 and the top plate 126.

[0039] A washer is provided between the head of the lock bolt 172 and the top plate 126. To enhance the stability of the two vertical shafts 171 and to facilitate the installation of the connecting member 180, a lower reinforcing plate 173 and an upper reinforcing plate 174 are further provided between the two vertical shafts 171, located below the upper limit roller 170 and connected to the top plate 126. Through holes are provided at both ends of the upper reinforcing plate 174 and the lower reinforcing plate 173 that fit the two vertical shafts 171, and both ends of each reinforcing plate 173 and 174 are fitted onto the vertical shafts 171.

[0040] Each vertical axis 171 is connected to an upper joint bearing 181 located between an upper reinforcing plate 174 and a lower reinforcing plate 173. Two adjacent upper joint bearings 181 on the frame structure are connected by a connecting rod 182, and the two upper joint bearings 181 and the connecting rod 182 constitute a connecting member 180. To prevent the upper joint bearings 181 from moving up and down along the vertical axis 171, the upper reinforcing plate 174, the lower reinforcing plate 173, and the top plate 126 are provided with connecting holes 175 that are aligned vertically. By passing bolts through these connecting holes 175 and fastening them with nuts, the lower reinforcing plate 173, the upper joint bearing 181, and the upper reinforcing plate 174 can be integrally fixed to the top plate 126, and the upper joint bearing 181 is also fixed.

[0041] To restrict the position of the bearing 176 included in the upper limit roller 170, guide sleeves 177, located above the upper reinforcing plate 174, are fitted onto the two vertical shafts 171. The outer diameter of these guide sleeves 177 is approximately the same as the outer diameter of the inner ring of 176 connected to the upper limit roller 170, and the guide sleeves 177 abut against the lower part of the inner ring of the bearing 176. In addition, the upper end of the inner ring of the bearing 176 abuts against the lower surface of a limiting plate 178 provided on the upper part of the vertical shaft 171. This overall structure facilitates the installation of the upper limit roller 170 and the upper articulated bearing 181, and the combination of each component ensures the stability of the entire structure. As a result, the lifting and sorting machine 100 can withstand various shocks during operation and achieve stable operation.

[0042] The rotary drive device 150 provided on the lifting seat 112 can be designed in various ways depending on the application. For example, a turntable (rotating platform) or a rotary cylinder can be used. These are installed below the lifting seat 112, and the rotating disc is connected to a conveying device 130 located above the lifting seat 112. In another embodiment, the rotary drive device 150 consists of a motor, which is fixed to the lifting seat 112 of the lifting mechanism 110 and connected to a conveying device 130 that is rotatably positioned on the lifting seat 112. For example, the conveying device 130 can be rotatably mounted to the lifting seat 112 by a planar thrust bearing, and a rotating shaft can be provided at the center of the bottom of the conveying device 130, passing through the central hole of the planar thrust bearing. This rotating shaft is connected to the motor via a mechanism using a timing belt or a gear transmission mechanism. This allows the motor to drive the rotating shaft and rotate the conveying device 130.

[0043] In a more preferred embodiment, as shown in Figure 5, the motor is a reduction motor and is installed at the bottom of the lifting seat 112 in order to more stabilize the rotation of the conveying device 130 and to better limit the rotation angle of the conveying device 130. The output shaft of the motor is connected to the center of the bottom of the rack 131 (see Figure 10) of the conveying device 130. At the bottom of the rack 131 of the conveying device 130, as shown in Figure 5, there are at least two I-shaped wheels 132 having axes extending in the vertical direction. The I-shaped wheels 132 are rotatably installed in the lifting seat 112 within arc-shaped limiting holes 127. The outer diameter of the axle of the I-shaped wheel 132 is approximately the same as the width (hole diameter) of the limiting hole 127, and its axle passes through the limiting hole 127. The diameters of the plates at both ends of the I-shaped wheel 132 are larger than the width of the limiting hole 127. The width of all the limiting holes 127 is the same and they are arranged concentrically. Preferably, the axis of the I-shaped wheel 132 extends in the same direction as the vertical axis Z, and the limiting holes 127 are arranged symmetrically on both the left and right sides with respect to the vertical axis Z.

[0044] As shown in Figure 10, the conveying device 130 is a known practical belt conveyor. Of course, the conveying device 130 can also employ a roller conveyor if necessary. Preferably, the rack 131 of the conveying device 130 is equipped with side frames 134 on both sides, and a portion of each side frame 134 protrudes slightly above the top of the conveyor belt to form an enclosure 133. This enclosure 133 is trapezoidal in shape, and both ends of the enclosure 133 maintain a certain distance from both ends of the conveyor belt. This structure makes loading and unloading of cargo as easy as possible while preventing cargo from falling.

[0045] In the three-dimensional sorting system 1 of this embodiment, as shown in Figures 2 and 11, the above-described lifting sorting machine 100 is included, and a cargo supply section is provided near the rail (lower rail 200). The cargo supply section includes at least one packaging supply table 700. The packaging supply table 700 is a known practical multi-tiered supply table, and its specific structure is known, so a detailed explanation is omitted here.

[0046] As shown in Figure 11, a sorting unit 800 is provided on one side of the lifting sorting machine 100. There are multiple sorting units 800, and their number and positions can be set as needed and are not limited. As shown in Figure 12, the sorting unit 800 includes a multi-layered sliding section 810 and storage tanks 820 connected to the outside of each layer of the sliding section 810, with each layer corresponding one-to-one to the sorting opening 811 of the sliding section 810.

[0047] As shown in Figure 13, the sorting unit 800 includes a holder 830, the holder 830 of which is provided with a sliding section 810. The sliding section 810 includes an inclined sliding plate 812, and a row of partition walls 813 are provided, spaced equally apart from one end to the other of the sliding plate 812. A sorting opening 811 is formed between adjacent partition walls 813.

[0048] The holder 830 has at least four columns arranged in a rectangular shape, with adjacent columns connected by horizontal connecting rods 814 to form a single integrated structure. The upper end of each column is closed with a sealing plate. Furthermore, to facilitate the movement of the holder 830, a swivel wheel (caster) is provided at the bottom of the holder 830. A swivel wheel can be provided at the bottom of each column, but when combined with other moving structures (storage device 860 shown in Figure 12), a swivel wheel can also be provided only at the bottom of the outer columns.

[0049] As shown in Figures 13 and 14, the sliding section 810 is constructed by connecting two columns that are spaced apart with horizontal connecting rods 814. In order to tilt the sliding plate 812 of the sliding section 810, the two horizontal connecting rods 814 are positioned at different heights. That is, one horizontal connecting rod 814 is positioned higher, and the other horizontal connecting rod 814 is positioned lower. The lower side of the sliding plate 812 forms a connecting section 815 (see Figure 15) that is bent downwards. This connecting section 815 is L-shaped or J-shaped and is provided on the lower horizontal connecting rod 814. This structure allows the sliding plate 812 to maintain its tilted state.

[0050] As shown in Figure 14, in order to widen the openings of each sorting port 811, the partition wall 813 is a triangular body composed of a first triangular plate 816, a second triangular plate 817, and a third triangular plate 818. The first triangular plate 816 is installed perpendicularly to the slide plate 812. The first triangular plate 816 and the second triangular plate 817 are combined to form an acute angle toward the upper side of the slide plate 812. The first triangular plate 816 extends a certain distance from the lower side to the upper side of the slide plate 812, maintaining a constant distance from the upper side of the bottom plate. Both the first triangular plate 816 and the second triangular plate 817 are connected perpendicularly to the third triangular plate 818. The third triangular plate 818 is perpendicular to the horizontal plane. The first triangular plate 816, the second triangular plate 817, and the third triangular plate 818 of the partition wall 813 may be fixed to the slide plate 812 by welding.

[0051] As shown in Figures 13 and 14, a first proximity sensor 840 for detecting blockages in the sorting opening 811 is installed inside at least one of the two partition walls 813 that form a single sorting opening 811. The second triangular plate 817 of the partition wall 813 is provided with a detection through-hole 801 for detection by the first proximity sensor 840. The first proximity sensor 840 can be fixed inside the partition wall 813 via a sensor mounting part fixed inside the partition wall 813. As shown in Figure 14, to facilitate the installation of the first proximity sensor 840, the slide plate 812 is provided with a clearance hole 819 that is covered by each partition wall 813. A sensor mounting part is installed in the clearance hole 819, and the first proximity sensor 840 is attached thereto. This sensor mounting part is fixed to the inner wall of the first triangular plate 816 through the clearance hole 819.

[0052] As shown in Figure 13, to facilitate power supply to the first proximity sensor 840, an electrical box 850 is provided on the holder 830 below the lowest sliding section 810. A power supply interface 851 is provided on the outer surface of the electrical box 850 for easy connection to an external power connector. In addition, guide wheels 831 are provided on both sides of the holder 830, with their axes extending vertically and protruding outwards from the holder 830, to ensure accurate connection between the power supply interface 851 and the power connector.

[0053] Both sides of the holder 830 refer to the sides corresponding to both ends of the slide portion 810. As shown in Figure 12, a storage device 860 is provided on one side of the holder 830 corresponding to the underside of the slide plate 812, and the storage device 860 is provided with a storage compartment 820. The structure of the storage device 860 is preferably substantially the same as the structure of the holder 830, and in a more preferred form, as shown in Figure 12, four wheels 862 are provided at the bottom of the storage device 860, arranged at the corners of a rectangle.

[0054] As shown in Figure 12, the storage device 860 is provided with support rods 861 for suspending the storage tanks 820 of each layer. The two support rods 861 on which the storage tanks 820 of each layer are installed are of different heights, with one support rod 861 being higher and the other lower. As a result, the storage tanks 820 of each layer are arranged at an incline within the storage device 860. Furthermore, the higher side of the entrance to the storage tank 820 is positioned at a constant distance below the exit of each sorting port 811. This prevents cargo (luggage) from concentrating on the side of the storage tank 820 closest to the sorting port 811, enabling each storage tank 820 to be efficiently filled with cargo.

[0055] As shown in Figure 15, a second proximity sensor 870 for detecting whether each storage tank 820 is full is provided at the connection section 815 to facilitate detection of fullness in each storage tank 820. The storage tanks 820 are located below the second proximity sensor 870. As shown in Figure 15, a status display device 880 is provided on the storage device 860 opposite the holder 830, as shown in Figure 12, so that the operator can quickly grasp the status of each sorting port 811 and storage tank 820. The status display device 880 is preferably an indicator light, and each indicator light indicates the status of one sorting port 811 and its corresponding storage tank 820. For example, the status display device 880 uses multicolor LEDs so that different states can be distinguished by different colored lights.

[0056] Next, the sorting method in the three-dimensional sorting system 1 of this embodiment will be described. Similar to conventional sorting methods, goods are placed on the packaging supply table 700 and scanned by a scanning device to identify the corresponding sorting port 811. Furthermore, after the weight is measured by a weighing conveyor, the goods are transported to the conveying device 130 of a predetermined lifting sorting machine 100, as shown in Figure 16. The lifting sorting machine 100 adjusts the transport surface of the conveying device 130 to the corresponding height according to the height of the entrance to the sorting port 811 based on the goods being transported to the conveying device 130. Once the conveying device 130 moves to the sorting port 811 corresponding to the goods, the sorting operation is performed. After sorting is complete, the lifting sorting machine 100 adjusts the transport surface of the conveying device 130 to a height that matches the transport surface of the packaging supply table 700, and performs the sorting operation again.

[0057] The differences between the sorting method of this embodiment and conventional sorting methods are as follows. In the sorting method of this embodiment, when any of the lifting sorting machines 100 needs to receive cargo from the packaging supply table 700, the conveying device 130 is rotated horizontally by the rotary drive device 150 provided on the lifting sorting machine 100, so that the conveying direction HV in which the conveying device 130 conveys cargo and the supply direction KD in which the packaging supply table 700 supplies cargo are aligned, as shown in Figure 16. As a result, cargo supplied from the packaging supply table 700 is conveyed to the conveying device 130 more smoothly.

[0058] To ensure that cargo is supplied from the packaging supply table 700 to the conveying device 130, the conveying surface of the conveying device 130 is moved to a height lower than the supply surface of the packaging supply table 700 before the lifting sorting machine 100 receives cargo from the packaging supply table 700. It is sufficient for the conveying surface of the conveying device 130 to be slightly lower than the supply surface of the packaging supply table 700, for example, the height difference between the two can be in the range of 0.5 cm to 2 cm. The height difference between the conveying surface of the conveying device 130 and the supply surface of the packaging supply table 700 can be designed as needed and is not particularly limited in this disclosure.

[0059] Furthermore, in the sorting method of this embodiment, if the cargo of any of the lifting sorting machines 100 needs to be sorted at the sliding section 810, the rotary drive unit 150 rotates the conveying device 130 horizontally so that the conveying direction HV of the conveying device 130 differs from the orthogonal direction (vertical direction) perpendicular to the movement direction ID of the lifting sorting machine 100, as shown in Figure 17. Specifically, the conveying direction HV of the conveying device 130 is deflected to the upstream side (right side in Figure 17) of the sorting opening 811 into which the cargo is to be sorted, rather than the orthogonal direction perpendicular to the movement direction ID of the lifting sorting machine 100. This allows the cargo to enter the sorting opening 811 as perpendicular as possible to the movement direction ID of the lifting sorting machine 100. In addition, to facilitate the entry of cargo into the sorting opening 811, it is desirable that the conveying surface of the conveying device 130 be set slightly higher than the height of the entrance to the sorting opening 811, for example, the height difference is about 0.5 cm to 2 cm.

[0060] Next, embodiments of sorting carts supplied with goods from the packaging supply table 700 will be described. The sorting carts described below transport goods in the same way as the lifting sorting machine 100 described above, but unlike the lifting sorting machine 100, they do not have a mechanism for lifting or lowering goods. As shown in Figure 18, the sorting cart 100A of the second embodiment includes a frame 10 and a transport device 30 arranged on the frame 10. The frame 10 is provided with a rotating mechanism 50, which is connected to the transport device 30, and the transport direction can be adjusted by rotating the transport device 30 in the horizontal direction.

[0061] As shown in Figure 18, the structure of the frame 10 is the same as that of a conventional sorting cart frame (for example, the mobile frame 300 described above). Specifically, the frame 10 consists of a T-shaped main rod 11 and a mounting rod 12 connected to the outside of the main rod 11. Running wheels 13 are provided at both ends of the mounting rod 12, and the axes of these running wheels 13 extend horizontally. In addition, two guide rollers 14 are provided at the bottom of the mounting rod 12, positioned between the two running wheels 13, and the axes of these guide rollers 14 extend vertically.

[0062] As shown in Figure 18, the conveying device 130 may be a known belt conveyor or roller conveyor and includes a frame 31. The frame 31 includes two side plates 31a and a bottom plate 31b connected between the two side plates 31a. Two rollers are provided at each end of the two side plates 31a, one of which may be an electric roller. A belt 32 is stretched between the two rollers.

[0063] Furthermore, to prevent cargo from falling from both ends when the conveying device 30 rotates, guard portions 31c are provided on the two side plates 31a, extending above the conveying surface of the conveying device 30. The guard portions 31c are trapezoidal in shape, and both ends are located inside the ends of the conveying device 30, maintaining a predetermined distance from both ends of the conveying device 30. This structure minimizes interference when cargo is loaded into and unloaded from the conveying device 30.

[0064] The rotating mechanism 50 can employ various structures as needed. In this embodiment, as shown in Figure 18, the rotating mechanism 50 is a servo turntable mounted on the frame 10, and the rotating disk of the servo turntable is connected to the central position at the bottom of the machine frame 31.

[0065] Next, the sorting cart 100B of the third embodiment will be described, focusing on the differences from the sorting cart 100A of the second embodiment. As shown in Figure 19, in the sorting cart 100B, a mounting frame 70 is provided on the frame 10, and the conveying device 30 is rotatably mounted on the mounting frame 70 via bearings 90. The bearings 90 are preferably planar thrust bearings or swivel support devices.

[0066] The rotating mechanism 50 includes a motor 51 fixed to a mounting frame 70, and a transmission mechanism 52 connecting the motor 51 to a rotating shaft 53 located at the center of the bottom of the conveying device 30. The transmission mechanism 52 may be a known timing belt transmission mechanism, a gear transmission mechanism, or a transmission mechanism consisting of a chain and sprockets.

[0067] As shown in Figure 19, the conveying device 30 is rotatably mounted on the mounting frame 70, and a universal ball 20 is provided on the mounting frame 70 that contacts the bottom of the machine frame 31 of the conveying device 30. This allows for better support of the conveying device 30 and ensures stability of the conveying device 30 during rotation.

[0068] Next, the sorting cart 100C of the fourth embodiment will be described, focusing on the differences from the sorting cart 100A of the second embodiment. As shown in Figure 20, a mounting base 70 is provided on the frame 10, and the conveying device 30 is rotatably positioned above the top plate 71 of the mounting base 70. Specifically, as shown in Figure 21, the bottom of the conveying device 30 is provided with a plurality of support rollers 33 arranged circumferentially at equal intervals around the power output shaft, and each support roller 33 is rotatably positioned within an arc-shaped hole 71a provided in the top plate 71 of the mounting base 70.

[0069] The diameters of both ends of each support roller 33 are larger than the width of the arc-shaped hole 71a, and the circumferential surface of the support roller 33 is provided with a circular groove that fits the surrounding portion of the arc-shaped hole 71a of the top plate 71. In other words, the support roller 33 is I-shaped, and the diameter of its central axis (shaft portion) is approximately equal to the width of the arc-shaped hole 71a. The rotating mechanism 50 is a reduction motor fixed to the underside of the top plate 71 of the mounting frame 70, and the power output shaft of this reduction motor is connected to the center of the bottom of the conveying device 30.

[0070] In the sorting cart 100C of the fourth embodiment, a universal ball may also be installed on the mounting frame 70 to support the conveying device 30. In this case, the outer shell of the universal ball may be fixed to the top plate 71 of the mounting frame 70, and the spherical portion may protrude above the top plate 71 and come into contact with the bottom plate of the conveying device 30.

[0071] Next, the movable frame of the fifth embodiment will be described with reference to Figures 22 to 26. The movable frame of the fourth embodiment has two types: the first movable frame 300A shown in Figure 22 and the second movable frame 300B shown in Figure 23. As shown in Figure 22, the first movable frame 300A, like the movable frame 300 of the first embodiment shown in Figure 3, is equipped with a T-shaped frame 310, and the T-shaped frame 310 has a main rod 311, a mounting rod 312, each wheel seat 320, each movable wheel 330, each lower limiting wheel 340, and a connecting shaft 314.

[0072] At the end of the main rod 311 furthest from the mounting rod 312, an articulated bearing 315 is provided. The articulated bearing 315 has a vertically extending through hole through which the connecting shaft 314 of another movable frame (second movable frame 300B) is inserted.

[0073] As shown in Figure 22, the first movable frame 300A is provided with two support members 316 and 317 spaced apart in the axial direction on the upper part of the main rod 311. Support member 316 is provided on the side of the main rod 311 closer to the articulation bearing 315 and fixes the lower part of the lifting sorting machine 100 (frame structure). Support member 316 is provided on the side of the main rod 311 closer to the mounting rod 312 and fixes the lower part of the lifting sorting machine 100 (frame structure). In this way, one lifting sorting machine 100 is fixed to the first movable frame 300A at two points spaced apart in the direction in which the rail extends, via support members 316 and 317.

[0074] As shown in Figure 23, the structure of the second moving frame 300B is almost the same as the structure of the first moving frame 300A shown in Figure 22. However, unlike the first moving frame 300A shown in Figure 22, the second moving frame 300B shown in Figure 23 does not have the support members 316 and 317 on the upper part of the main rod 311. Therefore, the lifting sorting machine 100 cannot be fixed to the second moving frame 300B. The joint bearing 315 of the second moving frame 300B is designed so that the connecting shaft 314 of the other moving frame (first moving frame 300A) is inserted through the through hole.

[0075] Thus, as shown in Figure 24, the first movable frame 300A and the second movable frame 310B are connected so as to alternately complete one full rotation along the rail (lower rail 200). Then, as shown in Figure 25, the lifting sorting machine 100 is fixed to the first movable frame 300A, while the lifting sorting machine 100 is not fixed to the second movable frame 300B. Furthermore, adjacent lifting sorting machines 100 are not connected to each other. As a result, when the lifting sorting machine 100 is mounted on the first movable frame 300A and travels along a curved section of the rail (lower rail 200), the fact that adjacent lifting sorting machines 100 are not fixed to each other in the direction of the rail allows for smooth movement along the curve while effectively absorbing shocks.

[0076] As shown in Figure 25, one of the two support columns 111 of the frame structure of each lifting sorting machine 100 is equipped with a lifting drive motor 115. As shown in Figures 26 and 27, each lifting drive motor 115 is covered with a cushioning member 160 that can absorb impact through deformation. In other words, Figure 25 shows a state where the cushioning member 160 is not covered by the lifting drive motor 115. The cushioning member 160 catches cargo when it falls from the conveying device 130 towards the adjacent lifting sorting machine 100, mitigating the impact of the fall. Furthermore, when the lifting sorting machine 100 travels along a curved section of the rail (lower rail 200), even if adjacent lifting sorting machines 100 approach each other and the support column 111 collides with the cushioning member 160, the impact force can be mitigated. As a result, damage to the frame structure of the lifting sorting machine 100 and failure of the lifting drive motor 115 can be prevented.

[0077] Next, the sorting method of the sixth embodiment will be described with reference to Figures 28 and 29. The configuration of the vertical sorting system 1 of the sixth embodiment (elevating sorting machine 100, conveying device 130, etc.) is the same as that of the vertical sorting system 1 of the first embodiment (elevating sorting machine 100, conveying device 130, etc.), so the explanation will be omitted. Figure 28 shows the movement speed ID1 (movement vector ID1) of the lifting sorting machine 100 and the conveying speed HD1 (conveying vector HD1) of the conveying device 130. The direction of movement of the movement speed ID1 of the lifting sorting machine 100 coincides with the direction in which the rail (lower rail 200) extends. The direction of conveying of the conveying speed HD1 of the conveying device 130 coincides with the direction in which the conveying belt of the conveying device 130 conveys the cargo.

[0078] The direction of movement of movement speed ID1 can be considered fixed because it coincides with the direction in which the rail extends. The magnitude of movement speed ID is the speed at which the lifting sorting machine 100 moves along the rail, and can be changed by the user, for example, from 1m to 1.5m / s.

[0079] The direction of transport at transport speed HD1 changes when the transport device 130 is rotated horizontally, but here we consider it to be fixed. In other words, since the transport device 130 is not rotated while the lifting sorting machine 100 is traveling along the rail, the direction of transport at transport speed HD1 is considered to be fixed. Therefore, as shown in Figure 28, the angle θ formed by the moving speed ID1 and the vector opposite to the transport speed HD1 is fixed. The magnitude of the transport speed HD1 is the speed at which the transport device 130 rotates the belt conveyor and transports the cargo.

[0080] In the above, when cargo is supplied from the conveying device 130 toward the sliding section 810 (sorting unit 800) (see Figure 17), as shown in Figure 28, a supply vector V1 is formed by the sum of the moving speed ID1 and the conveying speed HD1, and the direction of this supply vector VD1 is considered to be orthogonal to the direction of the moving speed ID1. If the direction of the supply vector VD1 is orthogonal to the direction of the moving speed ID1, then, as explained in the first embodiment, the cargo can enter the sorting opening 811 in a state that is as perpendicular as possible to the movement direction ID of the lifting sorting machine 100 (see Figure 17).

[0081] Thus, in Figure 28, the relationship between the movement speed ID1 and the transport speed HD1 is expressed by the following (Equation 1). (Equation 1) HD1 = ID1 ÷ (cosθ) Furthermore, the relationship between the supply vector V1 and the movement speed ID1 is expressed by the following (Equation 2). (Formula 2) V1=ID1×(tanθ)

[0082] Figure 29 shows the case where the travel speed changes from the travel speed ID1 shown in Figure 28 to the travel speed ID2. In other words, it shows the case where the speed at which the lifting sorting machine 100 moves along the rail changes from the state shown in Figure 28. Even in this case, the relationship between the travel speed ID2 and the transport speed HD2 in Figure 29 is expressed by the following (Equation 3). (Formula 3) HD2=ID2÷(cosθ) Furthermore, the relationship between the supply vector V2 and the movement velocity ID2 is expressed by the following (Equation 4). (Equation 4) V2 = ID1 × (tanθ)

[0083] As described above, in the sixth embodiment, as can be seen from Figures 28 and 29, when supplying cargo from the conveying device 130 toward the sorting unit 800, the transport speed HD is adjusted so that the transport speed HD is the value obtained by dividing the transport speed ID by cosθ, where ID is the travel speed of the lifting sorter 100, HD is the transport speed at which the conveying device 130 transports the cargo, and θ is the angle formed by the travel speed ID and the transport speed HD1 in opposite directions. This allows the cargo to enter the sorting opening 811 of the sorting unit 800 as perpendicular as possible to the travel direction ID of the lifting sorter 100. As a result, there is no need to design the entrance width of the sorting opening 811 to be wider or to limit the travel speed of the lifting sorter 100 in order to introduce the cargo coming out of the conveying device 130 into the sorting opening 811, thereby improving sorting efficiency.

[0084] Each of the embodiments described above is merely an example, and this disclosure includes many embodiments. Therefore, for each embodiment, all technical means formed by equivalent transformations or equivalent modifications are covered within the scope of the present invention. [Explanation of Symbols]

[0085] 1…3D sorting system 100... Lifting sorting machine 100A~100C... Sorting cart 110... Lifting mechanism 112...Seat height adjustment 113... Lifting drive device 115... Lifting drive motor 130... Conveyor device 150... Rotary drive device 300...Movement frames 300A...First moving frame 300B...Second movement frame 316... Receiving device 317... Receiving device 700...Packaging supply stand 800... Sorting Unit 811... Sorting area

Claims

1. Equipped with a lifting sorting machine that moves along a circular rail, The aforementioned lifting sorting machine is, Lifting mechanism, A three-dimensional sorting system comprising a conveying device that is raised and lowered by the aforementioned lifting mechanism, The aforementioned lifting mechanism is equipped with a rotary drive device, The conveying device is provided on the rotary drive device, A three-dimensional sorting system characterized in that the conveying device is rotatable horizontally around a vertical axis perpendicular to the conveying surface.

2. In the sorting system described in claim 1, Multiple lifting and sorting machines are provided along the rail, The aforementioned rail is provided with a lower rail, Each of the aforementioned lifting and sorting machines is provided at equal intervals on a moving frame that moves along a lower rail, The moving frame includes T-shaped frames that are sequentially connected along the lower rail, A three-dimensional sorting system characterized in that the intermediate region at the bottom of each of the aforementioned lifting sorting machines is fixed to one of the T-shaped frames.

3. In the three-dimensional sorting system described in claim 1, The lifting mechanism includes a rectangular frame structure, A lifting platform is provided between the two support columns of the aforementioned frame structure. Both sides of the aforementioned lifting seat are connected to lifting drive devices provided on the support column, Each of the aforementioned lifting drive devices is connected by a synchronous mechanism, One of the aforementioned lifting drive devices is connected to a lifting drive motor. A three-dimensional sorting system characterized in that the aforementioned lifting seat is provided with the aforementioned rotary drive device.

4. In the three-dimensional sorting system described in claim 1, The aforementioned rotary drive device is a motor, The output shaft of the motor is located in the center of the bottom of the lifting seat provided in the lifting mechanism. The bottom of the conveying device is provided with two I-shaped rollers whose axes extend vertically. Each of the aforementioned I-shaped rollers is provided to move along two arc-shaped guide grooves provided in the lifting seat, A three-dimensional sorting system characterized in that each of the aforementioned guide grooves is arranged in a concentric pattern.

5. In a three-dimensional sorting system as described in any one of claims 1 to 4 A three-dimensional sorting system characterized in that, when the lifting sorting machine receives cargo from the packaging supply table, the conveying device is rotated horizontally by the drive of the rotary drive device, and the conveying direction of the conveying device is aligned with the supply direction of the packaging supply table.

6. In the three-dimensional sorting system described in claim 1 A three-dimensional sorting system characterized in that, when the lifting sorting machine receives cargo from the packaging supply table, the lifting mechanism moves the conveying surface of the conveying device to a position lower than the supply surface of the packaging supply table.

7. In the three-dimensional sorting system described in claim 1, A three-dimensional sorting system characterized in that, when the lifting sorting machine supplies cargo to the sorting unit, the conveying device is rotated horizontally by the drive of the rotary drive device, and the conveying direction of the conveying device is deflected to the upstream side of the sorting opening to which the cargo is to be sorted, rather than in the orthogonal direction perpendicular to the direction of movement of the lifting sorting machine.

8. In the three-dimensional sorting system described in claim 7, A three-dimensional sorting system characterized in that, when the lifting sorting machine supplies cargo to the sorting unit, the lifting mechanism raises the conveying surface of the conveying device higher than the entrance to the sorting port.

9. In the three-dimensional sorting system described in claim 1, Multiple lifting and sorting machines are provided along the rail, The aforementioned rail is provided with a lower rail, Each of the aforementioned lifting and sorting machines is provided at equal intervals on a moving frame that moves along the lower rail, The aforementioned moving frame includes a first moving frame and a second moving frame. The first movable frame is provided with a support for attaching the lifting sorting machine, while the second movable frame is not provided with the support. The lifting sorting machine is attached to the first moving frame via the support, but is not attached to the second moving frame. The first moving frame and the second moving frame are connected alternately in sequence along the lower rail, A three-dimensional sorting system characterized in that adjacent lifting sorting machines are not connected to each other.

10. In the three-dimensional sorting system described in claim 1, When the cargo is supplied from the conveying device to the sorting unit, let ID be the moving speed of the lifting sorting machine, let HD be the transporting speed at which the conveying device transports the cargo, and let θ be the angle formed by the moving speed ID and the vector opposite to the transporting speed HD1, A three-dimensional sorting system characterized by adjusting the transport speed HD to a value obtained by dividing the movement speed ID by cosθ.

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