Sorting workbench and sorting system

Abstract

Disclosed in the present application are a sorting workbench and a sorting system. A first lifting device of the sorting workbench acquires an unsorted material tote carried by a material tote handling robot, and at the same time a second lifting device of the sorting workbench further transfers a sorted material tote to the material tote handling robot; in this way, by means of the separation of material totes and material tote handling robots, the sorting workbench enables the material totes to directly wait in line while releasing the material tote handling robots, thus reducing the number of material tote handling robots in use, and increasing the utilization rate or turnover rate of the material tote handling robots, saving the cost.

Description

Sorting workbench and sorting system Technical Field

[0001] The present disclosure relates to the technical field of logistics equipment, and in particular to a sorting workbench and a sorting system. Background Art

[0002] In the field of logistics, bin handling robots are widely used. A common usage scenario is to use the bin handling robot in conjunction with a sorting workbench; the sorting personnel are located at the sorting workbench, and the bin handling robot (for example, a chassis-type handling robot) carries the bins and walks to the sorting workbench. After the sorting personnel sort the bins, the bin handling robot carries the bins and leaves.

[0003] In related solutions, the material box handling robots usually need to carry the material boxes and queue up at the sorting workbench to wait for sorting, which requires a large number of material box handling robots, resulting in waste of material box handling robot resources and high costs. Summary of the Invention

[0004] In a first aspect, an embodiment of the present application provides a sorting workbench, comprising a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively mounted on the frame unit;

[0005] The rack unit includes a material box translation channel, the material box translation channel extends in a straight line along a first direction and has an inlet and an outlet formed at both ends of the extension direction, the inlet and the outlet respectively extending vertically downward to form a first lifting channel and a second lifting channel;

[0006] The first reciprocating mechanism includes a material box pushing device and a first power device, wherein the first power device is used to drive the linear motion part of the material box pushing device to perform linear reciprocating motion along the material box translation channel between a first translation position and a second translation position;

[0007] The second reciprocating mechanism includes a second annular rotating device and a second power device, the second annular rotating device is arranged in a vertical annular shape and is respectively fixed with a first lifting device and a second lifting device, and the second power device is used to drive the second annular rotating device to rotate and perform a reciprocating rotation between a first rotation position and a second rotation position;

[0008] Wherein, during the rotation of the second annular rotating device from the first rotation position to the second rotation position, the first lifting device is configured to ascend along the first lifting channel and be used to transfer the container carried by the first container handling robot to the container translation channel, and at the same time, the second lifting device is configured to descend along the second lifting channel and be used to transfer the container translated onto it to the second container handling robot;

[0009] wherein, in the process of moving from the first translation position to the second translation position, the linear motion portion of the material box pushing device is configured to at least push the material box that rises along the first lifting channel to the material box translation channel toward the discharge port and away from the inlet port;

[0010] Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to run at intervals in a time sequence.

[0011] In one embodiment, a portion of the material box translation channel between the material inlet and the material outlet is used to accommodate at least one material box.

[0012] In one embodiment, the rack unit is provided with a material box support device at a position near the material inlet in the first lifting channel;

[0013] Wherein, the material box supporting device includes a supporting rod extending along the first direction, and both ends of the supporting rod are hinged with a first connecting rod and a second connecting rod;

[0014] The rack unit is provided with a pair of slide grooves at positions corresponding to the two ends of the support rod, the slide grooves extending in the vertical direction, the ends of the first connecting rod are slidably mounted in the slide grooves, and the ends of the second connecting rod are hinged to the position of the rack unit located below the slide grooves;

[0015] So that when the material box rises along the first lifting channel to the material box translation channel, the material box supporting device is used to support the material box.

[0016] In one embodiment, the material box pushing device includes a first annular rotating device and a follower arm fixed to the first annular rotating device, and the first power device includes a first motor transmission-connected to the first annular rotating device;

[0017] The first annular rotating device includes a first straight portion arranged beside the material box translation channel and extending along the material box translation channel, both ends of the first straight portion at least covering the feed inlet, and the follower arm is fixed to the first straight portion and protrudes into the material box translation channel;

[0018] So that when the first motor drives the first annular rotating device to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the material box that rises along the first lifting channel to the material box translation channel toward the discharge port and away from the feed port.

[0019] In one embodiment, one end of the first straight portion is located at the outer end of the inlet, and the other end of the first straight portion extends to the inner end of the outlet;

[0020] Wherein, a plurality of follower arms are fixedly mounted on the first straight portion, and the follower arms are configured to be unidirectionally folded toward the discharge port;

[0021] so that in the process of moving from the first translation position to the second translation position, the plurality of follower arms respectively limit the material box in front of the forward direction thereof and push the material box to move;

[0022] During the process of moving from the second translation position to the first translation position, the plurality of follower arms respectively release the restrictions on the material boxes in front of the forward direction.

[0023] In one embodiment, the first annular rotating device includes an annular chain or an annular conveyor belt, and the first annular rotating device is installed on either side or both sides of the material box translation channel relative to its extension direction.

[0024] In one embodiment, the second annular rotating device includes a second straight portion disposed beside the first lifting channel and extending in the vertical direction;

[0025] In which, the first lifting device includes a first lifting plate arranged horizontally, the first lifting plate is fixed to the second straight portion, the rack unit is provided with a first guide column arranged in a vertical direction next to the first lifting channel, and the first lifting plate is slidably installed on the first guide column; and the first lifting plate includes a first supporting portion protruding into the first lifting channel; so that when the second annular rotating device rotates from the first rotating position to the second rotating position, the first supporting portion rises along the first lifting channel and is used to transfer the material box carried by the first material box handling robot to the material box translation channel.

[0026] In one embodiment, the first lifting plate is located on one side of the first lifting channel and extends along the first direction, and the rack unit is provided with the first guide columns at both ends of the first lifting plate along the extending direction thereof;

[0027] Wherein, lifting shoes are respectively installed at both ends of the first lifting plate along its extension direction, and the lifting shoes are used to protrude into the first lifting channel, so that a pair of the lifting shoes form the first supporting part.

[0028] In one embodiment, the lifting shoe is fixedly mounted on the first lifting plate in a direction perpendicular to the first direction; or

[0029] The lifting shoe is rotatably mounted on the first lifting plate via a transfer shaft along a vertical direction, so that when the first lifting plate descends, the lifting shoe avoids the material box by rotating to be parallel to the first direction, and when the first lifting plate ascends, the lifting shoe lifts the material box by rotating to be perpendicular to the first direction.

[0030] In one embodiment, the first lifting plate is provided with adapter sleeves at both ends along its extension direction, the adapter sleeves are arranged in the vertical direction, and the lifting shoe is rotatably mounted on the first lifting plate through the adapter sleeves;

[0031] A return spring is provided inside the adapter sleeve, a flip guide post is fixedly mounted on the adapter sleeve, and a pair of guide slopes are provided on the rack unit at positions corresponding to a pair of flip guide posts;

[0032] The reset spring is configured such that when the reset spring is in the reset position, the lifting shoe plate extends perpendicular to the first direction and protrudes into the first lifting channel, and the flip guide column extends along the first direction.

[0033] The guide slope is configured as follows: when the first lifting plate descends from the top of the first lifting channel, the guide slope rotates the adapter sleeve by limiting the flip guide column, so that the lifting shoe plate avoids the material box carried by the first material box handling robot during the descent process.

[0034] In one embodiment, along the vertical direction, the guiding slope includes a flip guiding portion at an upper end and a flip maintaining portion at a lower end;

[0035] The flip guide portion is used to rotate the adapter sleeve by limiting and guiding the flip guide post when the first lifting plate descends;

[0036] The flip holding portion extends vertically from an end portion of the flip guide portion, and is used to hold the adapter sleeve in rotation by limiting and guiding the flip guide post during the descending process of the first lifting plate;

[0037] Furthermore, the height of the lower end portion of the flip holding portion is no higher than the height of the bottom surface of the material box carried by the first material box handling robot.

[0038] In one embodiment, the second annular rotating device includes a third straight portion disposed beside the second lifting channel and extending in the vertical direction;

[0039] In which, the second lifting device includes a horizontally arranged second lifting plate, the second lifting plate is fixed to the second straight portion, the rack unit is provided with a second guide column arranged in the vertical direction next to the second lifting channel, and the second lifting plate is slidably installed on the second guide column; and the second lifting plate includes a second supporting portion protruding into the second lifting channel; so that when the second annular rotating device rotates from the first rotation position to the second rotation position, the second supporting portion descends along the second lifting channel and is used to transfer the material box translated onto it to the second material box handling robot.

[0040] In one embodiment, the rack unit is provided with a walking channel below the material box translation channel, the walking channel extending along the first direction, and the walking channel is used for the material box handling robot to walk and pass through the rack unit along the first direction.

[0041] In one embodiment, the material box pushing device includes a ball screw arranged along the first direction, the ball screw is arranged next to the material box translation channel, the ball screw is provided with a screw nut, and the screw nut is fixedly installed with a follower arm, and the first power device includes a third motor driving the ball screw, so that when the third motor drives the ball screw to rotate forward and reverse, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the material box that rises along the first lifting channel to the material box translation channel toward the discharge port and away from the feed port; or,

[0042] The material box pushing device includes a telescopic rod arranged along the first direction, the telescopic rod is arranged next to the material box translation channel, the telescopic rod is fixedly installed with a follower arm, the first power device includes a cylinder or an electric cylinder driving the telescopic rod, so that when the cylinder or the electric cylinder drives the telescopic rod to move telescopically along the first direction, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the material box that rises along the first lifting channel to the material box translation channel toward the discharge port and away from the feed port.

[0043] In one embodiment, the rack unit includes a material box translation channel, wherein the first reciprocating mechanism and the second reciprocating mechanism are provided on one side of the material box translation channel; or,

[0044] The rack unit includes two parallel material box translation channels, wherein the first reciprocating mechanism and the second reciprocating mechanism are arranged between a pair of the material box translation channels.

[0045] In a second aspect, an embodiment of the present application further provides a sorting system, which at least includes the sorting workbench, material box transfer equipment and material box handling robot in any embodiment of the first aspect mentioned above.

[0046] In a third aspect, an embodiment of the present application further provides a sorting workbench, the sorting workbench comprising a frame unit and a reciprocating power unit and a reciprocating transmission unit respectively mounted on the frame unit;

[0047] The rack unit includes a material box translation channel extending in a straight line, and the material box translation channel extends downward at both ends along its extension direction to form a first lifting channel and a second lifting channel respectively. A material box pushing device is provided next to the material box translation channel for translation along the material box, a first lifting device is provided next to the first lifting channel for lifting up and down, and a second lifting device is provided next to the second lifting channel for lifting up and down;

[0048] The reciprocating power unit is in transmission connection with the reciprocating transmission unit, and the reciprocating power unit is used to drive the reciprocating transmission unit to reciprocate between a first reciprocating position and a third reciprocating position, and a second reciprocating position is provided between the first reciprocating position and the third reciprocating position;

[0049] Furthermore, the reciprocating transmission unit is configured as follows:

[0050] Between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the material box pushing device and drives it to reciprocate and translate;

[0051] Between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously connected to the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting motion adapted to the reciprocating translation.

[0052] In one embodiment, during the movement from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device and the second lifting device, and is in a transmission connected state with the material box pushing device, and the reciprocating transmission unit drives the material box pushing device to move horizontally toward the second lifting channel;

[0053] During the movement from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device and the second lifting device, and is in a transmission disconnection state with the material box pushing device. The reciprocating transmission unit drives the first lifting device to rise from the bottom to the top of the first lifting channel, and simultaneously drives the second lifting device to descend from the top to the bottom of the second lifting channel.

[0054] During the movement from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device and the second lifting device, and is in a transmission disconnection state with the material box pushing device. The reciprocating transmission unit drives the first lifting device to descend from the top to the bottom of the first lifting channel, and simultaneously drives the second lifting device to ascend from the bottom to the top of the second lifting channel.

[0055] During the process of moving from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device and the second lifting device, and is in a transmission connected state with the material box pushing device. The reciprocating transmission unit drives the material box pushing device to move horizontally toward the first lifting channel.

[0056] In one embodiment, the reciprocating transmission unit includes a first linear slide rail and a first slider assembly slidably mounted thereon, wherein the first linear slide rail extends along the translation channel of the material box; the reciprocating power unit includes a first power device drivingly connected to the first slider assembly, wherein the first power device is used to drive the first slider assembly to perform linear reciprocating sliding between a first sliding position and a third sliding position, wherein a second sliding position is provided between the first sliding position and the third sliding position;

[0057] The reciprocating transmission unit further includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position;

[0058] The second linear slide rail is provided with a second slider assembly, which is in transmission connection with the material box pushing device; and when sliding back and forth between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be in transmission connection, so that the first slider assembly drives the material box pushing device to reciprocate and translate;

[0059] In which, the third linear slide rail is equipped with a third slider assembly, and the third slider assembly is simultaneously transmission-connected to the first lifting device and the second lifting device; and when sliding back and forth between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be transmission-connected so that the first slider assembly drives the first lifting device and the second lifting device to rise and fall synchronously in opposite directions.

[0060] In one embodiment, the reciprocating transmission unit includes a fourth linear slide rail arranged parallel to the first linear slide rail, wherein a portion of the fourth linear slide rail corresponding to a portion between the first sliding position and the second sliding position forms the second linear slide rail, and a portion of the fourth linear slide rail corresponding to a portion between the second sliding position and the third sliding position forms the third linear slide rail;

[0061] The first slider assembly includes a first push hook member, and the first push hook member is provided with a pair of connecting bosses on a side facing the fourth linear slide rail;

[0062] The second slider assembly includes a second push hook member, and the second push hook member is provided with a first connecting groove on a side facing the first linear slide rail, so that when sliding between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are in a transmission connection state through the engagement of the connecting boss near the first sliding position with the first connecting groove;

[0063] In which, the third slider assembly includes a third push hook member, and the third push hook member is provided with a second connecting groove on the side facing the first linear slide rail; so that when sliding between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be in a transmission connection state through the engagement of the other connecting boss close to the third sliding position and the second connecting groove.

[0064] In one embodiment, the second slider assembly includes a second slider, the second push hook member is rotatably mounted on the second slider via a first rotating shaft, the first rotating shaft is located at an end of the second push hook member close to the first sliding position, and a first roller is provided at an end of the second push hook member away from the first sliding position;

[0065] The reciprocating transmission unit further includes a first guide slot arranged parallel to the second linear slide rail, the first guide slot extending away from the first linear slide rail at a position corresponding to the second sliding position, so that when the first guide slot slides to the second sliding position, the engagement connection between the connecting boss and the first connecting groove is disconnected due to the rotation of the second push hook member;

[0066] The third slider assembly includes a third slider, the third push hook member is rotatably mounted on the third slider via a second rotating shaft, the second rotating shaft is located at an end of the third push hook member close to the third sliding position, and the end of the third push hook member away from the third sliding position is provided with a second roller;

[0067] In which, the reciprocating transmission unit also includes a second guide groove arranged parallel to the third linear slide rail, and the second guide groove is extended away from the first linear slide rail at the position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss and the second connecting groove is disconnected due to the rotation of the third push hook.

[0068] In one embodiment, the second push hook member includes a pair of first flanges, so that a portion between the pair of first flanges forms the first connecting groove; wherein a height of one of the first flanges closer to the first sliding position is greater than a height of one of the first flanges farther from the first sliding position;

[0069] The third push hook member includes a pair of second flanges, so that the portion between the pair of second flanges forms the second connecting groove; wherein the height of one of the second flanges close to the third sliding position is greater than the height of one of the second flanges away from the third sliding position.

[0070] In one embodiment, the reciprocating transmission unit includes an endless transmission belt located on the side of the frame unit and arranged in a vertical direction, and the reciprocating power unit includes a second power device drivingly connected to the endless transmission belt, the second power device being used to drive the endless transmission belt to reciprocate between a first rotation position and a third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position;

[0071] The annular transmission belt is respectively fixedly mounted with a first transmission block, a second transmission block and a third transmission block;

[0072] When rotating between the first rotation position and the second rotation position, the first transmission block is arranged on the horizontal extension portion at the upper position of the endless transmission belt, and the first transmission block is in transmission connection with the material box pushing device, so that the endless transmission belt drives the material box pushing device to reciprocate and translate through the first transmission block;

[0073] When rotating between the second rotation position and the third rotation position, the second transmission block and the third transmission block are respectively arranged on a pair of vertical extension parts of the endless transmission belt, and the second transmission block and the third transmission block are respectively connected to the first lifting device and the second lifting device in a transmission manner, so that the endless transmission belt drives the first lifting device and the second lifting device to rise and fall synchronously in opposite directions through the second transmission block and the third transmission block.

[0074] In one embodiment, the reciprocating transmission unit includes a drag connection plate arranged in a vertical direction, the top end of the drag connection plate is fixedly mounted to the material box pushing device, and the bottom end of the drag connection plate is provided with a plug-in slot opening downward, and the plug-in slot is used for the first transmission block to be plugged and installed from below;

[0075] The first transmission block is connected to the material box pushing device through a pair of vertical side walls forming the insertion groove, and when lifting up and down, the first transmission block is disconnected from the transmission of the material box pushing device due to disengagement from the insertion groove.

[0076] In one embodiment, the height of the upper horizontal extension portion of the endless transmission belt is consistent with the height at which the first lifting device or the second lifting device is raised to the top, and the height of the lower horizontal extension portion of the endless transmission belt is consistent with the height at which the first lifting device or the second lifting device is lowered to the bottom.

[0077] The second transmission block and the third transmission block are arranged on a side of the endless transmission belt facing the rack unit, and the first lifting device and the second lifting device are respectively provided with a first avoidance chute and a second avoidance chute on a side facing the endless transmission belt, and the first avoidance chute and the second avoidance chute are used to avoid the reciprocating translation of the second transmission block and the third transmission block respectively;

[0078] Moreover, when the second transmission block is lifted up and down, a pair of first lateral side walls forming the first avoidance chute are transmission-connected to the second transmission block due to the upper and lower limit of the second transmission block; when the third transmission block is lifted up and down, a pair of second lateral side walls forming the second avoidance chute are transmission-connected to the third transmission block due to the upper and lower limit of the third transmission block.

[0079] In one embodiment, a portion of the container translation channel between the first lifting channel and the second lifting channel is used to accommodate at least one container.

[0080] In one embodiment, the rack unit is provided with a material box supporting device at a position of the first lifting channel close to the material box translation channel, and the material box supporting device is used to support the material box transferred to the material box translation channel via the first lifting device.

[0081] In one embodiment, the material box supporting device includes a support rod extending along a first direction, and both ends of the support rod are hinged with a first connecting rod and a second connecting rod, wherein the first direction is the extension direction of the material box translation channel;

[0082] The rack unit is provided with a pair of slide grooves at positions corresponding to the two ends of the support rod, and the slide grooves extend in the vertical direction. The ends of the first connecting rod are slidably installed in the slide grooves, and the ends of the second connecting rod are hinged to the position of the rack unit below the slide grooves.

[0083] In one embodiment, the material box pushing device includes a pushing medium arranged along the side of the material box translation channel and reciprocating along the extension direction thereof;

[0084] In which, the pushing medium is provided with a follower arm extending to the material box translation channel, the follower arm is configured to be a one-way bend setting toward the second lifting channel, and the follower arm is at least used to push the material box located at the projection position of the first lifting channel on the material box translation channel when it reciprocates with the pushing medium.

[0085] In one embodiment, the first lifting device includes a first lifting plate arranged horizontally, the rack unit is provided with a first guide column arranged vertically beside the first lifting channel, and the first lifting plate is slidably mounted on the first guide column;

[0086] Furthermore, the first lifting plate includes a first supporting portion protruding into the first lifting channel, so that the first supporting portion is used to transfer the container carried by the container handling robot to the container translation channel when it is lifted.

[0087] In one embodiment, lifting boots are respectively installed at both ends of the first lifting plate along a first direction, the first direction being the extension direction of the material box translation channel, and the lifting boots extend perpendicularly to the first direction and protrude into the first lifting channel, so that a pair of the lifting boots form the first supporting part.

[0088] In one embodiment, the lifting shoe is fixedly mounted on the first lifting plate in a direction perpendicular to the first direction; or

[0089] The lifting shoe is rotatably mounted on the first lifting plate via a rotating shaft along a vertical direction, so that when the first lifting plate descends, the lifting shoe avoids the material box by rotating to be parallel to the first direction, and when the first lifting plate ascends, the lifting shoe lifts the material box by rotating to be perpendicular to the first direction.

[0090] In one embodiment, the first lifting plate is provided with adapter sleeves with a vertical axis at both ends along the first direction, the lifting shoe is fixed to the adapter sleeves, a return spring is provided inside the adapter sleeves, and the adapter sleeves are further fixedly mounted with turning guide posts, and the rack unit is provided with a pair of guiding inclined surfaces at positions corresponding to the pair of turning guide posts;

[0091] The reset spring is configured such that when the reset spring is in the reset position, the lifting shoe plate extends perpendicular to the first direction and protrudes into the first lifting channel, and the flip guide column extends along the first direction.

[0092] The guide slope is configured as follows: when the first lifting plate descends from the top of the first lifting channel, the guide slope rotates the adapter sleeve by limiting the flip guide column, so that the lifting shoe plate avoids the material box carried by the material box handling robot during the descent process.

[0093] In one embodiment, along the vertical direction, the guiding slope includes a flip guiding portion at an upper end and a flip maintaining portion at a lower end;

[0094] The flip guide portion is used to rotate the adapter sleeve by limiting and guiding the flip guide post when the first lifting plate descends; the flip holding portion extends vertically from the end of the flip guide portion, and the flip holding portion is used to maintain the rotation angle of the adapter sleeve by limiting and guiding the flip guide post during the descending process of the first lifting plate;

[0095] Furthermore, the height of the lower end portion of the flip holding portion is no higher than the height of the bottom surface of the material box carried by the material box transporting robot.

[0096] In one embodiment, the rack unit is provided with a walking channel below the material box translation channel, and the walking channel is arranged parallel to the material box translation channel. The walking channel is used for the material box handling robot to walk and pass through the rack unit along the extension direction of the material box translation channel.

[0097] In one embodiment, the rack unit includes a material box translation channel, wherein the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the material box translation channel; or,

[0098] The frame unit includes two parallel material box translation channels, wherein the reciprocating power unit and the reciprocating transmission unit are arranged between a pair of the material box translation channels.

[0099] In a fourth aspect, an embodiment of the present application further provides a sorting system, which at least includes the sorting workbench, material box transfer equipment and material box handling robot provided in any embodiment of the third aspect above.

[0100] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0101] The embodiment of the present application provides a sorting workbench and a sorting system that cooperate with a material box handling robot, wherein the sorting workbench includes a rack unit, a first reciprocating mechanism and a second reciprocating mechanism; wherein the rack unit is provided with a material box translation channel and a first lifting channel and a second lifting channel located at both ends of the material box translation channel; wherein the second reciprocating mechanism includes a vertically arranged second annular rotating device, wherein the second annular rotating device is respectively fixed with the first lifting device and the second lifting device at the first lifting channel and the second lifting channel, and the second annular rotating device can realize the two lifting devices by rotating and reciprocating motion. One rises and the other falls; thus, it can be understood that the rising lifting device (i.e., the first lifting device) can be used to obtain the unsorted material box carried by the material box handling robot, and at the same time, the descending lifting device (i.e., the second lifting device) can be used to transfer the sorted material box to the material box handling robot; in addition, the first reciprocating mechanism, which runs at a time interval with the second reciprocating mechanism, includes a material box pushing device, and the linear motion part of the material box pushing device performs a linear reciprocating motion along the material box translation channel, so that the unsorted material box obtained by the sorting workbench can be moved toward the sorting personnel through the linear reciprocating motion.

[0102] That is to say, the sorting workbench of this embodiment separates the material boxes from the material box handling robots. The sorting workbench can directly queue the material boxes and release the material box handling robots, thereby reducing the number of material box handling robots used, improving the utilization rate or turnover rate of the material box handling robots, and saving costs.

[0103] An embodiment of the present application also provides a sorting workbench and a sorting system, wherein the sorting workbench includes a frame unit, a reciprocating power unit and a reciprocating transmission unit; the frame unit includes a material box translation channel, a first lifting channel and a second lifting channel, and the material box translation channel, the first lifting channel and the second lifting channel are respectively provided with a material box pushing device, a first lifting device and a second lifting device; wherein the reciprocating power unit is transmission-connected to the reciprocating transmission unit and drives it to reciprocate between the first reciprocating position and the third reciprocating position; when reciprocating between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is transmission-connected to the material box pushing device and drives it to reciprocate; when reciprocating between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is transmission-connected to the two lifting devices at the same time and drives the two lifting devices to perform synchronous reverse lifting motion adapted to the reciprocating motion.

[0104] Thus, it can be understood that the rising lifting device (i.e., the first lifting device) can be used to obtain the unsorted material boxes carried by the material box handling robot, and at the same time, the descending lifting device (i.e., the second lifting device) can be used to transfer the sorted material boxes to the material box handling robot; in addition, the reciprocating movement of the material box pushing device can be used to push the material box along the material box translation channel, so that the sorting workbench can complete the sorting work of the material box.

[0105] That is to say, the sorting workbench of this embodiment separates the material boxes from the material box handling robots. The sorting workbench can directly queue the material boxes and release the material box handling robots, thereby reducing the number of material box handling robots used, improving the utilization rate or turnover rate of the material box handling robots, and saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0106] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0107] FIG1 is a schematic structural diagram of the sorting workbench in one state according to an embodiment of the present application, wherein the linear motion part of the material box pushing device is in a first translation position in this state.

[0108] FIG2 is a schematic structural diagram of the sorting workbench in an embodiment of the present application in one state, wherein in this state the linear motion portion of the material box pushing device has been reset from the second translation position to the first translation position.

[0109] FIG3 is a schematic structural diagram of the sorting workbench in an embodiment of the present application in one state, wherein the second annular rotating device is in the second rotation position in this state.

[0110] FIG4 is a schematic structural diagram of the sorting workbench described in an embodiment of the present application.

[0111] FIG5 is a schematic diagram showing the positional relationship among the material box translation channel, the first lifting channel, and the second lifting channel in an embodiment of the present application.

[0112] FIG6 is a schematic structural diagram of the fixed installation of the first lifting plate and the second annular rotating device in an embodiment of the present application.

[0113] FIG7 is a schematic structural diagram of the sorting workbench described in an embodiment of the present application.

[0114] FIG8 is a partial enlarged view of FIG7 .

[0115] FIG9 is a schematic structural diagram of the sorting workbench from another angle in an embodiment of the present application.

[0116] FIG10 is a partially enlarged view of FIG9 .

[0117] FIG11 is a schematic structural diagram of an embodiment of the present application showing that when the first lifting plate descends, the flip guide post is limited and guided by the flip guide inclined surface to rotate the adapter sleeve and the lifting shoe.

[0118] FIG12 is a schematic diagram of the explosion structure of the adapter sleeve in the embodiment of the present application

[0119] FIG13 is a top view schematically showing the rack unit including two material box translation channels in an embodiment of the present application.

[0120] FIG14 is a schematic structural diagram of the linear reciprocating motion implemented by a ball screw and a screw nut in an embodiment of the present application.

[0121] FIG15 is a schematic structural diagram of the linear reciprocating motion achieved by the telescopic rod in an embodiment of the present application.

[0122] FIG16 is an exemplary schematic diagram of the sorting system described in an embodiment of the present application.

[0123] FIG17 is a schematic structural diagram of the first lifting device and the second lifting device for transferring material boxes in the sorting workbench according to an embodiment of the present application.

[0124] FIG18 is a schematic diagram of the transfer of the material box along the first lifting channel, the material box translation channel, and the second lifting channel of the sorting workbench in an embodiment of the present application.

[0125] FIG19 is a schematic diagram of a possible structure of the reciprocating transmission unit and the reciprocating power unit in an embodiment of the present application.

[0126] FIG20 is a partially enlarged schematic diagram of FIG19 .

[0127] Figure 21 is a structural schematic diagram of the embodiment of the present application in which the first guide groove and the second guide groove guide the first roller and the second roller respectively.

[0128] FIG22 is a schematic diagram of another possible structure of the reciprocating transmission unit and the reciprocating power unit in an embodiment of the present application.

[0129] FIG23 is a partially enlarged schematic diagram of portion A in FIG22 .

[0130] FIG24 is a partial enlarged schematic diagram of portion B in FIG22 .

[0131] Figure 25 is a structural schematic diagram of an embodiment of the present application in which, when the first lifting plate descends, the flip guide post is limited and guided by the flip guide slope to rotate the adapter sleeve and the lifting shoe plate.

[0132] FIG26 is a schematic diagram of the explosion structure at the adapter sleeve in an embodiment of the present application.

[0133] Figure 27 is a schematic structural diagram of the material box support device described in an embodiment of the present application.

[0134] Figure 28 is a top view schematic diagram of the rack unit in the embodiment of the present application including two material box translation channels.

[0135] Figure 29 is a schematic diagram of the material box handling robot transferring the material box between the sorting workbench and the material box transfer equipment in an embodiment of the present application.

[0136] In which, the reference numerals are: 100 - sorting workbench, 200 - material box transfer equipment, 300 - material box, 400 - material box handling robot, 301 - unsorted material box, 302 - sorted material box, 10 - first reciprocating mechanism, 11 - first annular rotating device, 12 - first power device, 13 - follower arm, 111 - first linear portion, 20 - second reciprocating mechanism, 21 - second annular rotating device, 22 - second power device, 23 - first lifting device, 24 - second lifting device, 211 - second linear portion, 212 - third linear portion, 231 - first lifting plate, 232 - lifting shoe plate, 233 - adapter sleeve, 234 - return spring, 235 - flip guide column, 236 - adapter shaft, 237 - adapter bearing, 241 - second lifting plate, 30 - rack unit, 31 - First Lifting Channel, 32 - Second Lifting Channel, 33 - Bin Translation Channel, 34 - Travel Channel, 35 - First Guide Pillar, 36 - Second Guide Pillar, 37 - Bin Support Device, 38 - Slide, 39 - Guide Inclined Surface, 331 - Inlet, 332 - Outlet, 371 - First Connecting Rod, 372 - Second Connecting Rod, 373 - Support Rod, 391 - Flip Guide Portion, 392 - Flip Retention Portion, 41 - Ball Screw, 42 - Screw Nut, 51 - Telescopic Rod, 100' - Sorting Workbench, 1000 - Rack Unit, 110 - First Lifting Channel, 120 - Second Lifting Channel, 130 - Bin Translation Channel, 140 - First Lifting Device, 150 - Second Lifting Device, 160 - Bin Pushing Device, 170 - First Guide Pillar, 180 - Second Guide Pillar, 190 - Guide Inclined Surface, 1410 - First lifting plate, 1420 - Lifting shoe, 1430 - Adapter sleeve, 1440 - Return spring, 1450 - Flip guide post, 1460 - Adapter shaft, 1470 - Adapter bearing, 1610 - Follower arm, 1620 - Guide rail, 1630 - Push plate, 1640 - Drive belt, 191 - Flip guide portion, 192 - Flip retaining portion, 210 - First slider assembly, 220 - Second slider assembly, 230 - Third slider assembly, 240 - First linear slide rail, 250 - Fourth linear slide rail, 260 - First power unit, 270 - Power chain, 280 - Drive chain, 2110 - First slider, 2120 - First push hook, 2130 - Connecting boss, 2210 - second slider, 2220 - second push hook, 2230 - first rotating shaft, 2240 - first roller, 2250 - first flange, 2260 - first guide slot, 2310 - third slider, 2320 - third push hook, 2330 - second rotating shaft, 2340 - second roller, 2350 - second flange, 2360 - second guide slot, 310 - first transmission block, 320 - second transmission block, 330 - third transmission block, 340 - endless transmission belt,350 - Drag connecting plate, 360 - First avoidance chute, 370 - Second avoidance chute, 380 - Second power unit, 3510 - Connecting slot, 3520 - Vertical sidewall, 3610 - First lateral sidewall, 3710 - Second lateral sidewall, 4000 - Material box support device, 410 - First connecting rod, 420 - Second connecting rod, 430 - Support rod, 440 - Chute, 500 - Travel channel, X - First direction. DETAILED DESCRIPTION

[0137] In order to better understand the above technical solutions, example embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the exemplary embodiments described herein.

[0138] 1 to 5 , a sorting workbench that cooperates with a bin handling robot is provided. The sorting workbench 100 includes a frame unit 30 and a first reciprocating mechanism 10 and a second reciprocating mechanism 20 that are respectively mounted on the frame unit 30 .

[0139] The frame unit 30 includes a material box translation channel 33, which extends in a straight line along the first direction X and has an inlet 331 and an outlet 332 at both ends of the extension direction. The inlet 331 and the outlet 332 extend vertically downward to form a first lifting channel 31 and a second lifting channel 32; the first reciprocating mechanism 10 includes a material box pushing device and a first power device 12, and the first power device 12 is used to drive the linear motion part of the material box pushing device to perform a linear reciprocating motion along the material box translation channel 33 between the first translation position and the second translation position; the second reciprocating mechanism 20 includes a second annular rotating device 21 and a second power device 22. The second annular rotating device 21 is arranged in a vertical annular shape and is fixed with a first lifting device 23 and a second lifting device 24 respectively. The second power device 22 is used to drive the second annular rotating device 21 to rotate and perform a rotational reciprocating motion between the first rotation position and the second rotation position.

[0140] Among them, during the rotation process of the second annular rotating device 21 from the first rotation position to the second rotation position, the first lifting device 23 is configured to rise along the first lifting channel 31 and is used to transfer the material box 300 carried by the material box handling robot 400 to the material box translation channel 33. At the same time, the second lifting device 24 is configured to descend along the second lifting channel 32 and is used to transfer the material box 300 translated onto it to the material box handling robot 400; wherein, during the movement from the first translation position to the second translation position, the linear motion part of the material box pushing device is configured to at least push the material box 300 that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port 332 and away from the feed port 331; and the linear reciprocating motion and the rotational reciprocating motion are configured to run at intervals according to a time sequence.

[0141] In general, the sorting workbench 100 provided in this embodiment can work in conjunction with the material box handling robot to complete the sorting work of the material boxes; wherein, the sorting personnel are located at the sorting workbench 100, and the material box handling robot carries the unsorted material box 301 and walks to the feeding end of the sorting workbench 100 (i.e., below the first lifting channel). After the sorting workbench 100 obtains the unsorted material box carried by the material box handling robot, the material box handling robot can continue to walk to the discharging end of the sorting workbench 100 (i.e., below the second lifting channel), and the sorting workbench 100 can transfer the sorted material box to the material box handling robot, and then the material box handling robot can leave the sorting workbench 100 carrying the sorted material box 302.

[0142] The sorting workbench 100 includes a frame unit 30 , and the frame unit 30 is respectively equipped with a first reciprocating mechanism 10 and a second reciprocating mechanism 20 .

[0143] Regarding the rack unit 30, specifically, the rack unit 30 includes a material box translation channel 33, a first lifting channel 31 and a second lifting channel 32; wherein, the material box translation channel 33 is, for example, arranged at the upper end of the rack unit 30 to facilitate the operation of the sorting personnel; the material box translation channel 33 extends in a straight line along the first direction, and the two ends of the material box translation channel 33 are respectively an inlet 331 and an outlet 332, and then, it extends vertically downward from the inlet 331 to form the first lifting channel 31, and extends vertically downward from the outlet 332 to form the second lifting channel 32.

[0144] It can be seen that the unsorted material box can rise vertically from the first lifting channel 31, and then enter the material box translation channel 33 through the material inlet 331. After sorting, the material box can pass through the material outlet 332 and vertically descend along the second lifting channel 32, and then be transported away from the sorting workbench 100.

[0145] It can be understood that the specific structural arrangements of the material box translation channel 33 , the first lifting channel 31 and the second lifting channel 32 are not limited in this embodiment. For example, the channels can be formed by utilizing the horizontal bars, vertical bars and the spaces therebetween that constitute the rack unit 30 .

[0146] Regarding the second reciprocating mechanism 20, specifically, the second reciprocating mechanism 20 includes a second annular rotating device 21 and a second power device 22. The second annular rotating device 21 is arranged in a vertical annular shape, for example, it can be a roughly square ring shape, and can be specifically installed on the side of the frame unit 30 relative to the first direction. The second power device 22 is, for example, a second motor, which is transmission-connected to the second annular rotating device 21 for driving the second annular rotating device 21 to perform rotational reciprocating motion.

[0147] Among them, along the annular extension direction of the second annular rotating device 21, the second annular rotating device 21 is respectively fixedly provided with a first lifting device 23 and a second lifting device 24. The first lifting device 23 is, for example, arranged beside the first lifting channel 31 and can be lifted up and down along the first lifting channel 31, and the second lifting device 24 is, for example, arranged beside the second lifting channel 32 and can be lifted up and down along the second lifting channel 32; and, by adjusting the relative fixed positions of the two lifting devices on the second annular rotating device 21, when the second annular rotating device 21 rotates forward, for example, the first lifting device 23 can be vertically lifted along the first lifting channel 31 and the second lifting device 24 can be vertically lowered along the second lifting channel 32. Conversely, when the second annular rotating device 21 is reversed, the first lifting device 23 can be vertically lowered along the first lifting channel 31 and the second lifting device 24 can be vertically lifted along the second lifting channel 32.

[0148] Based on the above, first, the second motor can drive the second annular rotating device 21 to rotate and reciprocate between the first rotation position and the second rotation position.

[0149] Secondly, during the rotation of the second annular rotating device 21 from the first rotation position to the second rotation position, in this embodiment, the first lifting device 23 can drive the unsorted material box carried by the material box handling robot when it vertically rises along the first lifting channel 31, and lift the unsorted material box to the material box translation channel 33; at the same time, the second lifting device 24 can drive the sorted material box to descend and transfer it to the material box handling robot when it vertically descends along the second lifting channel 32. That is to say, the sorting workbench 100 can obtain the unsorted material box through the first lifting device 23 on one side and release the sorted material box through the second lifting device 24 on the other side. As for the material box handling robot, after the unsorted material box is detached, it can walk to the bottom of the second lifting channel 32 and wait for the sorted material box.

[0150] Again, during the rotation of the second annular rotating device 21 from the second rotation position to the first rotation position, the first lifting device 23 descends vertically along the first lifting channel 31, and at the same time, the second lifting device 24 rises vertically along the second lifting channel 32, or in other words, it is similar to that the two lifting devices need to be reset.

[0151] Regarding the first reciprocating mechanism 10, specifically, in combination with the above description, after the two lifting devices are reset, that is, the first lifting device 23 descends to the lowest point and the second lifting device 24 rises to the highest point (that is, parallel to the material box translation channel 33), the purpose of the first reciprocating mechanism 10 is, on the one hand, to push the unsorted material box that rises through the first lifting channel 31 away from the material inlet; on the other hand, to translate all the material boxes of the unsorted material box toward the material outlet, so that the sorted material box at the front end closest to the material outlet is translated to the surface of the second lifting device 24, in preparation for the subsequent release; on the other hand, the first reciprocating mechanism 10 also needs to be reset to meet the needs of the subsequent pushing of the material box.

[0152] In this embodiment, the above purpose is achieved specifically by the linear motion part of the material box pushing device moving back and forth along the material box translation channel 33 between the first translation position and the second translation position.

[0153] It is understandable that the above-mentioned linear reciprocating motion can be driven specifically by the first power device 12 .

[0154] It can be understood that in the process of moving from the first translation position to the second translation position, the linear motion part of the material box pushing device should at least push the material box that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port and away from the material inlet; that is, the linear motion part of the material box pushing device of this embodiment can directly push the material box that has just risen from the first lifting channel 31, and then the material box that has just risen can push the material box in front of it to move horizontally; of course, taking into account situations such as the material box being stuck, the linear motion part of the material box pushing device of this embodiment can also push multiple material boxes on the material box translation channel 33 separately.

[0155] Regarding the linear reciprocating motion and the rotational reciprocating motion, or regarding the operation of the first reciprocating mechanism 10 and the second reciprocating mechanism 20, specifically, in combination with the above description, the linear reciprocating motion requires the linear motion part of the material box pushing device to move from the first translation position to the second translation position, and then reset to the first translation position; similarly, the rotational reciprocating motion requires the second annular rotating device 21 to rotate from the first rotation position to the second rotation position, and then reset to the first rotation position; and the above two reciprocating motions need to run at intervals according to a time sequence, that is, the linear reciprocating motion and the rotational reciprocating motion need to run at intervals, or, the first power device 12 and the second power device 22 need to be driven at intervals according to a time sequence.

[0156] An embodiment of the present application provides a sorting workbench and a sorting system that work in cooperation with a material box handling robot. The sorting workbench 100 includes a rack unit 30, a first reciprocating mechanism 10 and a second reciprocating mechanism 20; wherein the rack unit 30 is provided with a material box translation channel 33 and a first lifting channel 31 and a second lifting channel 32 located at both ends of the material box translation channel 33.

[0157] Among them, the second reciprocating mechanism 20 includes a vertically arranged second annular rotating device 21, and the second annular rotating device 21 is fixedly provided with a first lifting device 23 and a second lifting device 24 at the first lifting channel 31 and the second lifting channel 32 respectively. The second annular rotating device 21 can realize the rising and falling of one of the two lifting devices through rotational reciprocating motion; thus, it can be understood that the rising lifting device (i.e., the first lifting device 23) can be used to obtain the unsorted material box carried by the material box handling robot, and at the same time, the sorted material box can be transferred to the material box handling robot by the descending lifting device (i.e., the second lifting device 24); in addition, the first reciprocating mechanism 10 running at a time interval with the second reciprocating mechanism 20 includes a material box pushing device, and the linear motion part of the material box pushing device performs linear reciprocating motion along the material box translation channel 33, so that the unsorted material box obtained by the sorting workbench 100 can be moved toward the sorting personnel through linear reciprocating motion.

[0158] That is to say, the sorting workbench 100 of this embodiment separates the material boxes from the material box handling robots. The sorting workbench 100 can directly queue the material boxes and release the material box handling robots, thereby reducing the number of material box handling robots used, improving the utilization rate or turnover rate of the material box handling robots, and saving costs.

[0159] Regarding the material box translation channel 33 , in one possible implementation, a portion of the material box translation channel 33 between the material inlet 331 and the material outlet 332 is used to accommodate at least one material box.

[0160] Regarding the transfer of material boxes, it can be understood that the first lifting device 23 can, for example, lift one material box to the material box translation channel 33 at a time, and at the same time, the second lifting device 24 can lower one material box to the material box handling robot at a time; and, the material box translation channel 33 should be able to cache at least one material box. When there are many cached material boxes, multiple sorting positions can also be set to realize classification and sorting, etc.

[0161] Among them, a simple setting method is that the length of the part of the material box translation channel 33 between the first lifting channel 31 and the second lifting channel 32 can be an integer multiple of the material box length, such as one, two, three times, etc., which can be set according to actual needs; at the same time, each reciprocating translation of the material box pushing device can drive all the material boxes on the material box translation channel 33 toward the second lifting channel 32 by a distance of one material box length.

[0162] Regarding the support of the material box at the feed port 331, in combination with Figures 9 and 10, in one possible embodiment, the frame unit 30 is provided with a material box support device 37 at a position near the feed port 331 in the first lifting channel 31; wherein the material box support device 37 includes a support rod 373 extending along the first direction X, and both ends of the support rod 373 are hinged with a first connecting rod 371 and a second connecting rod 372 at the same time; the frame unit 30 is provided with a pair of slide grooves 38 at positions corresponding to the two ends of the support rod 373, and the slide groove 38 extends in the vertical direction, and the end of the first connecting rod 371 is slidably installed in the slide groove 38, and the end of the second connecting rod 372 is hinged to the position of the frame unit 30 below the slide groove 38; so that when the material box 300 rises along the first lifting channel 31 to the material box translation channel 33, the material box support device 37 is used to support the material box 300.

[0163] In combination with the above, after the material box rises from the first lifting device 23 through the material inlet to the material box translation channel 33, the second annular rotating device 21 needs to be reset, that is, the first lifting device 23 needs to descend along the first lifting channel 31. At this time, a material box support device 37 needs to be set to support the material box and maintain it at the height of the material box translation channel 33.

[0164] The material box support device 37 needs to be installed at a position near the feeding port of the first lifting channel 31 of the frame unit 30; specifically, this embodiment discloses a possible structure of the material box support device 37, that is, the material box support device 37 includes a support rod 373 extending along a first direction (that is, the direction in which the material box translation channel 33 extends), and both ends of the support rod 373 are hinged to two connecting rods, namely a first connecting rod 371 and a second connecting rod 372; wherein, the end of the first connecting rod 371 is slidably installed in the slide groove 38 of the frame unit 30, and the slide groove 38 is arranged in the vertical direction, and the end of the second connecting rod 372 is hinged to the position of the frame unit 30 below the slide groove 38; it can be understood that at this time, the upper first The length of the connecting rod 371 should be less than the length of the second connecting rod 372; in this way, when the material box rises, the support rod 373 will be affected by the upward force of the material box. Under the action of this force and due to the constraints of the two connecting rods, the second connecting rod 372 will rotate and retract around the hinge point where it is connected to the frame unit 30, and the sliding point where the first connecting rod 371 is connected to the frame unit 30 will slide vertically downward, thereby retracting the support rod 373 relative to the first lifting channel 31, and the material feeding box rises; when the force of the material box on the support rod 373 disappears, due to the action of gravity and the constraints of the two connecting rods, the support rod 373 will expand relative to the first lifting channel 31 to support the material box and maintain it at the height of the material box translation channel 33.

[0165] Regarding the first reciprocating mechanism 10, please refer to Figure 9. In one possible embodiment, the material box pushing device includes a first annular rotating device 11 and a follower arm 13 fixed to the first annular rotating device 11, and the first power device 12 includes a first motor that is transmission-connected to the first annular rotating device 11; wherein the first annular rotating device 11 includes a first straight portion 111 that is arranged beside the material box translation channel 33 and extends along the material box translation channel 33, and both ends of the first straight portion 111 at least cover the feed port 331, and the follower arm 13 is fixed to the first straight portion 111 and protrudes to the material box translation channel 33; so that when the first motor drives the first annular rotating device 11 to rotate forward and reverse, the follower arm 13 performs a linear reciprocating motion, and the follower arm 13 at least pushes the material box 300 that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port 332 and away from the feed port 331.

[0166] In some embodiments, the linear motion portion of the above-mentioned material box pushing device can be formed by the first linear portion 111 of the first annular rotating device 11 and the follower arm 13 thereon.

[0167] Specifically, the first annular rotating device 11 is arranged next to the material box translation channel 33 and extends along the material box translation channel 33. The first annular rotating device 11 is, for example, in a vertically arranged ring. Then, it can be understood that at this time, the straight line portion of the upper or lower layer of the first annular rotating device 11 can be the first straight line portion 111; generally speaking, considering the stability of the push, the straight line portion of the lower layer will be selected as the first straight line portion 111, that is, the follower arm 13 is fixed to the straight line portion of the lower layer; in this way, the first motor can realize the linear reciprocating motion of the first straight line portion 111 by driving the first annular rotating device 11 to rotate forward and reverse.

[0168] Among them, the first straight part 111 should at least cover the feed port, and the follower arm 13 is fixed to the first straight part 111 and performs linear reciprocating motion with the first straight part 111. Thus, the first motor drives the follower arm 13 to perform linear reciprocating motion, and then the follower arm 13 can push the material box that has just risen from the first lifting channel 31 to move horizontally and push it away from the feed port.

[0169] In order to prevent the material box from getting stuck when moving along the material box translation channel 33, or to ensure the stability of the material box when moving along the material box translation channel 33, in a specific embodiment, one end of the first straight portion 111 is located at the outer end of the inlet 331, and the other end of the first straight portion 111 extends to the inner end of the outlet 332; wherein, the first straight portion 111 is fixedly installed with a plurality of follower arms 13, and the plurality of follower arms 13 are arranged at equal intervals with the material box length plus a safety margin as the spacing, and the follower arms 13 are configured to be unidirectionally folded toward the outlet 332; so that in the process of moving from the first translation position to the second translation position, the plurality of follower arms 13 respectively limit the material box 300 in front of its forward direction and push the material box 300 to move; in the process of moving from the second translation position to the first translation position, the plurality of follower arms 13 respectively release the limit of the material box 300 in front of its forward direction.

[0170] In some embodiments, the first straight portion 111 extends along the material box translation channel 33, and then a plurality of follower arms 13 can be arranged on the first straight portion 111 at equal intervals with the material box length plus a safety margin. In this way, when the first straight portion 111 performs linear reciprocating motion, each follower arm 13 can push a material box, that is, several follower arms 13 respectively limit the material box in front of their forward direction and push the material box to move.

[0171] Among them, in the reset process of the linear reciprocating motion, that is, when the first straight part 111 (or the follower arm 13) moves toward the feed port, the follower arm 13 should avoid the material box. Therefore, this embodiment sets the follower arm 13 to be a one-way folding setting toward the discharge port; that is, when the follower arm 13 moves toward the discharge port, the follower arm 13 cannot be folded and can push the material box, and when the follower arm 13 resets and moves toward the feed port, the follower arm 13 can be touched by the material box and folded to avoid the material box.

[0172] As for the triggering of the one-way bending of the follower arm 13, it can be understood that when it is reset and moved toward the feed port, on the one hand, the one-way bending of the follower arm 13 can be passively triggered by the collision of the material box; on the other hand, the one-way bending of the follower arm 13 can also be actively triggered by a motor drive provided thereat, and this embodiment does not impose any restrictions on this.

[0173] In a specific embodiment, the first annular rotating device 11 includes an annular chain or an annular conveyor belt, and the first annular rotating device 11 is installed on either side or both sides of the material box translation channel 33 relative to its extension direction.

[0174] Regarding the first lifting device 23, please refer to Figures 7 and 8. In one possible embodiment, the second annular rotating device 21 includes a second straight portion 211 arranged beside the first lifting channel 31 and extending in the vertical direction; wherein the first lifting device 23 includes a horizontally arranged first lifting plate 231, the first lifting plate 231 is fixed to the second straight portion 211, the rack unit 30 is provided with a first guide column 35 arranged in the vertical direction beside the first lifting channel 31, and the first lifting plate 231 is slidably installed on the first guide column 35; and the first lifting plate 231 includes a first supporting portion protruding to the first lifting channel 31; so that when the second annular rotating device 21 rotates from the first rotation position to the second rotation position, the first supporting portion rises along the first lifting channel 31 and is used to transfer the material box 300 carried by the material box handling machine 400 to the material box translation channel 33.

[0175] In this embodiment, first, as mentioned above, the second annular rotating device 21 is, for example, roughly square in shape, and includes a second straight portion arranged next to the first lifting channel 31. The second straight portion is arranged in a vertical direction, or in other words, is arranged parallel to the first lifting channel 31. In this way, it can be understood that when the second annular rotating device 21 is rotating and reciprocating, the first lifting plate 231 fixed to the second straight portion can be lifted up and down.

[0176] Secondly, to ensure the stability of up and down lifting, the first lifting plate 231 can also be slidably installed on the first guide column 35. The first guide column 35 should also be arranged beside the first lifting channel 31. The first guide column 35 can be, for example, a column forming the first lifting channel 31.

[0177] In addition, in order to ensure that the first lifting plate 231 lifts the material box during the rising process, the first lifting plate 231 should include a first supporting part protruding to the first lifting channel 31, that is, the material box can be placed on the first supporting part of the first lifting plate 231 and rise along the first lifting channel 31; as for how the material box is placed on the first supporting part, it can be understood that it can be achieved, for example, through the jacking function of the material box handling robot.

[0178] In a specific embodiment, the first lifting plate 231 is located on one side of the first lifting channel 31 and extends along the first direction. The rack unit 30 is provided with first guide columns 35 at both ends of the first lifting plate 231 along its extension direction; wherein, the first lifting plate 231 is respectively installed with lifting boots 232 at both ends along its extension direction. The lifting boots 232 are used to protrude into the first lifting channel 31, so that a pair of lifting boots 232 form a first supporting portion.

[0179] 7 , 8 and 10 , firstly, first guide posts 35 may be provided at both ends of the first lifting plate 231 along the first direction. The vertical guidance of the first lifting plate 231 by a pair of first guide posts 35 may increase the stability of the lifting process.

[0180] Secondly, the first supporting portion protruding to the first lifting channel 31 mentioned above can be formed by the lifting shoes 232 at both ends of the first lifting plate 231; in this way, the area between the pair of lifting shoes 232 can form a groove that avoids the above-mentioned material box supporting device 37.

[0181] In one embodiment, the lifting shoe 232 is fixedly mounted on the first lifting plate 231 in a direction perpendicular to the first direction X. Alternatively, the lifting shoe 232 is rotatably mounted on the first lifting plate 231 via a vertical adapter shaft 236, such that when the first lifting plate 231 descends, the lifting shoe 232 rotates parallel to the first direction to avoid the container, and when the first lifting plate 231 ascends, the lifting shoe 232 rotates perpendicular to the first direction to lift the container. The adapter shaft 236 may be fixed via an adapter bearing 237 shown in FIG. 12 .

[0182] The present embodiment provides two installation methods of the lifting shoe plate 232, one of which is the vertical direction along the first direction, in which the lifting shoe plate 232 is directly fixedly installed on the first lifting plate 231. At this time, it can be understood that the first lifting plate 231 needs to be lowered to the lowest end before the material box handling robot can carry the material box and walk to the first lifting channel 31; the other method is that the lifting shoe plate 232 is rotatably installed on the first lifting plate 231 along the adapter shaft 236 in the vertical direction. The purpose of setting the lifting shoe plate 232 to be rotatable is that the lifting shoe plate 232 can be rotated from, for example, perpendicular to the first direction to parallel to the first direction. In this way, when the first lifting plate 231 descends, the lifting shoe plate 232 can avoid the material box below by rotating. At this time, it can be understood that the material box handling robot can carry the material box and walk to the first lifting channel 31 in advance without having to wait for the first lifting plate 231 to descend to the lowest end, thereby improving the sorting efficiency.

[0183] Regarding the rotation of the lifting shoe plate 232, it can be actively driven by a motor, for example, or it can be passively driven by the guidance of the flip guide pillar by the guide inclined surface as described below.

[0184] Specifically, the first lifting plate 231 is provided with an adapter sleeve 233 at both ends along its extension direction. The adapter sleeve 233 is arranged in the vertical direction. The lifting shoe plate 232 is rotatably mounted on the first lifting plate 231 through the adapter sleeve 233. A return spring 234 is provided inside the adapter sleeve 233. A flip guide post 235 is fixedly installed on the adapter sleeve 233. At the position corresponding to the pair of flip guide posts 235, the rack unit 30 is provided with a pair of guide inclined surfaces 39. The return spring 234 is configured When the reset spring 234 is in the reset position, the lifting shoe 232 extends perpendicularly to the first direction and protrudes to the first lifting channel 31, and the flip guide post 235 extends along the first direction. The guide slope 39 is configured as follows: when the first lifting plate 231 descends from the top of the first lifting channel 31, the guide slope 39 rotates the adapter sleeve 233 by limiting the flip guide post 235, so that the lifting shoe 232 avoids the material box 300 carried by the material box handling machine 400 during the descent process.

[0185] 8 , 11 and 12 , in order to allow the pair of lifting shoes 232 to avoid the material box that has stopped below when the first lifting plate 231 descends, the lifting shoes 232 may be arranged to flip and rotate relative to the first lifting plate 231 .

[0186] Specifically, the lifting shoe plate 232 is rotatably fixed to the end of the first lifting plate 231 through the adapter sleeve 233. A return spring 234 is provided inside the adapter sleeve 233, and a flip guide column 235 is also fixed to the outside of the adapter sleeve 233. The flip guide column 235 cooperates with the guide slope 39 provided on the frame unit 30. When the first lifting plate 231 descends, the guide slope 39 can rotate the adapter sleeve 233 by limiting the flip guide column 235. For example, the lifting shoe plate 232 perpendicular to the first direction is rotated to the first direction. In this way, when the first lifting plate 231 descends, the lifting shoe plate 232 can avoid the material box without colliding with the material box.

[0187] When the interaction between the guiding slope 39 and the flip guide post 235 disappears, the external force disappears and the adapter sleeve 233 is reset under the action of the reset spring 234, that is, the lifting shoe plate 232 is reset and rotated to be perpendicular to the first direction.

[0188] Regarding the guiding slope, further, in combination with Figure 8, along the vertical direction, the guiding slope 39 includes a flip guide part 391 at the upper end and a flip holding part 392 at the lower end; wherein, the flip guide part 391 is used to rotate the adapter sleeve 233 by limiting the flip guide column 235 when the first lifting plate 231 descends; the flip holding part 392 extends from the end of the flip guide part 391 along the vertical direction, and the flip holding part 392 is used to maintain the rotation of the adapter sleeve 233 by limiting the flip guide column 235 during the descent of the first lifting plate 231; and, the height of the lower end of the flip holding part 392 is not higher than the height of the bottom surface of the material box 300 carried by the material box handling robot 400.

[0189] The guide slope 39 may be specifically composed of a flip guide portion 391 and a flip holding portion 392 arranged up and down.

[0190] During the descent of the first lifting plate 231, the flip guide post 235 is first guided by the flip guide part 391 to rotate the adapter sleeve 233 until the vertical projection of the lifting shoe plate 232 avoids the material box; then, when the first lifting plate 231 continues to descend, the flip holding part 392 can limit the flip guide post 235 to keep the adapter sleeve 233 in this rotation until the flip guide post 235 disengages from the guide slope 39.

[0191] When the flip guide column 235 descends to disengage from the guide slope 39, as described above, the lifting shoe plate 232 will be reset to a position perpendicular to the first direction. Therefore, the above-mentioned disengagement position should not be higher than the bottom surface of the material box, that is, the height of the lower end of the flip holding part 392 is not higher than the height of the bottom surface of the material box carried by the material box handling robot; in this way, the reset pair of lifting shoe plates 232 can lift the material box when rising.

[0192] Regarding the second lifting device 24, in combination with Figures 4, 7 and 9, in one possible embodiment, the second annular rotating device 21 includes a third straight portion 212 arranged beside the second lifting channel 32 and extending in the vertical direction; wherein the second lifting device 24 includes a horizontally arranged second lifting plate 241, the second lifting plate 241 is fixed to the second straight portion 212, the rack unit 30 is provided with a second guide column 36 arranged in the vertical direction beside the second lifting channel 32, and the second lifting plate 241 is slidably installed on the second guide column 36; and the second lifting plate 241 includes a second supporting portion protruding to the second lifting channel 32; so that when the second annular rotating device 21 rotates from the first rotation position to the second rotation position, the second supporting portion descends along the second lifting channel 32 and is used to transfer the material box 300 translated onto it to the material box handling robot 400.

[0193] In some embodiments, the second lifting plate 241 is similar to the first lifting plate 231 , except that since there is no need to consider avoiding the material box, the second lifting plate 241 can directly fix the second support part, that is, the second support part does not need to rotate.

[0194] In one possible embodiment, in combination with Figures 1 to 3, the rack unit 30 is provided with a walking channel 34 below the material box translation channel 33, and the walking channel 34 extends along the first direction. The walking channel 34 is used for the material box handling robot 400 to walk and pass through the rack unit 30 along the first direction.

[0195] In some embodiments, the rack unit 30 may be provided with a walking channel below for the material box handling robot to pass through. The walking channel may be provided parallel to and below the material box translation channel 33. In this way, after the material box handling robot unloads the material box at the first lifting channel 31, it can directly walk through the walking channel to the bottom of the second lifting channel 32 to wait for the sorted material box to be carried.

[0196] Of course, considering the simplicity of the structure of the rack unit 30, the rack unit 30 can be composed of a number of horizontal bars and vertical bars, and the above-mentioned material box translation channel 33, the first lifting channel 31 and the second lifting channel 32 can be an open structure for the material box to pass through, rather than a closed channel structure.

[0197] In one possible embodiment, in combination with Figure 14, the material box pushing device includes a ball screw 41 arranged along the first direction, the ball screw 41 is arranged next to the material box translation channel 33, the ball screw 41 is provided with a screw nut 42, the screw nut 42 is fixedly installed with a follower arm 13, and the first power device 12 includes a third motor driving the ball screw 41, so that when the third motor drives the ball screw 41 to rotate forward and reverse, the follower arm 13 performs a linear reciprocating motion, and the follower arm 13 will at least push the material box 300 that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port 332 and away from the feed port 331.

[0198] Alternatively, in combination with Figure 15, the material box pushing device includes a telescopic rod 51 arranged along the first direction, the telescopic rod 51 is arranged next to the material box translation channel 33, the telescopic rod 51 is fixedly installed with a follower arm 13, and the first power device 12 includes a cylinder or an electric cylinder for driving the telescopic rod 51, so that when the cylinder or the electric cylinder drives the telescopic rod 51 to move telescopically along the first direction, the follower arm 13 performs a linear reciprocating motion, and the follower arm 13 at least pushes the material box that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port and away from the feed port.

[0199] It can be understood that in addition to the first annular rotating device 11, the linear motion part of the above-mentioned material box pushing device can also be realized by a ball screw or a telescopic rod. Then, the above-mentioned follower arm 13 can be fixed to the screw nut of the ball screw, or the follower arm 13 can be directly fixed to the telescopic rod.

[0200] In one possible embodiment, the rack unit 30 includes a material box translation channel 33, wherein the first reciprocating mechanism 10 and the second reciprocating mechanism 20 are arranged on one side of the material box translation channel 33; or, referring to Figure 13, the rack unit 30 includes two parallel and highly consistent material box translation channels 33, wherein the first reciprocating mechanism 10 and the second reciprocating mechanism 20 are arranged between a pair of material box translation channels 33.

[0201] In some embodiments, the rack unit 30 may include a material box translation channel 33 . In this case, the first reciprocating mechanism 10 and the second reciprocating mechanism 20 may be disposed on either side of the rack unit 30 .

[0202] Of course, the rack unit 30 may also include two material box translation channels 33 at the same height and arranged in parallel. It can be understood that the first reciprocating mechanism 10 and the second reciprocating mechanism 20 can be set at a position between the two material box translation channels 33. In this way, the two reciprocating mechanisms can act on the material boxes on both sides at the same time, thereby improving the sorting efficiency.

[0203] Based on the above-mentioned sorting workbench 100, the present application also discloses a sorting system, which at least includes a sorting workbench 100, a material box transfer device and a material box handling robot; wherein the material box transfer device can be a movable shelf, a large-capacity AGV vehicle, etc., and the material box handling robot can obtain the material box from the material box transfer device and then transfer it to the sorting workbench 100. The material box handling robot then transfers the material box sorted by the sorting workbench 100 to the material box transfer device.

[0204] The sorting workbench 100 includes a frame unit 30 and a first reciprocating mechanism 10 and a second reciprocating mechanism 20 respectively mounted on the frame unit 30 .

[0205] The frame unit 30 includes a material box translation channel 33, which extends in a straight line along the first direction and has a feed port and a discharge port formed at both ends of the extension direction, and the feed port and the discharge port extend vertically downward to form a first lifting channel 31 and a second lifting channel 32; the first reciprocating mechanism 10 includes a material box pushing device and a first power device 12, and the first power device 12 is used to drive the linear motion part of the material box pushing device to perform a linear reciprocating motion along the material box translation channel 33 between the first translation position and the second translation position; the second reciprocating mechanism 20 includes a second annular rotating device 21 and a second power device 22, and the second annular rotating device 21 is arranged in a vertical annular shape and is respectively fixed with a first lifting device 23 and a second lifting device 24, and the second power device 22 is used to drive the second annular rotating device 21 to rotate and perform a rotational reciprocating motion between the first rotation position and the second rotation position.

[0206] Among them, during the rotation process of the second annular rotating device 21 from the first rotation position to the second rotation position, the first lifting device 23 is configured to rise along the first lifting channel 31 and is used to transfer the material box carried by the material box handling robot to the material box translation channel 33. At the same time, the second lifting device 24 is configured to descend along the second lifting channel 32 and is used to transfer the material box translated onto it to the material box handling robot; wherein, during the movement from the first translation position to the second translation position, the linear motion part of the material box pushing device is configured to at least push the material box that rises along the first lifting channel 31 to the material box translation channel 33 toward the discharge port and away from the feed port; and the linear reciprocating motion and the rotational reciprocating motion are configured to run at intervals according to a time sequence.

[0207] The following embodiment provides a sorting workbench 100'. With reference to Figures 17-18, the sorting workbench 100' includes a frame unit 1000 and a reciprocating power unit and a reciprocating transmission unit respectively mounted on the frame unit 1000. The frame unit 1000 includes a material box translation channel 130 extending in a straight line. The material box translation channel 130 extends downward at both ends along its extension direction to form a first lifting channel 110 and a second lifting channel 120, respectively. A material box pushing device 160 is provided next to the material box translation channel 130 for translation along the same. A first lifting device 140 is provided next to the first lifting channel 110 for lifting up and down. A second lifting device 150 is provided next to the second lifting channel 120 for lifting up and down.

[0208] The reciprocating power unit is in transmission connection with the reciprocating transmission unit, and the reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between the first reciprocating position and the third reciprocating position, and a second reciprocating position is provided between the first reciprocating position and the second reciprocating position.

[0209] In addition, the reciprocating transmission unit is configured as follows: between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is connected to the material box pushing device 160 and drives it to reciprocate; between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously connected to the first lifting device 140 and the second lifting device 150 and drives the first lifting device 140 and the second lifting device 150 to perform synchronous reverse lifting and lowering motions that are compatible with the reciprocating motion.

[0210] 17 and 18 , in general, the sorting workbench 100 ′ provided in this embodiment can cooperate with the material box handling robot to complete the sorting work of the material boxes; wherein, the sorting personnel are located at the sorting workbench 100 ′, and the material box handling robot 400 carries the unsorted material box 301 and walks to the infeed end of the sorting workbench 100 ′ (i.e., below the first lifting channel). After the sorting workbench 100 ′ obtains the unsorted material box carried by the material box handling robot, the material box handling robot can continue to walk to the outfeed end of the sorting workbench 100 ′ (i.e., below the second lifting channel 120). The sorting workbench 100 ′ can transfer the sorted material box 302 to the material box handling robot, and then the material box handling robot can leave the sorting workbench 100 ′ carrying the sorted material box.

[0211] The sorting workbench 100 ′ includes a frame unit 1000 and a reciprocating power unit and a reciprocating transmission unit respectively installed on the frame unit 1000 .

[0212] Regarding the rack unit 1000, specifically, the rack unit 1000 includes a material box translation channel 130, a first lifting channel 110 and a second lifting channel 120; the material box translation channel 130 is, for example, arranged at the upper end of the rack unit 1000, and its height is suitable for convenient operation by sorting personnel; the material box translation channel 130 extends in a straight line along the first direction X, and the two ends of the material box translation channel 130 are respectively the feed port and the discharge port, and then, it extends vertically downward from the feed port to form the first lifting channel 110, and extends vertically downward from the discharge port to form the second lifting channel 120.

[0213] It can be understood that the transfer process of the material box at the sorting workbench 100' is as follows: the unsorted material box can be vertically increased by the first lifting channel 110, and then enter the material box translation channel 130 through the material inlet. The unsorted material box is sorted on the material box translation channel 130, and then the sorted material box can be vertically decreased along the second lifting channel 120 through the material outlet, and then be transported away from the sorting workbench 100'.

[0214] It can be understood that the specific structural arrangement of the above-mentioned material box translation channel 130, the first lifting channel 110 and the second lifting channel 120 is not limited in this embodiment. For example, the above-mentioned channels can be formed by using the horizontal bars, vertical bars and the spaces therebetween that constitute the rack unit.

[0215] Among them, for the carrier for transferring material boxes, this embodiment is provided with a first lifting device 140 that lifts up and down along the first lifting channel 110, and the function of the first lifting device 140 is to transfer the material box to the material box translation channel 130 when it rises; this embodiment is provided with a material box pushing device 160 that moves horizontally along the material box translation channel 130, and the function of the material box pushing device 160 is to push the material box to move when it moves horizontally toward the second lifting channel 120; this embodiment is provided with a second lifting device 150 that lifts up and down along the second lifting channel 120, and the function of the second lifting device 150 is to transfer the material box to the material box handling robot below when it descends.

[0216] Regarding the reciprocating power unit and the reciprocating transmission unit, that is, the driving device and the transmission device of the vehicle, specifically, the reciprocating power unit is connected to the reciprocating transmission unit and drives the reciprocating transmission unit to perform reciprocating motion between a first reciprocating position and a third reciprocating position, wherein a second reciprocating position is provided between the first reciprocating position and the third reciprocating position.

[0217] It can be understood that the reciprocating motion process of the reciprocating transmission unit is: in the outward stroke, it first moves from the first reciprocating position to the second reciprocating position, and then continues to move to the third reciprocating position; in the return stroke, it first moves from the third reciprocating position to the second reciprocating position, and then continues to move to the first reciprocating position.

[0218] Moreover, in combination with the functions of the above-mentioned first lifting device 140, the material box pushing device 160 and the second lifting device 150, when moving between the first reciprocating position and the second reciprocating position (including the outward and return strokes), the reciprocating transmission unit is configured to be connected to the material box pushing device 160 and drive it to reciprocate, that is, the material box pushing device 160 can reciprocate along the material box translation channel 130.

[0219] When moving between the second reciprocating position and the third reciprocating position (including the outward and return strokes), the reciprocating transmission unit is configured to be simultaneously connected to the above-mentioned two lifting devices and drive the two lifting devices to perform a synchronous reverse lifting motion adapted to the above-mentioned reciprocating translation; that is, firstly, under the drive of the reciprocating transmission unit, the two lifting devices perform a synchronous reverse lifting motion, in which when one of them rises, the other falls synchronously, and when one of them falls, the other rises synchronously; secondly, the synchronous reverse lifting motion must also be adapted to the reciprocating translation of the upper material box pushing device 160, and the purpose of the adaptation is to enable the material box to complete the above-mentioned transfer process at the sorting workbench 100'.

[0220] Please refer to the following specific process:

[0221] During the movement from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device 140 and the second lifting device 150, and is in a transmission connected state with the material box pushing device 160. The reciprocating transmission unit drives the material box pushing device 160 to move horizontally toward the second lifting channel 120.

[0222] During the movement from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device 140 and the second lifting device 150, and is in a transmission disconnection state with the material box pushing device 160. The reciprocating transmission unit drives the first lifting device 140 to rise from the bottom to the top of the first lifting channel 110, and simultaneously drives the second lifting device 150 to descend from the top to the bottom of the second lifting channel 120.

[0223] During the movement from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device 140 and the second lifting device 150, and is in a transmission disconnection state with the material box pushing device 160. The reciprocating transmission unit drives the first lifting device 140 to descend from the top to the bottom of the first lifting channel 110, and simultaneously drives the second lifting device 150 to ascend from the bottom to the top of the second lifting channel 120.

[0224] During the process of moving from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device 140 and the second lifting device 150, and is in a transmission connected state with the material box pushing device 160. The reciprocating transmission unit drives the material box pushing device 160 to move horizontally toward the first lifting channel 110.

[0225] It can be understood that the process from the third reciprocating position to the second reciprocating position can be understood as the process of the reciprocating transmission unit resetting the two lifting devices, that is, the first lifting device 140 is lowered to the bottom end of the first lifting channel 110, and the second lifting device 150 is raised to the top end of the second lifting channel 120 at the same time, to prepare for the acquisition and transfer of the next material box; similarly, the process from the second reciprocating position to the first reciprocating position can be understood as the process of the reciprocating transmission unit resetting the material box pushing device 160, that is, moving the material box pushing device 160 toward the first lifting channel 110 for acquiring the material box, to prepare for the pushing and transfer of the next material box.

[0226] The embodiment of the present application provides a sorting workbench and a sorting system, wherein the sorting workbench 100' includes a frame unit 1000, a reciprocating power unit and a reciprocating transmission unit; the frame unit 1000 includes a material box translation channel 130, a first lifting channel 110 and a second lifting channel 120, and the material box translation channel 130, the first lifting channel 110 and the second lifting channel 120 are respectively provided with a material box pushing device 160, a first lifting device 140 and a second lifting device 150; wherein the reciprocating power unit is transmission-connected to the reciprocating transmission unit and drives it to reciprocate between a first reciprocating position and a third reciprocating position; when reciprocating between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is transmission-connected to the material box pushing device 160 and drives it to reciprocate; when reciprocating between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is transmission-connected to the two lifting devices at the same time and drives the two lifting devices to perform synchronous reverse lifting motion adapted to the reciprocating motion.

[0227] Thus, it can be understood that the ascending lifting device (i.e., the first lifting device 140) can be used to obtain the unsorted material boxes carried by the material box handling robot, and at the same time, the descending lifting device (i.e., the second lifting device 150) can be used to transfer the sorted material boxes to the material box handling robot; in addition, the reciprocating translation of the material box pushing device 160 can also be used to push the material box along the material box translation channel 130, so that the sorting workbench can complete the sorting work of the material box.

[0228] The sorting workbench 100' of this embodiment separates the bins from the bin handling robots. The sorting workbench 100' can directly queue the bins and release the bin handling robots, thereby reducing the number of bin handling robots in use, improving the utilization rate or turnover rate of the bin handling robots, and saving costs.

[0229] Regarding one of the reciprocating transmission units, in combination with Figures 19 to 21, in one possible embodiment, the reciprocating transmission unit includes a first linear slide 240 and a first slider assembly 210 that are slidably installed, and the first linear slide 240 extends along the material box translation channel 130; the reciprocating power unit includes a first power device 260 that is transmission-connected to the first slider assembly 210, and the first power device 260 is used to drive the first slider assembly 210 to perform linear reciprocating sliding between a first sliding position and a third sliding position, and a second sliding position is provided between the first sliding position and the third sliding position; the reciprocating transmission unit also includes a second linear slide located between the first sliding position and the second sliding position, and a third linear slide located between the second sliding position and the third sliding position.

[0230] Among them, the second linear slide rail is equipped with a second slider assembly 220, and the second slider assembly 220 is transmission-connected to the material box pushing device 160; and when sliding back and forth between the first sliding position and the second sliding position, the first slider assembly 210 and the second slider assembly 220 are configured as a transmission connection so that the first slider assembly 210 drives the material box pushing device 160 to reciprocate and translate.

[0231] Among them, the third linear slide rail is equipped with a third slider assembly 230, and the third slider assembly 230 is simultaneously connected to the first lifting device 140 and the second lifting device 150 in a transmission manner; and when sliding back and forth between the second sliding position and the third sliding position, the first slider assembly 210 and the third slider assembly 230 are configured to be connected in a transmission manner so that the first slider assembly 210 drives the first lifting device 140 and the second lifting device 150 to rise and fall synchronously in the opposite direction.

[0232] In summary, the reciprocating transmission unit of this embodiment can be based on the first slider assembly 210 that slides back and forth in a straight line, and then use the sliding of the first slider assembly 210 in different intervals of straight segments to drive the material box pushing device 160 to reciprocate and drive the two lifting devices to lift and lower synchronously in the opposite direction.

[0233] Specifically, the first slider assembly 210 is slidably installed on the first linear slide rail 240, and the first linear slide rail 240 is arranged next to the material box translation channel 130 and parallel to it; then, the first slider assembly 210 is transmission-connected to the first power device 260, and the first power device 260 is, for example, a first drive motor; thus, it can be understood that the first power device 260 can drive the first slider assembly 210 to perform linear reciprocating sliding, that is, it slides from the first sliding position and through the second sliding position to the third sliding position on the outward journey, and then slides from the third sliding position and through the second sliding position to the first sliding position on the return journey.

[0234] It can be seen that the three sliding positions correspond to the three reciprocating positions mentioned above.

[0235] In which, the reciprocating transmission unit also includes a second linear slide located between the first sliding position and the second sliding position, and a third linear slide located between the second sliding position and the third sliding position. The second linear slide and the third linear slide are respectively arranged parallel to the first linear slide 240; then, the second linear slide is installed with a second slider assembly 220, and the third linear slide is installed with a third slider assembly 230.

[0236] Thus, it can be understood that when the first slider assembly 210 slides between the first sliding position and the second sliding position (including the forward stroke and the return stroke), this embodiment can transmission-connect the second slider assembly 220 to the first slider assembly 210, and the second slider assembly 220 is also transmission-connected to the material box pushing device 160, so that the first slider assembly 210 can drive the material box pushing device 160 to perform the above-mentioned reciprocating translation through the second slider assembly 220.

[0237] When the first slider assembly 210 slides between the second sliding position and the third sliding position (including the forward and return strokes), this embodiment can transmission-connect the third slider assembly 230 to the first slider assembly 210, and the third slider assembly 230 is also transmission-connected to the two lifting devices at the same time. In this way, the first slider assembly 210 can drive the two lifting devices to perform the above-mentioned synchronous reverse lifting through the third slider assembly 230.

[0238] Among them, it can be understood that the transmission connection between the second slider assembly 220 and the material box pushing device 160 is intended to enable the material box pushing device 160 to move linearly following the second slider assembly 220. For example, the second slider assembly 220 can be fixedly connected to the material box pushing device 160, and this embodiment does not impose any restrictions on this.

[0239] Among them, it can be understood that regarding the transmission connection between the third slider assembly 230 and the two lifting devices at the same time, the purpose of the transmission connection is to enable the two lifting devices to rise and fall synchronously in opposite directions due to the translation of the third slider assembly 230. For example, the third slider assembly 230 can be fixed to a transmission chain 280 extending along the first direction, and then the two ends of the transmission chain 280 are respectively fixed to the two lifting devices, so that the two lifting devices can be lifted and lifted synchronously in opposite directions when the third slider assembly 230 moves horizontally.

[0240] As for the first slider assembly 210 and the first power device 260, the purpose of the first power device 260 is to drive the first slider assembly 210 to perform linear reciprocating motion. For example, the first power device 260 is a first drive motor, and the first drive motor is transmission-connected to a power chain 270 extending along a first direction, and then the first slider assembly 210 can be fixed on the power chain 270; of course, it can be understood that the first power device 260 and the transmission connection between the first power device 260 and the first slider assembly 210 can also be achieved through other devices and structures (such as a transmission belt), and this embodiment does not limit this.

[0241] In addition, the second linear guide rail and the third linear guide rail may be located on the same side of the first linear guide rail 240 , or may be located on both sides of the first linear guide rail 240 , which is not limited in this embodiment.

[0242] Regarding the transmission connection between the first slider assembly 210 and the second slider assembly 220 and the third slider assembly 230 respectively, in a specific embodiment, the reciprocating transmission unit includes a fourth linear slide rail 250 arranged parallel to the first linear slide rail 240, and the fourth linear slide rail 250 forms a second linear slide rail corresponding to the part between the first sliding position and the second sliding position, and forms a third linear slide rail corresponding to the part between the second sliding position and the third sliding position; the first slider assembly 210 includes a first push hook member 2120, and on the side facing the fourth linear slide rail 250, the first push hook member 2120 is provided with a pair of connecting bosses 2130.

[0243] Among them, the second slider assembly 220 includes a second push hook member 2220, and on the side facing the first linear slide rail 240, the second push hook member 2220 is provided with a first connecting groove, so that when sliding between the first sliding position and the second sliding position, the first slider assembly 210 and the second slider assembly 220 are configured to be in a transmission connection state through the engagement of a connecting boss 2130 close to the first sliding position with the first connecting groove.

[0244] Among them, the third slider assembly 230 includes a third push hook 2320, and on the side facing the first linear slide rail 240, the third push hook 2320 is provided with a second connecting groove; so that when sliding between the second sliding position and the third sliding position, the first slider assembly 210 and the third slider assembly 230 are configured to be in a transmission connection state through the engagement of another connecting boss 2130 close to the third sliding position with the second connecting groove.

[0245] On the one hand, this embodiment can be provided with a fourth linear slider parallel to the first linear slide rail 240. The length of the fourth linear slide rail 250 should at least cover the first sliding position and the third sliding position of the first linear slide rail 240. For example, the fourth linear slide rail 250 is arranged to be parallel to and equal in length to the first linear slide rail 240. In this way, it can be understood that the fourth linear slide rail 250 can form the above-mentioned second linear slide rail and third linear slide rail respectively in different sections along its length direction, and the structure is simple.

[0246] On the other hand, the transmission connection between the first slider assembly 210 and the second slider assembly 220 and the third slider assembly 230 can be achieved, for example, by the engagement of the connecting boss 2130 and the connecting groove.

[0247] In some embodiments, the first slider assembly 210 includes a first push hook member 2120, and the first push hook member 2120 is respectively provided with a pair of connecting bosses 2130 at both ends along its length direction; then, the second slider assembly 220 includes a second push hook member 2220, and the second push hook member 2220 is provided with a first connecting groove; the third slider assembly 230 includes a third push hook member 2320, and the third push hook member 2320 is provided with a third connecting groove; and the connecting boss 2130 is arranged opposite to the two connecting grooves; so it can be understood that between the first sliding position and the second sliding position When sliding between the second and third sliding positions, the first slider assembly 210 can be configured to be in a transmission connection state by engaging a connecting boss 2130 (a connecting boss on the left side in FIG20 ) close to the first sliding position with the first connecting groove of the second slider assembly 220; similarly, when sliding between the second and third sliding positions, the first slider assembly 210 can be configured to be in a transmission connection state by engaging another connecting boss 2130 (another connecting boss on the right side in FIG20 ) close to the third sliding position with the second connecting groove of the third slider assembly 230.

[0248] Regarding the disconnection of the transmission connection between the first slider assembly 210 and the second slider assembly 220 and the third slider assembly 230, in a specific embodiment, the second slider assembly 220 includes a second slider 2210, and the second push hook member 2220 is rotatably mounted on the second slider 2210 through the first rotating shaft 2230, the first rotating shaft 2230 is located at the end of the second push hook member 2220 close to the first sliding position, and the end of the second push hook member 2220 away from the first sliding position is provided with a first roller 2240; wherein, the reciprocating transmission unit also includes a first guide groove 2260 arranged parallel to the second linear slide rail, and the first guide groove 2260 is extended away from the first linear slide rail 240 at the corresponding second sliding position, so that when sliding to the second sliding position, the bite connection between the connecting boss 2130 and the first connecting groove is disconnected due to the rotation of the second push hook member 2220.

[0249] The third slider assembly 230 includes a third slider 2310, and the third push hook member 2320 is rotatably mounted on the third slider 2310 through the second rotating shaft 2330. The second rotating shaft 2330 is located at the end of the third push hook member 2320 close to the third sliding position, and the end of the third push hook member 2320 away from the third sliding position is provided with a second roller 2340; wherein, the reciprocating transmission unit also includes a second guide groove 2360 arranged in parallel with the third linear slide rail, and the second guide groove 2360 is extended away from the first linear slide rail 240 at the corresponding second sliding position, so that when sliding to the second sliding position, the occlusal connection between the connecting boss 2130 and the second connecting groove is disconnected due to the rotation of the third push hook member 2320.

[0250] In summary, at the second sliding position, in order to disconnect the transmission connection between the first slider assembly 210 and the second slider assembly 220 and the third slider assembly 230, this embodiment can disconnect the engaging connection by rotating the second push hook member 2220 and the third push hook member 2320 relative to the first push hook member 2120.

[0251] For example, for the second push hook member 2220, the second push hook member 2220 is rotatably installed on the second slider 2210 through the first rotating shaft 2230, and the first rotating shaft 2230 is specifically arranged in the vertical direction, wherein the first rotating shaft 2230 is located at the end of the second push hook member 2220 close to the first sliding position, and then, a first roller 2240 is provided at the end of the second push hook member 2220 away from the first sliding position; matching the first roller 2240, the reciprocating transmission unit also includes a first guide groove 2260 for guiding the sliding of the first roller 2240, and the first guide groove 2260 can be opened on the outer shell of the reciprocating transmission unit; and the first guide groove 2260 is an extension away from the first linear slide rail 240 at the corresponding second sliding position, or is a turning setting facing away from the first linear slide rail 240.

[0252] Therefore, it can be understood that when the first push hook member 2120 and the second push hook member 2220 move simultaneously from the first sliding position to the second sliding position in the engaged connection state, since the first guide groove 2260 guides the first roller 2240 at the upper end of the second push hook member 2220 away from the first linear slide rail 240, this will force the second push hook member 2220 to rotate (the second push hook member 2220 rotates clockwise in Figure 20), thereby disconnecting the engaged connection between the second push hook member 2220 and the first push hook member 2120, that is, disconnecting the transmission connection between the first slider assembly 210 and the second slider assembly 220.

[0253] It can also be understood that when the first push hook member 2120 slides from the second sliding position to the first sliding position, a connecting boss 2130 on the first push hook member 2120 close to the first sliding position will abut and act on the protrusion on the side of the first connecting groove close to the first sliding position, which will force the second push hook member 2220 to rotate in the opposite direction (the second push hook member 2220 rotates counterclockwise in Figure 20), thereby causing the first roller 2240 to slide out from the turning point of the first guide slot 2260, and then causing the second push hook member 2220 to engage with the first push hook member 2120, that is, the transmission connection between the first slider assembly 210 and the second slider assembly 220.

[0254] The transmission connection and disconnection between the third push hook member 2320 and the first push hook member 2120 are similar to the processes between the second push hook member 2220 and the first push hook member 2120 , and will not be described in detail in this application.

[0255] The first slider assembly 210 may include, for example, a first slider 2110 , and then the first push hook assembly 212 may be fixed to the first slider 2110 .

[0256] In a specific embodiment, the second push hook member 2220 includes a pair of first flanges 2250, so that the portion between the pair of first flanges 2250 forms a first connecting groove; wherein, the height of a first flange 2250 close to the first sliding position is greater than the height of a first flange 2250 away from the first sliding position; the third push hook member 2320 includes a pair of second flanges 2350, so that the portion between the pair of second flanges 2350 forms a second connecting groove; wherein, the height of a second flange 2350 close to the third sliding position is greater than the height of a second flange 2350 away from the third sliding position.

[0257] In some embodiments, the first connecting groove and the second connecting groove can be realized by a pair of first flanges 2250 and a pair of second flanges 2350 respectively.

[0258] Among them, in order to facilitate the uncoupling and hooking of the second push hook member 2220 and the first push hook member 2120, or to achieve the bite connection and disconnection of the two, it can be understood that among the pair of first flanges 2250 of the second push hook member 2220, the height of the first flange 2250 close to the first sliding position should be greater than the height of the first flange 2250 away from the first sliding position; similarly, in order to facilitate the uncoupling and hooking of the third push hook member 2320 and the first push hook member 2120, or to achieve the bite connection and disconnection of the two, it can be understood that among the pair of second flanges 2350 of the third push hook member 2320, the height of the second flange 2350 close to the third sliding position should be greater than the height of the second flange 2350 away from the third sliding position.

[0259] As for the pair of connecting bosses 2130 of the first push hook member 2120 , their heights can be set to be the same, for example.

[0260] Regarding the second reciprocating transmission unit, in combination with Figures 22 to 24, in one possible implementation, the reciprocating transmission unit includes an annular transmission belt 340 located on the side of the frame unit 1000 and arranged in the vertical direction, and the reciprocating power unit includes a second power device 380 that is transmission-connected to the annular transmission belt 340, and the second power device 380 is used to drive the annular transmission belt 340 to reciprocate between the first rotation position and the third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position; the annular transmission belt 340 is respectively fixedly installed with a first transmission block 310, a second transmission block 320 and a third transmission block 330.

[0261] Among them, when rotating between the first rotation position and the second rotation position, the first transmission block 310 is arranged on the high horizontal extension part of the annular transmission belt 340, and the first transmission block 310 is connected to the material box pushing device 160 for transmission, so that the annular transmission belt 340 drives the material box pushing device 160 to reciprocate through the first transmission block 310.

[0262] Among them, when rotating between the second rotation position and the third rotation position, the second transmission block 320 and the third transmission block 330 are respectively arranged on a pair of vertical extension parts of the annular transmission belt 340, and the second transmission block 320 and the third transmission block 330 are respectively connected to the first lifting device 140 and the second lifting device 150, so that the annular transmission belt 340 drives the first lifting device 140 and the second lifting device 150 to rise and fall synchronously in the opposite directions through the second transmission block 320 and the third transmission block 330.

[0263] In summary, the reciprocating transmission unit of this embodiment can be based on a reciprocating annular transmission belt 340, which is, for example, in a roughly square shape and arranged vertically, that is, the annular transmission belt 340 includes a horizontal extension part at a high position above, a horizontal extension part at a low position below, and a pair of vertical extension parts on the left and right sides. The horizontal extension part at the high position of the annular transmission belt 340 is then used to drive the material box pushing device 160 to reciprocate, and the pair of vertical extension parts on the left and right sides are used to drive the two lifting devices to lift and lower synchronously in opposite directions.

[0264] Specifically, the reciprocating rotation of the annular transmission belt 340 is driven by the second power device 380, and the second power device 380 is, for example, a second drive motor, that is, the second drive motor is connected to the annular transmission belt 340 in a transmission manner. In this way, the second drive motor can drive the annular transmission belt 340 to rotate back and forth between the first rotation position and the third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position; that is, in the outward journey, it rotates from the first rotation position and through the second rotation position to the third rotation position, and then in the return journey, it rotates from the third rotation position and through the second rotation position to the first rotation position.

[0265] It can be seen that the three rotation positions correspond to the three reciprocating positions mentioned above.

[0266] Among them, the first transmission block 310, the second transmission block 320 and the third transmission block 330 are fixedly installed on the annular transmission belt 340 along its extension direction; the position of the first transmission block 310 on the annular transmission belt 340 is configured as follows: when the annular transmission belt 340 rotates between the first rotation position and the second rotation position, the first transmission block 310 is located in the high horizontal extension part; the position of the second transmission block 320 and the third transmission block 330 on the annular transmission belt 340 is configured as follows: when the annular transmission belt 340 rotates between the second rotation position and the third rotation position, the second transmission block 320 and the third transmission block 330 are respectively arranged in a pair of vertical extension parts.

[0267] Thus, it can be understood that when the annular transmission belt 340 rotates between the first rotation position and the second rotation position (including the outward and return journeys), this embodiment can drive the first transmission block 310 to the material box pushing device 160, so that the annular transmission belt 340 can drive the material box pushing device 160 to perform the above-mentioned reciprocating motion through the first transmission block 310.

[0268] When the endless transmission belt 340 rotates between the second rotation position and the third rotation position (including the forward and return strokes), in this embodiment, the second transmission block 320 and the third transmission block 330 can be respectively connected to the first lifting device 140 and the second lifting device 150; in this way, the endless transmission belt 340 can simultaneously drive the two lifting devices through the second transmission block 320 and the third transmission block 330 to perform the above-mentioned synchronous reverse lifting.

[0269] Among them, it can be understood that the purpose of the transmission connection between the first transmission block 310 and the material box pushing device 160 is to enable the material box pushing device 160 to move horizontally following the first transmission block 310; the purpose of the transmission connection between the second transmission block 320 and the third transmission block 330 and the first lifting device 140 and the second lifting device 150 respectively is to enable the first lifting device 140 and the second lifting device 150 to rise and fall synchronously in the opposite direction following the second transmission block 320 and the third transmission block 330 respectively.

[0270] As for the endless transmission belt 340 and the first driving motor, the purpose of the first driving motor is to drive the endless transmission belt 340 to rotate back and forth. For example, the endless transmission belt 340 is a chain structure, and the first driving motor can drive the chain to rotate back and forth through a gear plate.

[0271] In addition, the first transmission block 310 , the second transmission block 320 and the third transmission block 330 may be located on the same side of the annular transmission belt 340 , or may be located on both sides of the annular transmission belt 340 , which is not limited in this embodiment.

[0272] Regarding the transmission connection and disconnection of the first transmission block 310 and the material box pushing device 160, in a specific embodiment, the reciprocating transmission unit includes a drag connecting plate 350 arranged in the vertical direction, the top of the drag connecting plate 350 is fixedly installed with the material box pushing device 160, and the bottom end of the drag connecting plate 350 is provided with a plug-in groove 3510 opening toward the bottom, and the plug-in groove 3510 is used for the first transmission block 310 to be plugged in and installed from below; so that the first transmission block 310 is transmission-connected to the material box pushing device 160 through a pair of vertical side walls 3520 forming the plug-in groove 3510, and when lifting up and down, the first transmission block 310 is disconnected from the transmission of the material box pushing device 160 due to the disconnection from the plug-in groove 3510.

[0273] In this embodiment, the first transmission block 310 can be specifically connected to the material box pushing device 160 by vertically setting a drag connecting plate 350; the top of the drag connecting plate 350 is fixedly connected to the material box pushing device 160, for example, welded together, and then, the bottom end of the drag connecting plate 350 is provided with a plug-in groove 3510 opening downward, and the height of the plug-in groove 3510 should be consistent with the height of the first transmission block 310.

[0274] In this way, on the one hand, when the first transmission block 310 moves back and forth (at this time, the corresponding annular transmission belt 340 rotates from the first rotation position to the second rotation position, or from the second rotation position to the first rotation position), the first transmission block 310 can drive the material box pushing device 160 to move back and forth through a pair of vertical side walls 3520 (that is, the vertical side walls on the left and right sides of the plug-in slot 3510) that form the plug-in slot 3510.

[0275] On the other hand, when the first transmission block 310 is raised and lowered (at this time, the corresponding annular transmission belt 340 rotates from the second rotation position to the third rotation position, or from the third rotation position to the second rotation position), the first transmission block 310 is disconnected from the transmission of the material box pushing device 160 due to its disengagement from the plug-in slot 3510.

[0276] It can be understood that the opening of the plug slot 3510 can be, for example, in the shape of a trumpet, so as to facilitate the reconnection of the first transmission block 310 and the drag connection plate 350 .

[0277] Regarding the transmission connection and disconnection of the second transmission block 320 and the third transmission block 330 with the first lifting device 140 and the second lifting device 150 respectively, in a specific embodiment, the height of the high horizontal extension part of the endless transmission belt 340 is consistent with the height at which the first lifting device 140 or the second lifting device 150 rises to the top, and the height of the low horizontal extension part of the endless transmission belt 340 is consistent with the height at which the first lifting device 140 or the second lifting device 150 descends to the bottom; wherein, the second transmission block 320 and the third transmission block 330 are arranged on the side of the endless transmission belt 340 facing the rack unit 1000, and the first avoidance chute 360 ​​and the second avoidance chute 370 are respectively provided on the side of the first lifting device 140 and the second lifting device 150 facing the endless transmission belt 340, and the first avoidance chute 360 ​​and the second avoidance chute 370 are used to avoid the reciprocating translation of the second transmission block 320 and the third transmission block 330 respectively.

[0278] Moreover, when the second transmission block 320 is lifted up and down, a pair of first lateral side walls 3610 forming the first avoidance groove 360 ​​are transmission-connected to the second transmission block 320 due to the upper and lower limit of the second transmission block 320; when the third transmission block 330 is lifted up and down, a pair of second lateral side walls 3710 forming the second avoidance groove 370 are transmission-connected to the third transmission block 330 due to the upper and lower limit of the third transmission block 330.

[0279] In this embodiment, the heights of the pair of horizontally extending portions of the endless transmission belt 340 should be respectively consistent with the heights of the first lifting device 140 (or the second lifting device 150) when it rises to the top and descends to the bottom; then, the second transmission block 320 and the third transmission block 330 can be fixed on the side of the endless transmission belt 340 facing the rack unit; the first lifting device 140 and the second lifting device 150 are respectively provided with a first avoidance chute 360 ​​and a second avoidance chute 370 on the side facing the endless transmission belt 340, and the first avoidance chute 360 ​​and the second avoidance chute 370 extend along the first direction.

[0280] In this way, on the one hand, when the second transmission block 320 and the third transmission block 330 reciprocate (at this time, the corresponding annular transmission belt 340 rotates from the first rotation position to the second rotation position, or from the second rotation position to the first rotation position), the first avoidance chute 360 ​​and the second avoidance chute 370 can respectively avoid the reciprocating movement of the second transmission block 320 and the third transmission block 330, that is, at this time, the second transmission block 320 and the third transmission block 330 are respectively in a transmission disconnected state with the first lifting device 140 and the second lifting device 150.

[0281] On the other hand, when the second transmission block 320 and the third transmission block 330 are synchronously lifted and lowered in opposite directions (at this time, the corresponding annular transmission belt 340 is rotated from the second rotation position to the third rotation position, or from the third rotation position to the second rotation position), a pair of first lateral side walls 3610 (i.e., the first lateral side walls on the upper and lower sides of the first avoidance chute 360) forming the first avoidance chute 360 ​​can limit the second transmission block 320 up and down, so that the first lifting device 140 is connected to the second transmission block 320 for transmission and follows the second transmission block 320 to rise and fall; a pair of second lateral side walls 3710 (i.e., the second lateral side walls on the upper and lower sides of the second avoidance chute 370) forming the second avoidance chute 370 can limit the third transmission block 330 up and down, so that the second lifting device 150 is connected to the third transmission block 330 for transmission and follows the third transmission block 330 to rise and fall.

[0282] In one possible implementation, a portion of the container translation channel 130 between the first lifting channel 110 and the second lifting channel 120 is used to accommodate at least one container 300 .

[0283] Regarding the transfer of material boxes, it can be understood that the first lifting device 140 can, for example, lift one material box to the material box translation channel 130 at a time, and at the same time, the second lifting device 150 can lower one material box to the material box handling robot at a time; and, the material box translation channel 130 should be able to cache at least one material box. When there are many cached material boxes, multiple sorting positions can also be set to realize classification and sorting, etc.

[0284] Among them, a simple setting method is that the length of the part of the material box translation channel 130 between the first lifting channel 110 and the second lifting channel 120 can be an integer multiple of the material box length, such as one times, two times, three times, etc., which can be set according to actual needs; at the same time, each reciprocating translation of the material box pushing device 160 can drive all the material boxes on the material box translation channel 130 toward the second lifting channel 120 by a distance of one material box length.

[0285] Regarding the support of the material box on the material box translation channel 130, in one possible implementation, the rack unit 1000 is provided with a material box support device 4000 at a position close to the material box translation channel 130 in the first lifting channel 110, and the material box support device 4000 is used to support the material box 300 transferred to the material box translation channel 130 via the first lifting device 140.

[0286] In combination with the above, after the material box is raised to the material box translation channel 130 by the first lifting device 140, since the first lifting device 140 needs to be reset (that is, the first lifting device 140 descends), at this time, a material box support device 4000 needs to be set to support the material box and maintain it at the height of the material box translation channel 130; wherein, the material box support device 4000 needs to be installed in the first lifting channel 110 of the rack unit close to the material box translation channel 130.

[0287] In a specific embodiment, in combination with Figure 27, the material box support device 4000 includes a support rod 430 extending along a first direction X, and both ends of the support rod 430 are hinged with a first connecting rod 410 and a second connecting rod 420, wherein the first direction is the extension direction of the material box translation channel 130; the frame unit 1000 is provided with a pair of slide grooves 440 at positions corresponding to the two ends of the support rod 430, and the slide groove 440 extends in a vertical direction, and the end of the first connecting rod 410 is slidably installed on the slide groove 440, and the end of the second connecting rod 420 is hinged to the position of the frame unit 1000 below the slide groove 440.

[0288] Specifically, this embodiment discloses a possible structure of the material box support device 4000, that is, the material box support device 4000 includes a support rod 430 extending along a first direction (that is, the direction in which the material box translation channel 130 extends), and both ends of the support rod 430 are hinged to two connecting rods, namely a first connecting rod 410 and a second connecting rod 420; wherein, the end of the first connecting rod 410 is slidably installed in the slide groove 440 of the rack unit, the slide groove 440 is arranged in the vertical direction, and the end of the second connecting rod 420 is hinged to the position of the rack unit below the slide groove 440.

[0289] It can be understood that at this time, the length of the first connecting rod 410 above should be less than the length of the second connecting rod 420; in this way, when the material box rises, the support rod 430 will be affected by the upward force of the material box. Under the action of this force and due to the constraints of the two connecting rods, the second connecting rod 420 will rotate and retract around the hinge point where it is connected to the frame unit, and the sliding point where the first connecting rod 410 is connected to the frame unit will slide vertically downward, thereby retracting the support rod 430 relative to the first lifting channel 110, and the material feeding box rises; when the force of the material box on the support rod 430 disappears, due to the action of gravity and the constraints of the two connecting rods, the support rod 430 will expand relative to the first lifting channel 110 to support the material box and maintain it at the height of the material box translation channel 130.

[0290] Regarding the material box pushing device 160, in one possible embodiment, the material box pushing device 160 includes a pushing medium that is arranged along the side of the material box translation channel 130 and reciprocates along its extension direction; wherein the pushing medium is provided with a follower arm 1610 extending to the material box translation channel 130, and the follower arm 1610 is configured to be a one-way bend setting toward the second lifting channel 120, and the follower arm 1610 is at least used to push the material box 300 on the material box translation channel 130 at the projection position of the first lifting channel 110 when it reciprocates with the pushing medium.

[0291] This embodiment provides a possible structure of a material box pushing device 160. A pushing medium may be provided adjacent to and parallel to the material box translation channel 130. A follower arm extending into the material box translation channel 130 is fixedly mounted on the pushing medium. The follower arm may extend horizontally into the material box translation channel 130 as shown in Figures 19 and 21 , or it may extend vertically into the material box translation channel 130.

[0292] Among them, in this embodiment, on the one hand, the function of the follower arm is to push the material box when it moves back and forth with the pushing medium (specifically, when it moves toward the second lifting channel 120). In addition, considering that the follower arm also needs to avoid the material box when it moves in the return stroke, this embodiment sets the follower arm to be a one-way bend setting toward the second lifting channel 120; that is, when the follower arm moves in the direction of the second lifting channel 120, the follower arm cannot be folded and can push the material box, and when the follower arm moves and resets in the direction of the first lifting channel 110, the follower arm can be touched by the material box and folded to avoid the material box. In this way, the follower arm can avoid the material box by bending when it moves in the return stroke without generating a reverse thrust on the material box.

[0293] On the other hand, for example, if there is one follower arm, the follower arm should at least ensure that it can push the material box located at the projection position of the first lifting channel 110 on the material box translation channel 130, and then use the material box as a whole to push all the material boxes in front of it; or, the number of follower arms can also be several, and the several follower arms are arranged at equal intervals with the length of the material box plus a safety margin. In this way, when pushing the medium to reciprocate, each follower arm can push one material box, that is, several follower arms respectively limit the material box in front of their forward direction and push the material box to move.

[0294] It is understandable that the role of the above-mentioned pushing medium is to make the follower arm thereon move back and forth by virtue of its reciprocating translation relative to the material box translation channel 130. Therefore, the pushing medium can be realized by various structures.

[0295] For example, referring to Figure 22 or Figure 24, the pushing medium can be realized by a guide rail 1620 arranged parallel to the material box translation channel 130 and a push plate 1630 slidably installed on the guide rail 1620, wherein the follower arm 1610 is specifically fixedly installed on the push plate 1630; or referring to Figure 21, the pushing medium can be realized by a transmission belt 1640 or a transmission chain arranged parallel to the material box translation channel 130, wherein the follower arm 1610 is specifically fixedly installed on the transmission belt 1640 or the transmission chain.

[0296] As for the triggering of the one-way bending of the follower arm, it can be understood that, during the reset translation, on the one hand, the one-way bending of the follower arm can be passively triggered by the collision of the material box; on the other hand, the one-way bending of the follower arm can also be actively triggered by a motor drive provided thereat, and this embodiment does not impose any restrictions on this.

[0297] Regarding the first lifting device 140, in one possible embodiment, the first lifting device 140 includes a horizontally arranged first lifting plate 1410, and the rack unit 1000 is provided with a first guide column 170 arranged in a vertical direction next to the first lifting channel 110, and the first lifting plate 1410 is slidably installed on the first guide column 170; and the first lifting plate 1410 includes a first supporting portion protruding into the first lifting channel 110; so that the first supporting portion is used to transfer the material box 300 carried by the material box handling machine 400 to the material box translation channel 130 when it rises.

[0298] First, the first lifting plate is, for example, in the shape of a flat plate extending along the first direction; wherein, in order to ensure the stability of up and down lifting, the first lifting plate can also be slidably installed on the first guide column, and the first guide column should also be arranged next to the first lifting channel. The first guide column can be, for example, a column forming the first lifting channel; specifically, for example, a first guide column can be respectively arranged at both ends of the first lifting plate along the first direction, and the first lifting plate can increase the stability of its lifting process through the vertical guidance of a pair of first guide columns.

[0299] Secondly, in order to ensure that the first lifting plate can lift the material box during the rising process, the first lifting plate should include a first supporting part protruding into the first lifting channel, that is, the material box can be placed on the first supporting part of the first lifting plate and rise along the first lifting channel; as for how the material box is placed on the first supporting part, it can be understood that, for example, after the first lifting plate is about to reach the bottom, the material box handling robot can walk to the first lifting channel and transfer the material box to the first supporting part through its jacking function.

[0300] In a specific embodiment, referring to Figures 25 and 26, the first lifting plate 1410 is respectively installed with lifting boots 1420 at both ends along the first direction X. The first direction X is the extension direction of the material box translation channel 130. The lifting boots 1420 extend perpendicular to the first direction X and protrude to the first lifting channel 110, so that a pair of lifting boots 1420 form a first supporting part.

[0301] Specifically, the lifting shoe 1420 can be fixedly mounted on the first lifting plate 1410 in a direction perpendicular to the first direction X. Alternatively, the lifting shoe 1420 can be rotatably mounted on the first lifting plate 1410 via a vertical adapter shaft 1460, so that when the first lifting plate 1410 descends, the lifting shoe 1420 rotates parallel to the first direction to avoid the container, and when the first lifting plate ascends, the lifting shoe 1420 rotates perpendicular to the first direction to lift the container. The adapter shaft 1460 can be fixed via an adapter bearing 1460 shown in FIG. 26 .

[0302] This embodiment provides two installation methods for the lifting shoe plate, one of which is that the lifting shoe plate is directly fixedly installed on the first lifting plate in the vertical direction along the first direction. At this time, it can be understood that the first lifting plate needs to be lowered to the lowest end before the material box handling robot can carry the material box and walk to the first lifting channel; the other is that the lifting shoe plate is rotatably installed on the first lifting plate along the adapter axis in the vertical direction. The purpose of setting the lifting shoe plate to be rotatable is that the lifting shoe plate can be rotated from, for example, perpendicular to the first direction to parallel to the first direction. In this way, when descending with the first lifting plate, the lifting shoe plate can avoid the material box below by rotating. At this time, it can be understood that the material box handling robot can carry the material box and walk to the first lifting channel in advance without having to wait for the first lifting plate to descend to the lowest end, thereby improving the sorting efficiency.

[0303] Regarding the rotation of the lifting shoe, it can be actively driven by a motor, for example, or it can be passively driven by the guidance of the tilting guide pillar by the guide slope as described below.

[0304] Among them, regarding the passive rotation of the lifting shoe plate, in a specific embodiment, the first lifting plate 1410 is respectively provided with an adapter sleeve 1430 with the vertical direction as the rotation axis direction at both ends along the first direction X, the lifting shoe plate 1420 is fixed to the adapter sleeve 1430, and a return spring 1440 is provided inside the adapter sleeve 1430. The adapter sleeve 1430 is also fixedly installed with a flip guide column 1450. At the position corresponding to the pair of flip guide columns 1450, the rack unit 1000 is provided with a pair of guide slopes 190.

[0305] The reset spring 1440 is configured such that when the reset spring 1440 is in the reset position, the lifting shoe plate 1420 extends perpendicular to the first direction X and protrudes to the first lifting channel 110 , and the flip guide post 1450 extends along the first direction X.

[0306] The guide slope 190 is configured as follows: when the first lifting plate 1410 descends from the top of the first lifting channel 110, the guide slope 190 rotates the adapter sleeve 1430 by limiting the flip guide column 1450, so that the lifting shoe plate 1420 avoids the material box 300 carried by the material box handling robot 400 during the descent process.

[0307] The first lifting plate can specifically lift the material box through a pair of lifting boots at its two ends. In addition, in order to enable the pair of lifting boots to avoid the material box that has already stopped below when the first lifting plate descends, the lifting boots can be set to flip and rotate relative to the first lifting plate. In this way, the material box handling robot can stay in the first lifting channel before the first lifting plate descends to the lowest point, thereby improving the sorting efficiency.

[0308] Specifically, the lifting shoe is rotatably fixed to the end of the first lifting plate by an adapter sleeve, a return spring is provided inside the adapter sleeve, and a flip guide column is fixed to the outside of the adapter sleeve, and the flip guide column cooperates with the guide slope provided on the frame unit. When the first lifting plate descends, the guide slope can rotate the adapter sleeve by limiting the flip guide column, for example, rotating the lifting shoe perpendicular to the first direction to along the first direction. In this way, when the first lifting plate descends, the lifting shoe can avoid the material box without colliding with the material box.

[0309] When the interaction between the guiding inclined surface and the flip guide post disappears, the external force disappears and the adapter sleeve is reset under the action of the reset spring, that is, the lifting shoe plate is reset and rotated to be perpendicular to the first direction.

[0310] Regarding the guide slope 190, in combination with Figures 19, 25 and 26, further, along the vertical direction, the guide slope 190 includes a flip guide part 191 at the upper end and a flip holding part 192 at the lower end; wherein, the flip guide part 191 is used to rotate the adapter sleeve 1430 by limiting the flip guide post 1450 when the first lifting plate 1410 descends; the flip holding part 192 extends from the end of the flip guide part 191 along the vertical direction, and the flip holding part 192 is used to maintain the rotation angle of the adapter sleeve 1430 by limiting the flip guide post 1450 during the descent of the first lifting plate 1410; and, the height of the lower end of the flip holding part 192 is not higher than the height of the bottom surface of the material box carried by the material box handling robot.

[0311] The guiding slope may specifically be composed of a flip guiding portion and a flip holding portion arranged up and down.

[0312] During the descending process of the first lifting plate, the flip guide pin is first guided by the flip guide part to rotate the adapter sleeve until the vertical projection of the lifting shoe plate avoids the material box; then, when the first lifting plate continues to descend, the flip holding part can limit the flip guide pin to keep the adapter sleeve at this rotation angle until the flip guide pin disengages from the guide slope.

[0313] When the flip guide column descends to disengage from the guide slope, as described above, the lifting shoe plate will reset to a position perpendicular to the first direction. Therefore, the above-mentioned disengagement position should not be higher than the bottom surface of the material box, that is, the height of the lower end of the flip holding part is not higher than the height of the bottom surface of the material box carried by the material box handling robot; in this way, the reset pair of lifting shoe plates can lift the material box when rising.

[0314] Regarding the second lifting device, in one possible implementation, the second lifting device 150 includes a horizontally arranged second lifting plate, the rack unit is provided with a second guide column 180 arranged in a vertical direction next to the second lifting channel, and the second lifting plate is slidably installed on the second guide column 180; and the second lifting plate includes a second supporting portion protruding into the second lifting channel 120; so that the second supporting portion is used to transfer the material box translated onto it to the material box handling robot when it is lowered.

[0315] The second lifting plate is similar to the first lifting plate and can be slidably mounted on a pair of second guide pillars.

[0316] The difference is that since there is no need to consider avoiding the material box, the second lifting plate can be directly provided with the second supporting part, that is, the second supporting part does not need to rotate.

[0317] In one possible embodiment, the rack unit 1000 is provided with a walking channel 500 below the material box translation channel 130. The walking channel is arranged parallel to the material box translation channel 130. The walking channel is used for the material box handling robot to walk and pass through the rack unit along the extension direction of the material box translation channel 130.

[0318] A walking channel for the material box handling robot to pass through can be set below the rack unit. The walking channel can be set parallel to and located below the material box translation channel 130. In this way, after the material box handling robot unloads the material box at the first lifting channel 110, it can directly walk through the walking channel to the bottom of the second lifting channel 120 to wait for the sorted material box to be carried.

[0319] Of course, considering the simplicity of the rack unit structure, the rack unit can be formed by overlapping a number of horizontal bars and vertical bars, and the above-mentioned material box translation channel 130, the first lifting channel 110 and the second lifting channel 120 can be an open structure for the material box to pass through, rather than a closed channel structure.

[0320] In one possible embodiment, the rack unit 1000 includes a material box translation channel 130, wherein the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the material box translation channel 130; or, the rack unit 1000 includes two parallel material box translation channels 130, wherein the reciprocating power unit and the reciprocating transmission unit are arranged between a pair of material box translation channels 130.

[0321] The frame unit 1000 may include a material box translation channel 130 . In this case, the reciprocating power unit and the reciprocating transmission unit may be arranged on either side of the frame unit 1000 .

[0322] Of course, the rack unit 1000 may also include two material box translation channels 130 at the same height and arranged in parallel. It can be understood that the reciprocating power unit and the reciprocating transmission unit can be arranged between the two material box translation channels 130. In this way, the reciprocating transmission unit can act on the material boxes on both sides at the same time, thereby improving the sorting efficiency.

[0323] Based on the above-mentioned sorting workbench 100', the present application also discloses a sorting system, referring to Figure 29, the sorting system at least includes a sorting workbench 100', a material box transfer device 200 and a material box handling robot 400, and the material box handling robot 400 is used to transfer materials between the sorting workbench 100' and the material box transfer device 200; wherein, the material box transfer device 200 can be a movable shelf, a large-capacity AGV vehicle, etc., the material box handling robot 400 can obtain the material box from the material box transfer device, and then transfer it to the sorting workbench 100', and the material box handling robot 400 then transfers the material box sorted by the sorting workbench 100' to the material box transfer device 200.

[0324] Among them, the sorting workbench 100' includes a frame unit 1000 and a reciprocating power unit and a reciprocating transmission unit respectively installed on the frame unit 1000; the frame unit 1000 includes a material box translation channel 130 extending in a straight line, and the material box translation channel 130 extends downward at both ends along its extension direction to form a first lifting channel 110 and a second lifting channel 120 respectively. A material box pushing device 160 is provided next to the material box translation channel 130, which moves horizontally along the material box. A first lifting device 140 is provided next to the first lifting channel 110, which is lifted up and down along the material box. A second lifting device 150 is provided next to the second lifting channel 120, which is lifted up and down along the material box.

[0325] The reciprocating power unit is in transmission connection with the reciprocating transmission unit, and the reciprocating power unit is used to drive the reciprocating transmission unit to perform reciprocating motion between the first reciprocating position and the third reciprocating position, and a second reciprocating position is provided between the first reciprocating position and the second reciprocating position.

[0326] In addition, the reciprocating transmission unit is configured as follows: between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is connected to the material box pushing device 160 and drives it to reciprocate; between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously connected to the first lifting device 140 and the second lifting device 150 and drives the first lifting device 140 and the second lifting device 150 to perform synchronous reverse lifting and lowering motions that are compatible with the reciprocating motion.

[0327] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0328] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0329] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0330] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0331] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof are intended to be within the scope of protection of this disclosure.

Claims

1. A sorting workbench, characterized in that, The sorting workbench includes a frame unit and a first reciprocating mechanism and a second reciprocating mechanism respectively mounted on the frame unit; The rack unit comprises a material box translation channel, the material box translation channel extends in a straight line along a first direction and has an inlet and an outlet formed at two ends of the extension direction, the inlet and the outlet respectively extend vertically downward to form a first lifting channel and a second lifting channel; The first reciprocating mechanism comprises a material box pushing device and a first power device, wherein the first power device is used to drive the linear motion part of the material box pushing device to perform linear reciprocating motion along the material box translation channel between a first translation position and a second translation position; The second reciprocating mechanism includes a second annular rotating device and a second power device, the second annular rotating device is arranged in a vertical annular shape and is respectively fixedly provided with a first lifting device and a second lifting device, and the second power device is used to drive the second annular rotating device to rotate and perform a rotational reciprocating motion between a first rotation position and a second rotation position; Wherein, during the rotation of the second annular rotating device from the first rotating position to the second rotating position, the first lifting device is configured to rise along the first lifting channel and be used to transfer the material box carried by the first material box handling robot to the material box translation channel, and at the same time, the second lifting device is configured to descend along the second lifting channel and be used to transfer the material box translated onto it to the second material box handling robot; Wherein, in the process of moving from the first translation position to the second translation position, the linear motion part of the material box pushing device is configured to at least push the material box that rises along the first lifting channel to the material box translation channel toward the discharge port and away from the feed port; Furthermore, the linear reciprocating motion and the rotational reciprocating motion are configured to run at intervals in a time sequence.

2. The sorting workbench according to claim 1, wherein The portion of the material box translation channel between the material inlet and the material outlet is used to accommodate at least one material box.

3. The sorting workbench according to claim 1, wherein The rack unit is provided with a material box supporting device at a position of the first lifting channel close to the material inlet; Wherein, the material box supporting device comprises a supporting rod extending along the first direction, and both ends of the supporting rod are hinged with a first connecting rod and a second connecting rod; The rack unit is provided with a pair of slide grooves at positions corresponding to the two ends of the support rod, the slide grooves extend in the vertical direction, the ends of the first connecting rod are slidably mounted in the slide grooves, and the ends of the second connecting rod are hinged to the positions of the rack unit located below the slide grooves; So that when the material box rises along the first lifting channel to the material box translation channel, the material box supporting device is used to support the material box.

4. The sorting workbench according to claim 1, characterized in that The material box pushing device includes a first annular rotating device and a follower arm fixed to the first annular rotating device, and the first power device includes a first motor drivingly connected to the first annular rotating device; Wherein, the first annular rotating device includes a first linear portion disposed beside the material box translation channel and extending along the material box translation channel, and both ends of the first linear portion at least cover the feeding port. The follower arm is fixed to the first linear portion and protrudes into the material box translation channel; So that when the first motor drives the first annular rotating device to rotate forward and backward, the follower arm performs the linear reciprocating motion, and the follower arm at least pushes the material box rising along the first lifting channel to the material box translation channel towards the discharging port and pushes it away from the feeding port.

5. The sorting workbench according to claim 4, wherein, One end of the first linear portion is located at the outer end of the feeding port, and the other end of the first linear portion extends to the inner end of the discharging port; Wherein, a plurality of the follower arms are fixedly installed on the first linear portion, and the follower arms are configured to be arranged in a one-way folding manner towards the discharging port direction; So that in the process of moving from the first translation position to the second translation position, the plurality of follower arms respectively limit and push the material box in front of their advancing direction; In the process of moving from the second translation position to the first translation position, the plurality of follower arms respectively release the limitation on the material box in front of their advancing direction.

6. The sorting workbench according to claim 4, characterized in that, The first annular rotating device includes an endless chain or an endless conveyor belt, and the first annular rotating device is installed on one side or both sides of the material box translation channel relative to its extending direction.

7. The sorting workbench according to claim 1, wherein The second annular rotating device includes a second linear portion disposed beside the first lifting channel and extending in the vertical direction; Wherein, the first lifting device includes a horizontally arranged first lifting plate, the first lifting plate is fixed to the second linear portion, the frame unit is provided with a first guide post arranged in the vertical direction beside the first lifting channel, and the first lifting plate is slidably installed on the first guide post; and the first lifting plate includes a first supporting portion protruding into the first lifting channel; so that in the process of the second annular rotating device rotating from the first rotating position to the second rotating position, the first supporting portion rises along the first lifting channel and is used to transfer the material box carried by the first material box handling robot to the material box translation channel.

8. The sorting workbench according to claim 7, wherein The first lifting plate is located on one side of the first lifting channel and extends along the first direction, and the frame unit is provided with the first guide posts at both ends of the first lifting plate along its extending direction respectively; Wherein, lifting shoe plates are respectively installed at both ends of the first lifting plate along its extending direction, and the lifting shoe plates are used to protrude into the first lifting channel so that a pair of the lifting shoe plates form the first supporting portion.

9. The sorting workbench according to claim 8, wherein Along the vertical direction of the first direction, the lifting shoe plate is fixedly installed on the first lifting plate; or, The lifting boot plate is rotatably mounted on the first lifting plate through a transfer shaft along the vertical direction, so that when descending with the first lifting plate, the lifting boot plate avoids the bin by rotating to be parallel to the first direction, and when ascending with the first lifting plate, the lifting boot plate lifts the bin by rotating to be perpendicular to the first direction.

10. The sorting workbench according to claim 8, characterized in that, Both ends of the first lifting plate along its extending direction are respectively provided with transfer shaft sleeves, the transfer shaft sleeves are arranged along the vertical direction, and the lifting boot plate is rotatably mounted on the first lifting plate through the transfer shaft sleeves; Wherein, a return spring is arranged inside the transfer shaft sleeve, a flipping guide post is fixedly mounted on the transfer shaft sleeve, and a pair of guiding inclined surfaces are arranged on the frame unit at positions corresponding to the pair of flipping guide posts; The return spring is configured such that when the return spring is in the reset position, the lifting boot plate extends perpendicular to the first direction and protrudes into the first lifting channel, and the flipping guide post extends along the first direction. The guiding inclined surface is configured such that when the first lifting plate descends from the top end of the first lifting channel, the guiding inclined surface rotates the transfer shaft sleeve by limiting and guiding the flipping guide post, so that the lifting boot plate avoids the bin carried by the first bin handling robot during the descending process.

11. The sorting workbench according to claim 10, characterized in that, Along the vertical direction, the guiding inclined surface includes a flipping guiding part at the upper end and a flipping maintaining part at the lower end; Wherein, the flipping guiding part is used for rotating the transfer shaft sleeve by limiting and guiding the flipping guide post when the first lifting plate descends; The flipping maintaining part extends along the vertical direction from the end of the flipping guiding part, and the flipping maintaining part is used for maintaining the rotation of the transfer shaft sleeve by limiting and guiding the flipping guide post during the descending process of the first lifting plate; And, the height of the lower end part of the flipping maintaining part is not higher than the height of the bottom surface of the bin carried by the first bin handling robot.

12. The sorting workbench according to claim 1, wherein, The second annular rotating device includes a third linear part arranged beside the second lifting channel and extending along the vertical direction; Wherein, the second lifting device includes a horizontally arranged second lifting plate, the second lifting plate is fixed to the second linear part, the frame unit is provided with a second guide post arranged along the vertical direction beside the second lifting channel, and the second lifting plate is slidably mounted on the second guide post; and, the second lifting plate includes a second supporting part protruding into the second lifting channel; so that during the rotation process of the second annular rotating device from the first rotating position to the second rotating position, the second supporting part descends along the second lifting channel and is used for transferring the bin translated onto it to the second bin handling robot.

13. The sorting workbench according to claim 1, characterized in that, The frame unit is provided with a walking channel below the bin translation channel, the walking channel extends along the first direction, and the walking channel is used for the bin handling robot to walk and cross the frame unit along the first direction.

14. The sorting workbench according to claim 1, wherein The bin pushing device includes a ball screw arranged along the first direction. The ball screw is disposed beside the bin translation channel. The ball screw is provided with a screw nut, and a follower arm is fixedly installed on the screw nut. The first power device includes a third motor for driving the ball screw, so that when the third motor drives the ball screw to rotate forward and backward, the follower arm performs the linear reciprocating motion. Moreover, the follower arm at least pushes the bin that has risen along the first lifting channel to the bin translation channel towards the discharge port and pushes it away from the feeding port. Or, The bin pushing device includes a telescopic rod arranged along the first direction. The telescopic rod is disposed beside the bin translation channel. The telescopic rod is fixedly installed with a follower arm. The first power device includes a cylinder or an electric cylinder for driving the telescopic rod, so that when the cylinder or the electric cylinder drives the telescopic rod to perform telescopic motion along the first direction, the follower arm performs the linear reciprocating motion. Moreover, the follower arm at least pushes the bin that has risen along the first lifting channel to the bin translation channel towards the discharge port and pushes it away from the feeding port.

15. The sorting workbench according to claim 1, wherein the frame unit includes one bin translation channel, and wherein, the first reciprocating mechanism and the second reciprocating mechanism are arranged on one side of the bin translation channel; or, the frame unit includes two parallel bin translation channels, and wherein, the first reciprocating mechanism and the second reciprocating mechanism are arranged at a position between a pair of bin translation channels.

16. A sorting system, characterized in that, The sorting system at least includes the sorting workbench according to any one of claims 1 to 15, a bin transfer device, and a bin handling robot.

17. A sorting workbench, characterized in that, The sorting workbench includes a frame unit, a reciprocating power unit, and a reciprocating transmission unit respectively installed on the frame unit; the frame unit includes a bin translation channel extending linearly. The two ends of the bin translation channel extend downward along its extending direction to respectively form a first lifting channel and a second lifting channel. A bin pushing device moving along its translation is arranged beside the bin translation channel. A first lifting device moving up and down along the first lifting channel is arranged beside the first lifting channel. A second lifting device moving up and down along the second lifting channel is arranged beside the second lifting channel; wherein, the reciprocating power unit is in transmission connection with the reciprocating transmission unit. The reciprocating power unit is used for driving the reciprocating transmission unit to perform reciprocating motion between a first reciprocating position and a third reciprocating position. A second reciprocating position is provided between the first reciprocating position and the third reciprocating position; and, the reciprocating transmission unit is configured as: between the first reciprocating position and the second reciprocating position, the reciprocating transmission unit is in transmission connection with the bin pushing device and drives it to perform reciprocating translation; between the second reciprocating position and the third reciprocating position, the reciprocating transmission unit is simultaneously in transmission connection with the first lifting device and the second lifting device and drives the first lifting device and the second lifting device to perform synchronous reverse lifting motion adapted to the reciprocating translation.

18. The sorting workbench according to claim 17, characterized in that: During the movement from the first reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device and the second lifting device, and is in a transmission connected state with the material box pushing device, and the reciprocating transmission unit drives the material box pushing device to move horizontally toward the second lifting channel; In the process of moving from the second reciprocating position to the third reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device and the second lifting device, and is in a transmission disconnection state with the material box pushing device. The reciprocating transmission unit drives the first lifting device to rise from the bottom to the top of the first lifting channel, and drives the second lifting device to descend from the top to the bottom of the second lifting channel. In the process of moving from the third reciprocating position to the second reciprocating position, the reciprocating transmission unit is in a transmission connection state with the first lifting device and the second lifting device, and is in a transmission disconnection state with the material box pushing device, and the reciprocating transmission unit drives the first lifting device to descend from the top to the bottom of the first lifting channel, and drives the second lifting device to rise from the bottom to the top of the second lifting channel; During the movement from the second reciprocating position to the first reciprocating position, the reciprocating transmission unit is in a transmission disconnected state with the first lifting device and the second lifting device, and is in a transmission connected state with the material box pushing device, and the reciprocating transmission unit drives the material box pushing device to move horizontally toward the first lifting channel.

19. The sorting workbench according to any one of claims 17 and 18, characterized in that, The reciprocating transmission unit includes a first linear slide rail and a first slider assembly which are slidably mounted, the first linear slide rail extending along the translation channel of the material box; the reciprocating power unit includes a first power device which is transmission-connected to the first slider assembly, the first power device being used to drive the first slider assembly to perform linear reciprocating sliding between a first sliding position and a third sliding position, a second sliding position being provided between the first sliding position and the third sliding position; The reciprocating transmission unit further includes a second linear slide rail located between the first sliding position and the second sliding position, and a third linear slide rail located between the second sliding position and the third sliding position; The second linear slide rail is provided with a second slider assembly, and the second slider assembly is in transmission connection with the material box pushing device; and when sliding back and forth between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are configured to be in transmission connection, so that the first slider assembly drives the material box pushing device to reciprocate and translate; Among them, the third linear slide rail is equipped with a third slider assembly, and the third slider assembly is transmission-connected with the first lifting device and the second lifting device at the same time; and when sliding back and forth between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be transmission-connected, so that the first slider assembly drives the first lifting device and the second lifting device to lift in opposite directions synchronously.

20. The sorting workbench according to claim 19, characterized in that, The reciprocating transmission unit comprises a fourth linear slide rail arranged in parallel with the first linear slide rail, wherein the portion of the fourth linear slide rail corresponding to the first sliding position and the second sliding position forms the second linear slide rail, and the portion of the fourth linear slide rail corresponding to the second sliding position and the third sliding position forms the third linear slide rail; The first slider assembly includes a first push hook member, and the first push hook member is provided with a pair of connecting bosses on a side facing the fourth linear slide rail; The second slider assembly includes a second push hook member, and the second push hook member is provided with a first connecting groove on a side facing the first linear slide rail, so that when sliding between the first sliding position and the second sliding position, the first slider assembly and the second slider assembly are in a transmission connection state through the engagement configuration of a connecting boss close to the first sliding position and the first connecting groove; Among them, the third slider assembly includes a third push hook member, and the third push hook member is provided with a second connecting groove on the side facing the first linear slide rail; so that when sliding between the second sliding position and the third sliding position, the first slider assembly and the third slider assembly are configured to be in a transmission connection state through the engagement of another connecting boss close to the third sliding position and the second connecting groove.

21. The sorting workbench according to claim 20, characterized in that: The second slider assembly includes a second slider, the second push hook member is rotatably mounted on the second slider via a first rotating shaft, the first rotating shaft is located at one end of the second push hook member close to the first sliding position, and the second push hook member is provided with a first roller at one end away from the first sliding position; The reciprocating transmission unit further comprises a first guide slot arranged in parallel with the second linear slide rail, wherein the first guide slot is extended away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss and the first connecting groove is disconnected due to the rotation of the second push hook member; The third slider assembly includes a third slider, the third push hook member is rotatably mounted on the third slider via a second rotating shaft, the second rotating shaft is located at one end of the third push hook member close to the third sliding position, and the end of the third push hook member away from the third sliding position is provided with a second roller; Wherein, the reciprocating transmission unit further includes a second guiding chute arranged parallel to the third linear slide rail, and the second guiding chute extends away from the first linear slide rail at a position corresponding to the second sliding position, so that when sliding to the second sliding position, the engagement connection between the connecting boss and the second connecting groove is disconnected due to the rotation of the third push hook member.

22. The sorting workbench according to claim 21, wherein the second push hook member includes a pair of first flanges, so that a portion between the pair of first flanges forms the first connecting groove; wherein, the height of one of the first flanges close to the first sliding position is greater than the height of one of the first flanges away from the first sliding position; the third push hook member includes a pair of second flanges, so that a portion between the pair of second flanges forms the second connecting groove; wherein, the height of one of the second flanges close to the third sliding position is greater than the height of one of the second flanges away from the third sliding position.

23. The sorting workbench according to any one of claims 17 and 18, characterized in that, The reciprocating transmission unit includes an endless transmission belt arranged on the side of the frame unit and arranged in the vertical direction, and the reciprocating power unit includes a second power device drivingly connected to the endless transmission belt. The second power device is used to drive the endless transmission belt to reciprocally rotate between a first rotation position and a third rotation position, and a second rotation position is provided between the first rotation position and the third rotation position; The endless transmission belt is fixedly installed with a first transmission block, a second transmission block and a third transmission block respectively; Wherein, when rotating between the first rotation position and the second rotation position, the first transmission block is arranged on a horizontally extending portion at a high position of the endless transmission belt, and the first transmission block is drivingly connected to the material box pushing device, so that the endless transmission belt drives the material box pushing device to reciprocally translate through the first transmission block; Wherein, when rotating between the second rotation position and the third rotation position, the second transmission block and the third transmission block are respectively arranged on a pair of vertically extending portions of the endless transmission belt, and the second transmission block and the third transmission block are respectively drivingly connected to the first lifting device and the second lifting device, so that the endless transmission belt drives the first lifting device and the second lifting device to synchronously lift and lower in opposite directions through the second transmission block and the third transmission block respectively.

24. The sorting workbench according to claim 23, characterized in that, The reciprocating transmission unit includes a dragging connecting plate arranged along the vertical direction. The top end of the dragging connecting plate is fixedly installed with the material box pushing device, and the bottom end of the dragging connecting plate is provided with a plugging groove opening downward for the first transmission block to be plugged and installed from below; so that the first transmission block is drivingly connected to the material box pushing device through a pair of vertical side walls forming the plugging groove, and when lifting and lowering, the driving connection between the first transmission block and the material box pushing device is disconnected due to the plugging and disengagement of the first transmission block from the plugging groove.

25. The sorting workbench according to claim 23, characterized in that, The height of the high-level horizontal extension portion of the annular drive belt is the same as the height when the first lifting device or the second lifting device rises to the top, and the height of the low-level horizontal extension portion of the annular drive belt is the same as the height when the first lifting device or the second lifting device descends to the bottom; Wherein, the second transmission block and the third transmission block are arranged on one side of the annular drive belt facing the rack unit, and a first avoidance chute and a second avoidance chute are respectively arranged on one side of the first lifting device and the second lifting device facing the annular drive belt, and the first avoidance chute and the second avoidance chute are used to respectively avoid the reciprocating translational motion of the second transmission block and the third transmission block; Moreover, when the second transmission block moves up and down, a pair of first lateral side walls forming the first avoidance chute are in transmission connection with the second transmission block due to the up-and-down limit of the second transmission block; when the third transmission block moves up and down, a pair of second lateral side walls forming the second avoidance chute are in transmission connection with the third transmission block due to the up-and-down limit of the third transmission block.

26. The sorting workbench according to claim 17, wherein The part of the material box translation channel between the first lifting channel and the second lifting channel is used to accommodate at least one material box.

27. The sorting workbench according to claim 17, characterized in that, The rack unit is provided with a material box support device at a position where the first lifting channel is close to the material box translation channel, and the material box support device is used to support the material box transported to the material box translation channel by the first lifting device.

28. The sorting workbench according to claim 27, characterized in that, The material box support device includes a support rod extending in a first direction, and both ends of the support rod are simultaneously hinged with a first connecting rod and a second connecting rod, wherein the first direction is the extending direction of the material box translation channel; The rack unit is provided with a pair of chutes at positions corresponding to both ends of the support rod, the chutes extend in the vertical direction, the end part of the first connecting rod is slidably installed in the chutes, and the end part of the second connecting rod is hinged to a position of the rack unit below the chutes.

29. The sorting workbench according to claim 17, characterized in that, The material box pushing device includes a pushing medium that is arranged beside the material box translation channel and reciprocates translationally along its extending direction; Wherein, the pushing medium is provided with a follower arm extending to the material box translation channel, the follower arm is configured to be arranged with a one-way bend towards the direction of the second lifting channel, and moreover, the follower arm is at least used to push the material box located at the projection position of the first lifting channel on the material box translation channel when reciprocatingly translating along with the pushing medium.

30. The sorting workbench according to claim 17, characterized in that, The first lifting device includes a first lifting plate arranged horizontally, and the rack unit is provided with a first guide post arranged vertically beside the first lifting channel, and the first lifting plate is slidably installed on the first guide post; Moreover, the first lifting plate includes a first supporting part protruding into the first lifting channel; so that the first supporting part is used to transfer the material box carried by the material box handling robot to the material box translation channel when rising.

31. The sorting workbench according to claim 30, characterized in that, Lifting shoes are respectively installed at two ends of the first lifting plate along the first direction, where the first direction is the extending direction of the translation channel of the bin, and the lifting shoes extend perpendicular to the first direction and protrude into the first lifting channel, so that a pair of the lifting shoes form the first supporting part.

32. The sorting workbench according to claim 31, wherein, Along the direction perpendicular to the first direction, the lifting shoes are fixedly installed on the first lifting plate; or, The lifting shoes are rotatably installed on the first lifting plate through a transfer shaft along the vertical direction, so that when descending with the first lifting plate, the lifting shoes avoid the bin by rotating to be parallel to the first direction, and when ascending with the first lifting plate, the lifting shoes lift the bin by rotating to be perpendicular to the first direction.

33. The sorting workbench according to claim 31, characterized in that, Transfer shaft sleeves with the vertical direction as the rotation axis direction are respectively provided at two ends of the first lifting plate along the first direction, the lifting shoes are fixed to the transfer shaft sleeves, a return spring is arranged inside the transfer shaft sleeves, and a flipping guide post is also fixedly installed on the transfer shaft sleeves. At positions corresponding to a pair of the flipping guide posts, a pair of guiding inclined surfaces are provided on the frame unit; The return spring is configured such that when the return spring is in the reset position, the lifting shoes extend perpendicular to the first direction and protrude into the first lifting channel, and the flipping guide post extends along the first direction. The guiding inclined surface is configured such that when the first lifting plate descends from the top end of the first lifting channel, the guiding inclined surface rotates the transfer shaft sleeve by limiting and guiding the flipping guide post, so that the lifting shoes avoid the bin carried by the bin handling robot during the descending process.

34. The sorting workbench according to claim 33, characterized in that, Along the vertical direction, the guiding inclined surface includes a flipping guiding part at the upper end and a flipping maintaining part at the lower end; Wherein, the flipping guiding part is used for rotating the transfer shaft sleeve by limiting and guiding the flipping guide post when the first lifting plate descends; the flipping maintaining part extends along the vertical direction from the end of the flipping guiding part, and the flipping maintaining part is used for maintaining the rotation angle of the transfer shaft sleeve by limiting and guiding the flipping guide post during the descending process of the first lifting plate; And, the height of the lower end part of the flipping maintaining part is not higher than the height of the bottom surface of the bin carried by the bin handling robot.

35. The sorting workbench according to claim 17, wherein, The frame unit is provided with a walking channel below the bin translation channel, the walking channel is arranged parallel to the bin translation channel, and the walking channel is used for the bin handling robot to walk and cross the frame unit along the extending direction of the bin translation channel.

36. The sorting workbench according to claim 17, wherein, The frame unit includes one bin translation channel, wherein, the reciprocating power unit and the reciprocating transmission unit are arranged on one side of the bin translation channel; or, The frame unit includes two bin translation channels arranged in parallel, wherein, the reciprocating power unit and the reciprocating transmission unit are arranged at a position between the pair of bin translation channels.

38. A sorting system, characterized in that, The sorting system at least includes the sorting workbench, bin transfer equipment, and bin handling robot described in any one of claims 17-37.

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